IvanLee commited on
Commit
b725e0d
·
verified ·
1 Parent(s): c01c7a9

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:dae59f1f650f9f8f2ea18bedf21214bbdd9dd8fc6b4d3e3f5033f28bf8ae55de
3
+ size 218794
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dd01be7d55f1de500f5bacb6587e8f7f1701ead5efe41428bdb339690babf2db
3
+ size 65823
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": 5219,
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.front": {
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.side": {
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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 5219
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.5999999999994754e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -8.682854652404785,
37
+ -100.0,
38
+ -51.0676155090332,
39
+ -100.0,
40
+ 49.153438568115234,
41
+ 1.650943398475647
42
+ ],
43
+ "max": [
44
+ 16.04120635986328,
45
+ 40.44480895996094,
46
+ 99.37722778320312,
47
+ 96.00347900390625,
48
+ 67.2486801147461,
49
+ 68.0817642211914
50
+ ],
51
+ "mean": [
52
+ 6.469297320615699,
53
+ -29.395586658287012,
54
+ 33.86631169550308,
55
+ 7.29244913381506,
56
+ 59.97495301205163,
57
+ 21.576014963140157
58
+ ],
59
+ "std": [
60
+ 6.066098801858315,
61
+ 54.931879080297826,
62
+ 52.26492421028244,
63
+ 75.27879355392315,
64
+ 3.5424703043857266,
65
+ 19.851483367092396
66
+ ],
67
+ "count": [
68
+ 5219
69
+ ],
70
+ "q01": [
71
+ -4.360331177403732,
72
+ -98.70459457368995,
73
+ -24.354267126356206,
74
+ -99.39022362576014,
75
+ 54.0049278534688,
76
+ 2.4115893792051253
77
+ ],
78
+ "q10": [
79
+ -2.2503624720703304,
80
+ -98.22439823463024,
81
+ -12.353789823399453,
82
+ -99.12659982327274,
83
+ 55.16226851584582,
84
+ 2.4337024878486537
85
+ ],
86
+ "q50": [
87
+ 9.799209160310028,
88
+ -8.950554306021033,
89
+ 9.363161187258328,
90
+ 42.583217142062,
91
+ 60.709855506640366,
92
+ 22.55318959736513
93
+ ],
94
+ "q90": [
95
+ 11.403299611304721,
96
+ 26.457552422423735,
97
+ 98.5506103363369,
98
+ 72.95594349811259,
99
+ 63.6537685392565,
100
+ 56.209189525096726
101
+ ],
102
+ "q99": [
103
+ 11.871601441981815,
104
+ 27.11522489735111,
105
+ 98.85781804349202,
106
+ 75.64507112470571,
107
+ 64.72960532253853,
108
+ 56.80242182764698
109
+ ]
110
+ },
111
+ "observation.images.front": {
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
+ 0.4300829826851303
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.46517562158150766
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.508466448227626
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.011744512365882163
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.00474155216370155
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.009911180722810007
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 1091
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ -3.92156862745098e-13
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ -3.92156862745098e-13
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.0071215432430938985
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ -3.92156862745098e-13
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.026368026111189727
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.06248336388113935
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.43693312735137957
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.4921344375787061
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.5462808982988999
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.9482245768529047
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.9416797545112491
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.9665356056847935
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9999746016641797
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9999726354566266
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.9999758576464709
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "frame_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 670
275
+ ],
276
+ "mean": [
277
+ 263.6551063422111
278
+ ],
279
+ "std": [
280
+ 156.61355237828218
281
+ ],
282
+ "count": [
283
+ 5219
284
+ ],
285
+ "q01": [
286
+ 4.839381180204575
287
+ ],
288
+ "q10": [
289
+ 52.371225330442954
290
+ ],
291
+ "q50": [
292
+ 263.5257291818355
293
+ ],
294
+ "q90": [
295
+ 474.8471651658207
296
+ ],
297
+ "q99": [
298
+ 522.4708315042178
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 5218
307
+ ],
308
+ "mean": [
309
+ 2609.0
310
+ ],
311
+ "std": [
312
+ 1506.5954997941549
313
+ ],
314
+ "count": [
315
+ 5219
316
+ ],
317
+ "q01": [
318
+ 2350.184274837993
319
+ ],
320
+ "q10": [
321
+ 2397.7161189882318
322
+ ],
323
+ "q50": [
324
+ 2608.893347192949
