aravindhs-NV commited on
Commit
ec20f10
·
verified ·
1 Parent(s): 76a721e

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 sha256:5880b0b89b01585c663898a9899cc93d9ee3447a141c8466aba39c7ac312e2c7
3
+ size 846398
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:40d91a0e7aedb8ee5a2b522f9fa310678650acfad60c81845262ed13379b62d6
3
+ size 149983
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 30,
5
+ "total_frames": 17076,
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": "0:30"
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.wrist": {
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.front": {
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 29
8
+ ],
9
+ "mean": [
10
+ 15.233544155539938
11
+ ],
12
+ "std": [
13
+ 8.652009198503146
14
+ ],
15
+ "count": [
16
+ 17076
17
+ ],
18
+ "q01": [
19
+ 15.233544155539938
20
+ ],
21
+ "q10": [
22
+ 15.233544155539942
23
+ ],
24
+ "q50": [
25
+ 15.233544155539958
26
+ ],
27
+ "q90": [
28
+ 15.23354415553998
29
+ ],
30
+ "q99": [
31
+ 15.233544155539981
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 798
40
+ ],
41
+ "mean": [
42
+ 295.18441086905597
43
+ ],
44
+ "std": [
45
+ 183.12026934723914
46
+ ],
47
+ "count": [
48
+ 17076
49
+ ],
50
+ "q01": [
51
+ 5.45737954522862
52
+ ],
53
+ "q10": [
54
+ 58.49000739977927
55
+ ],
56
+ "q50": [
57
+ 294.94988743265395
58
+ ],
59
+ "q90": [
60
+ 531.725702602563
61
+ ],
62
+ "q99": [
63
+ 584.9114421928834
64
+ ]
65
+ },
66
+ "action": {
67
+ "min": [
68
+ -85.71428680419922,
69
+ -105.67032623291016,
70
+ -95.20879364013672,
71
+ -7.120879173278809,
72
+ -80.57142639160156,
73
+ 0.0
74
+ ],
75
+ "max": [
76
+ -3.164835214614868,
77
+ 72.52747344970703,
78
+ 97.05494689941406,
79
+ 102.94505310058594,
80
+ 45.4945068359375,
81
+ 62.59904861450195
82
+ ],
83
+ "mean": [
84
+ -35.4854485541268,
85
+ -1.5324217447996642,
86
+ 10.012153575775857,
87
+ 64.84538148766966,
88
+ -11.045739206620055,
89
+ 15.311300981516691
90
+ ],
91
+ "std": [
92
+ 14.395720626674555,
93
+ 52.88619911580716,
94
+ 53.20030499548443,
95
+ 19.896026466593483,
96
+ 24.687867673589622,
97
+ 11.654595122722785
98
+ ],
99
+ "count": [
100
+ 17076
101
+ ],
102
+ "q01": [
103
+ -55.06059916536041,
104
+ -100.69780805195215,
105
+ -56.40336620268956,
106
+ 32.233009949750084,
107
+ -43.89331871619044,
108
+ 0.5256880251630387
109
+ ],
110
+ "q10": [
111
+ -52.95295180435716,
112
+ -93.83421175462799,
113
+ -46.08389294668463,
114
+ 41.00180909619348,
115
+ -39.92994732914222,
116
+ 0.7381112691637064
117
+ ],
118
+ "q50": [
119
+ -35.94004456208675,
120
+ 20.623265554787658,
121
+ -3.9827969182607577,
122
+ 64.45036290583398,
123
+ -9.850838722960567,
124
+ 16.843580939689
125
+ ],
126
+ "q90": [
127
+ -19.056599926570527,
128
+ 47.022262001897595,
129
+ 92.17924264650088,
130
+ 91.12279763834087,
131
+ 15.598520343942182,
132
+ 28.30633293470837
133
+ ],
134
+ "q99": [
135
+ -16.614231083606654,
136
+ 51.3842018175934,
137
+ 96.57842796137327,
138
+ 98.70917118222152,
139
+ 19.39486782267225,
140
+ 31.285816374750524
141
+ ]
142
+ },
143
+ "timestamp": {
144
+ "min": [
145
+ 0.0
146
+ ],
147
+ "max": [
148
+ 26.6
149
+ ],
150
+ "mean": [
151
+ 9.839480362301865
152
+ ],
153
+ "std": [
154
+ 6.104008978241305
155
+ ],
156
+ "count": [
157
+ 17076
158
+ ],
159
+ "q01": [
160
+ 0.1819126514127368
161
+ ],
162
+ "q10": [
163
+ 1.9496669132484583
164
+ ],
165
+ "q50": [
166
+ 9.832907609510347
167
+ ],
168
+ "q90": [
169
+ 17.724190086829566
170
+ ],
171
+ "q99": [
172
+ 19.49704807319099
173
+ ]
174
+ },
175
+ "index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 17075
181
+ ],
182
+ "mean": [
183
+ 8537.5
184
+ ],
185
+ "std": [
186
+ 4929.416589888368
187
+ ],
188
+ "count": [
189
+ 17076
190
+ ],
191
+ "q01": [
192
+ 8247.772968676174
193
+ ],
194
+ "q10": [
195
+ 8300.805596530723
196
+ ],
197
+ "q50": [
198
+ 8537.302817416257
199
+ ],
200
+ "q90": [
201
+ 8774.041291733507
202
+ ],
203
+ "q99": [
204
+ 8827.227031323826
205
+ ]
206
+ },
207
+ "task_index": {
208
+ "min": [
209
+ 0
210
+ ],
211
+ "max": [
212
+ 0
213
+ ],
214
+ "mean": [
215
+ 0.0
216
+ ],
217
+ "std": [
218
+ 0.0
219
+ ],
220
+ "count": [
221
+ 17076
222
+ ],
223
+ "q01": [
224
+ 3.999999999999417e-16
225
+ ],
226
+ "q10": [
227
+ 3.999999999999418e-15
228
+ ],
229
+ "q50": [
230
+ 1.9999999999997088e-14
231
+ ],
232
+ "q90": [
233
+ 3.5999999999994766e-14
234
+ ],
235
+ "q99": [
236
+ 3.9599999999994235e-14
237
+ ]
238
+ },
239
+ "observation.images.front": {
240
+ "min": [
241
+ [
242
+ [
243
+ 0.00392156862745098
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.0
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.0
254
+ ]
255
+ ]
256
+ ],
257
+ "max": [
258
+ [
259
+ [
260
+ 1.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 1.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 1.0
271
+ ]
272
+ ]
273
+ ],
274
+ "mean": [
275
+ [
276
+ [
277
+ 0.49087031444591506
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.40170088702313733
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.3317465095111908
288
+ ]
289
+ ]
290
+ ],
291
+ "std": [
292
+ [
293
+ [
294
+ 0.027533637604549
