binhpham commited on
Commit
0ad8b72
·
verified ·
1 Parent(s): 7b3bf5a

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 sha256:3611361caea230c6c4e097ba9826052b3e662c74b5b6bf6ccff3f9d734ba25d5
3
+ size 1290599
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e58d5e0a7e9393b997a12ff63456f2114408758165ca56238f4ae1f254023a2
3
+ size 259318
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101",
4
+ "total_episodes": 51,
5
+ "total_frames": 25570,
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": "0:51"
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
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan",
24
+ "shoulder_lift",
25
+ "elbow_flex",
26
+ "wrist_flex",
27
+ "wrist_roll",
28
+ "gripper"
29
+ ]
30
+ },
31
+ "action": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan",
38
+ "shoulder_lift",
39
+ "elbow_flex",
40
+ "wrist_flex",
41
+ "wrist_roll",
42
+ "gripper"
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.side": {
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
+ 50
8
+ ],
9
+ "mean": [
10
+ 20.25913179507235
11
+ ],
12
+ "std": [
13
+ 14.673365835697508
14
+ ],
15
+ "count": [
16
+ 25570
17
+ ],
18
+ "q01": [
19
+ 20.25913179507235
20
+ ],
21
+ "q10": [
22
+ 20.259131795072356
23
+ ],
24
+ "q50": [
25
+ 20.25913179507237
26
+ ],
27
+ "q90": [
28
+ 20.25913179507238
29
+ ],
30
+ "q99": [
31
+ 20.25913179507238
32
+ ]
33
+ },
34
+ "task_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 0
40
+ ],
41
+ "mean": [
42
+ 0.0
43
+ ],
44
+ "std": [
45
+ 0.0
46
+ ],
47
+ "count": [
48
+ 25570
49
+ ],
50
+ "q01": [
51
+ 3.999999999999418e-16
52
+ ],
53
+ "q10": [
54
+ 3.999999999999417e-15
55
+ ],
56
+ "q50": [
57
+ 1.999999999999708e-14
58
+ ],
59
+ "q90": [
60
+ 3.5999999999994754e-14
61
+ ],
62
+ "q99": [
63
+ 3.9599999999994235e-14
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 25569
72
+ ],
73
+ "mean": [
74
+ 12784.5
75
+ ],
76
+ "std": [
77
+ 7381.423185944564
78
+ ],
79
+ "count": [
80
+ 25570
81
+ ],
82
+ "q01": [
83
+ 12498.93797600835
84
+ ],
85
+ "q10": [
86
+ 12551.365148711695
87
+ ],
88
+ "q50": [
89
+ 12784.33713956981
90
+ ],
91
+ "q90": [
92
+ 13017.56293771772
93
+ ],
94
+ "q99": [
95
+ 13069.999482732359
96
+ ]
97
+ },
98
+ "observation.images.wrist": {
99
+ "min": [
100
+ [
101
+ [
102
+ 0.0
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 0.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 0.0
113
+ ]
114
+ ]
115
+ ],
116
+ "max": [
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 1.0
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 1.0
130
+ ]
131
+ ]
132
+ ],
133
+ "mean": [
134
+ [
135
+ [
136
+ 0.962368382534557
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.8312620051098415
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.6118985165030442
147
+ ]
148
+ ]
149
+ ],
150
+ "std": [
151
+ [
152
+ [
153
+ 0.0046601313432987155
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.008376185834031977
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.01722862309767435
164
+ ]
165
+ ]
166
+ ],
167
+ "count": [
168
+ 5848
169
+ ],
170
+ "q01": [
171
+ [
172
+ [
173
+ 0.3758079847484033
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.2857167673598677
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.08537140167703561
184
+ ]
185
+ ]
186
+ ],
187
+ "q10": [
188
+ [
189
+ [
190
+ 0.8472165622642154
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.6108139112282779
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.16415817848634442
201
+ ]
202
+ ]
203
+ ],
204
+ "q50": [
205
+ [
206
+ [
207
+ 0.9998606525736109
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 0.9433534883149991
213
+ ]
214
+ ],
215
+ [
216
+ [
217
+ 0.7884133064738112
218
+ ]
219
+ ]
220
+ ],
221
+ "q90": [
222
+ [
223
+ [
224
+ 0.999972130515036
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.9843377391026582
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.9375038674397819
235
+ ]
236
+ ]
237
+ ],
238
+ "q99": [
239
+ [
240
+ [
241
+ 0.9999972130518564
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.9984809611228
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.9416592029446826
252
+ ]
253
+ ]
254
+ ]
255
+ },
256
+ "observation.state": {
257
+ "min": [
258
+ -0.8837887048721313,
259
+ -1.7453299760818481,
260
+ -1.4476642608642578,
261
+ -1.4791185855865479,
262
+ -0.8584718108177185,
263
+ 0.0
264
+ ],
265
+ "max": [
266
+ 0.8362236618995667,
267
+ 1.0011669397354126,
268
+ 1.690000057220459,
269
+ 1.6580599546432495,
270
+ 0.9643423557281494,
271
+ 1.7453292608261108
272
+ ],
273
+ "mean": [
274
+ -0.1182874885892648,
275
+ -0.5407148471038743,
276
+ 0.5008116088396737,
277
