Xia-2004 commited on
Commit
040460f
·
verified ·
1 Parent(s): ad35690

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 sha256:5b9cd3ac026b036be0ecc1e5f753e275f515a13cc2c04e2555cc56d42ea30308
3
+ size 6684
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5744afdf75b4ef4a660fd4bc8050340114e9282f3bc76937d58927817afa3e92
3
+ size 44234
meta/info.json ADDED
@@ -0,0 +1,108 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "boxarm_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 46,
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": "0:1"
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_Pitch_Joint.pos",
21
+ "Shoulder_Roll_Joint.pos",
22
+ "Shoulder_Yaw_Joint.pos",
23
+ "Elbow_Joint.pos",
24
+ "Wrist_Yaw_Joint.pos",
25
+ "Wrist_Roll_Joint.pos",
26
+ "Wrist_Pitch_Joint.pos",
27
+ "Hand_State.pos"
28
+ ],
29
+ "shape": [
30
+ 8
31
+ ]
32
+ },
33
+ "observation.state": {
34
+ "dtype": "float32",
35
+ "names": [
36
+ "Shoulder_Pitch_Joint.pos",
37
+ "Shoulder_Roll_Joint.pos",
38
+ "Shoulder_Yaw_Joint.pos",
39
+ "Elbow_Joint.pos",
40
+ "Wrist_Yaw_Joint.pos",
41
+ "Wrist_Roll_Joint.pos",
42
+ "Wrist_Pitch_Joint.pos",
43
+ "Hand_State.pos"
44
+ ],
45
+ "shape": [
46
+ 8
47
+ ]
48
+ },
49
+ "observation.images.wrist": {
50
+ "dtype": "video",
51
+ "shape": [
52
+ 480,
53
+ 640,
54
+ 3
55
+ ],
56
+ "names": [
57
+ "height",
58
+ "width",
59
+ "channels"
60
+ ],
61
+ "info": {
62
+ "video.height": 480,
63
+ "video.width": 640,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "video.fps": 30,
68
+ "video.channels": 3,
69
+ "has_audio": false
70
+ }
71
+ },
72
+ "timestamp": {
73
+ "dtype": "float32",
74
+ "shape": [
75
+ 1
76
+ ],
77
+ "names": null
78
+ },
79
+ "frame_index": {
80
+ "dtype": "int64",
81
+ "shape": [
82
+ 1
83
+ ],
84
+ "names": null
85
+ },
86
+ "episode_index": {
87
+ "dtype": "int64",
88
+ "shape": [
89
+ 1
90
+ ],
91
+ "names": null
92
+ },
93
+ "index": {
94
+ "dtype": "int64",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "task_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ }
107
+ }
108
+ }
meta/stats.json ADDED
@@ -0,0 +1,510 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -0.007759082596749067,
5
+ -0.67947918176651,
6
+ -0.018082739785313606,
7
+ 0.7368585467338562,
8
+ -0.09359569102525711,
9
+ 0.017072780057787895,
10
+ -0.33039066195487976,
11
+ 1.0
12
+ ],
13
+ "max": [
14
+ 0.01200531143695116,
15
+ -0.6737667322158813,
16
+ -0.008754891343414783,
17
+ 0.7483013868331909,
18
+ 0.0033181230537593365,
19
+ 0.054358623921871185,
20
+ -0.2596755921840668,
21
+ 1.0
22
+ ],
23
+ "mean": [
24
+ 0.003218689700588584,
25
+ -0.6771546006202698,
26
+ -0.013235975988209248,
27
+ 0.7419230341911316,
28
+ -0.04395923390984535,
29
+ 0.03355954959988594,
30
+ -0.2898625135421753,
31
+ 1.0
32
+ ],
33
+ "std": [
34
+ 0.005940569564700127,
35
+ 0.0021353582851588726,
36
+ 0.00239656213670969,
37
+ 0.00439453125,
38
+ 0.03456977754831314,
39
+ 0.010457241907715797,
40
+ 0.026964416727423668,
41
+ 0.0
42
+ ],
43
+ "count": [
44
+ 46
45
+ ],
46
+ "q01": [
47
+ -0.007759082696749067,
48
+ -0.67947918186651,
49
+ -0.018082739885313608,
50
+ 0.7368585466338562,
51
+ -0.0935956911252571,
52
+ 0.017072779957787894,
53
+ -0.33039066205487977,
54
+ 1.0000000000000004
55
+ ],
56
+ "q10": [
57
+ -0.004404669707405465,
58
+ -0.6794053770157319,
59
+ -0.015798163195939748,
60
+ 0.737102507989038,
61
+ -0.08205131756834066,
62
+ 0.018412087476569767,
63
+ -0.3271052399040358,
64
+ 1.000000000000004
65
+ ],
66
+ "q50": [
67
+ 0.00030874302944736663,
68
+ -0.6780727767379052,
69
+ -0.014099748515222811,
