DrainpipeAI commited on
Commit
080be3b
·
verified ·
1 Parent(s): f253e93

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 sha256:51eccab669334ed762a2ba93cad53efcc8a761be8b1e27319359119c0ca18301
3
+ size 235433
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dae8aceeb255fb4a404208917b6df3887ba321e5b90a72cc0ec4a0c905629cfa
3
+ size 52266
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 3451,
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": "0:1"
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
+ "action": {
3
+ "min": [
4
+ -55.22174835205078,
5
+ -102.4233169555664,
6
+ -33.805213928222656,
7
+ -47.038421630859375,
8
+ -3.933858871459961,
9
+ 7.667748928070068
10
+ ],
11
+ "max": [
12
+ 25.526439666748047,
13
+ 62.60649108886719,
14
+ 106.13998413085938,
15
+ 60.56869888305664,
16
+ 5.625936031341553,
17
+ 49.35826110839844
18
+ ],
19
+ "mean": [
20
+ -5.151193618774414,
21
+ -13.673257827758789,
22
+ 36.49757766723633,
23
+ -0.8221721649169922,
24
+ 0.4480935037136078,
25
+ 27.705434799194336
26
+ ],
27
+ "std": [
28
+ 16.56909942626953,
29
+ 50.98457717895508,
30
+ 40.24302291870117,
31
+ 31.306093215942383,
32
+ 1.6739357709884644,
33
+ 12.761801719665527
34
+ ],
35
+ "count": [
36
+ 3451
37
+ ],
38
+ "q01": [
39
+ -51.17610233306885,
40
+ -99.07288162231445,
41
+ -26.485801219940186,
42
+ -44.44487602233887,
43
+ -2.844979121685028,
44
+ 8.720475883483887
45
+ ],
46
+ "q10": [
47
+ -30.414291954040525,
48
+ -92.14030990600585,
49
+ -9.619887351989746,
50
+ -35.29740867614746,
51
+ -1.6507885694503783,
52
+ 10.346225770314534
53
+ ],
54
+ "q50": [
55
+ -3.5742013454437256,
56
+ -3.0918655395507812,
57
+ 24.390992164611816,
58
+ -13.190603256225586,
59
+ 0.4244518280029297,
60
+ 33.5721492767334
61
+ ],
62
+ "q90": [
63
+ 14.247206573486329,
64
+ 42.850782012939455,
65
+ 98.25592447916667,
66
+ 40.455844497680665,
67
+ 2.750923490524292,
68
+ 41.519612884521486
69
+ ],
70
+ "q99": [
71
+ 20.758172340393063,
72
+ 55.031301422119135,
73
+ 101.26273849487305,
74
+ 52.96065742492675,
75
+ 4.410867166519164,
76
+ 47.536305007934565
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -55.25502395629883,
82
+ -99.32518005371094,
83
+ -30.693069458007812,
84
+ -45.61027908325195,
85
+ -3.492063522338867,
86
+ 8.238446235656738
87
+ ],
88
+ "max": [
89
+ 25.193199157714844,
90
+ 63.981441497802734,
91
+ 99.72997283935547,
92
+ 60.68522644042969,
93
+ 5.396825313568115,
94
+ 48.22505187988281
95
+ ],
96
+ "mean": [
97
+ -5.244489669799805,
98
+ -12.051634788513184,
99
+ 38.13071060180664,
100
+ -0.34378868341445923,
101
+ 0.448158323764801,
102
+ 28.590749740600586
103
+ ],
104
+ "std": [
105
+ 16.551828384399414,
106
+ 51.93452835083008,
107
+ 39.59596633911133,
108
+ 31.36284828186035,
109
+ 1.6661027669906616,
110
+ 11.753811836242676
111
+ ],
112
+ "count": [
113
+ 3451
114
+ ],
115
+ "q01": [
116
+ -50.70048050471715,
117
+ -98.73394270324707,
118
+ -21.52949494934082,
119
+ -43.890373817443844,
120
+ -2.7593167567253114,
121
+ 8.976320988150205
122
+ ],
123
+ "q10": [
124
+ -30.299445788065594,
125
+ -91.8441005706787,
126
+ -7.377935825694691,
127
+ -34.643771934509275,
128
+ -1.5399978844743025,
129
+ 10.448229312896729
130
+ ],
131
+ "q50": [
132
+ -3.635255126953125,
133
+ -1.6405982971191406,
134
+ 26.292015552520752,
135
+ -12.709458457099068,
136
+ 0.4638517055105656,
137
+ 33.49158554077148
138
+ ],
139
+ "q90": [
140
+ 14.153112910344051,
141
+ 45.77421044243707,
142
+ 98.47112518310547,
143
+ 41.06796972585279,
144
+ 2.856533418185469,
145
+ 41.32780812072754
146
+ ],
147
+ "q99": [
148
+ 20.712081222534177,
149
+ 57.07325134277343,
150
+ 99.55802280772816,
151
+ 53.82895385742187,
152
+ 4.517649743216379,
153
+ 47.418534076524814
154
+ ]
155
+ },
156
+ "observation.images.wrist": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.5052775394880175
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5156359340958605
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.49533769335511985
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 450
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ -3.9215686274509807e-13
