TonyG13 commited on
Commit
777fe87
·
verified ·
1 Parent(s): 9708e50

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 sha256:87b70f1ac66231143f6c1e27b391d58487b2ac9b7424c6aa4ed281442779610b
3
+ size 1276506
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:835e11a4faed948560f59ba6187d6729e89442ee97c4cfa19df2c4fe4f4e7180
3
+ size 227187
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 94,
5
+ "total_frames": 46412,
6
+ "total_tasks": 7,
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": "0:94"
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
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.side": {
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
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 28.633333333333333
8
+ ],
9
+ "mean": [
10
+ 8.797213364359791
11
+ ],
12
+ "std": [
13
+ 5.613090168132941
14
+ ],
15
+ "count": [
16
+ 46412
17
+ ],
18
+ "q01": [
19
+ 0.1593819105685833
20
+ ],
21
+ "q10": [
22
+ 1.7448410013275064
23
+ ],
24
+ "q50": [
25
+ 8.790618096612866
26
+ ],
27
+ "q90": [
28
+ 15.846750407589695
29
+ ],
30
+ "q99": [
31
+ 17.434722263923643
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 859
40
+ ],
41
+ "mean": [
42
+ 263.91640093079377
43
+ ],
44
+ "std": [
45
+ 168.39270504398823
46
+ ],
47
+ "count": [
48
+ 46412
49
+ ],
50
+ "q01": [
51
+ 4.7814573199052495
52
+ ],
53
+ "q10": [
54
+ 52.345230042150284
55
+ ],
56
+ "q50": [
57
+ 263.69217032233036
58
+ ],
59
+ "q90": [
60
+ 475.40251222536665
61
+ ],
62
+ "q99": [
63
+ 523.0416679148617
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
+ 46412
81
+ ],
82
+ "q01": [
83
+ 3.999999999999417e-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
+ 3.9599999999994235e-14
96
+ ]
97
+ },
98
+ "index": {
99
+ "min": [
100
+ 0
101
+ ],
102
+ "max": [
103
+ 15956
104
+ ],
105
+ "mean": [
106
+ 5402.377617857451
107
+ ],
108
+ "std": [
109
+ 4034.0943570100903
110
+ ],
111
+ "count": [
112
+ 46412
113
+ ],
114
+ "q01": [
115
+ 5143.242674246562
116
+ ],
117
+ "q10": [
118
+ 5190.806446968808
119
+ ],
120
+ "q50": [
121
+ 5402.18144120917
122
+ ],
123
+ "q90": [
124
+ 5613.863729152023
125
+ ],
126
+ "q99": [
127
+ 5661.502884841518
128
+ ]
129
+ },
130
+ "episode_index": {
131
+ "min": [
132
+ 0
133
+ ],
134
+ "max": [
135
+ 26
136
+ ],
137
+ "mean": [
138
+ 10.0818538309058
139
+ ],
140
+ "std": [
141
+ 7.295820262693758
142
+ ],
143
+ "count": [
144
+ 46412
145
+ ],
146
+ "q01": [
147
+ 10.0818538309058
148
+ ],
149
+ "q10": [
150
+ 10.081853830905803
151
+ ],
152
+ "q50": [
153
+ 10.081853830905823
154
+ ],
155
+ "q90": [
156
+ 10.081853830905837
157
+ ],
158
+ "q99": [
159
+ 10.08185383090584
160
+ ]
161
+ },
162
+ "action": {
163
+ "min": [
164
+ -117.010986328125,
165
+ -106.68132019042969,
166
+ -96.57142639160156,
167
+ -86.63735961914062,
168
+ -81.62637329101562,
169
+ 0.0
170
+ ],
171
+ "max": [
172
+ 105.67032623291016,
173
+ 102.989013671875,
174
+ 86.9011001586914,
175
+ 102.19779968261719,
176
+ 143.95603942871094,
177
+ 57.886436462402344
178
+ ],
179
+ "mean": [
180
+ -10.29336345168817,
181
+ -4.273251634376403,
182
+ -1.8191443545795032,
183
+ 70.31738761485799,
184
+ 21.021143552857882,
185
+ 8.942545728220681
186
+ ],
187
+ "std": [
188
+ 33.73774258854643,
189
+ 36.05819118207344,
190
+ 42.533089212626514,
191
+ 36.84079476235547,
192
+ 34.567359057974926,
193
+ 12.776248267993424
194
+ ],
195
+ "count": [
196
+ 46412
197
+ ],
198
+ "q01": [
199
+ -40.20371731394357,
200
+ -53.96521089048925,
201
+ -59.44861638293556,
202
+ 29.95188007144543,
203
+ -10.399095868809498,
204
+ 0.665120944752197
205
+ ],
206
+ "q10": [
207
+ -34.56359442508673,
208
+ -44.59107550230132,
209
+ -43.96802527863977,
210
+ 34.64475555315329,
211
+ -6.9870360346801235,
212
+ 0.7597979363852988
213
+ ],
214
+ "q50": [
215
+ -10.51807833387495,
216
+ -8.315058742059875,
217
+ 0.08534543581196552,
218
+ 75.25582666819405,
219
+ 9.595078238332306,
220
+ 1.197685316447212
221
+ ],
222
+ "q90": [
223
+ 13.997804841133439,
224
+ 39.23113623524723,
225
+ 37.42133314528969,
226
+ 98.31176928586785,
227
+ 61.440211281386695,
228
+ 30.05818272471262
229
+ ],
230
+ "q99": [
231
+ 17.415544281088053,
232
+ 44.52862441881967,
233
+ 46.99863316257512,
234
+ 100.85646975191193,
235
+ 67.42323024010015,
236
+ 33.325076048886245
237
+ ]
238
+ },
239
+ "observation.state": {
240
+ "min": [
241
+ -116.30769348144531,
242
+ -104.26373291015625,
243
+ -96.26373291015625,
244
+ -85.36264038085938,
245
+ -80.92308044433594,
246
+ 1.0351966619491577
247
+ ],
248
+ "max": [
249
+ 105.5824203491211,
250
+ 103.29669952392578,
251
+ 87.20879364013672,
252
+ 100.30769348144531,
253
+ 143.07691955566406,
254
+ 57.48792266845703
255
+ ],
256
+ "mean": [
257
+ -10.372838125958824,
258
+ -3.290551256080527,
259
+ -0.5091461819864448,
260
+ 70.24450512950733,
261
+ 20.98597260328745,
262
+ 13.94187087921719
263
+ ],
264
+ "std": [
265
+ 33.728694286367904,
266
+ 36.518174768107315,
267
+ 42.494993666995704,
268
+ 36.53288116612181,
269
+ 34.54008575957686,
270
+ 11.056686283862174
