RonLiao commited on
Commit
02a7dd9
·
verified ·
1 Parent(s): 52b946a

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:e2296c29368ec4fac16324b31b6e1d550976b8bc5805b7153d5a30f708b48eeb
3
+ size 574931
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1005a1274cc70c0b9662fa49198966088b0ae56d3891fba6e6611787d6c090d
3
+ size 186406
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 12042,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:50"
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
+ "action": {
3
+ "min": [
4
+ -24.351953506469727,
5
+ -99.8355941772461,
6
+ 23.847875595092773,
7
+ -99.91493225097656,
8
+ -99.57917022705078,
9
+ 0.6813020706176758
10
+ ],
11
+ "max": [
12
+ 69.91603088378906,
13
+ -22.482532501220703,
14
+ 100.0,
15
+ 69.28966522216797,
16
+ 99.89479064941406,
17
+ 81.52914428710938
18
+ ],
19
+ "mean": [
20
+ 32.39626278439307,
21
+ -72.21189818059935,
22
+ 73.75135269317097,
23
+ -33.635474621526946,
24
+ 6.922454297804906,
25
+ 4.808743167994645
26
+ ],
27
+ "std": [
28
+ 18.623879876702368,
29
+ 28.131336359547138,
30
+ 26.904377693623527,
31
+ 38.776278312588126,
32
+ 16.93053721513941,
33
+ 15.45095173313848
34
+ ],
35
+ "count": [
36
+ 12042
37
+ ],
38
+ "q01": [
39
+ 8.377232932131124,
40
+ -98.55099583306466,
41
+ 36.88202930323726,
42
+ -79.8746146098544,
43
+ 1.2429076098946445,
44
+ 3.6833414135871916
45
+ ],
46
+ "q10": [
47
+ 10.281741212980327,
48
+ -98.31084714433096,
49
+ 39.17070818183819,
50
+ -74.71281088410768,
51
+ 3.0502549462509876,
52
+ 4.757611981549073
53
+ ],
54
+ "q50": [
55
+ 34.66148174449409,
56
+ -84.4925671153581,
57
+ 83.95735190147086,
58
+ -27.10419541312422,
59
+ 5.963951808668101,
60
+ 4.863447775133714
61
+ ],
62
+ "q90": [
63
+ 50.03122521956635,
64
+ -33.761568198454675,
65
+ 99.64101548676354,
66
+ 0.5967392526687547,
67
+ 13.340601650734314,
68
+ 4.901348629296686
69
+ ],
70
+ "q99": [
71
+ 51.570924467460074,
72
+ -31.199517003369902,
73
+ 99.68621851072304,
74
+ 5.188837642624277,
75
+ 15.539512629915702,
76
+ 6.037806497931729
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -24.55824089050293,
82
+ -99.388916015625,
83
+ 27.378293991088867,
84
+ -98.95697784423828,
85
+ -99.56044006347656,
86
+ 0.7343124151229858
87
+ ],
88
+ "max": [
89
+ 69.41940307617188,
90
+ -22.566564559936523,
91
+ 98.30281066894531,
92
+ 59.669708251953125,
93
+ 45.836387634277344,
94
+ 81.84245300292969
95
+ ],
96
+ "mean": [
97
+ 32.0631600385329,
98
+ -72.21956810525953,
99
+ 74.00117850386805,
100
+ -33.744082674040094,
101
+ 6.3932384621996015,
102
+ 4.853781619730868
103
+ ],
104
+ "std": [
105
+ 18.32196692950587,
106
+ 27.925162103697343,
107
+ 25.22581132073499,
108
+ 38.678917975387726,
109
+ 14.922651343494513,
110
+ 15.578989603670832
111
+ ],
112
+ "count": [
113
+ 12042
114
+ ],
115
+ "q01": [
116
+ 8.540852180973165,
117
+ -98.57456766645635,
118
+ 39.3699765065207,
119
+ -81.99077289185392,
120
+ 1.2913017356029939,
121
+ 3.7771488250485272
122
+ ],
123
+ "q10": [
124
+ 10.421000229532128,
125
+ -98.43982908672344,
126
+ 40.7939805471216,
127
+ -74.63101074828505,
128
+ 3.3185017140786672,
129
+ 4.821967123786074
130
+ ],
131
+ "q50": [
132
+ 34.47421573284199,
133
+ -83.80463638921185,
134
+ 83.77185207122395,
135
+ -27.324797703958914,
136
+ 5.936775648884192,
137
+ 4.843092179466054
138
+ ],
139
+ "q90": [
140
+ 49.01083003435043,
141
+ -34.26152376805146,
142
+ 97.87300118732159,
143
+ 0.3225363375730357,
144
+ 10.774594543467494,
145
+ 4.846015016660913
146
+ ],
147
+ "q99": [
148
+ 49.925069386174556,
149
+ -32.569524467768524,
150
+ 97.91575111758362,
151
+ 4.379978728662845,
152
+ 12.779193143430247,
153
+ 6.40102998156215
154
+ ]
155
+ },
156
+ "episode_index": {
157
+ "min": [
158
+ 0
159
+ ],
160
+ "max": [
161
+ 49
162
+ ],
163
+ "mean": [
164
+ 24.49991695731606
165
+ ],
166
+ "std": [
167
+ 14.432998703638104
168
+ ],
169
+ "count": [
170
+ 12042
171
+ ],
172
+ "q01": [
173
+ 24.49991695731606
174
+ ],
175
+ "q10": [
176
+ 24.49991695731606
177
+ ],
178
+ "q50": [
179
+ 24.49991695731607
180
+ ],
181
+ "q90": [
