Zymurgy commited on
Commit
423ed60
·
verified ·
1 Parent(s): b26ec36

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:fe4abd136bbed2585e5569a0b2ca48164fdd8c3df97ac3a5f37e06d2f8649f38
3
+ size 215238
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd22c3a3cb42220f2a3fece6dc540df9fb6836ae673246219a9b0dfe7b7dfc7a
3
+ size 57561
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 8858,
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": "0:5"
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.front": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 600,
49
+ 800,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 600,
59
+ "video.width": 800,
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.arm": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 600,
72
+ 800,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 600,
82
+ "video.width": 800,
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
+ "observation.images.arm": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.4583068840683879
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.4346321009250475
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.448365056967924
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.008548008795569521
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0070059570503443105
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.006647415555786659
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1364
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.04159414472771905
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.0353006421204525
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.05883447179001793
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.18038692418338398
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.14044419863792543
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.16233918948424364
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.4831081636777893
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.4423615139384267
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.453364315837882
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.7074435816320459
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.7208231568846624
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.7348471514462458
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.7984395121511036
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.8313933477944888
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.8541528291669481
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "action": {
161
+ "min": [
162
+ -5.197690010070801,
163
+ -34.542388916015625,
164
+ -68.24966430664062,
165
+ 44.93752670288086,
166
+ -18.87041473388672,
167
+ 0.07968127727508545
168
+ ],
169
+ "max": [
170
+ 11.683695793151855,
171
+ 53.7747802734375,
172
+ 72.86296081542969,
173
+ 100.0,
174
+ -12.694642066955566,
175
+ 25.81673240661621
176
+ ],
177
+ "mean": [
178
+ 5.438286484700882,
179
+ -15.070238850460711,
180
+ 56.49213093671284,
181
+ 56.08290779060369,
182
+ -14.193867709895617,
183
+ 1.3495909294820472
184
+ ],
185
+ "std": [
186
+ 2.4948745240870607,
187
+ 16.26528024386738,
188
+ 28.27591625360871,
189
+ 11.835149805711655,
190
+ 1.116944258731219,
191
+ 2.9687926669631075
192
+ ],
193
+ "count": [
194
+ 8858
195
+ ],
196
+ "q01": [
197
+ -2.709404733286114,
198
+ -24.36732733655209,
199
+ -59.12267418541345,
200
+ 49.26258279563989,
201
+ -16.695338443868934,
202
+ 0.6353141073610533
203
+ ],
204