325
+ ],
326
+ "q90": [
327
+ 2820.1920588236094
328
+ ],
329
+ "q99": [
330
+ 2867.815725162007
331
+ ]
332
+ },
333
+ "observation.state": {
334
+ "min": [
335
+ -8.722467422485352,
336
+ -98.99371337890625,
337
+ -48.899864196777344,
338
+ -99.05660247802734,
339
+ 49.34049987792969,
340
+ 1.9423978328704834
341
+ ],
342
+ "max": [
343
+ 15.59471321105957,
344
+ 40.71278762817383,
345
+ 99.4611587524414,
346
+ 95.45454406738281,
347
+ 67.02491760253906,
348
+ 67.38111114501953
349
+ ],
350
+ "mean": [
351
+ 6.413352284629721,
352
+ -29.014390227118085,
353
+ 34.99445371139915,
354
+ 7.444925311516701,
355
+ 59.879387728531576,
356
+ 21.71981999133597
357
+ ],
358
+ "std": [
359
+ 5.999296610494231,
360
+ 55.299063406236634,
361
+ 51.71139149754104,
362
+ 75.02644790768326,
363
+ 3.5871220742688954,
364
+ 19.880920702835397
365
+ ],
366
+ "count": [
367
+ 5219
368
+ ],
369
+ "q01": [
370
+ -4.197288128113968,
371
+ -98.77583008072456,
372
+ -22.303890232640526,
373
+ -98.855545198022,
374
+ 54.04946597992555,
375
+ 2.5683758472985607
376
+ ],
377
+ "q10": [
378
+ -1.845120932759683,
379
+ -98.32307630685001,
380
+ -10.551487583177316,
381
+ -98.65359548068064,
382
+ 55.02980507613884,
383
+ 2.5683758472985607
384
+ ],
385
+ "q50": [
386
+ 9.760305368381827,
387
+ -8.17718425404124,
388
+ 10.544004745543143,
389
+ 42.73405976035169,
390
+ 60.586208712152924,
391
+ 22.802986204294232
392
+ ],
393
+ "q90": [
394
+ 11.226084166165204,
395
+ 26.98068040911096,
396
+ 98.72962643030489,
397
+ 72.72227929716908,
398
+ 63.51562643541435,
399
+ 56.41403958394189
400
+ ],
401
+ "q99": [
402
+ 11.53527960407676,
403
+ 27.422021894857743,
404
+ 99.01823754082722,
405
+ 75.15115172300042,
406
+ 64.56614470273067,
407
+ 56.49537056118388
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 9
416
+ ],
417
+ "mean": [
418
+ 4.480743437440123
419
+ ],
420
+ "std": [
421
+ 2.854483694705284
422
+ ],
423
+ "count": [
424
+ 5219
425
+ ],
426
+ "q01": [
427
+ 4.480743437440123
428
+ ],
429
+ "q10": [
430
+ 4.480743437440127
431
+ ],
432
+ "q50": [
433
+ 4.480743437440143
434
+ ],
435
+ "q90": [
436
+ 4.480743437440158
437
+ ],
438
+ "q99": [
439
+ 4.480743437440163
440
+ ]
441
+ },
442
+ "timestamp": {
443
+ "min": [
444
+ 0.0
445
+ ],
446
+ "max": [
447
+ 22.333333333333332
448
+ ],
449
+ "mean": [
450
+ 8.788503544740374
451
+ ],
452
+ "std": [
453
+ 5.2204517459427375
454
+ ],
455
+ "count": [
456
+ 5219
457
+ ],
458
+ "q01": [
459
+ 0.16131270591192767
460
+ ],
461
+ "q10": [
462
+ 1.745707510937293
463
+ ],
464
+ "q50": [
465
+ 8.785522724659858
466
+ ],
467
+ "q90": [
468
+ 15.828238838938123
469
+ ],
470
+ "q99": [
471
+ 17.415694383568812
472
+ ]
473
+ },
474
+ "observation.images.side": {
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
+ 0.47605375083122153
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.4684183259272239
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.4891033828097386
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.011409225901898822
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.011878169264711896
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.013135093242649158
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 1091
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.0003630560417447497
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.020148528917486412
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.06250585524997075
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.05802852882551642
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.10611053293710121
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.19929541232584544
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.5000719085941179
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.47816127208618037
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.47823799694080554
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7672354391725543
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7475338878801314
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7608299724585657
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9842844300529338
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9843083378432611
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9843991581583961
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:ac56484bf17f6926eeda91d1bce18b0ed0ea60e0f8f44055084e32e538130ca7
3
+ size 2081
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f835c0da369bded47c955f9895a3f229f116cdd8ae1b8bc88a18735dab62d21f
3
+ size 50217978
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b0d41845b9c2c4f10fa0cd004af8016e741b1f565822cc301b6f8e89419278f
3
+ size 102393613