MoAIBo commited on
Commit
1c12c67
·
verified ·
1 Parent(s): 9d6aca0

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 sha256:46747f7b9fb2a0bde3e7316a6f2702b02db63116de678af0273f0509a03fcc53
3
+ size 167093
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a7ddf506129fe407baff749e1844930bdfb18b06a6c53ddf4f28a423963a9631
3
+ size 58632
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "shoulder_pan.pos",
9
+ "shoulder_lift.pos",
10
+ "elbow_flex.pos",
11
+ "wrist_flex.pos",
12
+ "wrist_roll.pos",
13
+ "gripper.pos"
14
+ ],
15
+ "shape": [
16
+ 6
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "names": [
22
+ "shoulder_pan.pos",
23
+ "shoulder_lift.pos",
24
+ "elbow_flex.pos",
25
+ "wrist_flex.pos",
26
+ "wrist_roll.pos",
27
+ "gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 6
31
+ ]
32
+ },
33
+ "observation.images.front": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 720,
37
+ 1280,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "video.height": 720,
47
+ "video.width": 1280,
48
+ "video.codec": "av1",
49
+ "video.pix_fmt": "yuv420p",
50
+ "video.is_depth_map": false,
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false
54
+ }
55
+ },
56
+ "observation.images.wrist": {
57
+ "dtype": "video",
58
+ "shape": [
59
+ 480,
60
+ 640,
61
+ 3
62
+ ],
63
+ "names": [
64
+ "height",
65
+ "width",
66
+ "channels"
67
+ ],
68
+ "info": {
69
+ "video.height": 480,
70
+ "video.width": 640,
71
+ "video.codec": "av1",
72
+ "video.pix_fmt": "yuv420p",
73
+ "video.is_depth_map": false,
74
+ "video.fps": 30,
75
+ "video.channels": 3,
76
+ "has_audio": false
77
+ }
78
+ },
79
+ "timestamp": {
80
+ "dtype": "float32",
81
+ "shape": [
82
+ 1
83
+ ],
84
+ "names": null
85
+ },
86
+ "frame_index": {
87
+ "dtype": "int64",
88
+ "shape": [
89
+ 1
90
+ ],
91
+ "names": null
92
+ },
93
+ "episode_index": {
94
+ "dtype": "int64",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "task_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ }
114
+ },
115
+ "total_episodes": 5,
116
+ "total_frames": 3409,
117
+ "total_tasks": 1,
118
+ "chunks_size": 1000,
119
+ "data_files_size_in_mb": 100,
120
+ "video_files_size_in_mb": 200,
121
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
122
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
123
+ "robot_type": "so_follower",
124
+ "splits": {
125
+ "train": "0:5"
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -38.94505310058594,
5
+ -104.17582702636719,
6
+ -94.02198028564453,
7
+ -8.835165023803711,
8
+ -111.69230651855469,
9
+ 0.7920792102813721
10
+ ],
11
+ "max": [
12
+ 23.824174880981445,
13
+ 104.70330047607422,
14
+ 96.13186645507812,
15
+ 102.10989379882812,
16
+ 55.9560432434082,
17
+ 57.29372787475586
18
+ ],
19
+ "mean": [
20
+ -2.4191707505722415,
21
+ 8.447115767715474,
22
+ 3.3500575269551947,
23
+ 64.59907214387697,
24
+ -13.824468369146846,
25
+ 14.409146309738182
26
+ ],
27
+ "std": [
28
+ 15.145352621566406,
29
+ 85.67185923307287,
30
+ 66.98582216286759,
31
+ 22.46870276666599,
32
+ 33.80060524744277,
33
+ 15.25505974638958
34
+ ],
35
+ "count": [
36
+ 3409
37
+ ],
38
+ "q01": [
39
+ -34.80770178870267,
40
+ -103.94159127792399,
41
+ -92.36834880742694,
42
+ 16.488729756048397,
43
+ -62.62622696442072,
44
+ 0.7920792102813721
45
+ ],
46
+ "q10": [
47
+ -29.715210536666966,
48
+ -103.85025133671365,
49
+ -82.80021299362993,
50
+ 35.05944310841528,
51
+ -55.440060429325335,
52
+ 0.8062846681396523
53
+ ],
54
+ "q50": [
55
+ 1.631910788080266,
56
+ 39.27660089337815,
57
+ -19.624779216694378,
58
+ 68.9354729959992,
59
+ -8.335928241855527,
60
+ 14.51057152879235
61
+ ],
62
+ "q90": [
63
+ 12.16055234946737,
64
+ 100.53610949267853,
65
+ 95.72674199878166,
66
+ 92.89026980177682,
67
+ 19.8829518324467,
68
+ 36.12288933130937
69
+ ],
70
+ "q99": [
71
+ 16.309902044622707,
72
+ 102.58072090597065,
73
+ 95.90250035529957,
74
+ 102.06955679294288,
75
+ 26.71657164267885,
76
+ 46.933134356736204
77
