EvanMath commited on
Commit
ebb1612
·
verified ·
1 Parent(s): 80db25d

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:efb234e6058b249f96c17b25512cc4dfbe5b7761bb3256cc765f4b0a7851999d
3
+ size 723739
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:582b145c5dc1e5c9d5d8b7be942ab2ae60af7ed7de8c50f5d7165fb88454444b
3
+ size 93821
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 12,
5
+ "total_frames": 10965,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:12"
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.above": {
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": 30,
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": 30,
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 11
8
+ ],
9
+ "mean": [
10
+ 5.54765161878705
11
+ ],
12
+ "std": [
13
+ 3.495738426078875
14
+ ],
15
+ "count": [
16
+ 10965
17
+ ],
18
+ "q01": [
19
+ 5.54765161878705
20
+ ],
21
+ "q10": [
22
+ 5.547651618787054
23
+ ],
24
+ "q50": [
25
+ 5.547651618787071
26
+ ],
27
+ "q90": [
28
+ 5.547651618787087
29
+ ],
30
+ "q99": [
31
+ 5.547651618787089
32
+ ]
33
+ },
34
+ "observation.images.left": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5763236007447367
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5682070060268664
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5656828898372582
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.008525347698639659
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.008353601649960504
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.008154008826140065
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 1990
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ -3.9215686274509797e-13
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ -3.9215686274509797e-13
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ -3.9215686274509797e-13
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.002012301812944143
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.018286408256705574
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.013338206850797585
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.682285022526542
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.6593561564443603
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.6601246956500201
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.8288425190423452
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.837307022059764
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.8187933746691659
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.9236276501477471
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9253300358189329
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.8895186018762508
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "action": {
193
+ "min": [
194
+ -21.3708553314209,
195
+ -103.04490661621094,
196
+ -56.217010498046875,
197
+ 53.35347366333008,
198
+ -6.635049343109131,
199
+ 0.2999897003173828
200
+ ],
201
+ "max": [
202
+ 9.67671012878418,
203
+ 44.10777282714844,
204
+ 95.79266357421875,
205
+ 95.82559204101562,
206
+ 11.498822212219238,
207
+ 46.98878479003906
208
+ ],
209
+ "mean": [
210
+ -10.366815231034488,
211
+ 13.479041953354299,
212
+ -8.122589618149709,
213
+ 73.20774279384378,
214
+ 2.396999692587998,
215
+ 16.991929603503603
216
+ ],
217
+ "std": [
218
+ 7.469768411685036,
219
+ 28.220353002508475,
220
+ 25.92294105175747,
221
+ 6.629731800022688,
222
+ 2.5538241875674625,
223
+ 13.15407072155569
224
+ ],
225
+ "count": [
226
+ 10965
227
+ ],
228
+ "q01": [
229
+ -19.40227619014849,
230
+ -58.95728022055541,
231
+ -34.17003397958287,
232
+ 61.688390428465674,
233
+ -1.8238135802871933,
234
+ 1.2927026495006058
235
+ ],
236
+ "q10": [
237
+ -17.64456891917878,
238
+ -23.09483600592972,
239
+ -26.06524429803997,
240
+ 66.74219388621725,
241
+ 0.3701562429355042,
242
+ 3.2105395020026894
243
+ ],
244
+ "q50": [
245
+ -11.890299008591665,
246
+ 21.49687794805533,
247
+ -12.948819069855842,
248
+ 73.069143628516,
249
+ 2.4781558576353526,
250
+ 14.358516314928792
251
+ ],
252
+ "q90": [
253
+ -0.9272825890787646,
254
+ 30.757136732137102,
255
+ 22.753993283126977,
256
+ 79.78203455447064,
257
+ 4.1663510754326225,
258
+ 35.29919937041597
259
+ ],
260
+ "q99": [
261
+ 3.2349483854473853,
262
+ 36.64670702688041,
263
+ 54.26755046388424,
264
+ 85.34768526305318,
265
+ 5.244466672567272,
266
+ 41.97041456103727
267
+ ]
268
+ },
269
+ "timestamp": {
270
+ "min": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 31.433333333333334
275
+ ],
276
+ "mean": [
277
+ 15.38416476668187
278
+ ],
279
+ "std": [
280
+ 9.021777216620526
281
+ ],
282
+ "count": [
283
+ 10965
284
+ ],
285
+ "q01": [
286
+ 0.29090905035940384
287
+ ],
288
+ "q10": [
289
+ 3.0676415085990714
290
+ ],
291
+ "q50": [
292
+ 15.380883494148021
293
+ ],
294
+ "q90": [
295
+ 27.700688024764663
296
+ ],
297
+ "q99": [
298
+ 30.47742048300433
299
+ ]
300
+ },
301
+ "frame_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 943
