aimandanial commited on
Commit
e62d8b4
·
verified ·
1 Parent(s): 244d269

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 sha256:7e53120dc2c4f414334a0cccbbca2cb82dd48712d51c7c4dde0dfcdc059a906c
3
+ size 313047
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5bbae8705af009319c709bea32a0809960d2998f309a010d76f461c4089c7087
3
+ size 66600
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 7007,
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": "0:10"
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
+ 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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 7007
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.5999999999994754e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -16.175825119018555,
37
+ -94.5054931640625,
38
+ -79.56044006347656,
39
+ 43.56044006347656,
40
+ 80.92308044433594,
41
+ 0.0
42
+ ],
43
+ "max": [
44
+ 44.83516311645508,
45
+ 45.978023529052734,
46
+ 98.989013671875,
47
+ 110.54945373535156,
48
+ 142.989013671875,
49
+ 74.39379119873047
50
+ ],
51
+ "mean": [
52
+ 18.98182607721258,
53
+ -17.23119197620617,
54
+ 17.74237337584704,
55
+ 83.83949317567372,
56
+ 107.79848000815103,
57
+ 35.64073266951729
58
+ ],
59
+ "std": [
60
+ 14.050405740388104,
61
+ 45.68070276119056,
62
+ 53.540161656925626,
63
+ 15.496359162535356,
64
+ 17.124303927364053,
65
+ 27.812907474476873
66
+ ],
67
+ "count": [
68
+ 7007
69
+ ],
70
+ "q01": [
71
+ -3.32829746826226,
72
+ -93.41866239692237,
73
+ -69.24637339037214,
74
+ 60.65282573470726,
75
+ 85.30156369935595,
76
+ 0.45098959799459754
77
+ ],
78
+ "q10": [
79
+ 0.7732491852783021,
80
+ -92.9082699586931,
81
+ -68.64037849487072,
82
+ 67.66899972135214,
83
+ 88.34875395828378,
84
+ 1.1152438239921334
85
+ ],
86
+ "q50": [
87
+ 15.193918999630244,
88
+ 3.734883870124604,
89
+ 19.31784603168106,
90
+ 82.19607709452467,
91
+ 101.25105131474415,
92
+ 43.25407289513443
93
+ ],
94
+ "q90": [
95
+ 35.99160970020879,
96
+ 37.97851235580962,
97
+ 98.03690203416215,
98
+ 104.84000552628862,
99
+ 129.10040210738686,
100
+ 67.35414723599345
101
+ ],
102
+ "q99": [
103
+ 40.37838458871445,
104
+ 39.977380982798444,
105
+ 98.60718845342774,
106
+ 109.20844257807879,
107
+ 134.35084969189083,
108
+ 67.60574722513368
109
+ ]
110
+ },
111
+ "observation.images.top": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.01568627450980392
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 0.9921568627450981
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.4893467852151939
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.576622543438227
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.5535627446756645
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.017751346682254518
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.017597533927708794
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.01719301297713914
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 1354
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.178607044332878
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.04156895806582421
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.02691087447513492
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.2330305075098134
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.44399137138349676
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.17999199604722682
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.5450084430306821
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.6071585665182402
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.642180699047129
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.6913126262824781
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.676155999383708
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.7256276657533092
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.8978233660986851
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.7470321920641488
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.7564019615525505
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "observation.state": {
270
+ "min": [
271
+ -15.516483306884766,
272
+ -93.75823974609375,
273
+ -74.5934066772461,
274
+ 45.58241653442383,
275
+ 81.27472686767578,
276
+ 1.25
277
+ ],
278
+ "max": [
279
+ 44.70329666137695,
280
+ 47.9560432434082,
281
+ 98.68132019042969,
282
+ 109.23076629638672,
283
+ 142.8131866455078,
284
+ 73.15789794921875
285
+ ],
286
+ "mean": [
287
+ 19.21153919649512,
288
+ -15.559336126318533,
289
+ 20.1025503654529,
290
+ 84.13459258680425,
291
+ 107.89134748417214,
292
+ 41.53163288900952
293
+ ],
294
+ "std": [
295
+ 14.100456360475063,
296
+ 46.64572979188502,
297
+ 52.39954018028235,
298
+ 15.388852551983318,
299
+ 17.106655004916252,
300
+ 22.42291910470986
301
+ ],
302
+ "count": [
303
+ 7007
304
