ar0s commited on
Commit
1550fdb
·
verified ·
1 Parent(s): ab1c8a1

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 sha256:3406a21535b302ec034870cfe1ef5c972dbe7ec10430157307938ffaa5f37c86
3
+ size 33976
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:581a3ae7f18128a9e882b2d53e2503155dbfc2f4d5550eed216a00d4b3a95dd5
3
+ size 54826
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "custom_manipulator",
4
+ "total_episodes": 2,
5
+ "total_frames": 349,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:2"
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
+ "position.x",
21
+ "position.y",
22
+ "position.z",
23
+ "orientation.x",
24
+ "orientation.y",
25
+ "orientation.z",
26
+ "gripper"
27
+ ],
28
+ "shape": [
29
+ 7
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "names": [
35
+ "position.x",
36
+ "position.y",
37
+ "position.z",
38
+ "orientation.x",
39
+ "orientation.y",
40
+ "orientation.z",
41
+ "gripper"
42
+ ],
43
+ "shape": [
44
+ 7
45
+ ]
46
+ },
47
+ "observation.images.wrist_rgb": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 480,
61
+ "video.width": 640,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 10,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.left_rgb": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 10,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/stats.json ADDED
@@ -0,0 +1,650 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 194
8
+ ],
9
+ "mean": [
10
+ 87.95415472779369
11
+ ],
12
+ "std": [
13
+ 52.403363550363174
14
+ ],
15
+ "count": [
16
+ 349
17
+ ],
18
+ "q01": [
19
+ 1.0019461202449937
20
+ ],
21
+ "q10": [
22
+ 17.233575816538504
23
+ ],
24
+ "q50": [
25
+ 87.7489530085957
26
+ ],
27
+ "q90": [
28
+ 158.67473363904887
29
+ ],
30
+ "q99": [
31
+ 174.90636333534238
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 1
40
+ ],
41
+ "mean": [
42
+ 0.5587392550143266
43
+ ],
44
+ "std": [
45
+ 0.496537712485529
46
+ ],
47
+ "count": [
48
+ 349
49
+ ],
50
+ "q01": [
51
+ 0.5587392550143271
52
+ ],
53
+ "q10": [
54
+ 0.5587392550143306
55
+ ],
56
+ "q50": [
57
+ 0.5587392550143466
58
+ ],
59
+ "q90": [
60
+ 0.5587392550143626
61
+ ],
62
+ "q99": [
63
+ 0.5587392550143663
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ 0.3396976590156555,
69
+ -0.45348235964775085,
70
+ 0.19582244753837585,
71
+ -3.131953477859497,
72
+ -0.8823455572128296,
73
+ -0.6334895491600037,
74
+ 0.0002758000046014786
75
+ ],
76
+ "max": [
77
+ 0.5937638282775879,
78
+ 0.02802084945142269,
79
+ 0.4187164902687073,
80
+ 3.1346921920776367,
81
+ 0.5843065977096558,
82
+ 0.6364060640335083,
83
+ 0.08013894408941269
84
+ ],
85
+ "mean": [
86
+ 0.4865534229572318,
87
+ -0.14749930401927763,
88
+ 0.2917237403911984,
89
+ 1.3656949981577418,
90
+ -0.16203562663414417,
91
+ -0.10390215845282234,
92
+ 0.0401042877752494
93
+ ],
94
+ "std": [
95
+ 0.05992358535452871,
96
+ 0.13587252625140891,
97
+ 0.054379203636066006,
98
+ 2.565238556220404,
99
+ 0.416829223752877,
100
+ 0.3541532116035206,
101
+ 0.039475199454130014
102
+ ],
103
+ "count": [
104
+ 349
105
+ ],
106
+ "q01": [
107
+ 0.37902198818866417,
108
+ -0.3080904959168985,
109
+ 0.19972699433723387,
110
+ -3.125700838652307,
111
+ -0.7821930403531274,
112
+ -0.5706753846778574,
113
+ 0.0002886415899396592
114
+ ],
115
+ "q10": [
116
+ 0.42102043158928526,
117
+ -0.2901452422859171,
118
+ 0.2086803628395891,
119
+ -3.054935064123116,
120
+ -0.5792959189370687,
121
+ -0.41063620878367424,
122
+ 0.0002886415899396592
123
+ ],
124
+ "q50": [
125
+ 0.487152262800646,
126
+ -0.1370579759454085,
127
+ 0.30092798522581216,
128
+ 2.6190138841131114,
129
+ -0.26625721635126587,
130
+ -0.20433868237744313,
131
+ 0.03702760599957049
132
+ ],
133
+ "q90": [
134
+ 0.5571138539809749,
135
+ -0.005919611869288201,
136
+ 0.3488136362559397,
137
+ 3.0636561299875993,
138
+ 0.3452636987800412,
139
+ 0.4056601282870283,
140
+ 0.08013538570969676
141
