Sreevishakh commited on
Commit
308ad78
·
verified ·
1 Parent(s): 7e9b4cf

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:be363e06f9f3f22b74f7d6fc32a9cbd5636773ed6a7403f5b20c39c1a8f09c2c
3
+ size 123152
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c83ae2e823679a75d954415d629bb49c561e1e09569cc864ad0874f06c82c733
3
+ size 47292
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 1762,
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": "0:3"
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_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.eye_in_hand": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 796
8
+ ],
9
+ "mean": [
10
+ 366.5947786606129
11
+ ],
12
+ "std": [
13
+ 237.31256499144132
14
+ ],
15
+ "count": [
16
+ 1762
17
+ ],
18
+ "q01": [
19
+ 6.468533071411369
20
+ ],
21
+ "q10": [
22
+ 72.95078224736599
23
+ ],
24
+ "q50": [
25
+ 366.5484006810442
26
+ ],
27
+ "q90": [
28
+ 660.2387750738599
29
+ ],
30
+ "q99": [
31
+ 726.7210242498145
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 2
40
+ ],
41
+ "mean": [
42
+ 1.3524404086265607
43
+ ],
44
+ "std": [
45
+ 0.6507371643901719
46
+ ],
47
+ "count": [
48
+ 1762
49
+ ],
50
+ "q01": [
51
+ 1.3524404086265613
52
+ ],
53
+ "q10": [
54
+ 1.352440408626565
55
+ ],
56
+ "q50": [
57
+ 1.3524404086265809
58
+ ],
59
+ "q90": [
60
+ 1.3524404086265966
61
+ ],
62
+ "q99": [
63
+ 1.3524404086266002
64
+ ]
65
+ },
66
+ "timestamp": {
67
+ "min": [
68
+ 0.0
69
+ ],
70
+ "max": [
71
+ 26.533333333333335
72
+ ],
73
+ "mean": [
74
+ 12.219825955353766
75
+ ],
76
+ "std": [
77
+ 7.910418833048043
78
+ ],
79
+ "count": [
80
+ 1762
81
+ ],
82
+ "q01": [
83
+ 0.21561776895204202
84
+ ],
85
+ "q10": [
86
+ 2.4316927415014344
87
+ ],
88
+ "q50": [
89
+ 12.220656322360915
90
+ ],
91
+ "q90": [
92
+ 22.007959169206092
93
+ ],
94
+ "q99": [
95
+ 24.224034141755485
96
+ ]
97
+ },
98
+ "index": {
99
+ "min": [
100
+ 0
101
+ ],
102
+ "max": [
103
+ 1761
104
+ ],
105
+ "mean": [
106
+ 880.5
107
+ ],
108
+ "std": [
109
+ 508.64550523915966
110
+ ],
111
+ "count": [
112
+ 1762
113
+ ],
114
+ "q01": [
115
+ 520.3737544107984
116
+ ],
117
+ "q10": [
118
+ 586.8560035867531
119
+ ],
120
+ "q50": [
121
+ 880.5249110102156
122
+ ],
123
+ "q90": [
124
+ 1174.143996413247
125
+ ],
126
+ "q99": [
127
+ 1240.6262455892017
128
+ ]
129
+ },
130
+ "action": {
131
+ "min": [
132
+ -21.333599090576172,
133
+ -20.511566162109375,
134
+ -25.588685989379883,
135
+ 58.77150344848633,
136
+ -31.719541549682617,
137
+ -0.6031115055084229
138
+ ],
139
+ "max": [
140
+ 5.957696914672852,
141
+ 26.06397819519043,
142
+ 47.5342903137207,
143
+ 91.50019836425781,
144
+ 9.446521759033203,
145
+ 42.8001823425293
146
+ ],
147
+ "mean": [
148
+ -10.205895292907783,
149
+ -5.454810049693512,
150
+ 21.68779109474208,
151
+ 72.1987449784555,
152
+ -12.979288874094657,
153
+ 24.39034742664939
154
+ ],
155
+ "std": [
156
+ 7.048078677742025,
157
+ 7.956122695110785,
158
+ 13.982095810462086,
159
+ 7.003033492808579,
160
+ 10.315396238285018,
161
+ 11.358558494947635
162
+ ],
163
+ "count": [
164
+ 1762
165
+ ],
166
+ "q01": [
167
+ -18.634231855834113,
168
+ -16.9106978537736,
169
+ -12.817951812381507,
170
+ 60.73236161713703,
171
+ -24.552305583174462,
172
+ 0.9580081463039395
173
+ ],
174
+ "q10": [
175
+ -16.26707745377782,
176
+ -13.661156515420227,
177
+ 2.86736946511891,
178
+ 64.5822897375239,
179
+ -20.66086157025869,
180
+ 10.26629460480373
181
+ ],
182
+ "q50": [
183
+ -10.282622373063502,
184
+ -6.402808848222999,
185
+ 23.21756964346878,
186
+ 71.39802947749796,
187
+ -14.32111994930618,
188
+ 26.215325029158837
189
+ ],
190
+ "q90": [
191
+ -4.868878974763001,
192
+ 4.594516884888206,
193
+ 36.21700199270086,
194
+ 80.68565990976253,
195
+ -3.1188829534034856,
196
+ 36.318470332895856
197
+ ],
198
+ "q99": [
199
+ 2.425366075149865,
200
+ 13.438695406572773,
201
+ 43.51795418281425,
202
+ 88.02862119248181,
203
+ 3.826058673263273,
204
+ 38.844902972590496
205
+ ]
206
+ },
207
+ "observation.images.eye_in_hand": {
208
+ "min": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "max": [