70
+ 0.7395132855833019,
71
+ -0.06804920968130837,
72
+ 0.03589467404133714,
73
+ -0.28040925059950916,
74
+ 1.00000000000002
75
+ ],
76
+ "q90": [
77
+ 0.011441631013406029,
78
+ -0.674109821847904,
79
+ -0.010214886112844788,
80
+ 0.747870449567518,
81
+ 0.0010774757676284801,
82
+ 0.04510726039269084,
83
+ -0.2604902296901306,
84
+ 1.000000000000036
85
+ ],
86
+ "q99": [
87
+ 0.01200349321268166,
88
+ -0.6737672576612583,
89
+ -0.008755749405489838,
90
+ 0.7483003341918834,
91
+ 0.00330920708284567,
92
+ 0.05435519372421729,
93
+ -0.25967884497728544,
94
+ 1.0000000000000395
95
+ ]
96
+ },
97
+ "observation.state": {
98
+ "min": [
99
+ -0.01125352829694748,
100
+ 0.691805899143219,
101
+ 0.014686808921396732,
102
+ 0.8039597272872925,
103
+ -0.08449683338403702,
104
+ 0.02231631986796856,
105
+ -0.29812315106391907,
106
+ 1.0
107
+ ],
108
+ "max": [
109
+ -0.010109102353453636,
110
+ 0.691805899143219,
111
+ 0.014686808921396732,
112
+ 0.8039597272872925,
113
+ -0.002861066721379757,
114
+ 0.03490501269698143,
115
+ -0.23746852576732635,
116
+ 1.0
117
+ ],
118
+ "mean": [
119
+ -0.010996450670063496,
120
+ 0.6918063163757324,
121
+ 0.014686817303299904,
122
+ 0.803959310054779,
123
+ -0.05164845660328865,
124
+ 0.028842873871326447,
125
+ -0.25757071375846863,
126
+ 1.0
127
+ ],
128
+ "std": [
129
+ 0.00045028780004940927,
130
+ 0.0,
131
+ 0.0,
132
+ 0.0006459353608079255,
133
+ 0.03252873569726944,
134
+ 0.005022066179662943,
135
+ 0.021413687616586685,
136
+ 0.0
137
+ ],
138
+ "count": [
139
+ 46
140
+ ],
141
+ "q01": [
142
+ -0.011253528396947479,
143
+ 0.6918058991432194,
144
+ 0.014686808921397133,
145
+ 0.8039597272872929,
146
+ -0.08449683348403701,
147
+ 0.022316319767968558,
148
+ -0.2981231511639191,
149
+ 1.0000000000000004
150
+ ],
151
+ "q10": [
152
+ -0.011253528396947479,
153
+ 0.691805899143223,
154
+ 0.014686808921400733,
155
+ 0.8039597272872965,
156
+ -0.08296861192836806,
157
+ 0.022316319767968558,
158
+ -0.2939307034495946,
159
+ 1.000000000000004
160
+ ],
161
+ "q50": [
162
+ -0.011253528396947479,
163
+ 0.691805899143239,
164
+ 0.014686808921416732,
165
+ 0.8039597272873125,
166
+ -0.07533730044204687,
167
+ 0.02994758548215616,
168
+ -0.24357765954734317,
169
+ 1.00000000000002
170
+ ],
171
+ "q90": [
172
+ -0.010109219239237193,
173
+ 0.691805899143255,
174
+ 0.014686808921432731,
175
+ 0.8039597272873285,
176
+ -0.003245081268701707,
177
+ 0.03376123212323872,
178
+ -0.24014356795065608,
179
+ 1.000000000000036
180
+ ],
181
+ "q99": [
182
+ -0.010109113952031993,
183
+ 0.6918058991432585,
184
+ 0.01468680892143633,
185
+ 0.803959727287332,
186
+ -0.002864821866655441,
187
+ 0.034903854637222766,
188
+ -0.23747410589287204,
189
+ 1.0000000000000395
190
+ ]
191
+ },
192
+ "observation.images.wrist": {
193
+ "min": [
194
+ [
195
+ [
196
+ 0.09411764705882353
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 0.08627450980392157
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.11764705882352941
207
+ ]
208
+ ]
209
+ ],
210
+ "max": [
211
+ [
212
+ [
213
+ 1.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "mean": [
228
+ [
229
+ [
230
+ 0.5372174490267121
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.5244715206734868
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.5559747264847968
241
+ ]
242
+ ]
243
+ ],
244
+ "std": [
245
+ [
246
+ [
247
+ 0.0
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.0
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.0
258
+ ]
259
+ ]
260
+ ],
261
+ "count": [
262
+ 46
263
+ ],
264
+ "q01": [
265
+ [
266
+ [
267
+ 0.19229760027489062
