DrainpipeAI commited on
Commit
1ecf289
·
verified ·
1 Parent(s): 18a9eef

Upload folder using huggingface_hub

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6fb0cd17d5a9f55a1d2a5a485acf8d2e3973600fd381dbfd7ef6bc3bc06f7cf1
3
+ size 688577
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5cadea2e4990fac9d0f3b2b1be6cf8c9ca3d3455d978c1bbc30b774e89dd8a49
3
+ size 230951
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 12353,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 25,
11
+ "splits": {
12
+ "train": "0:50"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "names": [
34
+ "shoulder_pan.pos",
35
+ "shoulder_lift.pos",
36
+ "elbow_flex.pos",
37
+ "wrist_flex.pos",
38
+ "wrist_roll.pos",
39
+ "gripper.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.wrist": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "av1",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 25,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.left": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 25,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 21.36
8
+ ],
9
+ "mean": [
10
+ 5.1728746053590235
11
+ ],
12
+ "std": [
13
+ 3.415863246862079
14
+ ],
15
+ "count": [
16
+ 12353
17
+ ],
18
+ "q01": [
19
+ 0.08863877831666249
20
+ ],
21
+ "q10": [
22
+ 1.0162432180528749
23
+ ],
24
+ "q50": [
25
+ 5.163274063951876
26
+ ],
27
+ "q90": [
28
+ 9.323476169949917
29
+ ],
30
+ "q99": [
31
+ 10.256491829632807
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 49
40
+ ],
41
+ "mean": [
42
+ 24.381121994657168
43
+ ],
44
+ "std": [
45
+ 14.598952570160879
46
+ ],
47
+ "count": [
48
+ 12353
49
+ ],
50
+ "q01": [
51
+ 24.381121994657168
52
+ ],
53
+ "q10": [
54
+ 24.381121994657168
55
+ ],
56
+ "q50": [
57
+ 24.38112199465718
58
+ ],
59
+ "q90": [
60
+ 24.381121994657196
61
+ ],
62
+ "q99": [
63
+ 24.3811219946572
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -62.67387771606445,
69
+ -98.81906127929688,
70
+ -58.77587890625,
71
+ -62.0556755065918,
72
+ -5.641025543212891,
73
+ 9.845948219299316
74
+ ],
75
+ "max": [
76
+ 29.675424575805664,
77
+ 74.77857208251953,
78
+ 99.54995727539062,
79
+ 73.44754028320312,
80
+ 11.5018310546875,
81
+ 58.74079132080078
82
+ ],
83
+ "mean": [
84
+ -10.605561770850382,
85
+ -40.22805784842095,
86
+ 50.66436585844996,
87
+ 17.488801806810503,
88
+ 0.06134773453530643,
89
+ 27.29372367713747
90
+ ],
91
+ "std": [
92
+ 20.342733575516093,
93
+ 48.55860847695287,
94
+ 45.00474560623059,
95
+ 34.10716545235894,
96
+ 2.1680326282152333,
97
+ 14.317418895007263
98
+ ],
99
+ "count": [
100
+ 12353
101
+ ],
102
+ "q01": [
103
+ -46.82733068327512,
104
+ -97.55486528464637,
105
+ -18.31056426015438,
106
+ -37.38759223464672,
107
+ -2.7379626195076847,
108
+ 10.359649440783004
109
+ ],
110
+ "q10": [
111
+ -44.657331933985525,
112
+ -95.67001223721225,
113
+ -12.598835299238353,
114
+ -36.745551055731184,
115
+ -2.093582153026325,
116
+ 10.497341118455255
117
+ ],
118
+ "q50": [
119
+ -4.276848515578496,
120
+ -38.13090844901674,
121
+ 51.7450159349922,
122
+ 33.43712566699222,
123
+ -0.2282806845660386,
124
+ 20.265066511855068
125
+ ],
126
+ "q90": [
127
+ 7.680034322770997,
128
+ 25.458260829708745,
129
+ 98.72153309264364,
130
+ 48.94645532234751,
131
+ 2.5176639491272756,
132
+ 46.9560565214152
133
+ ],
134
+ "q99": [
135
+ 10.578267395341468,
136
+ 31.2791650474431,
137
+ 98.91109621277423,
138
+ 54.55143143729273,
139
+ 3.2756940503326253,
140
+ 47.74265337508847
141
+ ]
142
+ },
143
+ "index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 12352
149
+ ],
150
