alanz-mit commited on
Commit
d74c91d
·
verified ·
1 Parent(s): e2a7fec

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 sha256:5fa3feec1f72f3c8362400de7ce9d16b2674cca04da83e4a5394701083acce83
3
+ size 78076
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce9e797c91aecc9c97ffe9df35cabb30fdcf671ad7e7a66dc2bfcccb302960b5
3
+ size 48813
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 1500,
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
+ 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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1499
8
+ ],
9
+ "mean": [
10
+ 749.5
11
+ ],
12
+ "std": [
13
+ 433.0126056671638
14
+ ],
15
+ "count": [
16
+ 1500
17
+ ],
18
+ "q01": [
19
+ 602.0331999999013
20
+ ],
21
+ "q10": [
22
+ 629.0029999999193
23
+ ],
24
+ "q50": [
25
+ 749.0215999999996
26
+ ],
27
+ "q90": [
28
+ 869.04020000008
29
+ ],
30
+ "q99": [
31
+ 896.010000000098
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 299
40
+ ],
41
+ "mean": [
42
+ 149.5
43
+ ],
44
+ "std": [
45
+ 86.60205925188308
46
+ ],
47
+ "count": [
48
+ 1500
49
+ ],
50
+ "q01": [
51
+ 2.0331999999013597
52
+ ],
53
+ "q10": [
54
+ 29.002999999919403
55
+ ],
56
+ "q50": [
57
+ 149.02159999999967
58
+ ],
59
+ "q90": [
60
+ 269.04020000007995
61
+ ],
62
+ "q99": [
63
+ 296.010000000098
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -42.73570251464844,
69
+ -73.15208435058594,
70
+ 11.693002700805664,
71
+ 19.017894744873047,
72
+ 38.31501770019531,
73
+ 4.95049524307251
74
+ ],
75
+ "max": [
76
+ 51.004638671875,
77
+ 17.247238159179688,
78
+ 99.63882446289062,
79
+ 82.35539245605469,
80
+ 70.30525207519531,
81
+ 52.03520202636719
82
+ ],
83
+ "mean": [
84
+ -13.17357578277588,
85
+ -29.64037628173828,
86
+ 40.0393482208252,
87
+ 55.07375030517578,
88
+ 52.6346939086914,
89
+ 29.17978439331055
90
+ ],
91
+ "std": [
92
+ 25.25804701257204,
93
+ 24.15368996760751,
94
+ 19.614666207677857,
95
+ 16.50415069512923,
96
+ 9.525745893421696,
97
+ 19.854009421059832
98
+ ],
99
+ "count": [
100
+ 1500
101
+ ],
102
+ "q01": [
103
+ -39.487639808654784,
104
+ -61.17247314453125,
105
+ 23.08803596496582,
106
+ 40.90699081420898,
107
+ 40.42614212036133,
108
+ 5.610561084747315
109
+ ],
110
+ "q10": [
111
+ -37.262447223345156,
112
+ -58.52222029018751,
113
+ 25.52639274597168,
114
+ 41.09129653107688,
115
+ 44.21661450703939,
116
+ 5.610561084747315
117
+ ],
118
+ "q50": [
119
+ -19.672455406188966,
120
+ -35.97028561760397,
121
+ 36.55968417576381,
122
+ 54.89097037682167,
123
+ 50.20348152174325,
124
+ 35.95088134556597
125
+ ],
126
+ "q90": [
127
+ 24.281161887631782,
128
+ 4.088458134083235,
129
+ 60.84630672359125,
130
+ 69.87230860967622,
131
+ 65.0089805383541,
132
+ 46.378794016248314
133
+ ],
134
+ "q99": [
135
+ 27.079381493961108,
136
+ 4.635872113838621,
137
+ 61.37291823069255,
138
+ 74.79694641192188,
139
+ 65.83105750297777,
140
+ 46.64322714643553
141
+ ]
142
+ },
143
+ "action": {
144
+ "min": [
145
+ -42.99250030517578,
146
+ -73.61853790283203,
147
+ 9.20634937286377,
148
+ 18.494272232055664,
149
+ 37.240535736083984,
150
+ 0.0
151
+ ],
152
+ "max": [
153
+ 51.204105377197266,
154
+ 17.02317237854004,
155
+ 99.81859588623047,
156
+ 82.48772430419922,
157
+ 70.5982894897461,
158
+ 51.735721588134766
159
+ ],
160
+ "mean": [
161
+ -12.968229389190673,
162
+ -30.37618522644043,
163
+ 38.66708335876465,
164
+ 54.747895050048825,
165
+ 52.6962272644043,
166
+ 28.08108901977539
167
+ ],
168
+ "std": [
169
+ 25.523593781235952,
170
+ 23.92286593446235,
171
+ 19.596994039189454,
172
+ 16.561822797969032,
173
+ 9.64436805578693,
174
+ 20.985283853228363
175
+ ],
176
+ "count": [
177
+ 1500
178
+ ],
179
+ "q01": [
180
+ -39.73526382446289,
181
+ -61.925133514404294,
182
+ 20.417233657836913,
183
+ 40.572831344604495,
184
+ 39.98653106689453,
185
+ 2.5524936237221674
186
+ ],
187
+ "q10": [
188
+ -37.32087392171224,
189
+ -59.74973069624467,
190
