Zasha01 commited on
Commit
b7f2f31
·
verified ·
1 Parent(s): c9da57e

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 sha256:4939b2ef75d85612eb24ac47d33d33e379b18ab4ba4a414d497bafa47ea902aa
3
+ size 494005
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47563e0185bbe5e37d51b17dc74a8d96f74b202ecc163248bd92d953f5cffd4a
3
+ size 95092
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 11,
5
+ "total_frames": 11278,
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": "0:11"
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.context": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 360,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 360,
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.wrist": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1416
8
+ ],
9
+ "mean": [
10
+ 554.9126618194715
11
+ ],
12
+ "std": [
13
+ 347.5889685530207
14
+ ],
15
+ "count": [
16
+ 11278
17
+ ],
18
+ "q01": [
19
+ 10.635843386317942
20
+ ],
21
+ "q10": [
22
+ 110.54287497065943
23
+ ],
24
+ "q50": [
25
+ 554.7288518886328
26
+ ],
27
+ "q90": [
28
+ 999.1295481540083
29
+ ],
30
+ "q99": [
31
+ 1099.1894802526251
32
+ ]
33
+ },
34
+ "observation.images.context": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 0.9803921568627451
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 0.9882352941176471
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.47761343486712426
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.4961587786186599
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.48668469171294254
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.002620919576086988
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.0026626894622556237
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.0052001343894311405
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 1995
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.03397729827979196
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.01683052433141485
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.018275859170977456
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.37467222563315966
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.3853682099490994
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.394691719835003
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.4789606480146006
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.493520404012396
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.48452493649824663
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.622633619548767
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.6377504685973835
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.6196114305938902
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.6578281833536861
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.6756316717007247
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.6529311001250094
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "task_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 0
198
+ ],
199
+ "mean": [
200
+ 0.0
201
+ ],
202
+ "std": [
203
+ 0.0
204
+ ],
205
+ "count": [
206
+ 11278
207
+ ],
208
+ "q01": [
209
+ 3.999999999999417e-16
210
+ ],
211
+ "q10": [
212
+ 3.999999999999417e-15
213
+ ],
214
+ "q50": [
215
+ 1.9999999999997088e-14
216
+ ],
217
+ "q90": [
218
+ 3.5999999999994766e-14
219
+ ],
220
+ "q99": [
221
+ 3.9599999999994235e-14
222
+ ]
223
+ },
224
+ "episode_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 10
230
+ ],
231
+ "mean": [
232
+ 4.23789679021103
233
+ ],
234
+ "std": [
235
+ 2.8828691994357794
236
+ ],
237
+ "count": [
238
+ 11278
239
+ ],
240
+ "q01": [
241
+ 4.23789679021103
242
+ ],
243
+ "q10": [
244
+ 4.237896790211034
245
+ ],
246
+ "q50": [
247
+ 4.23789679021105
248
+ ],
249
+ "q90": [
250
+ 4.237896790211067
251
+ ],
252
+ "q99": [
253
+ 4.23789679021107
254
+ ]
255
+ },
256
+ "observation.images.wrist": {
257
+ "min": [
258
+ [
259
+ [
260
+ 0.0392156862745098
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 0.047058823529411764
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.03137254901960784
271
+ ]
272
+ ]
273
+ ],
274
+ "max": [
275
+ [
276
+ [
277
+ 1.0
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.9686274509803922
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.9686274509803922
288
+ ]
289
+ ]
290
+ ],
291
+ "mean": [
292
+ [
293
+ [
294
+ 0.551940874551575
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.5426874434861664
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.5351669534334202
305
+ ]
306
+ ]
307
+ ],
308
+ "std": [
309
+ [
310
+ [
311
+ 0.01101079747034138
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.012630357166902218
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.012756782080039908
322
+ ]
323
+ ]
324
+ ],
325
+ "count": [
326
+ 1995
327
+ ],
328
+ "q01": [
329
+ [
330
+ [
331
+ 0.14382470647085338
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.12992971546941465
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.11722962973512273
342
+ ]
343
+ ]
344
+ ],
345
+ "q10": [
346
+ [
347
+ [
348
+ 0.21906214618676362
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.25033403232104656
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.23124787846775782
359
+ ]
360
+ ]
361
+ ],
362
+ "q50": [
363
+ [
364
+ [
365
