Itsasne commited on
Commit
c9ad036
·
verified ·
1 Parent(s): 9614f4b

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 sha256:8f804474ab271b1e96dde2d27c1b2b0f30e1d0e5b4f1f3c431175d63433cd736
3
+ size 226368
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:97a47d72c693cd1d59c2a3ed80c5426e4d83505cdfdb7464faacea55c6ca11bd
3
+ size 64961
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 5975,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:10"
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.top": {
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.robot": {
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
+ "observation.state": {
3
+ "min": [
4
+ -5.470785140991211,
5
+ -99.32403564453125,
6
+ 17.235107421875,
7
+ -99.55810546875,
8
+ -65.12549591064453,
9
+ 0.6172839403152466
10
+ ],
11
+ "max": [
12
+ 13.137328147888184,
13
+ 3.2530629634857178,
14
+ 99.45429992675781,
15
+ 44.32169723510742,
16
+ -49.009246826171875,
17
+ 45.19890213012695
18
+ ],
19
+ "mean": [
20
+ 3.419016854433834,
21
+ -56.15759476569906,
22
+ 69.71329277836628,
23
+ -46.53164061286958,
24
+ -54.52442774625004,
25
+ 7.130537012331655
26
+ ],
27
+ "std": [
28
+ 4.307658970054168,
29
+ 43.52773510778257,
30
+ 30.090979997203114,
31
+ 46.97935490035633,
32
+ 3.698892866698371,
33
+ 6.960011577626376
34
+ ],
35
+ "count": [
36
+ 5975
37
+ ],
38
+ "q01": [
39
+ -1.5010739002000475,
40
+ -99.17191919813595,
41
+ 31.834333913635515,
42
+ -98.53388150905465,
43
+ -57.403142272381935,
44
+ 0.8162382266710991
45
+ ],
46
+ "q10": [
47
+ -1.2848022814097668,
48
+ -99.17191919813595,
49
+ 32.935537777513495,
50
+ -98.35163329693684,
51
+ -56.510068673980655,
52
+ 0.836990704269681
53
+ ],
54
+ "q50": [
55
+ 2.5485665139884763,
56
+ -68.3319666241373,
57
+ 75.43164287493948,
58
+ -42.20274031109309,
59
+ -54.1478868346221,
60
+ 4.417311793586245
61
+ ],
62
+ "q90": [
63
+ 8.44900555703925,
64
+ -0.6312042881285406,
65
+ 99.21889830819484,
66
+ 0.3214596007156553,
67
+ -52.95817740595108,
68
+ 18.18955379169009
69
+ ],
70
+ "q99": [
71
+ 9.79736692727405,
72
+ -0.11235789789196368,
73
+ 99.24272066154589,
74
+ 6.112742258601792,
75
+ -52.68337005045407,
76
+ 21.96495252567629
77
+ ]
78
+ },
79
+ "index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 5974
85
+ ],
86
+ "mean": [
87
+ 2987.0
88
+ ],
89
+ "std": [
90
+ 1724.8339050470918
91
+ ],
92
+ "count": [
93
+ 5975
94
+ ],
95
+ "q01": [
96
+ 2693.7682207918683
97
+ ],
98
+ "q10": [
99
+ 2747.8081311329743
100
+ ],
101
+ "q50": [
102
+ 2986.5763931715483
103
+ ],
104
+ "q90": [
105
+ 3226.1918688670257
106
+ ],
107
+ "q99": [
108
+ 3280.2317792081317
109
+ ]
110
+ },
111
+ "observation.images.top": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5420117895561002
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.5690387760416667
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.5096028780296842
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.018736932785999257
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.02122066541448259
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.02194709028760754
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 1200
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.3811846794253983
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.3192192772978742
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.20745152001937747
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.45213642568266965
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.4886412278595604
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.4392392062572584
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.49142105690517895
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.5255330913876242
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.48199533145846424
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.9254870282697436
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.9051069354668368
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.5932766402384461
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9994646477681258
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9878482405632083
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.9803699200605576
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "timestamp": {
270
+ "min": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 19.9
275
+ ],
276
+ "mean": [
277
+ 9.94170711297071
278
+ ],
279
+ "std": [
280
+ 5.749508206546544
281
+ ],
282
+ "count": [
283
+ 5975
284
+ ],
285
+ "q01": [
286
+ 0.16731447260461182
287
+ ],
288
+ "q10": [
289
+ 1.9686448173256597
290
+ ],
291
+ "q50": [
292
+ 9.927586885355506
293
+ ],
294
+ "q90": [
295
+ 17.914769408615758
296
+ ],
297
+ "q99": [
298
+ 19.716099753336803
299
+ ]
300
+ },
301
+ "action": {
302
+ "min": [
303
+ -5.286839008331299,
304
+ -100.0,
305
+ 13.623978614807129,
306