226
+ [
227
+ [
228
+ 1.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 1.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 1.0
239
+ ]
240
+ ]
241
+ ],
242
+ "mean": [
243
+ [
244
+ [
245
+ 0.630333601057382
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.5910273580192311
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.5799858802439104
256
+ ]
257
+ ]
258
+ ],
259
+ "std": [
260
+ [
261
+ [
262
+ 0.008500513270209401
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.003229649172194684
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.0016268148479785204
273
+ ]
274
+ ]
275
+ ],
276
+ "count": [
277
+ 399
278
+ ],
279
+ "q01": [
280
+ [
281
+ [
282
+ 0.21988432101494418
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.005911078399253795
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ -3.921568627450981e-13
293
+ ]
294
+ ]
295
+ ],
296
+ "q10": [
297
+ [
298
+ [
299
+ 0.4582956708723271
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.2097869645668501
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.05154566102863315
310
+ ]
311
+ ]
312
+ ],
313
+ "q50": [
314
+ [
315
+ [
316
+ 0.6426723860928112
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.6495693713733817
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.6563980997487404
327
+ ]
328
+ ]
329
+ ],
330
+ "q90": [
331
+ [
332
+ [
333
+ 0.7897578744342608
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.8040521010733432
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.8141732952223573
344
+ ]
345
+ ]
346
+ ],
347
+ "q99": [
348
+ [
349
+ [
350
+ 0.8794106880900294
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.8853848106046289
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.8942262272083739
361
+ ]
362
+ ]
363
+ ]
364
+ },
365
+ "observation.state": {
366
+ "min": [
367
+ -20.82870864868164,
368
+ -98.71078491210938,
369
+ -22.533849716186523,
370
+ 14.845450401306152,
371
+ -30.598291397094727,
372
+ 0.5457025766372681
373
+ ],
374
+ "max": [
375
+ 5.216426372528076,
376
+ 26.428878784179688,
377
+ 99.51644134521484,
378
+ 89.46451568603516,
379
+ 8.864468574523926,
380
+ 41.95088577270508
381
+ ],
382
+ "mean": [
383
+ -10.070202242367383,
384
+ -4.901743950015706,
385
+ 23.407554083054507,
386
+ 71.7412660709169,
387
+ -12.661512613837754,
388
+ 24.86454127460008
389
+ ],
390
+ "std": [
391
+ 6.953454040912849,
392
+ 10.010259796234386,
393
+ 14.335936792198796,
394
+ 7.7525003867124225,
395
+ 10.251015735740522,
396
+ 10.210915069942565
397
+ ],
398
+ "count": [
399
+ 1762
400
+ ],
401
+ "q01": [
402
+ -18.161416144950163,
403
+ -23.66966299519907,
404
+ -10.707483825544223,
405
+ 56.05535668895951,
406
+ -24.01851065591299,
407
+ 1.4771751660289885
408
+ ],
409
+ "q10": [
410
+ -15.887587404778813,
411
+ -12.005857673470741,
412
+ 5.025710673073567,
413
+ 64.51270758650195,
414
+ -20.161888384781147,
415
+ 11.456074208373193
416
+ ],
417
+ "q50": [
418
+ -10.196138547909847,
419
+ -5.259504655965386,
420
+ 24.529959760738784,
421
+ 70.96889146185428,
422
+ -14.001269185854277,
423
+ 27.314270072021436
424
+ ],
425
+ "q90": [
426
+ -4.87834905742742,
427
+ 5.762530812299752,
428
+ 36.876142652805434,
429
+ 80.23820479601335,
430
+ -2.5979558924946695,
431
+ 35.90616203402971
432
+ ],
433
+ "q99": [
434
+ 2.89803912091625,
435
+ 13.629022644193975,
436
+ 49.33781580090267,
437
+ 87.3353501381587,
438
+ 4.599659068608798,
439
+ 38.39118608149056
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
+ 1762
457
+ ],
458
+ "q01": [
459
+ 3.9999999999994176e-16
460
+ ],
461
+ "q10": [
462
+ 3.999999999999417e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997088e-14
466
+ ],
467
+ "q90": [
468
+ 3.599999999999476e-14
469
+ ],
470
+ "q99": [
471
+ 3.959999999999423e-14
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:218be61e77e8c6eab0c65e55a86f04006f458a0b07aac28f70dbdb7a7f40df1c
3
+ size 2181
videos/observation.images.eye_in_hand/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3a3f25ea72722cd5a47b29d771950a47a9e290636081226d3bbbdf95ca83975
3
+ size 5072542