+ ],
142
+ "q99": [
143
+ 0.5685530919880146,
144
+ 0.013020199519645913,
145
+ 0.39452869607082747,
146
+ 3.1199005083915856,
147
+ 0.4173620345209409,
148
+ 0.5189275965029763,
149
+ 0.08013832795966051
150
+ ]
151
+ },
152
+ "task_index": {
153
+ "min": [
154
+ 0
155
+ ],
156
+ "max": [
157
+ 0
158
+ ],
159
+ "mean": [
160
+ 0.0
161
+ ],
162
+ "std": [
163
+ 0.0
164
+ ],
165
+ "count": [
166
+ 349
167
+ ],
168
+ "q01": [
169
+ 3.999999999999418e-16
170
+ ],
171
+ "q10": [
172
+ 3.999999999999417e-15
173
+ ],
174
+ "q50": [
175
+ 1.9999999999997088e-14
176
+ ],
177
+ "q90": [
178
+ 3.5999999999994754e-14
179
+ ],
180
+ "q99": [
181
+ 3.9599999999994235e-14
182
+ ]
183
+ },
184
+ "observation.images.left_rgb": {
185
+ "min": [
186
+ [
187
+ [
188
+ 0.0
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.0
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.0
199
+ ]
200
+ ]
201
+ ],
202
+ "max": [
203
+ [
204
+ [
205
+ 1.0
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 1.0
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 1.0
216
+ ]
217
+ ]
218
+ ],
219
+ "mean": [
220
+ [
221
+ [
222
+ 0.6742284201388888
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.6460713745915033
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.6409718923611112
233
+ ]
234
+ ]
235
+ ],
236
+ "std": [
237
+ [
238
+ [
239
+ 0.008364241217320267
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.006416039624183023
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.004847917687908487
250
+ ]
251
+ ]
252
+ ],
253
+ "count": [
254
+ 200
255
+ ],
256
+ "q01": [
257
+ [
258
+ [
259
+ 0.15885254818313344
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.10781365228140441
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.10592859993970989
270
+ ]
271
+ ]
272
+ ],
273
+ "q10": [
274
+ [
275
+ [
276
+ 0.3509231756682007
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.27255798808636
282
+ ]
283
+ ],
284
+ [
285
+ [
286
+ 0.2313960136025821
287
+ ]
288
+ ]
289
+ ],
290
+ "q50": [
291
+ [
292
+ [
293
+ 0.7373355213478264
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.7176749774295962
299
+ ]
300
+ ],
301
+ [
302
+ [
303
+ 0.7117015537020367
304
+ ]
305
+ ]
306
+ ],
307
+ "q90": [
308
+ [
309
+ [
310
+ 0.9040371546734935
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.8765149585790765
316
+ ]
317
+ ],
318
+ [
319
+ [
320
+ 0.8842166493847706
321
+ ]
322
+ ]
323
+ ],
324
+ "q99": [
325
+ [
326
+ [
327
+ 0.9998758810199316
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.9999348227568519
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.9998308481178182
338
+ ]
339
+ ]
340
+ ]
341
+ },
342
+ "index": {
343
+ "min": [
344
+ 0
345
+ ],
346
+ "max": [
347
+ 348
348
+ ],
349
+ "mean": [
350
+ 174.0
351
+ ],
352
+ "std": [
353
+ 100.74720839804944
354
+ ],
355
+ "count": [
356
+ 349
357
+ ],
358
+ "q01": [
359
+ 87.0477913924513
360
+ ],
361
+ "q10": [
362
+ 103.27942108874481
363
+ ],
364
+ "q50": [
365
+ 173.794798280802
366
+ ],
367
+ "q90": [
368
+ 244.7205789112552
369
+ ],
370
+ "q99": [
371
+ 260.9522086075487
372
+ ]
373
+ },
374
+ "observation.images.wrist_rgb": {
375
+ "min": [
376
+ [
377
+ [
378
+ 0.0
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.0
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.0
389
+ ]
390
+ ]
391
+ ],
392
+ "max": [
393
+ [
394
+ [
395
+ 1.0
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 1.0
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ "mean": [
410
+ [
411
+ [
412
+ 0.4689628308823529
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.41778328941993464
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.41147556678921565
423
+ ]
424
+ ]
425
+ ],
426
+ "std": [
427
+ [
428
+ [
429
+ 0.01136346813725489
430
+ ]
431
+ ],
432
+ [
433
+ [
434
+ 0.02119718647875815
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.022777182393790868
440
+ ]
441
+ ]
442
+ ],