+ ]
78
+ },
79
+ "episode_index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 4
85
+ ],
86
+ "mean": [
87
+ 1.822235259606923
88
+ ],
89
+ "std": [
90
+ 1.393135179525358
91
+ ],
92
+ "count": [
93
+ 3409
94
+ ],
95
+ "q01": [
96
+ 1.8222352596069231
97
+ ],
98
+ "q10": [
99
+ 1.822235259606927
100
+ ],
101
+ "q50": [
102
+ 1.8222352596069427
103
+ ],
104
+ "q90": [
105
+ 1.8222352596069589
106
+ ],
107
+ "q99": [
108
+ 1.8222352596069624
109
+ ]
110
+ },
111
+ "action": {
112
+ "min": [
113
+ -39.29670333862305,
114
+ -105.62637329101562,
115
+ -96.43955993652344,
116
+ -9.670330047607422,
117
+ -112.3956069946289,
118
+ 0.0
119
+ ],
120
+ "max": [
121
+ 24.263736724853516,
122
+ 105.27472686767578,
123
+ 97.5824203491211,
124
+ 102.85713958740234,
125
+ 57.010990142822266,
126
+ 59.73520278930664
127
+ ],
128
+ "mean": [
129
+ -2.4825066530694007,
130
+ 7.507633745687803,
131
+ 2.5852757363278833,
132
+ 64.99884324928433,
133
+ -13.782302168115699,
134
+ 9.972947147242937
135
+ ],
136
+ "std": [
137
+ 15.124386733075626,
138
+ 85.11616650788714,
139
+ 67.6266181603099,
140
+ 22.879131542329436,
141
+ 33.977562144091856,
142
+ 16.27635123484572
143
+ ],
144
+ "count": [
145
+ 3409
146
+ ],
147
+ "q01": [
148
+ -35.20758162227954,
149
+ -103.91920936429732,
150
+ -94.56058617941774,
151
+ 15.609732796937491,
152
+ -63.18933929943556,
153
+ -1.000000013351432e-10
154
+ ],
155
+ "q10": [
156
+ -29.78546009726733,
157
+ -103.77924202484286,
158
+ -84.54277995751029,
159
+ 34.89334848891373,
160
+ -55.67007161555144,
161
+ 0.012524379611984127
162
+ ],
163
+ "q50": [
164
+ 1.544352514242034,
165
+ 36.834891443764505,
166
+ -19.770705725085612,
167
+ 69.79781370640367,
168
+ -8.505980321029124,
169
+ 0.21838641612127058
170
+ ],
171
+ "q90": [
172
+ 12.088779471359837,
173
+ 100.2439958089599,
174
+ 96.2543035226666,
175
+ 93.03865324452883,
176
+ 21.4827535211779,
177
+ 36.64864398885801
178
+ ],
179
+ "q99": [
180
+ 16.71867881064156,
181
+ 103.00292552582218,
182
+ 96.54289090828013,
183
+ 102.66372217382504,
184
+ 27.06782531350929,
185
+ 47.37862967112463
186
+ ]
187
+ },
188
+ "frame_index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 794
194
+ ],
195
+ "mean": [
196
+ 346.4834262246993
197
+ ],
198
+ "std": [
199
+ 206.7815853228346
200
+ ],
201
+ "count": [
202
+ 3409
203
+ ],
204
+ "q01": [
205
+ 6.360853258922073
206
+ ],
207
+ "q10": [
208
+ 69.02394755052127
209
+ ],
210
+ "q50": [
211
+ 346.41412953945445
212
+ ],
213
+ "q90": [
214
+ 623.9429048988774
215
+ ],
216
+ "q99": [
217
+ 686.6059991904767
218
+ ]
219
+ },
220
+ "index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 3408
226
+ ],
227
+ "mean": [
228
+ 1704.0
229
+ ],
230
+ "std": [
231
+ 984.0934914935674
232
+ ],
233
+ "count": [
234
+ 3409
235
+ ],
236
+ "q01": [
237
+ 1363.8774270342226
238
+ ],
239
+ "q10": [
240
+ 1426.5405213258218
241
+ ],
242
+ "q50": [
243
+ 1704.0322635376945
244
+ ],
245
+ "q90": [
246
+ 1981.4594786741782
247
+ ],
248
+ "q99": [
249
+ 2044.1225729657772
250
+ ]
251
+ },
252
+ "observation.images.front": {
253
+ "min": [
254
+ [
255
+ [
256
+ 0.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ]
269
+ ],
270
+ "max": [
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 1.0
284
+ ]
285
+ ]
286
+ ],
287
+ "mean": [
288
+ [
289
+ [
290
+ 0.4024404718766358
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.4024554758933007
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.38895878812396506
301
+ ]
302
+ ]
303
+ ],
304
+ "std": [
305
+ [
306
+ [
307
+ 0.0031547002815152107
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.003086906335041535
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.003548115083361434
318
+ ]
319
+ ]
320
+ ],
321
+ "count": [
322
+ 49089600
323
+ ],
324
+ "q01": [
325
+ [
326
+ [
327
+ 0.006099722419326413
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.015688760100442435
