Mingminng commited on
Commit
2dfaf40
·
verified ·
1 Parent(s): f76258f

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 sha256:30771f738b3c215e5e2c7b78445e9e52828e98359f1d399e29d3648b969e25e0
3
+ size 41684
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:79387c77fd54a1febb50b6546865e3fc8cc27e6f923c389f8e73433dfb62add0
3
+ size 46955
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "omx_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 733,
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": "0:3"
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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 9.233333333333333
8
+ ],
9
+ "mean": [
10
+ 4.105138699408822
11
+ ],
12
+ "std": [
13
+ 2.4353933544664272
14
+ ],
15
+ "count": [
16
+ 733
17
+ ],
18
+ "q01": [
19
+ 0.06708854105672298
20
+ ],
21
+ "q10": [
22
+ 0.8088302773185378
23
+ ],
24
+ "q50": [
25
+ 4.094627530695513
26
+ ],
27
+ "q90": [
28
+ 7.401447121499106
29
+ ],
30
+ "q99": [
31
+ 8.143188857760922
32
+ ]
33
+ },
34
+ "index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 732
40
+ ],
41
+ "mean": [
42
+ 366.0
43
+ ],
44
+ "std": [
45
+ 211.5986767444447
46
+ ],
47
+ "count": [
48
+ 733
49
+ ],
50
+ "q01": [
51
+ 244.85849525228906
52
+ ],
53
+ "q10": [
54
+ 267.1107473396196
55
+ ],
56
+ "q50": [
57
+ 365.68466493860825
58
+ ],
59
+ "q90": [
60
+ 464.8892526603804
61
+ ],
62
+ "q99": [
63
+ 487.141504747711
64
+ ]
65
+ },
66
+ "episode_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 2
72
+ ],
73
+ "mean": [
74
+ 0.9099590723055935
75
+ ],
76
+ "std": [
77
+ 0.8126366387549163
78
+ ],
79
+ "count": [
80
+ 733
81
+ ],
82
+ "q01": [
83
+ 0.9099590723055939
84
+ ],
85
+ "q10": [
86
+ 0.9099590723055975
87
+ ],
88
+ "q50": [
89
+ 0.9099590723056135
90
+ ],
91
+ "q90": [
92
+ 0.9099590723056294
93
+ ],
94
+ "q99": [
95
+ 0.909959072305633
96
+ ]
97
+ },
98
+ "action": {
99
+ "min": [
100
+ -4.9572649002075195,
101
+ -54.236873626708984,
102
+ -17.851037979125977,
103
+ 27.130647659301758,
104
+ 4.9572649002075195,
105
+ 50.13431167602539
106
+ ],
107
+ "max": [
108
+ 11.452991485595703,
109
+ 10.866910934448242,
110
+ 52.771671295166016,
111
+ 56.874237060546875,
112
+ 20.19536018371582,
113
+ 58.46154022216797
114
+ ],
115
+ "mean": [
116
+ 0.23570434190078776,
117
+ -24.882000437862715,
118
+ 22.12236403898523,
119
+ 42.63455778905184,
120
+ 10.099395744146786,
121
+ 51.206445181353516
122
+ ],
123
+ "std": [
124
+ 3.2364088726936466,
125
+ 23.13858949880658,
126
+ 24.75279657023445,
127
+ 5.494956298191747,
128
+ 3.589923179404765,
129
+ 2.0570145226029957
130
+ ],
131
+ "count": [
132
+ 733
133
+ ],
134
+ "q01": [
135
+ -3.9666775879723315,
136
+ -52.985885386863806,
137
+ -13.018047430863325,
138
+ 31.866190010164477,
139
+ 5.921939095240823,
140
+ 50.14137387243169
141
+ ],
142
+ "q10": [
143
+ -3.2163827319099667,
144
+ -52.88522417938261,
145
+ -11.313863047538641,
146
+ 37.83973242671438,
147
+ 6.011236365214145,
148
+ 50.14137387243169
149
+ ],
150
+ "q50": [
151
+ -0.467016588600726,
152
+ -27.253464122423534,
153
+ 27.892210787948176,
154
+ 42.67265438610665,
155
+ 10.15777218390617,
156
+ 50.16772325818631
157
+ ],
158
+ "q90": [
159
+ 4.798673921587684,
160
+ 6.590157275961008,
161
+ 51.15538490683525,
162
+ 49.32960659583951,
163
+ 14.285218914443117,
164
+ 54.4636613440763
165
+ ],
166
+ "q99": [
167
+ 5.592895289464884,
168
+ 8.392189931795057,
169
+ 51.840056301305324,
170
+ 52.17334270831182,
171
+ 15.628752246989396,
172
+ 57.238800657163914
173
+ ]
174
+ },
175
+ "task_index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 0
181
+ ],
182
+ "mean": [
183
+ 0.0
184
+ ],
185
+ "std": [
186
+ 0.0
187
+ ],
188
+ "count": [
189
+ 733
190
+ ],
191
+ "q01": [
192
+ 3.999999999999417e-16
193
+ ],
194
+ "q10": [
195
+ 3.999999999999417e-15
196
+ ],
197
+ "q50": [
198
+ 1.9999999999997088e-14
199
+ ],
200
+ "q90": [
201
+ 3.599999999999476e-14
202
+ ],
203
+ "q99": [
204
+ 3.9599999999994235e-14
205
+ ]
206
+ },
207
+ "observation.images.front": {
208
+ "min": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "max": [
226
+ [
227
+ [
228
