SamuelFoo commited on
Commit
1581c46
·
verified ·
1 Parent(s): 6f1e1aa

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:ad241d0fefce33f4029f54bc3a6d775c31162b4ecf6b24d7d0b31fd6b893b1d2
3
+ size 447888
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9c5ad35f33ea0529ba591fcf8935928080a1df6287526d8f0aed83d599bf87d7
3
+ size 90651
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 8625,
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": "0:20"
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
+ "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
+ 0.21059012354362036
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.1953305897982381
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.1737655811310031
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.07776531694742207
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.08674757318871057
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0890058869936402
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 165600000
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ -8.549478829212845e-11
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -8.549478829212845e-11
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -8.549478829212845e-11
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.011942223620421735
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.011052605344247747
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.001329930994324132
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.10180557149557846
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.1076179691566946
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.04852677055534762
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.5849117646325326
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.5517940542221662
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.5389457422574682
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.8542789192937819
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.7803491914061038
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.7779403562187928
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "frame_index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 545
166
+ ],
167
+ "mean": [
168
+ 219.0615652173913
169
+ ],
170
+ "std": [
171
+ 131.30689543749844
172
+ ],
173
+ "count": [
174
+ 8625
175
+ ],
176
+ "q01": [
177
+ 3.8695073265104556
178
+ ],
179
+ "q10": [
180
+ 43.394382344267626
181
+ ],
182
+ "q50": [
183
+ 218.82790425507235
184
+ ],
185
+ "q90": [
186
+ 394.728748090515
187
+ ],
188
+ "q99": [
189
+ 434.2536231082721
190
+ ]
191
+ },
192
+ "action": {
193
+ "min": [
194
+ -55.42856979370117,
195
+ -105.010986328125,
196
+ -95.86813354492188,
197
+ -13.582417488098145,
198
+ -162.3296661376953,
199
+ 0.9779950976371765
200
+ ],
201
+ "max": [
202
+ 86.19779968261719,
203
+ 83.9120864868164,
204
+ 86.81318664550781,
205
+ 102.10989379882812,
206
+ 35.56044006347656,
207
+ 1.3854930400848389
208
+ ],
209
+ "mean": [
210
+ -0.6237483486274015,
211
+ -16.80023386836397,
212
+ 21.836862614617836,
213
+ 59.50375727026013,
214
+ -60.04471224754444,
215
+ 1.0961148970230765
216
+ ],
217
+ "std": [
218
+ 24.138501026402995,
219
+ 47.56219254632112,
220
+ 35.92762020520901,
221
+ 26.16241899380756,
222
+ 43.14576189812784,
223
+ 0.08872015838242236
224
+ ],
225
+ "count": [
226
+ 8625
227
+ ],
228
+ "q01": [
229
+ -47.689293572493845,
230
+ -102.87053382585033,
231
+ -36.403350532417996,
232
+ 18.28460206018672,
233
+ -158.20670799508835,
234
+ 0.9779950976371765
235
+ ],
236
+ "q10": [
237
+ -33.45937155137435,
238
+ -102.66547290933538,
239
+ -21.14405696592027,
240
+ 33.58758894400738,
241
+ -114.41141371664597,
242
+ 1.0364698977340487
243
+ ],
244
+ "q50": [
245
+ -0.45401618666065163,
246
+ -2.4734879661263447,
247
+ 21.352217676593156,
248
+ 52.602234688320436,
249
+ -48.847097167089444,
