Sreevishakh commited on
Commit
84c8f34
·
verified ·
1 Parent(s): 6822ad7

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:a4c4fc05ab0b61cc4ff64b19c16223a8aa0650b974e7beadbdabf4518a4698a3
3
+ size 127076
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38c8c01c00b80584938a00680736775b40c534fafebe9cb00c9edeef32635b21
3
+ size 45711
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 1884,
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": "0:2"
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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1883
8
+ ],
9
+ "mean": [
10
+ 941.5
11
+ ],
12
+ "std": [
13
+ 543.8638769643252
14
+ ],
15
+ "count": [
16
+ 1884
17
+ ],
18
+ "q01": [
19
+ 464.9912433629592
20
+ ],
21
+ "q10": [
22
+ 552.6727690869689
23
+ ],
24
+ "q50": [
25
+ 941.0481422505308
26
+ ],
27
+ "q90": [
28
+ 1330.3272309130311
29
+ ],
30
+ "q99": [
31
+ 1418.0087566370407
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 1111
40
+ ],
41
+ "mean": [
42
+ 485.83970276008495
43
+ ],
44
+ "std": [
45
+ 296.92020844984415
46
+ ],
47
+ "count": [
48
+ 1884
49
+ ],
50
+ "q01": [
51
+ 9.33094612304416
52
+ ],
53
+ "q10": [
54
+ 97.01247184705373
55
+ ],
56
+ "q50": [
57
+ 485.3878450106157
58
+ ],
59
+ "q90": [
60
+ 874.6669336731161
61
+ ],
62
+ "q99": [
63
+ 962.3484593971258
64
+ ]
65
+ },
66
+ "task_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 0
72
+ ],
73
+ "mean": [
74
+ 0.0
75
+ ],
76
+ "std": [
77
+ 0.0
78
+ ],
79
+ "count": [
80
+ 1884
81
+ ],
82
+ "q01": [
83
+ 3.9999999999994176e-16
84
+ ],
85
+ "q10": [
86
+ 3.999999999999417e-15
87
+ ],
88
+ "q50": [
89
+ 1.9999999999997088e-14
90
+ ],
91
+ "q90": [
92
+ 3.599999999999476e-14
93
+ ],
94
+ "q99": [
95
+ 3.959999999999423e-14
96
+ ]
97
+ },
98
+ "timestamp": {
99
+ "min": [
100
+ 0.0
101
+ ],
102
+ "max": [
103
+ 37.03333333333333
104
+ ],
105
+ "mean": [
106
+ 16.194656758669495
107
+ ],
108
+ "std": [
109
+ 9.897340281661474
110
+ ],
111
+ "count": [
112
+ 1884
113
+ ],
114
+ "q01": [
115
+ 0.31103153733998407
116
+ ],
117
+ "q10": [
118
+ 3.233749061491093
119
+ ],
120
+ "q50": [
121
+ 16.179594833687094
122
+ ],
123
+ "q90": [
124
+ 29.155564455847898
125
+ ],
126
+ "q99": [
127
+ 32.078281979999005
128
+ ]
129
+ },
130
+ "episode_index": {
131
+ "min": [
132
+ 0
133
+ ],
134
+ "max": [
135
+ 1
136
+ ],
137
+ "mean": [
138
+ 0.5902335456475584
139
+ ],
140
+ "std": [
141
+ 0.49179051153908004
142
+ ],
143
+ "count": [
144
+ 1884
145
+ ],
146
+ "q01": [
147
+ 0.5902335456475587
148
+ ],
149
+ "q10": [
150
+ 0.5902335456475625
151
+ ],
152
+ "q50": [
153
+ 0.5902335456475785
154
+ ],
155
+ "q90": [
156
+ 0.5902335456475943
157
+ ],
158
+ "q99": [
159
+ 0.5902335456475979
160
+ ]
161
+ },
162
+ "action": {
163
+ "min": [
164
+ -33.51225662231445,
165
+ -48.37230682373047,
166
+ -53.89178466796875,
167
+ 32.03333282470703,
168
+ -31.32491111755371,
169
+ -5.0715742111206055
170
+ ],
171
+ "max": [
172
+ 2.1945528984069824,
173
+ 38.98106002807617,
174
+ 64.80442810058594,
175
+ 97.49967193603516,
176
+ 1.1104121208190918,
177
+ 31.157672882080078
178
+ ],
179
+ "mean": [
180
+ -13.614803018590194,
181
+ 16.28230410978799,
182
+ -10.515312082448583,
183
+ 75.61014072555898,
184
+ -13.664918318422483,
185
+ 17.64791900488981
186
+ ],
187
+ "std": [
188
+ 7.287504947943432,
189
+ 21.720003379743513,
190
+ 26.960112355744872,
191
+ 10.301498230203627,
192
+ 6.966337085360324,
193
+ 10.841421797831744
194
+ ],
195
+ "count": [
196
+ 1884
197
+ ],
198
+ "q01": [
199
+ -24.255908337894773,
200
+ -45.902809232804934,
201
+ -38.88141093179173,
202
+ 43.78429990667193,
203
+ -25.10147853989004,
204
+ -0.09207923387013203
205
+ ],
206
+ "q10": [
207
+ -23.125739622014848,
208
+ -15.578223284743645,
209
+ -34.68014340167845,
210
+ 63.42447582171981,
211
+ -23.425661010904168,
212
+ 2.08505560779774
213
+ ],
214
+ "q50": [
215
+ -12.983147918798362,
216
+ 24.035166900375593,
217
+ -17.971364091301023,
218
+ 77.72977160800035,
