Natalish commited on
Commit
84326e9
·
verified ·
1 Parent(s): ded8148

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 sha256:5ad8b97e658adae6c98ddcfdc54ca85100a2272b73776dc748a266cd528702b4
3
+ size 198277
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4c96a0ef7a51b514737b157de24cbe2823a2f9b89bd61e9a992308ca94c74651
3
+ size 55987
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 3381,
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_yaw.pos",
25
+ "wrist_roll.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_yaw.pos",
39
+ "wrist_roll.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.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.images.front": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.45387711244136203
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.453300028897101
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4491011764143408
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.003204105019577393
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.003604764244809273
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0035893637381932955
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 581
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.023543956916525687
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -3.9215686274509807e-13
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509807e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.06946113604536723
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.022144546521610364
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ -3.9215686274509807e-13
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.5108881827883923
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.565399476589544
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.5630216724182504
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.8339527199543472
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.7933068946420885
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.8457623864663463
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9607420829205857
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.8954860470588374
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9398698695092128
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "timestamp": {
161
+ "min": [
162
+ 0.0
163
+ ],
164
+ "max": [
165
+ 41.5
166
+ ],
167
+ "mean": [
168
+ 19.103677412994184
169
+ ],
170
+ "std": [
171
+ 11.374015544211725
172
+ ],
173
+ "count": [
174
+ 3381
175
+ ],
176
+ "q01": [
177
+ 0.37362750632017605
178
+ ],
179
+ "q10": [
180
+ 3.8110553933932803
181
+ ],
182
+ "q50": [
183
+ 19.092800327319278
184
+ ],
185
+ "q90": [
186
+ 34.396299432595086
187
+ ],
188
+ "q99": [
189
+ 37.83372731966819
190
+ ]
191
+ },
192
+ "episode_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 2
198
+ ],
199
+ "mean": [
200
+ 1.007394262052647
201
+ ],
202
+ "std": [
203
+ 0.8541727601860862
204
+ ],
205
+ "count": [
206
+ 3381
207
+ ],
208
+ "q01": [
209
+ 1.0073942620526475
210
+ ],
211
+ "q10": [
212
+ 1.0073942620526513
213
+ ],
214
+ "q50": [
215
+ 1.0073942620526672
216
+ ],
217
+ "q90": [
218
+ 1.0073942620526832
219
+ ],
220
+ "q99": [
221
+ 1.0073942620526868
222
+ ]
223
+ },
224
+ "action": {
225
+ "min": [
226
+ -2.0809898376464844,
227
+ -47.49853515625,
228
+ -50.25421142578125,
229
+ -16.318124771118164,
230
+ -22.21512222290039,
231
+ -118.83541870117188
232
+ ],
233
+ "max": [
234
+ 17.85186004638672,
235
+ -13.293621063232422,
236
+ 27.91449737548828,
237
+ 95.25794219970703,
238
+ -7.550197601318359,
239
+ -40.33363342285156
240
+ ],
241
+ "mean": [
242
+ 1.2711428209226958,
243
+ -19.24503631670776,
244
+ -2.1496988258852614,
245
+ 34.535493199129284,
246
+ -15.802927717306458,
247
+ -75.26647148143607
248
+ ],
249
+ "std": [
250
+ 2.2439548445317334,
251
+ 5.208760308556147,
252
+ 5.858202206021238,
253
+ 8.323585705616802,
254
+ 1.5540481314890846,
255
+ 3.4294391307602523
256
+ ],
257
+ "count": [
258
+ 3381
259
+ ],
260
+ "q01": [
261
+ -1.0586457327217154,
262
+ -41.75186312208652,
263
+ -23.513114332268483,
264
+ 6.955185095638398,
265
+ -19.220706791904544,
266
+ -85.49921355828842
267
+ ],
268
+ "q10": [
269
+ 0.11036931381392008,
270
+ -24.24615597853256,
271
+ -3.884700593531843,
272
+ 31.350724702839027,
273
+ -17.13765377551273,
274
+ -75.97101758030031
275
+ ],
276
+ "q50": [
277
+ 0.7632147189922779,
278
+ -17.604255205233585,
279
+ -2.35084963856065,
280
+ 34.27890833888806,
281
+ -15.909970541178069,
282
+ -75.44890932536131
283
+ ],
284
+ "q90": [
285
+ 2.4111007917636034,
286
+ -16.805592852532953,
287
+ 0.5561326461020256,
288
+ 37.34330778508382,
289
+ -14.496999593388926,
290
+ -74.73307943820811
291
+ ],
292
+ "q99": [
293
+ 12.189594105145384,
294
+ -15.518861307337666,
295
