LzDIY commited on
Commit
e7f7bb0
·
verified ·
1 Parent(s): 12467d1

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 sha256:3f879b24b24d1b8c9edfdf5896cd77e66d76214f07de50b15a9ca46afcfa1823
3
+ size 128417
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d9c7f1a35a6d78f5319b3229f7c9c703be87b8d4cbce2e3d78bfcbd4641fa5ea
3
+ size 57492
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 2866,
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": "0:4"
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": "h264",
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": "h264",
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 34.43333333333333
8
+ ],
9
+ "mean": [
10
+ 12.878343800883925
11
+ ],
12
+ "std": [
13
+ 8.477561210282929
14
+ ],
15
+ "count": [
16
+ 2866
17
+ ],
18
+ "q01": [
19
+ 0.24425427866438162
20
+ ],
21
+ "q10": [
22
+ 2.5593014895686013
23
+ ],
24
+ "q50": [
25
+ 12.871642521516577
26
+ ],
27
+ "q90": [
28
+ 23.19181249042668
29
+ ],
30
+ "q99": [
31
+ 25.512433323103473
32
+ ]
33
+ },
34
+ "observation.images.top": {
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
+ 0.4921509166660965
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5102350496752552
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.4983988823067606
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.005138812954355976
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.0050450616233976495
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.006218043901616546
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 55027200
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ -1e-10
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.003866215654951978
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ -1e-10
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.01245973212993517
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.03500255951233049
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.02914417497676342
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.5764999812148165
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.5956443694167108
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.583000575006573
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.7919611545756223
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.8074729206192529
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.7895052861969576
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.891442326330081
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9381765757069235
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9020531822403759
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "action": {
193
+ "min": [
194
+ -39.64834976196289,
195
+ -104.13186645507812,
196
+ -50.46154022216797,
197
+ 50.63736343383789,
198
+ -21.318681716918945,
199
+ 0.0
200
+ ],
201
+ "max": [
202
+ 33.67033004760742,
203
+ 43.20878982543945,
204
+ 96.70330047607422,
205
+ 103.38461303710938,
206
+ 95.16483306884766,
207
+ 91.45367431640625
208
+ ],
209
+ "mean": [
210
+ -0.3208201840384727,
211
+ -35.30063852295539,
212
+ 32.92191726414374,
213
+ 83.49618378271195,
214
+ 44.36822953526989,
215
+ 19.816079631520584
216
+ ],
217
+ "std": [
218
+ 17.973192260776397,
219
+ 55.06184794826306,
220
+ 50.494460550409016,
221
+ 12.252232536581156,
222
+ 31.120017368286824,
223
+ 23.58424375752186
224
+ ],
225
+ "count": [
226
+ 2866
227
+ ],
228
+ "q01": [
229
+ -31.501150743467193,
230
+ -103.15941113027837,
231
+ -31.953452062523628,
232
+ 55.629506326576916,
233
+ 4.719758335108202,
234
+ 0.3948260240717172
235
+ ],
236
+ "q10": [
237
+ -26.517273916393883,
238
+ -102.58840141387034,
239
+ -19.096214049717968,
240
+ 68.65387847431873,
241
+ 8.659792285074888,
242
+ 0.4296878153229333
243
+ ],
244
+ "q50": [
245
+ 2.9009078995191238,
246
+ -20.360337862742433,
247
+ 17.376851273381618,
248
+ 83.19910245851452,
249
+ 41.52931015044416,
250
+ 6.2965670547847274
251
+ ],
252
+ "q90": [
253
+ 20.17362736223908,
254
+ 22.081029822002584,
255
+ 96.46236567664796,
256
+ 98.50630988151576,
257
+ 84.45122012888675,
258
+ 55.587470944857394
259
+ ],
260
+ "q99": [
261
+ 24.616210748845965,
262
+ 34.63474829882604,
263
+ 96.47364231873237,
264
+ 101.55642659646435,
265
+ 87.56053781909102,
266
+ 64.58747562295044
267
+ ]
268
+ },
269
+ "observation.state": {
270
+ "min": [
271
+ -39.20878982543945,
272
+ -103.9120864868164,
273
+ -45.758243560791016,
274
+ 52.263736724853516,
275
+ -20.0,
276
+ 1.2855210304260254
277
+ ],
278
+ "max": [
279
+ 33.406593322753906,
280
+ 44.483516693115234,
281
+ 96.65933990478516,
282
+ 102.37362670898438,
283
+ 94.63735961914062,
284
+ 89.71583557128906
285
+ ],
286
+ "mean": [
287
+ -0.3406644914837376,
288
+ -33.72271241762383,
289
+ 34.709096083338245,
290
+ 83.46075528098916,
291
+ 44.42804361304784,
292
