archerlinn commited on
Commit
dd4607f
·
verified ·
1 Parent(s): 76daf67

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 sha256:93449db5becdec8ef2d04655e5b2948ccf12f0a0d76e852ed63723812860dd7b
3
+ size 62022
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03fde7c213d8cb302111e6a1de30a3308817abbb6a0e68f93ca87ae066a75de7
3
+ size 56557
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 1795,
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": "0:4"
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.wrist": {
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
+ "action": {
3
+ "min": [
4
+ -20.74725341796875,
5
+ -105.18681335449219,
6
+ 96.48351287841797,
7
+ -18.461538314819336,
8
+ -137.010986328125,
9
+ 6.790123462677002
10
+ ],
11
+ "max": [
12
+ 20.571428298950195,
13
+ -102.989013671875,
14
+ 96.57142639160156,
15
+ 83.25274658203125,
16
+ -44.79121017456055,
17
+ 6.790123462677002
18
+ ],
19
+ "mean": [
20
+ -5.064133992899095,
21
+ -104.39729075312282,
22
+ 96.52368465837993,
23
+ 9.808888201594021,
24
+ -97.34540654769515,
25
+ 6.79010534286499
26
+ ],
27
+ "std": [
28
+ 5.8910545315229665,
29
+ 0.5775572010126324,
30
+ 0.03511168256169224,
31
+ 21.10692091165966,
32
+ 7.0638363656948675,
33
+ 0.009765625
34
+ ],
35
+ "count": [
36
+ 1795
37
+ ],
38
+ "q01": [
39
+ -13.757556608906697,
40
+ -104.6810366702279,
41
+ 96.50550350093576,
42
+ -13.118917461148213,
43
+ -107.06059689191984,
44
+ 6.790123462677002
45
+ ],
46
+ "q10": [
47
+ -9.3428426894927,
48
+ -104.65905424056388,
49
+ 96.50550350093576,
50
+ -7.777698333535685,
51
+ -100.21843763279345,
52
+ 6.790123462677002
53
+ ],
54
+ "q50": [
55
+ -5.73832361742615,
56
+ -104.395176552887,
57
+ 96.52749127668731,
58
+ 8.732598397224452,
59
+ -97.10219785691136,
60
+ 6.790123462677002
61
+ ],
62
+ "q90": [
63
+ 2.021647650644307,
64
+ -104.15334332421924,
65
+ 96.5494815400746,
66
+ 29.813034654971005,
67
+ -95.96015100184782,
68
+ 6.790123462677002
69
+ ],
70
+ "q99": [
71
+ 6.308148724700557,
72
+ -104.13134397624395,
73
+ 96.54948442538166,
74
+ 32.01153544440483,
75
+ -83.8907353256499,
76
+ 6.790123462677002
77
+ ]
78
+ },
79
+ "observation.images.wrist": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.46546881382761435
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.5097990073529411
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.6059393178104575
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.00931544886911199
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.012021408467656003
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.010571530986662645
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 400
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.0029170438468519976
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.046067594847432274
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 0.027383378732939424
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.07450896850768457
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.17847309212544232
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.3068271475439157
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.4313501462847934
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.4597716896709547
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.681402451094066
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.8676324247514988
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.8441470075025276
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.8020129653204111
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9774054477179718
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9215602278910474
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.8715840635903109
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "frame_index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 448
243
+ ],
244
+ "mean": [
245
+ 223.87520891364903
246
+ ],
247
+ "std": [
248
+ 129.54300658591518
249
+ ],
250
+ "count": [
251
+ 1795
252
+ ],
253
+ "q01": [
254
+ 3.9838600912666817
255
+ ],
256
+ "q10": [
257
+ 44.069767487384865
258
+ ],
259
+ "q50": [
260
+ 223.79726440111415
261
+ ],
262
+ "q90": [
263
+ 403.68065033991314
264
+ ],
265
+ "q99": [
266
+ 443.76655773603136
267
+ ]
268
+ },
269
+ "episode_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 3
275
+ ],
276
+ "mean": [
277
+ 1.4991643454038996
278
+ ],
279
+ "std": [
280
+ 1.117784504552344
281
+ ],
282
+ "count": [
283
+ 1795
284
+ ],
285
+ "q01": [
286
+ 1.4991643454039003
287
+ ],
288
+ "q10": [
289
+ 1.4991643454039039
290
+ ],
291
+ "q50": [
292
+ 1.4991643454039194
293
+ ],
294
+ "q90": [
295
+ 1.4991643454039356
296
+ ],
297
+ "q99": [
298
+ 1.4991643454039392
299
+ ]
300
+ },
301
+ "observation.state": {
302
+ "min": [
303
+ -20.175825119018555,
304
+ -104.57142639160156,