307
+ ],
308
+ "mean": [
309
+ 461.524943000456
310
+ ],
311
+ "std": [
312
+ 270.65331649861577
313
+ ],
314
+ "count": [
315
+ 10965
316
+ ],
317
+ "q01": [
318
+ 8.727271513627379
319
+ ],
320
+ "q10": [
321
+ 92.02924526029386
322
+ ],
323
+ "q50": [
324
+ 461.3130868217054
325
+ ],
326
+ "q90": [
327
+ 831.020640740618
328
+ ],
329
+ "q99": [
330
+ 914.3226144872846
331
+ ]
332
+ },
333
+ "index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 10964
339
+ ],
340
+ "mean": [
341
+ 5482.0
342
+ ],
343
+ "std": [
344
+ 3165.322837668642
345
+ ],
346
+ "count": [
347
+ 10965
348
+ ],
349
+ "q01": [
350
+ 5029.202328513171
351
+ ],
352
+ "q10": [
353
+ 5112.5043022598375
354
+ ],
355
+ "q50": [
356
+ 5481.901561823986
357
+ ],
358
+ "q90": [
359
+ 5851.4956977401625
360
+ ],
361
+ "q99": [
362
+ 5934.797671486829
363
+ ]
364
+ },
365
+ "task_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 0
371
+ ],
372
+ "mean": [
373
+ 0.0
374
+ ],
375
+ "std": [
376
+ 0.0
377
+ ],
378
+ "count": [
379
+ 10965
380
+ ],
381
+ "q01": [
382
+ 3.999999999999417e-16
383
+ ],
384
+ "q10": [
385
+ 3.999999999999417e-15
386
+ ],
387
+ "q50": [
388
+ 1.999999999999709e-14
389
+ ],
390
+ "q90": [
391
+ 3.5999999999994754e-14
392
+ ],
393
+ "q99": [
394
+ 3.959999999999424e-14
395
+ ]
396
+ },
397
+ "observation.images.above": {
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
+ 0.5306047888544028
436
+ ]
437
+ ],
438
+ [
439
+ [
440
+ 0.5762097576321149
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.5626286716466318
446
+ ]
447
+ ]
448
+ ],
449
+ "std": [
450
+ [
451
+ [
452
+ 0.005997174273912004
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 0.007686750092559138
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.005986864053669521
463
+ ]
464
+ ]
465
+ ],
466
+ "count": [
467
+ 1990
468
+ ],
469
+ "q01": [
470
+ [
471
+ [
472
+ -3.9215686274509797e-13
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.016710710290424216
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ 0.0045592556712913835
483
+ ]
484
+ ]
485
+ ],
486
+ "q10": [
487
+ [
488
+ [
489
+ 0.14790229682164413
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.2371765188993382
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.21545599269946555
500
+ ]
501
+ ]
502
+ ],
503
+ "q50": [
504
+ [
505
+ [
506
+ 0.5755781587102768
507
+ ]
508
+ ],
509
+ [
510
+ [
511
+ 0.6081592773857424
512
+ ]
513
+ ],
514
+ [
515
+ [
516
+ 0.6088363278896959
517
+ ]
518
+ ]
519
+ ],
520
+ "q90": [
521
+ [
522
+ [
523
+ 0.7328719673223363
524
+ ]
525
+ ],
526
+ [
527
+ [
528
+ 0.8056875356015054
529
+ ]
530
+ ],
531
+ [
532
+ [
533
+ 0.7628692175998345
534
+ ]
535
+ ]
536
+ ],
537
+ "q99": [
538
+ [
539
+ [
540
+ 0.9537067662237338
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.9037989209338355
546
+ ]
547
+ ],
548
+ [
549
+ [
550
+ 0.8856726236291159
551
+ ]
552
+ ]
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -21.699195861816406,
558
+ -100.0,
559
+ -53.35463333129883,
560
+ 53.81898498535156,
561
+ -9.10866928100586,
562
+ 0.0
563
+ ],
564
+ "max": [
565
+ 9.223114967346191,
566
+ 44.90078353881836,
567
+ 100.0,
568
+ 95.67328643798828,
569
+ 11.30647087097168,
570
+ 47.05882263183594
571
+ ],
572
+ "mean": [
573
+ -10.466318308529765,
574
+ 15.056109230087818,
575
+ -6.547170290749094,
576
+ 73.25655703981663,
577
+ 2.506496265901586,
578
+ 18.243409511306982
579
+ ],
580
+ "std": [
581
+ 7.428899952461152,
582
+ 28.516651905087873,
583
+ 25.808820111719516,
584
+ 6.594995397265414,
585
+ 2.600915614377825,
586
+ 12.508333355246375
587
+ ],
588
+ "count": [
589
+ 10965
590
+ ],
591
+ "q01": [
592
+ -19.381242299889703,
593
+ -58.26683524131656,
594
+ -32.00962436932099,
595
+ 62.021505594204214,
596
+ -1.438825694532691,
597
+ 1.7210388603889057
598
+ ],
599
+ "q10": [
600
+ -17.641624880927917,
601
+ -21.538256388164285,
602
+ -24.25826549591047,
603
+ 66.83660984394847,
604
+ 0.7519299869860387,
605
+ 3.647522874958301
606
+ ],
607
+ "q50": [
608
+ -12.043447939209358,
609
+ 22.956079507236442,
610
+ -11.401089505379987,
611
+ 73.05991636252415,
612
+ 2.6260125322874375,
613
+ 17.51294523030256
614
+ ],
615
+ "q90": [
616
+ -1.0520002364683279,
617
+ 32.07547371857186,
618
+ 24.45101186613595,
619
+ 79.75307323248761,
620
+ 4.09922400410989,
621
+ 35.0541411280296
622
+ ],
623
+ "q99": [
624
+ 2.9942532161689432,
625
+ 37.85821103224155,
626
+ 55.56242113524766,
627
+ 85.38493807165761,
628
+ 5.125845708531373,
629
+ 41.78388032726454
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e15f8614ba71edda9b3d7d530f7b5d0ec6802fa4e2f478eec50bffe32b115e7
3
+ size 2236
videos/observation.images.above/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bde94d850564e4a227278c0c4dae1a7633783a47b4d2e9ef4d435115a00dad08
3
+ size 146759693
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 sha256:7ce8ecb5f73e434576ccd7b55ad58e9b932215b48ef1c5ab79724213e2e5d0a8
3
+ size 106241499