182
+ 24.49991695731609
183
+ ],
184
+ "q99": [
185
+ 24.4999169573161
186
+ ]
187
+ },
188
+ "frame_index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 240
194
+ ],
195
+ "mean": [
196
+ 119.92027902341803
197
+ ],
198
+ "std": [
199
+ 69.52440247926043
200
+ ],
201
+ "count": [
202
+ 12042
203
+ ],
204
+ "q01": [
205
+ 1.9862832883919412
206
+ ],
207
+ "q10": [
208
+ 23.85090662672609
209
+ ],
210
+ "q50": [
211
+ 119.86423916292962
212
+ ],
213
+ "q90": [
214
+ 215.83722491288506
215
+ ],
216
+ "q99": [
217
+ 237.8542747584443
218
+ ]
219
+ },
220
+ "observation.images.front": {
221
+ "min": [
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.0
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.0
235
+ ]
236
+ ]
237
+ ],
238
+ "max": [
239
+ [
240
+ [
241
+ 1.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 1.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 1.0
252
+ ]
253
+ ]
254
+ ],
255
+ "mean": [
256
+ [
257
+ [
258
+ 0.4272797606617647
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.42980856699346404
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.4351712120098038
269
+ ]
270
+ ]
271
+ ],
272
+ "std": [
273
+ [
274
+ [
275
+ 0.006193237515059213
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.0062079372712469634
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.005992177529795866
286
+ ]
287
+ ]
288
+ ],
289
+ "count": [
290
+ 5000
291
+ ],
292
+ "q01": [
293
+ [
294
+ [
295
+ -3.921568627450983e-13
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ -3.921568627450983e-13
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ -3.921568627450983e-13
306
+ ]
307
+ ]
308
+ ],
309
+ "q10": [
310
+ [
311
+ [
312
+ 0.03808539993005012
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.05270807805626346
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.08133657888014896
323
+ ]
324
+ ]
325
+ ],
326
+ "q50": [
327
+ [
328
+ [
329
+ 0.4002625491743083
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.4056502836557204
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.4104312629016862
340
+ ]
341
+ ]
342
+ ],
343
+ "q90": [
344
+ [
345
+ [
346
+ 0.8371596453478399
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.8493293080929004
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.8454078604357333
357
+ ]
358
+ ]
359
+ ],
360
+ "q99": [
361
+ [
362
+ [
363
+ 0.9999637168936438
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9999636134250147
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9999448550863588
374
+ ]
375
+ ]
376
+ ]
377
+ },
378
+ "timestamp": {
379
+ "min": [
380
+ 0.0
381
+ ],
382
+ "max": [
383
+ 8.0
384
+ ],
385
+ "mean": [
386
+ 3.9973426341139344
387
+ ],
388
+ "std": [
389
+ 2.3174800826420157
390
+ ],
391
+ "count": [
392
+ 12042
393
+ ],
394
+ "q01": [
395
+ 0.06620944285133246
396
+ ],
397
+ "q10": [
398
+ 0.7950302208134274
399
+ ],
400
+ "q50": [
401
+ 3.9954746387642777
402
+ ],
403
+ "q90": [
404
+ 7.1945741638401515
405
+ ],
406
+ "q99": [
407
+ 7.928475825376531
408
+ ]
409
+ },
410
+ "index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 12041
416
+ ],
417
+ "mean": [
418
+ 6020.5
419
+ ],
420
+ "std": [
421
+ 3476.2259588045576
422
+ ],
423
+ "count": [
424
+ 12042
425
+ ],
426
+ "q01": [
427
+ 5902.566004264973
428
+ ],
429
+ "q10": [
430
+ 5924.4306276033085
431
+ ],
432
+ "q50": [
433
+ 6020.443960139511
434
+ ],
435
+ "q90": [
436
+ 6116.4169458894685
437
+ ],
438
+ "q99": [
439
+ 6138.433995735027
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
+ 12042
457
+ ],
458
+ "q01": [
459
+ 3.999999999999417e-16
460
+ ],
461
+ "q10": [
462
+ 3.9999999999994205e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997078e-14
466
+ ],
467
+ "q90": [
468
+ 3.5999999999994766e-14
469
+ ],
470
+ "q99": [
471
+ 3.9599999999994235e-14
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:969fdd6943a9b5d1cb87ae289205c17955fb0bb7a65b18e71f1f7c005ec2a8cb
3
+ size 2166
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:bd5b1d3c0e1336951f2a5151c9a563941d5183b3fc40a41e347acc47b8735345
3
+ size 284306987