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.0117268446703016
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.03525398019965569
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.02746509775094134
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.05097228521241882
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.0784529606000446
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.6079029626568297
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.6234972086547224
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.5921303716621976
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.8234490993311852
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.8275304134782064
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.7998807012355337
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.9998298492476128
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.9998247553373424
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.9528560490973922
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.left": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.5050707257625272
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5233946028503994
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.49522137754175743
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 450
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.003906531845264091
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.027440860033356176
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.02359665044872814
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.10584641560384521
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.12959500787018394
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.1373458034989364
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.5294019270170229
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.5529946339730337
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.5177309359176923
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.8392948323241781
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.8509968825537304
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8197363690859691
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9999061955457662
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.9998413164858461
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.9295126689405919
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 138.0
478
+ ],
479
+ "mean": [
480
+ 69.0
481
+ ],
482
+ "std": [
483
+ 39.84871390647382
484
+ ],
485
+ "count": [
486
+ 3451
487
+ ],
488
+ "q01": [
489
+ 1.3664759999019802
490
+ ],
491
+ "q10": [
492
+ 13.802759999920001
493
+ ],
494
+ "q50": [
495
+ 69.0138
496
+ ],
497
+ "q90": [
498
+ 124.19724000007997
499
+ ],
500
+ "q99": [
501
+ 136.63352400009802
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 3450
510
+ ],
511
+ "mean": [
512
+ 1725.0
513
+ ],
514
+ "std": [
515
+ 996.2178476618454
516
+ ],
517
+ "count": [
518
+ 3451
519
+ ],
520
+ "q01": [
521
+ 34.16189999990198
522
+ ],
523
+ "q10": [
524
+ 345.06899999992004
525
+ ],
526
+ "q50": [
527
+ 1725.345
528
+ ],
529
+ "q90": [
530
+ 3104.93100000008
531
+ ],
532
+ "q99": [
533
+ 3415.838100000098
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 3451
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 3450
574
+ ],
575
+ "mean": [
576
+ 1725.0
577
+ ],
578
+ "std": [
579
+ 996.2178476618454
580
+ ],
581
+ "count": [
582
+ 3451
583
+ ],
584
+ "q01": [
585
+ 34.16189999990198
586
+ ],
587
+ "q10": [
588
+ 345.06899999992004
589
+ ],
590
+ "q50": [
591
+ 1725.345
592
+ ],
593
+ "q90": [
594
+ 3104.93100000008
595
+ ],
596
+ "q99": [
597
+ 3415.838100000098
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 3451
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
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 sha256:29a9e2e737444f7343760fdb65dadec6d27833a6338a2699e25cd11a33512801
3
+ size 44034136
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 sha256:95852ddcf6a3a450d5c203556066bbfca1f9e85880d024086c5d4c4af3b5ad52
3
+ size 22949797