KHScientific commited on
Commit
4e7a8e5
·
verified ·
1 Parent(s): 510c059

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 sha256:6d2568545b1df67bd7ca40894248ad11f39e7150351ab7f30020975145c860b3
3
+ size 802787
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8015a6a6d6ea5db7c4273200c43844576f3c89b6615f1da1350d79c57094baf
3
+ size 230596
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 48,
5
+ "total_frames": 31406,
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": "0:48"
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": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.overhead": {
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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 31405
8
+ ],
9
+ "mean": [
10
+ 15702.5
11
+ ],
12
+ "std": [
13
+ 9066.131272488834
14
+ ],
15
+ "count": [
16
+ 31406
17
+ ],
18
+ "q01": [
19
+ 15373.251956951188
20
+ ],
21
+ "q10": [
22
+ 15433.691735340939
23
+ ],
24
+ "q50": [
25
+ 15702.359186416608
26
+ ],
27
+ "q90": [
28
+ 15971.236652100952
29
+ ],
30
+ "q99": [
31
+ 16031.748043048812
32
+ ]
33
+ },
34
+ "observation.images.overhead": {
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
+ 0.5047228415112001
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.49888740551034333
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5031583837013769
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.011183818338433257
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.010420865869292232
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.01034557810155202
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 6180
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.036665706304160404
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.035875949532169424
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.04561038045491483
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.09687210012672744
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.09586008102118235
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.11287313010368125
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.6069554442411079
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.6002392312490589
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5866233361220018
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.6972038749010611
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.6927604206278649
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.7063287216995787
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.8881349151306914
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.8349937211371947
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9223944831720274
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -71.64234924316406,
195
+ -97.63313293457031,
196
+ -51.12333679199219,
197
+ -25.843656539916992,
198
+ -62.076271057128906,
199
+ 1.099656343460083
200
+ ],
201
+ "max": [
202
+ 37.149269104003906,
203
+ 66.61031341552734,
204
+ 99.81659698486328,
205
+ 53.2678337097168,
206
+ -36.705509185791016,
207
+ 56.70103073120117
208
+ ],
209
+ "mean": [
210
+ -15.474990337929558,
211
+ -36.43771531516136,
212
+ 58.73906120946967,
213
+ 17.465542050127027,
214
+ -48.43720129083875,
215
+ 25.022830939176
216
+ ],
217
+ "std": [
218
+ 28.505992433205893,
219
+ 48.546636844551344,
220
+ 40.493605416864355,
221
+ 14.957969048804127,
222
+ 4.108817291614145,
223
+ 14.496350784188815
224
+ ],
225
+ "count": [
226
+ 31406
227
+ ],
228
+ "q01": [
229
+ -53.78154680269409,
230
+ -96.71726210540122,
231
+ 6.570801253820736,
232
+ 5.142675606071295,
233
+ -52.51371602427117,
234
+ 6.420326305279905
235
+ ],
236
+ "q10": [
237
+ -51.34265224777822,
238
+ -95.29779943314266,
239
+ 11.756785040242308,
240
+ 5.6230448669375575,
241
+ -51.66613993550982,
242
+ 6.522528944786895
243
+ ],
244
+ "q50": [
245
+ -10.618500919066403,
246
+ -32.26984988728813,
247
+ 58.65839787674305,
248
+ 13.437420705283886,
249
+ -47.794390942442064,
250
+ 26.226986088168683
251
+ ],
252
+ "q90": [
253
+ 14.012669523199033,
254
+ 24.11550279164149,
255
+ 99.68113426981786,
256
+ 34.49190457550759,
257
+ -46.306423359773206,
258
+ 42.93315080037888
259
+ ],
260
+ "q99": [
261
+ 16.753141423750296,
262
+ 27.67624366579611,
263
+ 99.71081969302004,
264
+ 38.48256338889466,
265
+ -45.434331449036854,
266
+ 43.293131654379096
267
+ ]
268
+ },
269
+ "action": {
270
+ "min": [
271
+ -71.58686065673828,
272
+ -99.56840515136719,
273
+ -54.0834846496582,
274
+ -26.74323272705078,
275
+ -62.2713623046875,
276
+ 0.0
277
+ ],
278
+ "max": [
279
+ 37.07954025268555,
280
+ 65.29995727539062,
281
+ 100.0,
282
+ 53.4044303894043,
283
+ -36.50013732910156,
284
+ 57.049713134765625
285
+ ],
286
+ "mean": [
287
+ -15.405515006698712,
288
+ -37.31459459076943,
289
+ 57.45750491014675,
290
+ 17.07628935084695,
291
+ -48.33146395838459,
292
+ 24.94994515412508
293
+ ],
294
+ "std": [
295
+ 28.534370310375877,
296