219
+ -12.956092830423083,
220
+ 21.033162212169348
221
+ ],
222
+ "q90": [
223
+ -5.759031331412605,
224
+ 32.33706868489583,
225
+ 21.006479043818835,
226
+ 85.26479948979275,
227
+ -3.788616048403859,
228
+ 28.762877211196155
229
+ ],
230
+ "q99": [
231
+ 0.09580408570113415,
232
+ 34.43264070093758,
233
+ 60.978646313450646,
234
+ 89.18143373979379,
235
+ -0.11888455206674667,
236
+ 30.719222282847024
237
+ ]
238
+ },
239
+ "observation.state": {
240
+ "min": [
241
+ -32.51942443847656,
242
+ -98.71078491210938,
243
+ -51.25725173950195,
244
+ -14.584239959716797,
245
+ -30.89133071899414,
246
+ 0.47748976945877075
247
+ ],
248
+ "max": [
249
+ 2.1087679862976074,
250
+ 39.40696334838867,
251
+ 99.51644134521484,
252
+ 96.25598907470703,
253
+ 0.8547008633613586,
254
+ 30.6275577545166
255
+ ],
256
+ "mean": [
257
+ -13.230791715553105,
258
+ 16.340071933284687,
259
+ -7.975398186159235,
260
+ 74.72402968680024,
261
+ -13.55428626228543,
262
+ 17.782391278860167
263
+ ],
264
+ "std": [
265
+ 7.043329004269485,
266
+ 23.93091001164383,
267
+ 28.107344007003324,
268
+ 12.712098446089348,
269
+ 6.959716973727373,
270
+ 10.14934108057849
271
+ ],
272
+ "count": [
273
+ 1884
274
+ ],
275
+ "q01": [
276
+ -23.683017977462143,
277
+ -61.85448516392152,
278
+ -36.44490298455435,
279
+ 23.88444645365332,
280
+ -24.893715801911245,
281
+ 1.9868613744743817
282
+ ],
283
+ "q10": [
284
+ -22.72607418002363,
285
+ -16.316451611690965,
286
+ -32.65898673032134,
287
+ 62.59510060491557,
288
+ -23.404734438594488,
289
+ 3.4421737589400787
290
+ ],
291
+ "q50": [
292
+ -12.617186778163708,
293
+ 24.866840534482105,
294
+ -16.66088435435582,
295
+ 77.62827053191556,
296
+ -12.936645377551251,
297
+ 20.86124984001489
298
+ ],
299
+ "q90": [
300
+ -5.6497387476172785,
301
+ 33.91264309334877,
302
+ 23.710494266194143,
303
+ 84.53445571499857,
304
+ -3.684796346365072,
305
+ 28.4457539716119
306
+ ],
307
+ "q99": [
308
+ 0.20987473311697602,
309
+ 35.0298318521212,
310
+ 71.26495596332914,
311
+ 88.78522260774332,
312
+ -0.1870969923630895,
313
+ 30.385712138866047
314
+ ]
315
+ },
316
+ "observation.images.eye_in_hand": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.0
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.0
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.4795929112522721
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.4736306778628611
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.4420033531780562
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.015530570016393911
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.006998254351159554
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.014870171460022105
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 338
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.040007703261709236
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.02741394840228442
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ -3.92156862745098e-13
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.1588431891802037
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.1643607530371208
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.006773347763866302
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.3657081241931717
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.488934926612562
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.5045536149552833
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.9998151350546647
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.7509296857840292
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.787291223067549
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.9999815135058193
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.9330272696717432
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.968723013183489
470
+ ]
471
+ ]
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:f6b18d046d8066557e5bfde74615c50737a8ca4a43495cc6397313d1d6d18153
3
+ size 14795194