250
+ 1.1017739898298904
251
+ ],
252
+ "q90": [
253
+ 31.717805168045086,
254
+ 30.016707657900493,
255
+ 72.95848940636724,
256
+ 95.07829466800182,
257
+ -14.210639093374805,
258
+ 1.1527512209119943
259
+ ],
260
+ "q99": [
261
+ 42.47781591103337,
262
+ 41.58015597974386,
263
+ 76.43840475746455,
264
+ 99.2278039838533,
265
+ 1.3835193355238302,
266
+ 1.1891818307861863
267
+ ]
268
+ },
269
+ "timestamp": {
270
+ "min": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 18.166666666666668
275
+ ],
276
+ "mean": [
277
+ 7.302052173913042
278
+ ],
279
+ "std": [
280
+ 4.376896514583283
281
+ ],
282
+ "count": [
283
+ 8625
284
+ ],
285
+ "q01": [
286
+ 0.1289835774553836
287
+ ],
288
+ "q10": [
289
+ 1.4464794113980652
290
+ ],
291
+ "q50": [
292
+ 7.293964537970904
293
+ ],
294
+ "q90": [
295
+ 13.157624936428022
296
+ ],
297
+ "q99": [
298
+ 14.475120770370706
299
+ ]
300
+ },
301
+ "observation.state": {
302
+ "min": [
303
+ -54.901100158691406,
304
+ -102.989013671875,
305
+ -93.14286041259766,
306
+ -12.527472496032715,
307
+ -160.92308044433594,
308
+ 0.7751938104629517
309
+ ],
310
+ "max": [
311
+ 84.35164642333984,
312
+ 84.70330047607422,
313
+ 85.84615325927734,
314
+ 98.4175796508789,
315
+ 34.593406677246094,
316
+ 1.0570824146270752
317
+ ],
318
+ "mean": [
319
+ -0.800714175545759,
320
+ -15.70160800944895,
321
+ 22.717018589517345,
322
+ 59.306976280765255,
323
+ -60.000038548566295,
324
+ 0.9295860715810803
325
+ ],
326
+ "std": [
327
+ 23.988629802913245,
328
+ 48.11036238372977,
329
+ 35.21964538611181,
330
+ 25.684780141652936,
331
+ 42.91417838906256,
332
+ 0.06600603152503988
333
+ ],
334
+ "count": [
335
+ 8625
336
+ ],
337
+ "q01": [
338
+ -47.298886325817925,
339
+ -102.80790673108174,
340
+ -33.802051416565526,
341
+ 19.336157014547155,
342
+ -157.38911303882546,
343
+ 0.8659276019826154
344
+ ],
345
+ "q10": [
346
+ -33.436037586052144,
347
+ -102.67220564261225,
348
+ -19.339770470553503,
349
+ 33.871224056256786,
350
+ -114.45201740721933,
351
+ 0.8703065457586356
352
+ ],
353
+ "q50": [
354
+ -0.5148789357805864,
355
+ -0.9759080537362947,
356
+ 22.608754048133946,
357
+ 52.68565743303764,
358
+ -48.957935731153945,
359
+ 0.9255885792445011
360
+ ],
361
+ "q90": [
362
+ 31.179254093156167,
363
+ 31.378699928703686,
364
+ 71.96584857377354,
365
+ 93.98400828436922,
366
+ -14.27353717407567,
367
+ 1.0006988084031376
368
+ ],
369
+ "q99": [
370
+ 41.51872458998351,
371
+ 42.32011822807223,
372
+ 75.84870261713075,
373
+ 96.72404643187934,
374
+ 0.903696891608046,
375
+ 1.015296564272844
376
+ ]
377
+ },
378
+ "episode_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 19
384
+ ],
385
+ "mean": [
386
+ 9.348173913043478
387
+ ],
388
+ "std": [
389
+ 5.707939385428445
390
+ ],
391
+ "count": [
392
+ 8625
393
+ ],
394
+ "q01": [
395
+ 9.348173913043478
396
+ ],
397
+ "q10": [
398
+ 9.348173913043482
399
+ ],
400
+ "q50": [
401
+ 9.348173913043498
402
+ ],
403
+ "q90": [
404
+ 9.348173913043514
405
+ ],
406
+ "q99": [
407
+ 9.348173913043519
408
+ ]
409
+ },
410
+ "index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 8624
416
+ ],
417
+ "mean": [
418
+ 4312.0
419
+ ],
420
+ "std": [
421
+ 2489.823019145471
422
+ ],
423
+ "count": [
424
+ 8625
425
+ ],
426
+ "q01": [
427
+ 4096.807942109119
428
+ ],
429
+ "q10": [
430
+ 4136.332817126875
431
+ ],
432
+ "q50": [
433
+ 4311.769386133332
434
+ ],
435
+ "q90": [
436
+ 4487.667182873125
437
+ ],
438
+ "q99": [
439
+ 4527.19205789088
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
+ 8625
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
+ 3.9599999999994235e-14
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:669f7f3c5684486a1049de835eb64c4fbe886ef2bfe19eaad64e875a58625254
3
+ size 2073
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 sha256:0cd53ee05115c44f0aeb15a382968217a2f5d9578697f960531a1925a09e475c
3
+ size 111225152