RobotRoger commited on
Commit
d5f4e91
·
verified ·
1 Parent(s): cafa38b

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:fcc63dc639af4ff9058c1c7958608090b199bde51527a100308c88abe804507f
3
+ size 805520
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2ea8b6500e642d4888134e4c0798ab80a2823b6a2c627c4c2da1038a8988ceed
3
+ size 140130
meta/info.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.wrist": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "video.height": 480,
47
+ "video.width": 640,
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
+ "video.g": 2,
55
+ "video.crf": 30,
56
+ "video.preset": 12,
57
+ "video.fast_decode": 0,
58
+ "video.video_backend": "pyav",
59
+ "video.extra_options": {}
60
+ }
61
+ },
62
+ "timestamp": {
63
+ "dtype": "float32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "frame_index": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "episode_index": {
77
+ "dtype": "int64",
78
+ "shape": [
79
+ 1
80
+ ],
81
+ "names": null
82
+ },
83
+ "index": {
84
+ "dtype": "int64",
85
+ "shape": [
86
+ 1
87
+ ],
88
+ "names": null
89
+ },
90
+ "task_index": {
91
+ "dtype": "int64",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ }
97
+ },
98
+ "total_episodes": 50,
99
+ "total_frames": 30736,
100
+ "total_tasks": 1,
101
+ "chunks_size": 1000,
102
+ "data_files_size_in_mb": 100,
103
+ "video_files_size_in_mb": 200,
104
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
105
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
106
+ "robot_type": "so_follower",
107
+ "splits": {
108
+ "train": "0:50"
109
+ }
110
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -51.82417678833008,
5
+ -104.30769348144531,
6
+ -91.25274658203125,
7
+ 5.406593322753906,
8
+ -22.72527503967285,
9
+ 1.399999976158142
10
+ ],
11
+ "max": [
12
+ 18.41758155822754,
13
+ 49.626373291015625,
14
+ 96.61538696289062,
15
+ 101.5824203491211,
16
+ 67.56044006347656,
17
+ 64.26667022705078
18
+ ],
19
+ "mean": [
20
+ -10.53580807664086,
21
+ -31.42604337784693,
22
+ 23.30985006429003,
23
+ 75.4236670841096,
24
+ 0.4568690537183678,
25
+ 12.036755128461579
26
+ ],
27
+ "std": [
28
+ 14.420535583719172,
29
+ 49.569489466678945,
30
+ 50.21136686780352,
31
+ 17.484530997343136,
32
+ 12.098994014115288,
33
+ 13.103770998208587
34
+ ],
35
+ "count": [
36
+ 30736
37
+ ],
38
+ "q01": [
39
+ -41.40821654948669,
40
+ -101.79961906996077,
41
+ -41.30132906312199,
42
+ 54.6184324487654,
43
+ -9.285920733442648,
44
+ 1.8275867233392993
45
+ ],
46
+ "q10": [
47
+ -33.9638225503182,
48
+ -100.18567691784885,
49
+ -30.449319980888273,
50
+ 60.57187356300038,
51
+ -6.841758423082592,
52
+ 1.8469469960691716
53
+ ],
54
+ "q50": [
55
+ -5.24686126648006,
56
+ -13.60532328929585,
57
+ 4.745015320180766,
58
+ 75.17229226633535,
59
+ -0.5864303843010714,
60
+ 7.807130506183157
61
+ ],
62
+ "q90": [
63
+ 1.3442479349061462,
64
+ 20.096006626139005,
65
+ 95.7295380306664,
66
+ 91.50354402779078,
67
+ 9.933278449504247,
68
+ 31.985310372114526
69
+ ],
70
+ "q99": [
71
+ 5.389039880668646,
72
+ 25.700614490805194,
73
+ 96.12785048945335,
74
+ 98.29258897053765,
75
+ 11.97896885140453,
76
+ 41.310363482844814
77
+ ]
78
+ },
79
+ "timestamp": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 29.9
85
+ ],
86
+ "mean": [
87
+ 11.21075720111053
88
+ ],
89
+ "std": [
90
+ 7.253027703479906
91
+ ],
92
+ "count": [
93
+ 30736
94
+ ],
95
+ "q01": [
96
+ 0.20630945327247205
97
+ ],
98
+ "q10": [
99
+ 2.226988456496287
100
+ ],
101
+ "q50": [
102
+ 11.203961902871697
103
+ ],
104
+ "q90": [
105
+ 20.192223999082376
106
+ ],
107
+ "q99": [
108
+ 22.21520494884448
109
+ ]
110
+ },
111
+ "episode_index": {
112
+ "min": [
113
+ 0
114
+ ],
115
+ "max": [
116
+ 20
117
+ ],
118
+ "mean": [
119
+ 5.891788131181676
120
+ ],
121
+ "std": [
122
+ 5.136261725936364
123
+ ],
124
+ "count": [
125
+ 30736
126
+ ],
127
+ "q01": [
128
+ 5.891788131181676
129
+ ],
130
+ "q10": [
131
+ 5.891788131181679
132
+ ],
133
+ "q50": [
134
+ 5.891788131181696
135
+ ],
136
+ "q90": [
137
+ 5.8917881311817135
138
+ ],
139
+ "q99": [
140
+ 5.891788131181717
141
+ ]
142
+ },
143
+ "observation.images.wrist": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.5688821241205798
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.5133046937675791
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.4816806295378933
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.018802158773578496
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.009989727516069233
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.011745515061193892
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 6151