+ 16.891363753550365,
296
+ 62.92612788864086,
297
+ -11.2669528654714,
298
+ -64.17460008067796
299
+ ]
300
+ },
301
+ "observation.state": {
302
+ "min": [
303
+ -2.0219781398773193,
304
+ -46.19780349731445,
305
+ -47.03296661376953,
306
+ -13.05494499206543,
307
+ -23.604394912719727,
308
+ -84.79120635986328
309
+ ],
310
+ "max": [
311
+ 17.758241653442383,
312
+ 4.527472496032715,
313
+ 29.27472496032715,
314
+ 93.93406677246094,
315
+ -8.131868362426758,
316
+ -41.010990142822266
317
+ ],
318
+ "mean": [
319
+ 1.6323633265192077,
320
+ -16.30769582148735,
321
+ 2.289868396296723,
322
+ 35.80028963921092,
323
+ -15.482201829812682,
324
+ -75.19967078880529
325
+ ],
326
+ "std": [
327
+ 2.178262881660681,
328
+ 5.167700098056958,
329
+ 5.880830110098555,
330
+ 8.47095487628102,
331
+ 1.4134260409082906,
332
+ 2.782749273013574
333
+ ],
334
+ "count": [
335
+ 3381
336
+ ],
337
+ "q01": [
338
+ -0.5887903704172899,
339
+ -38.5550440757862,
340
+ -18.256879095354925,
341
+ 8.727317678027871,
342
+ -19.003171961687617,
343
+ -79.50987075285656
344
+ ],
345
+ "q10": [
346
+ 0.6566120608024063,
347
+ -20.526842135160067,
348
+ 0.6757863013683004,
349
+ 33.0956185052137,
350
+ -16.58168916104704,
351
+ -75.89752012403937
352
+ ],
353
+ "q50": [
354
+ 1.176674146662764,
355
+ -14.901986694917658,
356
+ 2.450656230393787,
357
+ 35.62065501874807,
358
+ -15.589858039819353,
359
+ -75.54465569135647
360
+ ],
361
+ "q90": [
362
+ 2.37083746423609,
363
+ -14.399108306784836,
364
+ 3.75512350855285,
365
+ 38.20976880644682,
366
+ -14.301953575957354,
367
+ -75.05535606721438
368
+ ],
369
+ "q99": [
370
+ 11.919834412413566,
371
+ -12.559155651781426,
372
+ 19.286401508862152,
373
+ 63.05517934956589,
374
+ -11.48373017548598,
375
+ -63.62230392907364
376
+ ]
377
+ },
378
+ "frame_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 1245
384
+ ],
385
+ "mean": [
386
+ 573.1103223898255
387
+ ],
388
+ "std": [
389
+ 341.22046632635175
390
+ ],
391
+ "count": [
392
+ 3381
393
+ ],
394
+ "q01": [
395
+ 11.208825192448542
396
+ ],
397
+ "q10": [
398
+ 114.3316618041199
399
+ ],
400
+ "q50": [
401
+ 572.8721269446909
402
+ ],
403
+ "q90": [
404
+ 1031.888982975531
405
+ ],
406
+ "q99": [
407
+ 1135.0118195872026
408
+ ]
409
+ },
410
+ "observation.images.wrist": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.4352352744310576
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.5061145105632614
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.5169188501203694
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.0005221665300877486
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.0001516519441952904
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.0011560461324455127
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 581
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.04170729429100995
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.07044243769282277
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.05882276603421938
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.0900785883339838
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.12694102366644064
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.10335904802037786
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.4718825308014231
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.6117457936391137
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.6103583943528716
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.7582493434470057
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.7882958445952183
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.8131619593895945
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.8744630801072778
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.8744832405122435
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.886290340056947
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 3380
574
+ ],
575
+ "mean": [
576
+ 1690.0
577
+ ],
578
+ "std": [
579
+ 976.0105873742696
580
+ ],
581
+ "count": [
582
+ 3381
583
+ ],
584
+ "q01": [
585
+ 1128.0985028026232
586
+ ],
587
+ "q10": [
588
+ 1231.2213394142946
589
+ ],
590
+ "q50": [
591
+ 1689.7618045548654
592
+ ],
593
+ "q90": [
594
+ 2148.7786605857054
595
+ ],
596
+ "q99": [
597
+ 2251.901497197377
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
+ 3381
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997084e-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:bd3a8730d997b5057be8f6d8c2874e6e757a3805ca2fe8cb6589894000a805e5
3
+ size 2108
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 sha256:3d10ae7d8ff825174e6aca0ca65f37eaa501966c7944cca8fa500bffad6608d9
3
+ size 33583012
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 sha256:9a565f2d59e436be8d60b0782f8b6271f8f2a9fbb58eb445732baaba9a1ddea0
3
+ size 61356795