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.028076249549160086
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.02694253093562168
305
+ ]
306
+ ]
307
+ ],
308
+ "count": [
309
+ 3511
310
+ ],
311
+ "q01": [
312
+ [
313
+ [
314
+ 0.039050047663108524
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.03699156687412931
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.038457198192531676
325
+ ]
326
+ ]
327
+ ],
328
+ "q10": [
329
+ [
330
+ [
331
+ 0.1443627924563631
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.12243866236312642
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.10405175739638692
342
+ ]
343
+ ]
344
+ ],
345
+ "q50": [
346
+ [
347
+ [
348
+ 0.5092333023612474
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.37763168387492346
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.27592321822950455
359
+ ]
360
+ ]
361
+ ],
362
+ "q90": [
363
+ [
364
+ [
365
+ 0.7744723167854473
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.7030455035939775
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.6408185693574323
376
+ ]
377
+ ]
378
+ ],
379
+ "q99": [
380
+ [
381
+ [
382
+ 0.9997610250462577
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.9918251959529044
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.9770599912358383
393
+ ]
394
+ ]
395
+ ]
396
+ },
397
+ "observation.state": {
398
+ "min": [
399
+ -85.4945068359375,
400
+ -100.48351287841797,
401
+ -91.73626708984375,
402
+ -5.274725437164307,
403
+ -79.42857360839844,
404
+ 1.3689254522323608
405
+ ],
406
+ "max": [
407
+ -3.384615421295166,
408
+ 72.79120635986328,
409
+ 96.57142639160156,
410
+ 101.71428680419922,
411
+ 44.879119873046875,
412
+ 62.21765899658203
413
+ ],
414
+ "mean": [
415
+ -35.48188395957026,
416
+ -0.04965277938366383,
417
+ 11.504542257801715,
418
+ 64.9913747675331,
419
+ -11.097035602063228,
420
+ 15.80984972142648
421
+ ],
422
+ "std": [
423
+ 14.301095761507026,
424
+ 53.02166099869001,
425
+ 52.83248601316337,
426
+ 19.7030377616236,
427
+ 24.59354227064125,
428
+ 10.767261670845247
429
+ ],
430
+ "count": [
431
+ 17076
432
+ ],
433
+ "q01": [
434
+ -54.71384327004664,
435
+ -97.93308118203579,
436
+ -53.95036649702624,
437
+ 33.107855800837314,
438
+ -43.64338241502942,
439
+ 2.9754703185224702
440
+ ],
441
+ "q10": [
442
+ -52.81653342416661,
443
+ -92.23158281727947,
444
+ -44.39262917696585,
445
+ 41.72245558251896,
446
+ -39.80657067561195,
447
+ 3.4147405078595794
448
+ ],
449
+ "q50": [
450
+ -35.89202241432786,
451
+ 22.36459786913401,
452
+ -2.2950358042769943,
453
+ 64.54415062326936,
454
+ -9.940735466633413,
455
+ 16.785792205869903
456
+ ],
457
+ "q90": [
458
+ -19.053345562050527,
459
+ 48.54052986316888,
460
+ 93.05845929667414,
461
+ 90.93333219124317,
462
+ 15.464204113401287,
463
+ 27.896553962254103
464
+ ],
465
+ "q99": [
466
+ -16.865570411604708,
467
+ 51.87731467643765,
468
+ 96.27067826816887,
469
+ 98.07286367255524,
470
+ 19.06860101143053,
471
+ 30.951365591568294
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
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
+ 0.6010500900065714
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.4854122164839543
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.49144399842558306
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.010468734943075618
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.011881797289139143
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.012658747108037709
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 3511
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.1246726648501127
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.08304946955538116
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.02432658417431687
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.33625039196290574
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.2188888555263745
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.18338271534124873
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.5683207769852868
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.41605247841159226
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.4271806954657983
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.9608101327331829
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.891093502153317
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.9375345073779304
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9999709714162127
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9996216182913582
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9999623993854553
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e4d9c85a42e51fc8a51fc2d73c45548924df87a61b9087e431853619a840ca5
3
+ size 2321
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:e8677269687f22412e9850833badba8cf911058b06d70265fd5bcc683fe6c214
3
+ size 202806375
videos/observation.images.front/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:062faca7ed97f59bbfd3bdfd712caac496ea5ac271a7e1fae1a10d17a0eb447f
3
+ size 70886750
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 sha256:33cb6a6b53786990f6090965ba3a348a5bdc505fb3ae2eecd3e30dacf9fc0813
3
+ size 120431075