+ "mean": [
151
+ 6176.0
152
+ ],
153
+ "std": [
154
+ 3566.0039259653104
155
+ ],
156
+ "count": [
157
+ 12353
158
+ ],
159
+ "q01": [
160
+ 6048.894104326298
161
+ ],
162
+ "q10": [
163
+ 6072.084215319276
164
+ ],
165
+ "q50": [
166
+ 6175.759986464826
167
+ ],
168
+ "q90": [
169
+ 6279.765039112846
170
+ ],
171
+ "q99": [
172
+ 6303.090430604484
173
+ ]
174
+ },
175
+ "task_index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 0
181
+ ],
182
+ "mean": [
183
+ 0.0
184
+ ],
185
+ "std": [
186
+ 0.0
187
+ ],
188
+ "count": [
189
+ 12353
190
+ ],
191
+ "q01": [
192
+ 3.9999999999994186e-16
193
+ ],
194
+ "q10": [
195
+ 3.999999999999417e-15
196
+ ],
197
+ "q50": [
198
+ 1.99999999999971e-14
199
+ ],
200
+ "q90": [
201
+ 3.599999999999476e-14
202
+ ],
203
+ "q99": [
204
+ 3.959999999999422e-14
205
+ ]
206
+ },
207
+ "observation.images.wrist": {
208
+ "min": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "max": [
226
+ [
227
+ [
228
+ 1.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 1.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 1.0
239
+ ]
240
+ ]
241
+ ],
242
+ "mean": [
243
+ [
244
+ [
245
+ 0.5464381651216994
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.5403765979958469
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.5064092886988494
256
+ ]
257
+ ]
258
+ ],
259
+ "std": [
260
+ [
261
+ [
262
+ 0.011082701862136042
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.01163020605906898
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.010813794593509863
273
+ ]
274
+ ]
275
+ ],
276
+ "count": [
277
+ 5011
278
+ ],
279
+ "q01": [
280
+ [
281
+ [
282
+ 0.003894472184218053
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.01935853694717544
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.02664373639743033
293
+ ]
294
+ ]
295
+ ],
296
+ "q10": [
297
+ [
298
+ [
299
+ 0.09471508601713449
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.11635035664884998
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.11244341444049956
310
+ ]
311
+ ]
312
+ ],
313
+ "q50": [
314
+ [
315
+ [
316
+ 0.6263031808115969
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.6209672294303298
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.5896779831531725
327
+ ]
328
+ ]
329
+ ],
330
+ "q90": [
331
+ [
332
+ [
333
+ 0.8122144918346879
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.8055373009869647
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.7834921032683361
344
+ ]
345
+ ]
346
+ ],
347
+ "q99": [
348
+ [
349
+ [
350
+ 0.981056764458474
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.9538150209019088
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.9215604479356968
361
+ ]
362
+ ]
363
+ ]
364
+ },
365
+ "frame_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 534
371
+ ],
372
+ "mean": [
373
+ 129.32186513397556
374
+ ],
375
+ "std": [
376
+ 85.396581171552
377
+ ],
378
+ "count": [
379
+ 12353
380
+ ],
381
+ "q01": [
382
+ 2.2159694602757005
383
+ ],
384
+ "q10": [
385
+ 25.406080453250805
386
+ ],
387
+ "q50": [
388
+ 129.07722616368477
389
+ ],
390
+ "q90": [
391
+ 233.0869042468219
392
+ ],
393
+ "q99": [
394
+ 256.4122957384615
395
+ ]
396
+ },
397
+ "observation.images.left": {
398
+ "min": [
399
+ [
400
+ [
401
+ 0.0
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 0.0
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.0
412
+ ]
413
+ ]
414
+ ],
415
+ "max": [
416
+ [
417
+ [
418
+ 1.0
419
+ ]
420
+ ],
421
+ [
422
+ [
423
+ 1.0
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 1.0
429
+ ]
430
+ ]
431
+ ],
432
+ "mean": [
433