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.18437794577597863
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.22362276415238508
278
+ ]
279
+ ]
280
+ ],
281
+ "q10": [
282
+ [
283
+ [
284
+ 0.33709843526126904
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.31779214650546767
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.34905019630291223
295
+ ]
296
+ ]
297
+ ],
298
+ "q50": [
299
+ [
300
+ [
301
+ 0.509878446463765
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.502019524686432
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.5451139489909002
312
+ ]
313
+ ]
314
+ ],
315
+ "q90": [
316
+ [
317
+ [
318
+ 0.7921246064625154
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.7882688275073737
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.7999933131336382
329
+ ]
330
+ ]
331
+ ],
332
+ "q99": [
333
+ [
334
+ [
335
+ 0.9998500749007727
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 0.9960142517984053
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 0.9998607781839298
346
+ ]
347
+ ]
348
+ ]
349
+ },
350
+ "timestamp": {
351
+ "min": [
352
+ 0.0
353
+ ],
354
+ "max": [
355
+ 1.5
356
+ ],
357
+ "mean": [
358
+ 0.75
359
+ ],
360
+ "std": [
361
+ 0.442530601578392
362
+ ],
363
+ "count": [
364
+ 46
365
+ ],
366
+ "q01": [
367
+ -1e-10
368
+ ],
369
+ "q10": [
370
+ 0.133379999917784
371
+ ],
372
+ "q50": [
373
+ 0.7334999999977999
374
+ ],
375
+ "q90": [
376
+ 1.366620000082216
377
+ ],
378
+ "q99": [
379
+ 1.4998620000999816
380
+ ]
381
+ },
382
+ "frame_index": {
383
+ "min": [
384
+ 0
385
+ ],
386
+ "max": [
387
+ 45
388
+ ],
389
+ "mean": [
390
+ 22.5
391
+ ],
392
+ "std": [
393
+ 13.275918047351754
394
+ ],
395
+ "count": [
396
+ 46
397
+ ],
398
+ "q01": [
399
+ -1e-10
400
+ ],
401
+ "q10": [
402
+ 4.001399999917784
403
+ ],
404
+ "q50": [
405
+ 22.004999999997803
406
+ ],
407
+ "q90": [
408
+ 40.99860000008222
409
+ ],
410
+ "q99": [
411
+ 44.99586000009998
412
+ ]
413
+ },
414
+ "episode_index": {
415
+ "min": [
416
+ 0
417
+ ],
418
+ "max": [
419
+ 0
420
+ ],
421
+ "mean": [
422
+ 0.0
423
+ ],
424
+ "std": [
425
+ 0.0
426
+ ],
427
+ "count": [
428
+ 46
429
+ ],
430
+ "q01": [
431
+ 3.9999999999994176e-16
432
+ ],
433
+ "q10": [
434
+ 3.999999999999417e-15
435
+ ],
436
+ "q50": [
437
+ 1.9999999999997088e-14
438
+ ],
439
+ "q90": [
440
+ 3.599999999999476e-14
441
+ ],
442
+ "q99": [
443
+ 3.9599999999994235e-14
444
+ ]
445
+ },
446
+ "index": {
447
+ "min": [
448
+ 0
449
+ ],
450
+ "max": [
451
+ 45
452
+ ],
453
+ "mean": [
454
+ 22.5
455
+ ],
456
+ "std": [
457
+ 13.275918047351754
458
+ ],
459
+ "count": [
460
+ 46
461
+ ],
462
+ "q01": [
463
+ -1e-10
464
+ ],
465
+ "q10": [
466
+ 4.001399999917784
467
+ ],
468
+ "q50": [
469
+ 22.004999999997803
470
+ ],
471
+ "q90": [
472
+ 40.99860000008222
473
+ ],
474
+ "q99": [
475
+ 44.99586000009998
476
+ ]
477
+ },
478
+ "task_index": {
479
+ "min": [
480
+ 0
481
+ ],
482
+ "max": [
483
+ 0
484
+ ],
485
+ "mean": [
486
+ 0.0
487
+ ],
488
+ "std": [
489
+ 0.0
490
+ ],
491
+ "count": [
492
+ 46
493
+ ],
494
+ "q01": [
495
+ 3.9999999999994176e-16
496
+ ],
497
+ "q10": [
498
+ 3.999999999999417e-15
499
+ ],
500
+ "q50": [
501
+ 1.9999999999997088e-14
502
+ ],
503
+ "q90": [
504
+ 3.599999999999476e-14
505
+ ],
506
+ "q99": [
507
+ 3.9599999999994235e-14
508
+ ]
509
+ }
510
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4691f5d297af29d314430297eb93719d9b441340070db8e7aa54cddb7dbdfdd8
3
+ size 2161
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e861877925d8ba5047ee67e51e3db66c9f5d20f1ce5245b2cc79e85f44f0a6db
3
+ size 259725