443
+ "count": [
444
+ 200
445
+ ],
446
+ "q01": [
447
+ [
448
+ [
449
+ 0.05091840148663663
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.031363591048167355
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.001952975421056236
460
+ ]
461
+ ]
462
+ ],
463
+ "q10": [
464
+ [
465
+ [
466
+ 0.305900166214184
467
+ ]
468
+ ],
469
+ [
470
+ [
471
+ 0.09020222918430389
472
+ ]
473
+ ],
474
+ [
475
+ [
476
+ 0.13729258093334187
477
+ ]
478
+ ]
479
+ ],
480
+ "q50": [
481
+ [
482
+ [
483
+ 0.47650112208046863
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.4510394527554088
489
+ ]
490
+ ],
491
+ [
492
+ [
493
+ 0.4391660027985535
494
+ ]
495
+ ]
496
+ ],
497
+ "q90": [
498
+ [
499
+ [
500
+ 0.6312933038325746
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 0.6450834584260586
506
+ ]
507
+ ],
508
+ [
509
+ [
510
+ 0.6432043376936909
511
+ ]
512
+ ]
513
+ ],
514
+ "q99": [
515
+ [
516
+ [
517
+ 0.7528756527669384
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.8137214143323055
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.80976218212351
528
+ ]
529
+ ]
530
+ ]
531
+ },
532
+ "timestamp": {
533
+ "min": [
534
+ 0.0
535
+ ],
536
+ "max": [
537
+ 19.4
538
+ ],
539
+ "mean": [
540
+ 8.795415472779368
541
+ ],
542
+ "std": [
543
+ 5.2403363550363204
544
+ ],
545
+ "count": [
546
+ 349
547
+ ],
548
+ "q01": [
549
+ 0.10019461193553826
550
+ ],
551
+ "q10": [
552
+ 1.723357581581487
553
+ ],
554
+ "q50": [
555
+ 8.774895300859326
556
+ ],
557
+ "q90": [
558
+ 15.867473363977252
559
+ ],
560
+ "q99": [
561
+ 17.490636333623197
562
+ ]
563
+ },
564
+ "action": {
565
+ "min": [
566
+ 0.3325302302837372,
567
+ -0.4572760760784149,
568
+ 0.20769158005714417,
569
+ -3.136087417602539,
570
+ -0.8734749555587769,
571
+ -0.5843849182128906,
572
+ 0.0
573
+ ],
574
+ "max": [
575
+ 0.5963134169578552,
576
+ 0.025696469470858574,
577
+ 0.4504280388355255,
578
+ 3.1393985748291016,
579
+ 0.629889190196991,
580
+ 0.5395166277885437,
581
+ 1.0
582
+ ],
583
+ "mean": [
584
+ 0.49267126188578786,
585
+ -0.14877209793189194,
586
+ 0.30537200785298063,
587
+ 1.6654533065834154,
588
+ -0.1993549735125896,
589
+ -0.11807634014593582,
590
+ 0.4862908634722745
591
+ ],
592
+ "std": [
593
+ 0.05970154564803687,
594
+ 0.13691169044174795,
595
+ 0.0572101559376445,
596
+ 2.385623194473224,
597
+ 0.4149868170726272,
598
+ 0.28950221479213284,
599
+ 0.49866772628867306
600
+ ],
601
+ "count": [
602
+ 349
603
+ ],
604
+ "q01": [
605
+ 0.3782000329449294,
606
+ -0.3106103230604311,
607
+ 0.20991673958401866,
608
+ -3.1252546659787996,
609
+ -0.7648904020226761,
610
+ -0.509246716839971,
611
+ -1e-10
612
+ ],
613
+ "q10": [
614
+ 0.4253802816858732,
615
+ -0.2933313386430803,
616
+ 0.2177964514003928,
617
+ -0.437427771208723,
618
+ -0.6479765151475954,
619
+ -0.45954068156862815,
620
+ -1e-10
621
+ ],
622
+ "q50": [
623
+ 0.4927325720118959,
624
+ -0.13859964934185562,
625
+ 0.31548434092989425,
626
+ 2.695658819833419,
627
+ -0.28243778846449435,
628
+ -0.1868784452962875,
629
+ 0.4411778740535092
630
+ ],
631
+ "q90": [
632
+ 0.5582384534771485,
633
+ -0.007799504681567736,
634
+ 0.36408836844382475,
635
+ 3.069015753962592,
636
+ 0.32084873888326354,
637
+ 0.2322308029727099,
638
+ 0.9999583789837905
639
+ ],
640
+ "q99": [
641
+ 0.5665296556525302,
642
+ 0.012530834502466224,
643
+ 0.4181247618999262,
644
+ 3.122265453769501,
645
+ 0.46029066525945567,
646
+ 0.4152065056971202,
647
+ 0.999995837988379
648
+ ]
649
+ }
650
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2f8c6afc3bf9d0bf793f1a3c4b414c95cb1b19ebf8424e06c35b065c4a01532
3
+ size 2171
videos/observation.images.left_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ce370ead432da408cc5f17bc6302423ba7e593be4207060a271a251dd634784
3
+ size 3492018
videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dca8153b4088402d48f82657b1d0b811b93a08bce685177bf59f6415bcf9a3f5
3
+ size 688296