+ "q10": [
205
+ 3.6514758008610193,
206
+ -20.359215662295092,
207
+ 38.01004182992549,
208
+ 52.018388915537095,
209
+ -14.50005122694573,
210
+ 0.6681175317242954
211
+ ],
212
+ "q50": [
213
+ 5.659975375389503,
214
+ -20.184415763541566,
215
+ 66.0563653820411,
216
+ 52.1579035053398,
217
+ -14.130745878905948,
218
+ 0.7016525342298007
219
+ ],
220
+ "q90": [
221
+ 6.886461620601692,
222
+ -4.883049182440326,
223
+ 66.1012587709618,
224
+ 64.91385377547246,
225
+ -13.613258847672926,
226
+ 0.8279879596200332
227
+ ],
228
+ "q99": [
229
+ 9.551548033484446,
230
+ 49.41612713909931,
231
+ 68.15563196924106,
232
+ 99.96055606675128,
233
+ -13.000868172137958,
234
+ 16.367142608770248
235
+ ]
236
+ },
237
+ "observation.state": {
238
+ "min": [
239
+ -4.9443206787109375,
240
+ -33.2491569519043,
241
+ -65.9439926147461,
242
+ 45.41484832763672,
243
+ -18.495132446289062,
244
+ 1.1572498083114624
245
+ ],
246
+ "max": [
247
+ 11.447661399841309,
248
+ 54.292930603027344,
249
+ 72.71906280517578,
250
+ 99.47598266601562,
251
+ -12.707181930541992,
252
+ 23.96187973022461
253
+ ],
254
+ "mean": [
255
+ 5.439096208672729,
256
+ -14.697089154124395,
257
+ 56.41950967237034,
258
+ 55.89943683440811,
259
+ -14.014825399962524,
260
+ 1.8103382547597742
261
+ ],
262
+ "std": [
263
+ 2.4498666602214056,
264
+ 16.428619372160643,
265
+ 27.84179185724164,
266
+ 11.761684299187259,
267
+ 1.057369847347527,
268
+ 2.7992498467685833
269
+ ],
270
+ "count": [
271
+ 8858
272
+ ],
273
+ "q01": [
274
+ -2.450532787434536,
275
+ -23.570463140266284,
276
+ -57.09346310200177,
277
+ 49.25694456683603,
278
+ -16.47452014694197,
279
+ 1.1572498083114624
280
+ ],
281
+ "q10": [
282
+ 3.7148454608572075,
283
+ -19.970232279331274,
284
+ 38.61696703254732,
285
+ 51.90934616207376,
286
+ -14.202025486309779,
287
+ 1.1572498083114624
288
+ ],
289
+ "q50": [
290
+ 5.710075854615551,
291
+ -19.964741351746216,
292
+ 65.76782587316747,
293
+ 51.998787389169536,
294
+ -13.92805984756787,
295
+ 1.1572498083114624
296
+ ],
297
+ "q90": [
298
+ 6.9048672694063695,
299
+ -4.427103629984464,
300
+ 65.7816655601705,
301
+ 64.68302630708943,
302
+ -13.454721365061197,
303
+ 1.8932822762413477
304
+ ],
305
+ "q99": [
306
+ 9.522851807392643,
307
+ 49.827932511550486,
308
+ 68.0021387495293,
309
+ 99.3314199876632,
310
+ -13.17017967271792,
311
+ 16.05204025115345
312
+ ]
313
+ },
314
+ "task_index": {
315
+ "min": [
316
+ 0
317
+ ],
318
+ "max": [
319
+ 0
320
+ ],
321
+ "mean": [
322
+ 0.0
323
+ ],
324
+ "std": [
325
+ 0.0
326
+ ],
327
+ "count": [
328
+ 8858
329
+ ],
330
+ "q01": [
331
+ 3.9999999999994176e-16
332
+ ],
333
+ "q10": [
334
+ 3.999999999999417e-15
335
+ ],
336
+ "q50": [
337
+ 1.9999999999997088e-14
338
+ ],
339
+ "q90": [
340
+ 3.599999999999476e-14
341
+ ],
342
+ "q99": [
343
+ 3.9599999999994235e-14
344
+ ]
345
+ },
346
+ "observation.images.front": {
347
+ "min": [
348
+ [
349
+ [
350
+ 0.0
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.0
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.0
361
+ ]
362
+ ]
363
+ ],
364
+ "max": [
365
+ [
366
+ [
367
+ 1.0
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 1.0
373
+ ]
374
+ ],
375
+ [
376
+ [
377
+ 1.0
378
+ ]
379
+ ]
380
+ ],
381
+ "mean": [
382
+ [
383
+ [
384
+ 0.568845344305244
385
+ ]
386
+ ],
387
+ [
388
+ [
389
+ 0.5132165574746518
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.5018250558837904
395
+ ]
396
+ ]
397
+ ],
398
+ "std": [
399
+ [
400
+ [
401
+ 0.01709760096989229
