Javiertxu22 commited on
Commit
404554f
·
verified ·
1 Parent(s): 22225ed

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:f343e8c853f325635ea875dbeb67aa928618291e76e5264d985732a6b94ecb9d
3
+ size 604445
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75b66682c486f8c63793a0ea53abab0af0fabec59cdebc5c02e19703c50331bd
3
+ size 271407
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 60,
5
+ "total_frames": 9279,
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": "0:60"
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.topdown": {
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.front": {
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
+ -61.10497283935547,
5
+ -99.2369613647461,
6
+ -96.49280548095703,
7
+ -19.23411750793457,
8
+ -27.072978973388672,
9
+ 1.0033445358276367
10
+ ],
11
+ "max": [
12
+ 61.84162139892578,
13
+ 60.83086013793945,
14
+ 98.56114959716797,
15
+ 99.21671295166016,
16
+ 69.55270385742188,
17
+ 89.16387939453125
18
+ ],
19
+ "mean": [
20
+ 7.564982683651662,
21
+ -32.12251422708504,
22
+ 32.459868204427934,
23
+ 65.530820363708,
24
+ 12.570264272949847,
25
+ 14.657316464444586
26
+ ],
27
+ "std": [
28
+ 19.382243597029742,
29
+ 45.51306206905023,
30
+ 48.0673777659027,
31
+ 18.533015922818752,
32
+ 16.47291297588239,
33
+ 18.83573420104696
34
+ ],
35
+ "count": [
36
+ 9279
37
+ ],
38
+ "q01": [
39
+ -14.272619962194318,
40
+ -93.1733549512472,
41
+ -34.829810582162835,
42
+ 33.469243682136884,
43
+ -4.617109276157544,
44
+ 1.1199133414599316
45
+ ],
46
+ "q10": [
47
+ -11.87285351088684,
48
+ -90.26462673486166,
49
+ -22.74194656030741,
50
+ 39.40651669465988,
51
+ -2.053204116668952,
52
+ 1.13574786670517
53
+ ],
54
+ "q50": [
55
+ 4.662902828054711,
56
+ -23.599373348153332,
57
+ 26.981980593812025,
58
+ 67.13402630424795,
59
+ 9.536259852866007,
60
+ 7.025763291021186
61
+ ],
62
+ "q90": [
63
+ 31.752788993990322,
64
+ 21.541780982243882,
65
+ 91.06791403194025,
66
+ 85.10140603153361,
67
+ 37.11757734903401,
68
+ 44.8560085511607
69
+ ],
70
+ "q99": [
71
+ 34.161588224547316,
72
+ 25.934112365637127,
73
+ 92.6717348527601,
74
+ 93.45923437753271,
75
+ 41.27372809058535,
76
+ 59.20043561450384
77
+ ]
78
+ },
79
+ "action": {
80
+ "min": [
81
+ -61.31171798706055,
82
+ -99.57501220703125,
83
+ -99.63931274414062,
84
+ -20.67620277404785,
85
+ -27.619047164916992,
86
+ 0.0
87
+ ],
88
+ "max": [
89
+ 62.34340286254883,
90
+ 60.305992126464844,
91
+ 99.18846130371094,
92
+ 100.0,
93
+ 69.9145278930664,
94
+ 92.00666046142578
95
+ ],
96
+ "mean": [
97
+ 7.60453474325717,
98
+ -33.08048495260701,
99
+ 31.280023318090397,
100
+ 65.2631854943153,
101
+ 12.563062509273529,
102
+ 12.675043031147732
103
+ ],
104
+ "std": [
105
+ 19.40580344605769,
106
+ 45.023224491498915,
107
+ 48.61180963446893,
108
+ 18.89225775845603,
109
+ 16.5585587663402,
110
+ 20.36373992510428
111
+ ],
112
+ "count": [
113
+ 9279
114
+ ],
115
+ "q01": [
116
+ -14.329798487132381,
117
+ -93.54562558805594,
118
+ -37.67111111160056,
119
+ 32.256762460507595,
120
+ -4.769176095555765,
121
+ 0.24186552989789775
122
+ ],
123
+ "q10": [
124
+ -11.912222665637728,
125
+ -90.53080250000545,
126
+ -24.77165510593076,
127
+ 38.69045972656535,
128
+ -2.0042802059309244,
129
+ 0.5425768844937775
130
+ ],
131
+ "q50": [
132
+ 4.708343334040016,
133
+ -24.752782428062183,
134
+ 26.02161030678504,
135
+ 66.79434511170848,
136
+ 9.490060546313329,
137
+ 1.7613501992476808
138
+ ],
139
+ "q90": [
140
+ 31.74700831895331,
141
+ 20.088263336954206,
142
+ 90.8372941843231,
143
+ 85.27674643038218,
144
+ 37.16004539514165,
145
+ 46.53935082117135
146
+ ],
147
+ "q99": [
148
+ 34.42668737419138,
149
+ 25.878312865974657,
150
+ 92.38592248178615,
151
+ 94.10050183692965,
152
+ 41.62428943027858,
153
+ 60.27681617976152
154
+ ]
155
+ },
156
+ "observation.images.topdown": {
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
+ 0.5709076810080378
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5777922682266533
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5299727785271116
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.019107735759417346
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.015535334919684797
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.01634894957275531
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 5953
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.02359723420855047
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.009070287219017287
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ -3.921568627450983e-13
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.12249724602355963
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.20165133814757705
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.10727354083024881