+ 22.25246603724514,
191
+ 40.76936149597168,
192
+ 44.167072012662445,
193
+ 2.6881135425964993
194
+ ],
195
+ "q50": [
196
+ -19.63257827758789,
197
+ -36.76843979664338,
198
+ 35.31375886165734,
199
+ 54.53356097266788,
200
+ 50.17496225484212,
201
+ 35.90286484541891
202
+ ],
203
+ "q90": [
204
+ 24.410102428882155,
205
+ 3.1015258026123047,
206
+ 60.43705526178534,
207
+ 71.90172802027054,
208
+ 65.16630099752675,
209
+ 46.45062783374871
210
+ ],
211
+ "q99": [
212
+ 27.846132583618164,
213
+ 4.437029294990467,
214
+ 61.32405410039993,
215
+ 74.89229190423622,
216
+ 66.04622945280414,
217
+ 46.898570407247306
218
+ ]
219
+ },
220
+ "episode_index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 4
226
+ ],
227
+ "mean": [
228
+ 2.0
229
+ ],
230
+ "std": [
231
+ 1.4142135623730951
232
+ ],
233
+ "count": [
234
+ 1500
235
+ ],
236
+ "q01": [
237
+ 2.0000000000000004
238
+ ],
239
+ "q10": [
240
+ 2.0000000000000044
241
+ ],
242
+ "q50": [
243
+ 2.00000000000002
244
+ ],
245
+ "q90": [
246
+ 2.000000000000036
247
+ ],
248
+ "q99": [
249
+ 2.0000000000000395
250
+ ]
251
+ },
252
+ "task_index": {
253
+ "min": [
254
+ 0
255
+ ],
256
+ "max": [
257
+ 0
258
+ ],
259
+ "mean": [
260
+ 0.0
261
+ ],
262
+ "std": [
263
+ 0.0
264
+ ],
265
+ "count": [
266
+ 1500
267
+ ],
268
+ "q01": [
269
+ 3.9999999999994176e-16
270
+ ],
271
+ "q10": [
272
+ 3.999999999999417e-15
273
+ ],
274
+ "q50": [
275
+ 1.9999999999997088e-14
276
+ ],
277
+ "q90": [
278
+ 3.599999999999476e-14
279
+ ],
280
+ "q99": [
281
+ 3.9599999999994235e-14
282
+ ]
283
+ },
284
+ "timestamp": {
285
+ "min": [
286
+ 0.0
287
+ ],
288
+ "max": [
289
+ 9.966666666666667
290
+ ],
291
+ "mean": [
292
+ 4.983333333333333
293
+ ],
294
+ "std": [
295
+ 2.8867353083961027
296
+ ],
297
+ "count": [
298
+ 1500
299
+ ],
300
+ "q01": [
301
+ 0.06777333323469334
302
+ ],
303
+ "q10": [
304
+ 0.9667666665860666
305
+ ],
306
+ "q50": [
307
+ 4.967386666666346
308
+ ],
309
+ "q90": [
310
+ 8.968006666746627
311
+ ],
312
+ "q99": [
313
+ 9.867000000098
314
+ ]
315
+ },
316
+ "observation.images.front": {
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
+ 0.5361883598856209
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.5378183721405227
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.5336321952614378
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.0069134076497834466
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.0064982043174903695
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.01707143698646222
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 500
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.025101302475969638
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.025098399351216286
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.02041941265087937
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.18351818164551403
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.15686539083841455
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.15216489967565436
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.5380726206511899
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.5497441297375192
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.5443825056385027
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.8690465860930972
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.8980623073762493
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.8956881305387808
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.9881824117321305
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.9897871967106696
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9937095407417242
470
+ ]
471
+ ]
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2666f90455872e4833eae644480e971f19302a67f3f7fce07e1a3f30b2560705
3
+ size 2319
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 sha256:2d0965ef96169e5de31a6f55d5f2862f03258be964d08fedfdd9dba05d499253
3
+ size 10898199