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ 0.02805906173755246
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.042613604596028
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.0290083480091006
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.11026848587418285
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.10935658004125326
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.083797833272629
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.6407908974731703
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.5505669518372912
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.4970182397545141
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.9551870437809096
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.9144000248947147
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.92957921028742
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.998787567093638
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.9578678683787879
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.9624714900239759
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "task_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 0
307
+ ],
308
+ "mean": [
309
+ 0.0
310
+ ],
311
+ "std": [
312
+ 0.0
313
+ ],
314
+ "count": [
315
+ 30736
316
+ ],
317
+ "q01": [
318
+ 3.9999999999994167e-16
319
+ ],
320
+ "q10": [
321
+ 3.999999999999418e-15
322
+ ],
323
+ "q50": [
324
+ 1.9999999999997088e-14
325
+ ],
326
+ "q90": [
327
+ 3.599999999999476e-14
328
+ ],
329
+ "q99": [
330
+ 3.959999999999424e-14
331
+ ]
332
+ },
333
+ "frame_index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 897
339
+ ],
340
+ "mean": [
341
+ 336.322716033316
342
+ ],
343
+ "std": [
344
+ 217.59083110439713
345
+ ],
346
+ "count": [
347
+ 30736
348
+ ],
349
+ "q01": [
350
+ 6.189283601021042
351
+ ],
352
+ "q10": [
353
+ 66.80965369721294
354
+ ],
355
+ "q50": [
356
+ 336.0749308107756
357
+ ],
358
+ "q90": [
359
+ 605.766719970148
360
+ ],
361
+ "q99": [
362
+ 666.4561484624876
363
+ ]
364
+ },
365
+ "action": {
366
+ "min": [
367
+ -52.35165023803711,
368
+ -105.05494689941406,
369
+ -94.06593322753906,
370
+ 4.659340858459473,
371
+ -22.989011764526367,
372
+ 0.0
373
+ ],
374
+ "max": [
375
+ 18.85714340209961,
376
+ 49.230770111083984,
377
+ 96.96703338623047,
378
+ 102.68132019042969,
379
+ 68.0,
380
+ 69.14893341064453
381
+ ],
382
+ "mean": [
383
+ -10.52842029580824,
384
+ -32.05334056527943,
385
+ 22.141320457367854,
386
+ 75.2768334162105,
387
+ 0.5312763276086461,
388
+ 10.359028006301207
389
+ ],
390
+ "std": [
391
+ 14.473508282619916,
392
+ 49.1952560032747,
393
+ 50.87542265590466,
394
+ 17.671567483855632,
395
+ 12.120491022135155,
396
+ 13.956838523712381
397
+ ],
398
+ "count": [
399
+ 30736
400
+ ],
401
+ "q01": [
402
+ -41.660821901693105,
403
+ -102.07785246953813,
404
+ -43.87890908530568,
405
+ 53.924100654446505,
406
+ -9.559062700303993,
407
+ 1.252122063802965
408
+ ],
409
+ "q10": [
410
+ -34.01823706079215,
411
+ -100.57287989262174,
412
+ -32.699183231988236,
413
+ 60.20994070113988,
414
+ -6.852511056335962,
415
+ 1.3871163188480071
416
+ ],
417
+ "q50": [
418
+ -5.288912565546226,
419
+ -14.537173351138582,
420
+ 3.664494151672629,
421
+ 74.91967951389552,
422
+ -0.5510734113294037,
423
+ 3.058826911464336
424
+ ],
425
+ "q90": [
426
+ 1.377964777868029,
427
+ 19.117281133682226,
428
+ 95.88726161425812,
429
+ 91.6709780830767,
430
+ 10.048621220556107,
431
+ 32.346998448153045
432
+ ],
433
+ "q99": [
434
+ 5.694652566130607,
435
+ 25.262079994502688,
436
+ 96.42504679384776,
437
+ 99.09752872685024,
438
+ 12.352011792186131,
439
+ 42.44634916705477
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 10055
448
+ ],
449
+ "mean": [
450
+ 3729.9682782405
451
+ ],
452
+ "std": [
453
+ 2626.854465937988
454
+ ],
455
+ "count": [
456
+ 30736
457
+ ],
458
+ "q01": [
459
+ 3399.834845808205
460
+ ],
461
+ "q10": [
462
+ 3460.4552159043974
463
+ ],
464
+ "q50": [
465
+ 3729.7586718701195
466
+ ],
467
+ "q90": [
468
+ 3999.4122821773317
469
+ ],
470
+ "q99": [
471
+ 4060.1017106696704
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a8600c8094eec30ba010de1a34a7bc081547c963c463e6bddbc74d373ed8d93
3
+ size 2150
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:c676c69979c1b6ae5c1bdcf8d986c9ce7418062a45f30269d6a4df2e34bef2a4
3
+ size 160235655
videos/observation.images.wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:faad75d44a8662d11bd628febab46a625f84967349e29fd2b9df3dc2b2fd89f6
3
+ size 127143122
videos/observation.images.wrist/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a120ead015468a02fce3309819a25525549052225db7ff3102c0c48a1ddbe643
3
+ size 116681401