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.6287630801801173
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.5723410868730782
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.5023900354691079
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.9422029417359216
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.9290615619604529
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.9624428887888208
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.9994005551702331
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.9995268938234382
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.9997918979371521
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.front": {
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
+ 0.588432114334619
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5365308219807882
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.5134171352404842
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.009373137713991222
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.009082578322570561
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.008288516063559888
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 5953
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.007856792147049641
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ -3.921568627450983e-13
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.921568627450983e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.149045075220757
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.08009662559384563
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.04798209689000086
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6682932102135201
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.6099803250531496
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.5860483817398782
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.7908647628330417
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.7926901747679297
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8012337193727699
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.8274902572599787
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.8378539787804443
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.8896028205155082
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "index": {
473
+ "min": [
474
+ 0
475
+ ],
476
+ "max": [
477
+ 9278
478
+ ],
479
+ "mean": [
480
+ 4639.0
481
+ ],
482
+ "std": [
483
+ 2678.616558349976
484
+ ],
485
+ "count": [
486
+ 9279
487
+ ],
488
+ "q01": [
489
+ 4561.445485304783
490
+ ],
491
+ "q10": [
492
+ 4575.628012716807
493
+ ],
494
+ "q50": [
495
+ 4638.718073671733
496
+ ],
497
+ "q90": [
498
+ 4702.226375687117
499
+ ],
500
+ "q99": [
501
+ 4716.554483211653
502
+ ]
503
+ },
504
+ "timestamp": {
505
+ "min": [
506
+ 0.0
507
+ ],
508
+ "max": [
509
+ 7.1
510
+ ],
511
+ "mean": [
512
+ 2.6198907928296866
513
+ ],
514
+ "std": [
515
+ 1.577654480033168
516
+ ],
517
+ "count": [
518
+ 9279
519
+ ],
520
+ "q01": [
521
+ 0.034740302893746494
522
+ ],
523
+ "q10": [
524
+ 0.5074912166452957
525
+ ],
526
+ "q50": [
527
+ 2.610472849803858
528
+ ],
529
+ "q90": [
530
+ 4.727436649144652
531
+ ],
532
+ "q99": [
533
+ 5.205040233313458
534
+ ]
535
+ },
536
+ "frame_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 213
542
+ ],
543
+ "mean": [
544
+ 78.59672378489061
545
+ ],
546
+ "std": [
547
+ 47.32963440099504
548
+ ],
549
+ "count": [
550
+ 9279
551
+ ],
552
+ "q01": [
553
+ 1.0422090896739318
554
+ ],
555
+ "q10": [
556
+ 15.224736501697562
557
+ ],
558
+ "q50": [
559
+ 78.31473805366917
560
+ ],
561
+ "q90": [
562
+ 141.8230994720063
563
+ ],
564
+ "q99": [
565
+ 156.1512069965422
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 59
574
+ ],
575
+ "mean": [
576
+ 29.645220390128248
577
+ ],
578
+ "std": [
579
+ 17.07708086797839
580
+ ],
581
+ "count": [
582
+ 9279
583
+ ],
584
+ "q01": [
585
+ 29.645220390128248
586
+ ],
587
+ "q10": [
588
+ 29.64522039012825
589
+ ],
590
+ "q50": [
591
+ 29.64522039012825
592
+ ],
593
+ "q90": [
594
+ 29.645220390128266
595
+ ],
596
+ "q99": [
597
+ 29.645220390128273
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
+ 9279
615
+ ],
616
+ "q01": [
617
+ 3.999999999999419e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.999999999999709e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.959999999999423e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:720795e62350f9bc589e613ec3e300a9ecbd821e77c9f03fb62a5a30f9db95a7
3
+ size 2191
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 sha256:57326a1dc99c25f1e1ac07c3067364ef4e603866e1f5ede450c45c352098a27e
3
+ size 63024705
videos/observation.images.topdown/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:33b00efd2ed314c61ddb56051d7e3d403b962b77a7533795929610a3272d7c91
3
+ size 51005164