+ ],
305
+ "q01": [
306
+ -2.9899027785741583,
307
+ -93.42892746041748,
308
+ -64.75097697117636,
309
+ 61.673924456868086,
310
+ 86.04338507906238,
311
+ 1.6789883339610916
312
+ ],
313
+ "q10": [
314
+ 0.5919307514509399,
315
+ -92.96198593540136,
316
+ -64.55464723354828,
317
+ 67.87468777737331,
318
+ 88.47639169181319,
319
+ 2.7311146957110117
320
+ ],
321
+ "q50": [
322
+ 15.747756439387976,
323
+ 6.037774682440342,
324
+ 20.969123197734863,
325
+ 82.29524968390655,
326
+ 101.06353292899551,
327
+ 43.672431942650974
328
+ ],
329
+ "q90": [
330
+ 36.17490462576468,
331
+ 40.48986992764491,
332
+ 97.75478994710309,
333
+ 104.75661058137969,
334
+ 129.1046454836289,
335
+ 66.52053261514764
336
+ ],
337
+ "q99": [
338
+ 40.23619383615371,
339
+ 41.91943974360466,
340
+ 98.33176367626974,
341
+ 108.71489128613898,
342
+ 134.19948333416852,
343
+ 66.57735534118174
344
+ ]
345
+ },
346
+ "timestamp": {
347
+ "min": [
348
+ 0.0
349
+ ],
350
+ "max": [
351
+ 30.233333333333334
352
+ ],
353
+ "mean": [
354
+ 11.80902430902431
355
+ ],
356
+ "std": [
357
+ 7.020251371069293
358
+ ],
359
+ "count": [
360
+ 7007
361
+ ],
362
+ "q01": [
363
+ 0.22506778078768364
364
+ ],
365
+ "q10": [
366
+ 2.3469228856056135
367
+ ],
368
+ "q50": [
369
+ 11.803499233147754
370
+ ],
371
+ "q90": [
372
+ 21.26584741076463
373
+ ],
374
+ "q99": [
375
+ 23.392980837260936
376
+ ]
377
+ },
378
+ "episode_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 9
384
+ ],
385
+ "mean": [
386
+ 4.346225203368061
387
+ ],
388
+ "std": [
389
+ 2.9627355371968918
390
+ ],
391
+ "count": [
392
+ 7007
393
+ ],
394
+ "q01": [
395
+ 4.346225203368061
396
+ ],
397
+ "q10": [
398
+ 4.346225203368065
399
+ ],
400
+ "q50": [
401
+ 4.346225203368081
402
+ ],
403
+ "q90": [
404
+ 4.346225203368096
405
+ ],
406
+ "q99": [
407
+ 4.346225203368101
408
+ ]
409
+ },
410
+ "index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 7006
416
+ ],
417
+ "mean": [
418
+ 3503.0
419
+ ],
420
+ "std": [
421
+ 2022.7466475068004
422
+ ],
423
+ "count": [
424
+ 7007
425
+ ],
426
+ "q01": [
427
+ 3155.481304155746
428
+ ],
429
+ "q10": [
430
+ 3219.136957299763
431
+ ],
432
+ "q50": [
433
+ 3502.834247723705
434
+ ],
435
+ "q90": [
436
+ 3786.7046930498873
437
+ ],
438
+ "q99": [
439
+ 3850.518695844254
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 907
448
+ ],
449
+ "mean": [
450
+ 354.27072927072925
451
+ ],
452
+ "std": [
453
+ 210.60754113207872
454
+ ],
455
+ "count": [
456
+ 7007
457
+ ],
458
+ "q01": [
459
+ 6.752033426475331
460
+ ],
461
+ "q10": [
462
+ 70.40768657049216
463
+ ],
464
+ "q50": [
465
+ 354.0344972456115
466
+ ],
467
+ "q90": [
468
+ 637.9754223206168
469
+ ],
470
+ "q99": [
471
+ 701.7894251149831
472
+ ]
473
+ },
474
+ "observation.images.front": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.00784313725490196
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
+ 0.5328600707115687
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.573771724996621
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5906521021290101
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.006521629998884303
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.007564171444993101
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.007710716606500729
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 1354
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.19689434057534558
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.014728160693714071
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.03321884056663083
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.28735681114805006
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.17955822438164468
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.10027799215618553
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.5861528478953449
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.6461888325743905
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.6852746160949552
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7532051345101932
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7504536822554644
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.77290306904652
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8759873557530915
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.8107932280538966
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.8320274440967733
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:971d775a9c7b2c999a8f61867e20752fbcbd081c81b70ff718ca552fcd564424
3
+ size 2276
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 sha256:6d0a45d1bda9292e494024de4130dcdaa8043970fd3f7c0975c5db093b8ff1d7
3
+ size 26327836
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 sha256:42f3b0abda9b2c183ce0ad33761345a91d8817b129c404b3a11d6ba44fb9d732
3
+ size 42001057