+ 22.37185625154824
293
+ ],
294
+ "std": [
295
+ 17.946916780139198,
296
+ 56.44289136736765,
297
+ 49.76605835945203,
298
+ 11.845104068672672,
299
+ 31.09353884390997,
300
+ 22.390987734523172
301
+ ],
302
+ "count": [
303
+ 2866
304
+ ],
305
+ "q01": [
306
+ -31.26621202715981,
307
+ -102.94696696378425,
308
+ -28.28712800921715,
309
+ 56.87500339461471,
310
+ 5.196474814617126,
311
+ 1.2855210304260254
312
+ ],
313
+ "q10": [
314
+ -26.44675260358186,
315
+ -102.60989345707193,
316
+ -16.30630086611723,
317
+ 68.94297760339857,
318
+ 8.769872399781766,
319
+ 1.326939482627091
320
+ ],
321
+ "q50": [
322
+ 2.8618044482463465,
323
+ -18.522466806214563,
324
+ 19.326236103055454,
325
+ 83.11098425274021,
326
+ 41.789400025305845,
327
+ 15.43965515391573
328
+ ],
329
+ "q90": [
330
+ 20.375171868162223,
331
+ 24.355546415998422,
332
+ 96.45836785421886,
333
+ 97.69031227513301,
334
+ 84.5027558031132,
335
+ 55.531773978106415
336
+ ],
337
+ "q99": [
338
+ 24.54357887633638,
339
+ 36.31953641411273,
340
+ 96.46894858102412,
341
+ 100.84063647333595,
342
+ 87.37413819413386,
343
+ 64.30518451197453
344
+ ]
345
+ },
346
+ "index": {
347
+ "min": [
348
+ 0
349
+ ],
350
+ "max": [
351
+ 2865
352
+ ],
353
+ "mean": [
354
+ 1432.5
355
+ ],
356
+ "std": [
357
+ 827.3428853867059
358
+ ],
359
+ "count": [
360
+ 2866
361
+ ],
362
+ "q01": [
363
+ 1053.477314336259
364
+ ],
365
+ "q10": [
366
+ 1122.9287306628646
367
+ ],
368
+ "q50": [
369
+ 1432.2989616189811
370
+ ],
371
+ "q90": [
372
+ 1741.9040606839599
373
+ ],
374
+ "q99": [
375
+ 1811.5226856637412
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
+ 2866
393
+ ],
394
+ "q01": [
395
+ 3.999999999999418e-16
396
+ ],
397
+ "q10": [
398
+ 3.999999999999417e-15
399
+ ],
400
+ "q50": [
401
+ 1.9999999999997088e-14
402
+ ],
403
+ "q90": [
404
+ 3.5999999999994754e-14
405
+ ],
406
+ "q99": [
407
+ 3.9599999999994235e-14
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 1033
416
+ ],
417
+ "mean": [
418
+ 386.3503140265178
419
+ ],
420
+ "std": [
421
+ 254.32683630848786
422
+ ],
423
+ "count": [
424
+ 2866
425
+ ],
426
+ "q01": [
427
+ 7.327628362776966
428
+ ],
429
+ "q10": [
430
+ 76.77904468938252
431
+ ],
432
+ "q50": [
433
+ 386.08599385903693
434
+ ],
435
+ "q90": [
436
+ 695.7543747104779
437
+ ],
438
+ "q99": [
439
+ 765.3729996902588
440
+ ]
441
+ },
442
+ "episode_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 3
448
+ ],
449
+ "mean": [
450
+ 1.3199581297976273
451
+ ],
452
+ "std": [
453
+ 1.1679600306852493
454
+ ],
455
+ "count": [
456
+ 2866
457
+ ],
458
+ "q01": [
459
+ 1.3199581297976277
460
+ ],
461
+ "q10": [
462
+ 1.3199581297976315
463
+ ],
464
+ "q50": [
465
+ 1.3199581297976473
466
+ ],
467
+ "q90": [
468
+ 1.3199581297976632
469
+ ],
470
+ "q99": [
471
+ 1.3199581297976668
472
+ ]
473
+ },
474
+ "observation.images.front": {
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
+ 0.6347376023522341
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5616255962826509
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5783314327402865
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.014087976901506125
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.01237552413172605
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.01025956119377281
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 55027200
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.0969478147442035
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.07506072869096517
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.09588907881741297
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.24270674653332633
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.2031745579846704
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.21836505663904057
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.6740999915076326
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5818407112208624
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.6046465779621074
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.9656336544233656
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.8994640766894143
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.9102969861176363
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9998974233632709
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9960953658926156
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9967979906321321
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:f70a0c8076acfceac4ca44ff1b0f775a218700db26e906bd7eb8e2f9c85c278e
3
+ size 2376
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 sha256:25068763f7023782d05e8a0e987b2de4f5893830a7626e962de853d5520f0b9a
3
+ size 85950086
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 sha256:5005151300f31b6720cd832647e44de23a79ab222bece33f12e1f90ce6855dff
3
+ size 80486305