305
+ 96.35164642333984,
306
+ -16.615385055541992,
307
+ -136.57142639160156,
308
+ 6.345009803771973
309
+ ],
310
+ "max": [
311
+ 20.175825119018555,
312
+ -102.989013671875,
313
+ 96.43955993652344,
314
+ 81.4065933227539,
315
+ -45.67033004760742,
316
+ 6.87376070022583
317
+ ],
318
+ "mean": [
319
+ -5.15029436552425,
320
+ -103.73994638767083,
321
+ 96.43259021047098,
322
+ 10.385025968259423,
323
+ -97.32357804662338,
324
+ 6.723548454826589
325
+ ],
326
+ "std": [
327
+ 5.799455575746466,
328
+ 0.6038776616652348,
329
+ 0.012714707818068775,
330
+ 20.75450692946847,
331
+ 6.7581694643953245,
332
+ 0.06319952389517218
333
+ ],
334
+ "count": [
335
+ 1795
336
+ ],
337
+ "q01": [
338
+ -13.605191662646027,
339
+ -104.15362143097086,
340
+ 96.41756931400565,
341
+ -11.60345822172776,
342
+ -107.17044118812157,
343
+ 6.59300964187721
344
+ ],
345
+ "q10": [
346
+ -9.09973632344352,
347
+ -104.10963004443545,
348
+ 96.41756931400565,
349
+ -6.812705573701338,
350
+ -100.32473714318931,
351
+ 6.6920188767689135
352
+ ],
353
+ "q50": [
354
+ -5.80595046014194,
355
+ -103.64787828046205,
356
+ 96.43955707071528,
357
+ 9.585426762710217,
358
+ -97.16593582388683,
359
+ 6.725090017202071
360
+ ],
361
+ "q90": [
362
+ 1.977128517486094,
363
+ -103.55994821333665,
364
+ 96.43955936336181,
365
+ 29.330673022931613,
366
+ -96.02187820559813,
367
+ 6.758112047975745
368
+ ],
369
+ "q99": [
370
+ 5.871254900220111,
371
+ -103.53792593440146,
372
+ 96.43955987920728,
373
+ 31.24037613962856,
374
+ -84.17395615586547,
375
+ 6.758130280673084
376
+ ]
377
+ },
378
+ "index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 1794
384
+ ],
385
+ "mean": [
386
+ 897.0
387
+ ],
388
+ "std": [
389
+ 518.1717861867819
390
+ ],
391
+ "count": [
392
+ 1795
393
+ ],
394
+ "q01": [
395
+ 677.1086511776177
396
+ ],
397
+ "q10": [
398
+ 717.1945585737358
399
+ ],
400
+ "q50": [
401
+ 896.9220554874652
402
+ ],
403
+ "q90": [
404
+ 1076.8054414262642
405
+ ],
406
+ "q99": [
407
+ 1116.8913488223823
408
+ ]
409
+ },
410
+ "observation.images.front": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.00784313725490196
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.42107963950163396
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.4103401485906863
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.40942245966094776
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.003761599730292663
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.0023568071787112115
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.002399137638911217
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 400
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.014696548614013564
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.057828552094656975
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.05693481350776789
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.09308337122917068
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.11764756337293797
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.12448285629368502
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.35682239660726656
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.3371757272233778
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.3313519421967311
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.900929941238886
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.8961402526527904
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.9068787358594563
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.9989070760279009
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.9999480087581466
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.9970628470824007
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "timestamp": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 14.933333333333334
574
+ ],
575
+ "mean": [
576
+ 7.462506963788301
577
+ ],
578
+ "std": [
579
+ 4.318100219530505
580
+ ],
581
+ "count": [
582
+ 1795
583
+ ],
584
+ "q01": [
585
+ 0.13279533628060958
586
+ ],
587
+ "q10": [
588
+ 1.4689922495018575
589
+ ],
590
+ "q50": [
591
+ 7.459908813370439
592
+ ],
593
+ "q90": [
594
+ 13.456021678074745
595
+ ],
596
+ "q99": [
597
+ 14.792218591295992
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 1795
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999418e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.5999999999994766e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba1e9b52484c178c5c8f876dd5d8a5c5c1c1c12e767ce903fd8a99b9da2ee1fb
3
+ size 2228
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 sha256:1cb0a1b467819253bd45d6290e55728a6d237654736fc372dc5782e1a52b31d3
3
+ size 20882129
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 sha256:2020b3419a93d7497a86a4629c5196b57c79f81def395156352e21a095555bbf
3
+ size 17741659