SCPTo commited on
Commit
c405eb0
·
verified ·
1 Parent(s): e05a611

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:da38e9e7088a6e2b3b5002628ce4e93d58d1ad969f694c8f125f882cde41c153
3
+ size 245407
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d2bd8e8c41e071ebcb0808997d56d5e34d224a2b3cfd33dac7652f70de53a26
3
+ size 64406
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 5976,
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": "0:10"
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.top": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 144,
49
+ 176,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 144,
59
+ "video.width": 176,
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
+ 144,
72
+ 176,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 144,
82
+ "video.width": 176,
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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 5976
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994186e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999418e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.5999999999994754e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "observation.images.front": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.4861170887283786
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5103766449472256
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.47067034661876117
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.009971407414528467
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.009982974087281857
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.009187890219172313
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 1200
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.03491707183695054
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.08512950715987719
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.07453217731255996
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.26349495588806593
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.29175548662411865
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.26587251913407556
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.5200488433433207
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.538826049981177
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.4819219796062139
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.6282724357811877
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.6447314194716981
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.6015605110763751
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.7568660886083541
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.8678088836160265
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9764001435588733
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "timestamp": {
193
+ "min": [
194
+ 0.0
195
+ ],
196
+ "max": [
197
+ 19.9
198
+ ],
199
+ "mean": [
200
+ 9.94334002677376
201
+ ],
202
+ "std": [
203
+ 5.7504122209583635
204
+ ],
205
+ "count": [
206
+ 5976
207
+ ],
208
+ "q01": [
209
+ 0.1669526882550927
210
+ ],
211
+ "q10": [
212
+ 1.96782708425714
213
+ ],
214
+ "q50": [
215
+ 9.934575502007943
216
+ ],
217
+ "q90": [
218
+ 17.918852969290384
219
+ ],
220
+ "q99": [
221
+ 19.719727365292425
222
+ ]
223
+ },
224
+ "observation.state": {
225
+ "min": [
226
+ -63.977901458740234,
227
+ -97.92013549804688,
228
+ -43.2929573059082,
229
+ -25.929054260253906,
230
+ -66.29779052734375,
231
+ 2.2756826877593994
232
+ ],
233
+ "max": [
234
+ 26.850828170776367,
235
+ 57.237937927246094,
236
+ 99.46163940429688,
237
+ 64.27365112304688,
238
+ 7.142857074737549,
239
+ 36.736019134521484
240
+ ],
241
+ "mean": [
242
+ -11.009904582021008,
243
+ -54.33572341990439,
244
+ 71.68593130149992,
245
+ 28.246091856056427,
246
+ -21.23707883584611,
247
+ 8.208634858389935
248
+ ],
249
+ "std": [
250
+ 15.62444056990197,
251
+ 49.98844873304242,
252
+ 34.730915991452456,
253
+ 30.270214251745724,
254
+ 26.981715741949834,
255
+ 8.31261787935035
256
+ ],
257
+ "count": [
258
+ 5976
259
+ ],
260
+ "q01": [
261
+ -31.39355747780354,
262
+ -97.82031699899369,
263
+ 3.9220491543293416,
264
+ -15.92637405789042,
265
+ -63.4226595087128,
266
+ 2.334195887148779
267
+ ],
268
+ "q10": [
269
+ -29.469737519900235,
270
+ -97.78777579220139,
271
+ 16.18859796956361,
272
+ -12.06063806139048,
273
+ -57.232086718956666,
274
+ 2.347272400350386
275
+ ],
276
+ "q50": [
277
+ -10.224995087089663,
278
+ -82.3952208147594,
279
+ 90.87438086034236,
280
+ 40.871147681797986,
281
+ -7.91609718136319,
282
+ 2.464581410100801
283
+ ],
284
+ "q90": [
285
+ 5.453927862935692,
286
+ 19.598812794338535,
287
+ 98.25065955473929,
288
+ 55.88308694346606,
289
+ 2.4560821614995074,
290
+ 21.81243642118384
291
+ ],
292
+ "q99": [
293
+ 8.3301695106546,
294
+ 28.878665023294257,
295
+ 98.79372634950427,
296
+ 57.91369053512214,
297
+ 3.6627933126170826,
298
+ 27.703259563595065
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 5975