+ 0.6333904259483425
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.6222220933352606
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.6186177768221095
376
+ ]
377
+ ]
378
+ ],
379
+ "q90": [
380
+ [
381
+ [
382
+ 0.7611184743856512
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.7513172078354731
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.7498727079776096
393
+ ]
394
+ ]
395
+ ],
396
+ "q99": [
397
+ [
398
+ [
399
+ 0.868797098369936
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.83926608905876
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 0.8403578476373761
410
+ ]
411
+ ]
412
+ ]
413
+ },
414
+ "index": {
415
+ "min": [
416
+ 0
417
+ ],
418
+ "max": [
419
+ 11277
420
+ ],
421
+ "mean": [
422
+ 5638.5
423
+ ],
424
+ "std": [
425
+ 3255.678155162147
426
+ ],
427
+ "count": [
428
+ 11278
429
+ ],
430
+ "q01": [
431
+ 5094.2231815668465
432
+ ],
433
+ "q10": [
434
+ 5194.130213151189
435
+ ],
436
+ "q50": [
437
+ 5638.316190069161
438
+ ],
439
+ "q90": [
440
+ 6082.716886334535
441
+ ],
442
+ "q99": [
443
+ 6182.776818433154
444
+ ]
445
+ },
446
+ "observation.state": {
447
+ "min": [
448
+ -53.34346389770508,
449
+ -98.81856536865234,
450
+ -80.58165740966797,
451
+ 42.45555877685547,
452
+ -0.31266283988952637,
453
+ 1.840894103050232
454
+ ],
455
+ "max": [
456
+ 42.78115463256836,
457
+ 55.78059005737305,
458
+ 95.16778564453125,
459
+ 98.51177978515625,
460
+ 26.94111442565918,
461
+ 54.635108947753906
462
+ ],
463
+ "mean": [
464
+ -7.826197903066223,
465
+ 4.516071683897482,
466
+ 7.401302498396163,
467
+ 71.63433077454165,
468
+ 5.8114703053340655,
469
+ 22.435214831592724
470
+ ],
471
+ "std": [
472
+ 13.222837801620729,
473
+ 22.88198714523442,
474
+ 26.05200818675041,
475
+ 12.588021379075897,
476
+ 3.8874583964039053,
477
+ 14.743125212487492
478
+ ],
479
+ "count": [
480
+ 11278
481
+ ],
482
+ "q01": [
483
+ -27.60401756437553,
484
+ -16.83689211062544,
485
+ -28.997947252260495,
486
+ 51.72853918878347,
487
+ 2.1063418567205403,
488
+ 2.925508582553958
489
+ ],
490
+ "q10": [
491
+ -25.018293097794615,
492
+ -9.045500051582007,
493
+ -18.332631439226166,
494
+ 56.3543709592495,
495
+ 3.0488634288677043,
496
+ 5.993522544876677
497
+ ],
498
+ "q50": [
499
+ -9.405677844977546,
500
+ 2.594757786218326,
501
+ 7.749553426686504,
502
+ 71.34247036126449,
503
+ 5.03445772881948,
504
+ 14.310818398789902
505
+ ],
506
+ "q90": [
507
+ 9.270285857490247,
508
+ 24.925519754051724,
509
+ 32.16564648628729,
510
+ 86.24248621681028,
511
+ 10.089646308434434,
512
+ 42.63547808170036
513
+ ],
514
+ "q99": [
515
+ 15.076510682307486,
516
+ 28.80348839888726,
517
+ 37.29197351344709,
518
+ 93.63683362697772,
519
+ 13.335700569586992,
520
+ 44.96782328256783
521
+ ]
522
+ },
523
+ "timestamp": {
524
+ "min": [
525
+ 0.0
526
+ ],
527
+ "max": [
528
+ 47.2
529
+ ],
530
+ "mean": [
531
+ 18.497088727315724
532
+ ],
533
+ "std": [
534
+ 11.586298951767358
535
+ ],
536
+ "count": [
537
+ 11278
538
+ ],
539
+ "q01": [
540
+ 0.35452811278244467
541
+ ],
542
+ "q10": [
543
+ 3.684762498944558
544
+ ],
545
+ "q50": [
546
+ 18.48746464384932
547
+ ],
548
+ "q90": [
549
+ 33.30431827187765
550
+ ],
551
+ "q99": [
552
+ 36.639649341848994
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -53.31991958618164,
558
+ -98.8420181274414,
559
+ -83.58882141113281,
560
+ 41.93821334838867,
561
+ -0.28743141889572144,
562
+ 0.0795544981956482
563
+ ],
564
+ "max": [
565
+ 43.501007080078125,
566
+ 54.590572357177734,
567
+ 95.13074493408203,
568
+ 99.15361785888672,
569
+ 27.25372314453125,
570
+ 55.05171203613281
571
+ ],
572
+ "mean": [
573
+ -7.705373326521602,
574
+ 2.9861423358741344,
575
+ 6.380817342891108,
576
+ 71.62659543709333,
577
+ 5.860506792443928,
578
+ 17.95921880432764
579
+ ],
580
+ "std": [
581
+ 13.266421136543215,
582
+ 22.714006655014515,
583
+ 26.38522186771277,
584
+ 12.703129524431123,
585
+ 3.878231509238308,
586
+ 18.21208856518989
587
+ ],
588
+ "count": [
589
+ 11278
590
+ ],
591
+ "q01": [
592
+ -27.540232522019604,
593
+ -19.13364056399851,
594
+ -30.776983406742538,
595
+ 51.44185668188328,
596
+ 2.0657500464236316,
597
+ 1.7898135546609724
598
+ ],
599
+ "q10": [
600
+ -25.101603916267898,
601
+ -10.705963735840438,
602
+ -19.68138084332257,
603
+ 56.29097073060136,
604
+ 3.1250012400472245,
605
+ 1.940154262666406
606
+ ],
607
+ "q50": [
608
+ -9.265594650156153,
609
+ 0.9448715704926415,
610
+ 6.919363165043713,
611
+ 71.23515457102907,
612
+ 5.0434018162671554,
613
+ 8.832625844997779
614
+ ],
615
+ "q90": [
616
+ 9.48789667312735,
617
+ 23.481889581548067,
618
+ 31.410602591987562,
619
+ 86.41654808053227,
620
+ 10.133539024389247,
621
+ 42.573404962978465
622
+ ],
623
+ "q99": [
624
+ 15.297074284223008,
625
+ 28.323855758115233,
626
+ 37.06259666828984,
627
+ 93.94773032229745,
628
+ 13.43501429196095,
629
+ 45.25524628274583
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:165c877180f6b44c6a934aab26dc306ace7c9fc2c6263ff506834f28a7b5c214
3
+ size 2171
videos/observation.images.context/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b4d4a29389d0288b45b4d7537f52afbcae157890c13c12f2c05bba4774a7eb4f
3
+ size 47768443
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 sha256:9dcd72cd9e3da51287e1c2928fc85c587c8dd8a424be738e66b184d29ab9d8ff
3
+ size 25981871