+ 0.9098039215686274
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.9568627450980393
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 1.0
239
+ ]
240
+ ]
241
+ ],
242
+ "mean": [
243
+ [
244
+ [
245
+ 0.5263480732570807
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.5066460089869281
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.47590494008714596
256
+ ]
257
+ ]
258
+ ],
259
+ "std": [
260
+ [
261
+ [
262
+ 0.0006902362529059528
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.0016563434297743828
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.0027251698600437367
273
+ ]
274
+ ]
275
+ ],
276
+ "count": [
277
+ 300
278
+ ],
279
+ "q01": [
280
+ [
281
+ [
282
+ 0.023493229655109017
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.039134409666246504
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.04182793381357417
293
+ ]
294
+ ]
295
+ ],
296
+ "q10": [
297
+ [
298
+ [
299
+ 0.15944744563672772
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.22483269522155572
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.24445839338425662
310
+ ]
311
+ ]
312
+ ],
313
+ "q50": [
314
+ [
315
+ [
316
+ 0.5816553109907013
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.5371789493382942
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.48109327693198933
327
+ ]
328
+ ]
329
+ ],
330
+ "q90": [
331
+ [
332
+ [
333
+ 0.6758410258032963
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.6588459779299433
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.6627581715387358
344
+ ]
345
+ ]
346
+ ],
347
+ "q99": [
348
+ [
349
+ [
350
+ 0.7359705457156622
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.742378948604785
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.7921258423898252
361
+ ]
362
+ ]
363
+ ]
364
+ },
365
+ "observation.state": {
366
+ "min": [
367
+ -5.05494499206543,
368
+ -54.090354919433594,
369
+ -17.264957427978516,
370
+ 28.547008514404297,
371
+ 4.9572649002075195,
372
+ 50.25640869140625
373
+ ],
374
+ "max": [
375
+ 11.20879077911377,
376
+ 11.40415096282959,
377
+ 53.06471252441406,
378
+ 55.60439682006836,
379
+ 20.146520614624023,
380
+ 58.19291687011719
381
+ ],
382
+ "mean": [
383
+ 0.24010265572822437,
384
+ -24.53880189320563,
385
+ 22.58339224343085,
386
+ 43.260134599381225,
387
+ 10.065950376763025,
388
+ 52.01656534629499
389
+ ],
390
+ "std": [
391
+ 3.2597889918274534,
392
+ 23.774949662660823,
393
+ 24.703634265901766,
394
+ 4.905014433010597,
395
+ 3.597819504683087,
396
+ 1.9331355197147408
397
+ ],
398
+ "count": [
399
+ 733
400
+ ],
401
+ "q01": [
402
+ -3.935860189129516,
403
+ -53.14393675050827,
404
+ -12.409070164575095,
405
+ 33.17278055859783,
406
+ 5.921939095240823,
407
+ 50.32410628148348
408
+ ],
409
+ "q10": [
410
+ -3.293917686649755,
411
+ -53.10326529551007,
412
+ -10.745793510385296,
413
+ 38.90932580862007,
414
+ 6.011262251377757,
415
+ 50.32410628148348
416
+ ],
417
+ "q50": [
418
+ -0.4289179509853764,
419
+ -27.12580240049271,
420
+ 28.62167481738581,
421
+ 43.11279978238219,
422
+ 10.106952512290786,
423
+ 51.91006178673679
424
+ ],
425
+ "q90": [
426
+ 4.984066915707244,
427
+ 7.841438949709863,
428
+ 51.52458995262555,
429
+ 49.12932364053973,
430
+ 14.233652946986643,
431
+ 54.28283495495585
432
+ ],
433
+ "q99": [
434
+ 5.430964476804725,
435
+ 9.10553422181384,
436
+ 52.15999822101911,
437
+ 51.3199361183059,
438
+ 15.610735495269381,
439
+ 56.99201498466095
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 277
448
+ ],
449
+ "mean": [
450
+ 123.15416098226467
451
+ ],
452
+ "std": [
453
+ 73.06180063399283
454
+ ],
455
+ "count": [
456
+ 733
457
+ ],
458
+ "q01": [
459
+ 2.012656234553767
460
+ ],
461
+ "q10": [
462
+ 24.264908321884253
463
+ ],
464
+ "q50": [
465
+ 122.83882592087286
466
+ ],
467
+ "q90": [
468
+ 222.04341364264508
469
+ ],
470
+ "q99": [
471
+ 244.29566572997555
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1a47e6a561e655b00c1eefd12cdae8a61a7d13ccf531e562a494421b513745e
3
+ size 2186
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:ae2e6ac50dd2e927d7c2ff69a641837296a6a15d1457a7d38b6a017d775c1c83
3
+ size 4980563