307
+ ],
308
+ "mean": [
309
+ 2987.5
310
+ ],
311
+ "std": [
312
+ 1725.1225801857292
313
+ ],
314
+ "count": [
315
+ 5976
316
+ ],
317
+ "q01": [
318
+ 2694.2083798472913
319
+ ],
320
+ "q10": [
321
+ 2748.234611726828
322
+ ],
323
+ "q50": [
324
+ 2987.2370642570277
325
+ ],
326
+ "q90": [
327
+ 3226.765388273172
328
+ ],
329
+ "q99": [
330
+ 3280.7916201527087
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -64.25438690185547,
336
+ -100.0,
337
+ -46.95885467529297,
338
+ -26.810672760009766,
339
+ -67.48918914794922,
340
+ 0.5307050943374634
341
+ ],
342
+ "max": [
343
+ 27.412281036376953,
344
+ 56.528926849365234,
345
+ 99.55277252197266,
346
+ 64.67598724365234,
347
+ 7.40269660949707,
348
+ 36.99772644042969
349
+ ],
350
+ "mean": [
351
+ -10.990969817796186,
352
+ -55.568621262648655,
353
+ 70.9594883771945,
354
+ 27.937395334882112,
355
+ -21.145815770788843,
356
+ 6.83327819408981
357
+ ],
358
+ "std": [
359
+ 15.6326606385064,
360
+ 49.945676862896654,
361
+ 35.3472015283485,
362
+ 30.43273684510976,
363
+ 27.054304910813332,
364
+ 8.466365835234562
365
+ ],
366
+ "count": [
367
+ 5976
368
+ ],
369
+ "q01": [
370
+ -31.545634205924095,
371
+ -99.15567748651257,
372
+ 1.2574499921578468,
373
+ -16.668017286334674,
374
+ -64.12062518126089,
375
+ 1.6139779841547934
376
+ ],
377
+ "q10": [
378
+ -29.55770221783184,
379
+ -99.047715777055,
380
+ 14.52498823127487,
381
+ -12.611499483034825,
382
+ -57.22685298190603,
383
+ 1.689614396060236
384
+ ],
385
+ "q50": [
386
+ -10.232840703556388,
387
+ -83.57437664193925,
388
+ 90.36881540101642,
389
+ 40.795604917349905,
390
+ -7.7052519393349295,
391
+ 1.8357237824428811
392
+ ],
393
+ "q90": [
394
+ 5.5709211619137475,
395
+ 17.933678813993016,
396
+ 98.18200284556433,
397
+ 55.65217292564125,
398
+ 2.501214458729505,
399
+ 22.09788888216815
400
+ ],
401
+ "q99": [
402
+ 8.669695151799806,
403
+ 28.391342136407903,
404
+ 99.01397722100852,
405
+ 57.833183154517826,
406
+ 3.7742803290165243,
407
+ 27.945718084197598
408
+ ]
409
+ },
410
+ "observation.images.top": {
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
+ 0.4981837985141447
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.5255804741140984
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.45693496675290485
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.006936529730043177
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.007030168031976698
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.007696684970004154
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 1200
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ -3.921568627450981e-13
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.051774286580061446
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ -3.921568627450981e-13
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.06314223335851592
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.09844738834210574
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.032953098793934564
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.52079646506803
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.5360487325583809
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.4415785988338638
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.8376595857415875
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.8902034871615515
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.8740663810368577
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.9471012291039701
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.9967257464486079
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.9737010139897018
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "frame_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 597
574
+ ],
575
+ "mean": [
576
+ 298.3002008032129
577
+ ],
578
+ "std": [
579
+ 172.51236662875093
580
+ ],
581
+ "count": [
582
+ 5976
583
+ ],
584
+ "q01": [
585
+ 5.008580650504089
586
+ ],
587
+ "q10": [
588
+ 59.03481253004027
589
+ ],
590
+ "q50": [
591
+ 297.9896329317269
592
+ ],
593
+ "q90": [
594
+ 537.5655890763852
595
+ ],
596
+ "q99": [
597
+ 591.5918209559215
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 9
606
+ ],
607
+ "mean": [
608
+ 4.500669344042838
609
+ ],
610
+ "std": [
611
+ 2.8722812452784896
612
+ ],
613
+ "count": [
614
+ 5976
615
+ ],
616
+ "q01": [
617
+ 4.500669344042838
618
+ ],
619
+ "q10": [
620
+ 4.500669344042841
621
+ ],
622
+ "q50": [
623
+ 4.5006693440428585
624
+ ],
625
+ "q90": [
626
+ 4.5006693440428736
627
+ ],
628
+ "q99": [
629
+ 4.500669344042878
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bc8e2539de6ab67eb9eb83ed94f834099a5611f4efdeb2dbd435ffdfbcd6bdc2
3
+ size 2239
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 sha256:50d9e402a28bef3514977f74f6606d7fbb8b55614d54b639e767971485c33423
3
+ size 8744135
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94f9a346a010d3963cf310c458826575ee5fc0c0248eefddb1ea4c02243e856c
3
+ size 8957510