+ -99.9137191772461,
307
+ -65.45407104492188,
308
+ 0.0
309
+ ],
310
+ "max": [
311
+ 13.085864067077637,
312
+ 3.066439628601074,
313
+ 99.45503997802734,
314
+ 44.607421875,
315
+ -48.80921173095703,
316
+ 45.447086334228516
317
+ ],
318
+ "mean": [
319
+ 3.389908086505395,
320
+ -56.82677684033765,
321
+ 68.50791999274217,
322
+ -46.89113069318827,
323
+ -54.528021699913374,
324
+ 5.436572858499184
325
+ ],
326
+ "std": [
327
+ 4.278382332162726,
328
+ 43.15632141470739,
329
+ 31.120328621403083,
330
+ 46.7923645480834,
331
+ 3.704726613062961,
332
+ 7.921203426595321
333
+ ],
334
+ "count": [
335
+ 5975
336
+ ],
337
+ "q01": [
338
+ -1.5797876244410332,
339
+ -99.7104488391315,
340
+ 28.500488982046818,
341
+ -98.69455417409917,
342
+ -57.390973138327496,
343
+ 0.49912314269031366
344
+ ],
345
+ "q10": [
346
+ -1.2348890637549186,
347
+ -99.1668525306074,
348
+ 30.258452807733303,
349
+ -98.47663411214357,
350
+ -56.53281279547062,
351
+ 0.5086579408018747
352
+ ],
353
+ "q50": [
354
+ 2.4925507459983405,
355
+ -69.13580171860062,
356
+ 74.53521347573738,
357
+ -42.78949197249692,
358
+ -54.19255794254002,
359
+ 1.3447407334515482
360
+ ],
361
+ "q90": [
362
+ 8.42960764300623,
363
+ -1.3585444101123436,
364
+ 99.14356078084273,
365
+ -0.2614529951509703,
366
+ -52.91482722235341,
367
+ 18.1558055475487
368
+ ],
369
+ "q99": [
370
+ 9.839924099414159,
371
+ -0.362117812498694,
372
+ 99.24401292998496,
373
+ 6.11562478515862,
374
+ -52.56406450746469,
375
+ 22.251820690744847
376
+ ]
377
+ },
378
+ "task_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 0
384
+ ],
385
+ "mean": [
386
+ 0.0
387
+ ],
388
+ "std": [
389
+ 0.0
390
+ ],
391
+ "count": [
392
+ 5975
393
+ ],
394
+ "q01": [
395
+ 3.9999999999994186e-16
396
+ ],
397
+ "q10": [
398
+ 3.999999999999418e-15
399
+ ],
400
+ "q50": [
401
+ 1.9999999999997084e-14
402
+ ],
403
+ "q90": [
404
+ 3.599999999999476e-14
405
+ ],
406
+ "q99": [
407
+ 3.9599999999994235e-14
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 597
416
+ ],
417
+ "mean": [
418
+ 298.25121338912135
419
+ ],
420
+ "std": [
421
+ 172.4852461963963
422
+ ],
423
+ "count": [
424
+ 5975
425
+ ],
426
+ "q01": [
427
+ 5.019434180989551
428
+ ],
429
+ "q10": [
430
+ 59.059344522095536
431
+ ],
432
+ "q50": [
433
+ 297.81569653556477
434
+ ],
435
+ "q90": [
436
+ 537.4430822561471
437
+ ],
438
+ "q99": [
439
+ 591.4829925972533
440
+ ]
441
+ },
442
+ "episode_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 9
448
+ ],
449
+ "mean": [
450
+ 4.502594142259414
451
+ ],
452
+ "std": [
453
+ 2.870939659006449
454
+ ],
455
+ "count": [
456
+ 5975
457
+ ],
458
+ "q01": [
459
+ 4.502594142259414
460
+ ],
461
+ "q10": [
462
+ 4.502594142259418
463
+ ],
464
+ "q50": [
465
+ 4.502594142259435
466
+ ],
467
+ "q90": [
468
+ 4.502594142259451
469
+ ],
470
+ "q99": [
471
+ 4.502594142259454
472
+ ]
473
+ },
474
+ "observation.images.robot": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.49229060712826794
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5173423282611654
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5203467080269607
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.02507540597728998
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.014509821512740457
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.010733216119677678
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 1200
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.06822703908861011
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.08901603983599053
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.05334064758240441
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.19330113235979146
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.25453986909227555
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.22155739844389435
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.42904362253135647
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.44900614565613867
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.4799947035447101
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.9940287934344632
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.9317652608550967
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.9333571597797046
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9999795216223574
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9999673094232266
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9999710419037484
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cacbdeb717d9cb92df1176d0d0b0b32ea1dd9923186f06dc1e5b1b8d952df3ad
3
+ size 2156
videos/observation.images.robot/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ba1c09ffd70c39a424279a6becb02985d490bbdef09566ef16364e0aaad1a64
3
+ size 47595921
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b86163918c2e6061d40e5e2a1a48394a8f17d95f553a90101f368a3a2dbdc1c5
3
+ size 44970272