+ [
434
+ [
435
+ 0.5120369087924864
436
+ ]
437
+ ],
438
+ [
439
+ [
440
+ 0.5411746776373024
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.5174158112365216
446
+ ]
447
+ ]
448
+ ],
449
+ "std": [
450
+ [
451
+ [
452
+ 0.008979080695171546
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 0.010967350858245425
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.013494542643895458
463
+ ]
464
+ ]
465
+ ],
466
+ "count": [
467
+ 5011
468
+ ],
469
+ "q01": [
470
+ [
471
+ [
472
+ 0.013808568423868203
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.03642474628009527
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ 0.02786476000115561
483
+ ]
484
+ ]
485
+ ],
486
+ "q10": [
487
+ [
488
+ [
489
+ 0.11148266013281186
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.1514407552013252
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.1612312743960097
500
+ ]
501
+ ]
502
+ ],
503
+ "q50": [
504
+ [
505
+ [
506
+ 0.5500942313305468
507
+ ]
508
+ ],
509
+ [
510
+ [
511
+ 0.5870213951387874
512
+ ]
513
+ ],
514
+ [
515
+ [
516
+ 0.5471686090593189
517
+ ]
518
+ ]
519
+ ],
520
+ "q90": [
521
+ [
522
+ [
523
+ 0.8522045402675567
524
+ ]
525
+ ],
526
+ [
527
+ [
528
+ 0.8866164174177353
529
+ ]
530
+ ],
531
+ [
532
+ [
533
+ 0.8644116903644988
534
+ ]
535
+ ]
536
+ ],
537
+ "q99": [
538
+ [
539
+ [
540
+ 0.9885847661967279
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.9594031019060086
546
+ ]
547
+ ],
548
+ [
549
+ [
550
+ 0.9140336984653968
551
+ ]
552
+ ]
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -62.53709030151367,
558
+ -100.0,
559
+ -61.69643020629883,
560
+ -63.034000396728516,
561
+ -6.031745910644531,
562
+ 8.489388465881348
563
+ ],
564
+ "max": [
565
+ 30.118694305419922,
566
+ 73.55008697509766,
567
+ 100.0,
568
+ 74.89102172851562,
569
+ 11.89255142211914,
570
+ 59.176029205322266
571
+ ],
572
+ "mean": [
573
+ -10.551611830679056,
574
+ -41.36443299038211,
575
+ 49.2324292426803,
576
+ 16.901910416493003,
577
+ 0.021549270502872513,
578
+ 25.60878351888299
579
+ ],
580
+ "std": [
581
+ 20.35794450769032,
582
+ 47.74333463774352,
583
+ 46.20667696566163,
584
+ 34.2739926577321,
585
+ 2.1851395049697624,
586
+ 15.784279381281854
587
+ ],
588
+ "count": [
589
+ 12353
590
+ ],
591
+ "q01": [
592
+ -46.84327284139899,
593
+ -98.18963206810712,
594
+ -21.919787360255285,
595
+ -38.39760827435006,
596
+ -2.9355744286422647,
597
+ 9.88717799012692
598
+ ],
599
+ "q10": [
600
+ -44.61358334955884,
601
+ -96.33803460034608,
602
+ -15.582339778520318,
603
+ -37.44817487739452,
604
+ -2.1589887101886025,
605
+ 10.177172153838303
606
+ ],
607
+ "q50": [
608
+ -4.171459287458385,
609
+ -39.622033778402425,
610
+ 50.01819730702207,
611
+ 33.08754075138483,
612
+ -0.25718385568701074,
613
+ 16.553477111044916
614
+ ],
615
+ "q90": [
616
+ 7.774043930531188,
617
+ 23.4660552729864,
618
+ 99.07653920995288,
619
+ 48.61900235038586,
620
+ 2.5195094179297493,
621
+ 47.19849320804814
622
+ ],
623
+ "q99": [
624
+ 10.900604916610884,
625
+ 30.557490853709066,
626
+ 99.3414655321485,
627
+ 54.68902542650918,
628
+ 3.403650328829561,
629
+ 47.98183117138587
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed733ba1029a435638b28420fc9fdafbc7cec2202472fc9820c677c4b3f7db1b
3
+ size 2301
videos/observation.images.left/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:444a8b0097b78523bc6d9351e0218dd352abb90facf5f79bda97cb14ec150572
3
+ size 162836735
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:da6ae4cec3ba6ea360e5e482c457d5bb9a9c18fadda85504814d67931b919500
3
+ size 104439612