271
+ ],
272
+ "count": [
273
+ 46412
274
+ ],
275
+ "q01": [
276
+ -39.91063878788915,
277
+ -53.34037546741396,
278
+ -57.58468153093853,
279
+ 30.608593668843035,
280
+ -9.982226122668845,
281
+ 1.2907390661190883
282
+ ],
283
+ "q10": [
284
+ -34.64294067134077,
285
+ -44.43105465397198,
286
+ -42.67382785885992,
287
+ 34.90485939394842,
288
+ -7.057172220102058,
289
+ 1.3597500990470697
290
+ ],
291
+ "q50": [
292
+ -10.640454189049423,
293
+ -7.4570781815839595,
294
+ 1.4374139157953876,
295
+ 75.41121347709533,
296
+ 9.578894663452587,
297
+ 14.532235231656795
298
+ ],
299
+ "q90": [
300
+ 13.904462360047823,
301
+ 40.52402104399178,
302
+ 38.48167505133639,
303
+ 97.4738235539985,
304
+ 61.41918313808098,
305
+ 29.783388892394097
306
+ ],
307
+ "q99": [
308
+ 16.955874518801647,
309
+ 45.16334578165251,
310
+ 47.4756519894066,
311
+ 99.44296689203225,
312
+ 66.93074218357367,
313
+ 32.98185543758849
314
+ ]
315
+ },
316
+ "observation.images.top": {
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
+ 0.6208626098492882
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.6045403260480232
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.5771043107433549
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.018509423194886365
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.016940765090399636
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.021144448786416217
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 891110400
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.061801077195068936
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.05553724097364412
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.049318132117907296
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.4674068267940325
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.3866919976083821
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.28898533655914105
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.6368775619394661
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.6430812309770472
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.651442711613544
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.76488349970754
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.8042287229319387
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.8376529087434103
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.9685737161665865
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.9588505815676052
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9593185045453794
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.side": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.6140913763278697
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.6098173647919121
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.6037207258912644
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.020741101617065712
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.021353529934507513
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.020644070328287623
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 891110400
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.0817869146281216
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.08670967883453459
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.08312094140954499
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.4127791724246498
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.3364181475360995
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.24452034095167405
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.6581670191120185
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.6759175901102958
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.6966379544075261
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.8035649961361568
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.785371291497293
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7655885998901568
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8832951477729724
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.8733161588369482
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.860515799633706
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3610bb0296363e5bcc3865d5acd9dcaf3a8b8bc321edbaa545024eb9af3d68c3
3
+ size 2133
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a267ed3f13931501da52647bdb97f08861099c901273700f4483d96b25ef197
3
+ size 131676078
videos/observation.images.side/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:789805abc99c3f99ba6d9f8e06186fa79c7bae2676f49de797c3a7f053bec255
3
+ size 200362871
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:ede481d09ffb60396adfb1e20f1e0c10aea9e00546ef09d6f74735495ccd4ade
3
+ size 159459280
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bdb3a67e8477e2ff7bf52b62770846bf6c1869df0219a5479e925b830eb1f051
3
+ size 141480727
videos/observation.images.top/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:64e71c92cf7771e328b4223f487a477a3369f4d5bb8540bece9319f5d220206b
3
+ size 102333964