+ 48.13610693572886,
297
+ 41.21696439872279,
298
+ 15.10110013068499,
299
+ 4.1070324286606406,
300
+ 14.898556058343097
301
+ ],
302
+ "count": [
303
+ 31406
304
+ ],
305
+ "q01": [
306
+ -53.925634673116534,
307
+ -97.32188778669236,
308
+ 3.8241619835606575,
309
+ 4.275264462212839,
310
+ -52.60784635144808,
311
+ 5.481028401165763
312
+ ],
313
+ "q10": [
314
+ -51.33094713362832,
315
+ -95.94823044895418,
316
+ 9.690457422222178,
317
+ 4.841803646927839,
318
+ -51.70940650852179,
319
+ 5.759571184374034
320
+ ],
321
+ "q50": [
322
+ -10.542357831846882,
323
+ -33.61074110956516,
324
+ 57.02910285200731,
325
+ 13.080198434444158,
326
+ -47.73028501990848,
327
+ 26.35280358303375
328
+ ],
329
+ "q90": [
330
+ 14.161236193146102,
331
+ 23.01548195249011,
332
+ 99.8951651234643,
333
+ 34.551801351228605,
334
+ -46.11367445472468,
335
+ 43.149273103633874
336
+ ],
337
+ "q99": [
338
+ 16.909077274939367,
339
+ 27.104908647286543,
340
+ 99.928851104918,
341
+ 38.613606547305345,
342
+ -45.235181841844856,
343
+ 43.65293366236117
344
+ ]
345
+ },
346
+ "observation.images.wrist": {
347
+ "min": [
348
+ [
349
+ [
350
+ 0.0
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.0
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.0
361
+ ]
362
+ ]
363
+ ],
364
+ "max": [
365
+ [
366
+ [
367
+ 1.0
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 1.0
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 1.0
378
+ ]
379
+ ]
380
+ ],
381
+ "mean": [
382
+ [
383
+ [
384
+ 0.4666278509502507
385
+ ]
386
+ ],
387
+ [
388
+ [
389
+ 0.44780981862877306
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.43662771931250943
395
+ ]
396
+ ]
397
+ ],
398
+ "std": [
399
+ [
400
+ [
401
+ 0.005367850800290316
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 0.00357610614782118
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.004975237625794019
412
+ ]
413
+ ]
414
+ ],
415
+ "count": [
416
+ 6180
417
+ ],
418
+ "q01": [
419
+ [
420
+ [
421
+ 0.0377297422221223
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ 0.03304341576152732
427
+ ]
428
+ ],
429
+ [
430
+ [
431
+ 0.0401768966360973
432
+ ]
433
+ ]
434
+ ],
435
+ "q10": [
436
+ [
437
+ [
438
+ 0.08294619221221729
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.07020007046108662
444
+ ]
445
+ ],
446
+ [
447
+ [
448
+ 0.08161868765055252
449
+ ]
450
+ ]
451
+ ],
452
+ "q50": [
453
+ [
454
+ [
455
+ 0.6000830100342626
456
+ ]
457
+ ],
458
+ [
459
+ [
460
+ 0.567415396505194
461
+ ]
462
+ ],
463
+ [
464
+ [
465
+ 0.5321696494873382
466
+ ]
467
+ ]
468
+ ],
469
+ "q90": [
470
+ [
471
+ [
472
+ 0.6953466541384581
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.6805314398619086
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ 0.6831793073919334
483
+ ]
484
+ ]
485
+ ],
486
+ "q99": [
487
+ [
488
+ [
489
+ 0.7353878424373012
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.759460039676036
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.8114999018331176
500
+ ]
501
+ ]
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 927
510
+ ],
511
+ "mean": [
512
+ 335.4896198178692
513
+ ],
514
+ "std": [
515
+ 203.7139251746676
516
+ ],
517
+ "count": [
518
+ 31406
519
+ ],
520
+ "q01": [
521
+ 6.241576769054248
522
+ ],
523
+ "q10": [
524
+ 66.68135515880671
525
+ ],
526
+ "q50": [
527
+ 335.2842459084252
528
+ ],
529
+ "q90": [
530
+ 604.2262719188218
531
+ ],
532
+ "q99": [
533
+ 664.7376628666842
534
+ ]
535
+ },
536
+ "timestamp": {
537
+ "min": [
538
+ 0.0
539
+ ],
540
+ "max": [
541
+ 30.9
542
+ ],
543
+ "mean": [
544
+ 11.182987327262307
545
+ ],
546
+ "std": [
547
+ 6.79046417248892
548
+ ],
549
+ "count": [
550
+ 31406
551
+ ],
552
+ "q01": [
553
+ 0.20805255887360194
554
+ ],
555
+ "q10": [
556
+ 2.222711838549432
557
+ ],
558
+ "q50": [
559
+ 11.178364211297158
560
+ ],
561
+ "q90": [
562
+ 20.140875730704824
563
+ ],
564
+ "q99": [
565
+ 22.15792209565101
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 47
574
+ ],
575
+ "mean": [
576
+ 22.15643507610011
577
+ ],
578
+ "std": [
579
+ 13.72263295117788
580
+ ],
581
+ "count": [
582
+ 31406
583
+ ],
584
+ "q01": [
585
+ 22.15643507610011
586
+ ],
587
+ "q10": [
588
+ 22.156435076100113
589
+ ],
590
+ "q50": [
591
+ 22.15643507610013
592
+ ],
593
+ "q90": [
594
+ 22.156435076100145
595
+ ],
596
+ "q99": [
597
+ 22.15643507610015
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
+ 31406
615
+ ],
616
+ "q01": [
617
+ 3.999999999999417e-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
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5da218a2e30b6da56c2289cd4a1ed2503d412082586f480166977a6ee813a583
3
+ size 2311
videos/observation.images.overhead/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:662b0d02251d95014ef1dda40ccb839fa9e118f14a6a456252007097032e49a5
3
+ size 228650051
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 sha256:26b098cb98e184d0971da223db653d37ceffd29351dbc3779e319ac3826a6663
3
+ size 341094998