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 0.010810306450680755
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.009191382198127302
412
+ ]
413
+ ]
414
+ ],
415
+ "count": [
416
+ 1364
417
+ ],
418
+ "q01": [
419
+ [
420
+ [
421
+ 0.0007855063199181583
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ -3.9215686274509807e-13
427
+ ]
428
+ ],
429
+ [
430
+ [
431
+ -3.9215686274509807e-13
432
+ ]
433
+ ]
434
+ ],
435
+ "q10": [
436
+ [
437
+ [
438
+ 0.16241545963601492
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.11140398261255402
444
+ ]
445
+ ],
446
+ [
447
+ [
448
+ 0.09174924673190399
449
+ ]
450
+ ]
451
+ ],
452
+ "q50": [
453
+ [
454
+ [
455
+ 0.6369276777816516
456
+ ]
457
+ ],
458
+ [
459
+ [
460
+ 0.5458650795624915
461
+ ]
462
+ ],
463
+ [
464
+ [
465
+ 0.5222984677494383
466
+ ]
467
+ ]
468
+ ],
469
+ "q90": [
470
+ [
471
+ [
472
+ 0.7975970650109966
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.8055566965962766
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ 0.8266950214286363
483
+ ]
484
+ ]
485
+ ],
486
+ "q99": [
487
+ [
488
+ [
489
+ 0.857196500283359
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.9929288384544488
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.9827112683714655
500
+ ]
501
+ ]
502
+ ]
503
+ },
504
+ "timestamp": {
505
+ "min": [
506
+ 0.0
507
+ ],
508
+ "max": [
509
+ 59.03333333333333
510
+ ],
511
+ "mean": [
512
+ 29.510006020922702
513
+ ],
514
+ "std": [
515
+ 17.047236656337695
516
+ ],
517
+ "count": [
518
+ 8858
519
+ ],
520
+ "q01": [
521
+ 0.5655964005642181
522
+ ],
523
+ "q10": [
524
+ 5.8897301584207495
525
+ ],
526
+ "q50": [
527
+ 29.4982020185143
528
+ ],
529
+ "q90": [
530
+ 53.12556881049623
531
+ ],
532
+ "q99": [
533
+ 58.4544156412812
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 4
542
+ ],
543
+ "mean": [
544
+ 2.0004515692029803
545
+ ],
546
+ "std": [
547
+ 1.4140538274345409
548
+ ],
549
+ "count": [
550
+ 8858
551
+ ],
552
+ "q01": [
553
+ 2.0004515692029807
554
+ ],
555
+ "q10": [
556
+ 2.000451569202984
557
+ ],
558
+ "q50": [
559
+ 2.0004515692030003
560
+ ],
561
+ "q90": [
562
+ 2.0004515692030163
563
+ ],
564
+ "q99": [
565
+ 2.00045156920302
566
+ ]
567
+ },
568
+ "frame_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 1771
574
+ ],
575
+ "mean": [
576
+ 885.3001806276812
577
+ ],
578
+ "std": [
579
+ 511.41709969013084
580
+ ],
581
+ "count": [
582
+ 8858
583
+ ],
584
+ "q01": [
585
+ 16.967892019770964
586
+ ],
587
+ "q10": [
588
+ 176.69190475494372
589
+ ],
590
+ "q50": [
591
+ 884.94606055543
592
+ ],
593
+ "q90": [
594
+ 1593.767064312566
595
+ ],
596
+ "q99": [
597
+ 1753.6324692355913
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 8857
606
+ ],
607
+ "mean": [
608
+ 4428.5
609
+ ],
610
+ "std": [
611
+ 2557.084325946252
612
+ ],
613
+ "count": [
614
+ 8858
615
+ ],
616
+ "q01": [
617
+ 3560.1677113920896
618
+ ],
619
+ "q10": [
620
+ 3719.8917241272625
621
+ ],
622
+ "q50": [
623
+ 4428.145879927749
624
+ ],
625
+ "q90": [
626
+ 5136.966883684885
627
+ ],
628
+ "q99": [
629
+ 5296.83228860791
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0ee67c6fca7cf38a97b0e3586e2ebd1c22eb5258ef6cbdf0ce66aaa0b0f790d6
3
+ size 2111
videos/observation.images.arm/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d2d2987a757bdfc8376c81876f1a7767a016eb18aa4a7edf5264c8ec63477cd7
3
+ size 283490724
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45be37a74675c421a9049179eb78004f88d88c67c7a5048d2c757c5c7cd7d479
3
+ size 214330732