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ -3.921568627450981e-13
338
+ ]
339
+ ]
340
+ ],
341
+ "q10": [
342
+ [
343
+ [
344
+ 0.05571987372456015
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.0668591071663503
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.048747281143228134
355
+ ]
356
+ ]
357
+ ],
358
+ "q50": [
359
+ [
360
+ [
361
+ 0.2810227356127628
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.2855270932171103
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.27098911985342333
372
+ ]
373
+ ]
374
+ ],
375
+ "q90": [
376
+ [
377
+ [
378
+ 0.9734171285374691
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.9569073414522531
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.9610698936165049
389
+ ]
390
+ ]
391
+ ],
392
+ "q99": [
393
+ [
394
+ [
395
+ 0.9961076221876147
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.9999741882564575
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.9961940293248596
406
+ ]
407
+ ]
408
+ ]
409
+ },
410
+ "timestamp": {
411
+ "min": [
412
+ 0.0
413
+ ],
414
+ "max": [
415
+ 26.466666666666665
416
+ ],
417
+ "mean": [
418
+ 11.54944754082331
419
+ ],
420
+ "std": [
421
+ 6.892719510761153
422
+ ],
423
+ "count": [
424
+ 3409
425
+ ],
426
+ "q01": [
427
+ 0.21202844186917202
428
+ ],
429
+ "q10": [
430
+ 2.300798251606628
431
+ ],
432
+ "q50": [
433
+ 11.551757430331493
434
+ ],
435
+ "q90": [
436
+ 20.79809683003999
437
+ ],
438
+ "q99": [
439
+ 22.88686663977745
440
+ ]
441
+ },
442
+ "task_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 0
448
+ ],
449
+ "mean": [
450
+ 0.0
451
+ ],
452
+ "std": [
453
+ 0.0
454
+ ],
455
+ "count": [
456
+ 3409
457
+ ],
458
+ "q01": [
459
+ 3.9999999999994176e-16
460
+ ],
461
+ "q10": [
462
+ 3.999999999999417e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997084e-14
466
+ ],
467
+ "q90": [
468
+ 3.599999999999476e-14
469
+ ],
470
+ "q99": [
471
+ 3.959999999999423e-14
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
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
+ 0.4982074096322308
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5086498533533875
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5041038215594243
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.006695849051513655
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.005137171845067374
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.0050656098707322185
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 65452800
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.043115255929017535
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.05000520446208242
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.038270552090766616
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.15777692591420145
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.16627939311322587
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.15687859828249748
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.4686617391888343
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.4784199750546412
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.47300404514883165
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.8386734685420347
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.8624864540465838
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.8562788411706893
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.999907857065452
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9999076631665362
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9999635089531282
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d77f7916e3594dbb3de64790e291bacb74a200d993979e8f2faf3f2804b5335
3
+ size 2085
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 sha256:120b2784f7f3aa717f04ea9acaa44682befd52434a9479cec24a417d870058c8
3
+ size 145305710
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 sha256:8bc650dcda5ab68b54d98f8e501d714bd9e8521914158ca249c0f2f378ee6b14
3
+ size 29751095