+ 0.7882053110052132,
278
+ 0.04226900734704666,
279
+ 0.41721506410620385
280
+ ],
281
+ "std": [
282
+ 0.3194388149041409,
283
+ 0.7606516344355937,
284
+ 0.8844560334216807,
285
+ 0.7972652518330476,
286
+ 0.26678961028982257,
287
+ 0.5178327198492045
288
+ ],
289
+ "count": [
290
+ 25570
291
+ ],
292
+ "q01": [
293
+ -0.6817752383959172,
294
+ -1.7453299760818481,
295
+ -0.5739058587915764,
296
+ -0.43961348365195896,
297
+ -0.33302047809219604,
298
+ 0.05162357536613989
299
+ ],
300
+ "q10": [
301
+ -0.5921665965314793,
302
+ -1.705921841571235,
303
+ -0.504656001843537,
304
+ -0.3918160368782766,
305
+ -0.22256302150278107,
306
+ 0.06364607790917885
307
+ ],
308
+ "q50": [
309
+ -0.1024686846676799,
310
+ -0.4795179204571809,
311
+ 0.41603960822369473,
312
+ 1.0523912702791236,
313
+ 0.03854318397037649,
314
+ 0.08093229309311166
315
+ ],
316
+ "q90": [
317
+ 0.3554459788816239,
318
+ 0.3552433571839146,
319
+ 1.5923546519492875,
320
+ 1.513589238575905,
321
+ 0.3387336965614869,
322
+ 1.2519911839156206
323
+ ],
324
+ "q99": [
325
+ 0.4741569690827342,
326
+ 0.545310856348539,
327
+ 1.6574379036609863,
328
+ 1.5580090066767411,
329
+ 0.47401038371199006,
330
+ 1.4287635460256607
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -0.8837887048721313,
336
+ -1.7453299760818481,
337
+ -1.4476642608642578,
338
+ -1.4791185855865479,
339
+ -0.8584718108177185,
340
+ 0.0
341
+ ],
342
+ "max": [
343
+ 0.8362236618995667,
344
+ 1.0011669397354126,
345
+ 1.690000057220459,
346
+ 1.6580599546432495,
347
+ 0.9643423557281494,
348
+ 1.7453292608261108
349
+ ],
350
+ "mean": [
351
+ -0.11829540863098019,
352
+ -0.5407048901657387,
353
+ 0.5007458919553632,
354
+ 0.7882436339845054,
355
+ 0.04228124696243078,
356
+ 0.41728569588882175
357
+ ],
358
+ "std": [
359
+ 0.31942601912362895,
360
+ 0.7606540345754282,
361
+ 0.8844356262027987,
362
+ 0.7972548159150635,
363
+ 0.2667858992941059,
364
+ 0.5179239553694992
365
+ ],
366
+ "count": [
367
+ 25570
368
+ ],
369
+ "q01": [
370
+ -0.6817573612093667,
371
+ -1.7453299760818481,
372
+ -0.5739069886097785,
373
+ -0.439676894503695,
374
+ -0.3330207921160874,
375
+ 0.052315066275835105
376
+ ],
377
+ "q10": [
378
+ -0.5919652897969566,
379
+ -1.7047757641365626,
380
+ -0.5046500489991993,
381
+ -0.39176141184349,
382
+ -0.2225738056696721,
383
+ 0.06358548657170113
384
+ ],
385
+ "q50": [
386
+ -0.10237856928478004,
387
+ -0.47796200436306996,
388
+ 0.41612390941144123,
389
+ 1.0522147640324835,
390
+ 0.03852207469802318,
391
+ 0.08085192308886457
392
+ ],
393
+ "q90": [
394
+ 0.3554633154012065,
395
+ 0.35521995290072145,
396
+ 1.5926056412522227,
397
+ 1.513563664392599,
398
+ 0.33863314929564436,
399
+ 1.2524995497013458
400
+ ],
401
+ "q99": [
402
+ 0.4743027441701462,
403
+ 0.5450287979317677,
404
+ 1.6574472176598156,
405
+ 1.557999037591464,
406
+ 0.47399177890030164,
407
+ 1.428634043413471
408
+ ]
409
+ },
410
+ "timestamp": {
411
+ "min": [
412
+ 0.0
413
+ ],
414
+ "max": [
415
+ 42.233333333333334
416
+ ],
417
+ "mean": [
418
+ 9.695818015904063
419
+ ],
420
+ "std": [
421
+ 7.263481107790889
422
+ ],
423
+ "count": [
424
+ 25570
425
+ ],
426
+ "q01": [
427
+ 0.17708388275411127
428
+ ],
429
+ "q10": [
430
+ 1.9246563062162751
431
+ ],
432
+ "q50": [
433
+ 9.690297052274737
434
+ ],
435
+ "q90": [
436
+ 17.46458260657213
437
+ ],
438
+ "q99": [
439
+ 19.212467440411036
440
+ ]
441
+ },
442
+ "observation.images.side": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.027450980392156862
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.963929776177599
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.8825493478791141
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.7309920233469014
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.0021943767204610064
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.004298949485176174
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.006175257455145385
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 5848
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ 0.3828487573033191
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.2922950290570346
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.07330318301402185
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.8449296036462011
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.6518221270214285
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.2338864065122673
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.9998687909221174
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.9565272620832643
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.8194597856191689
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.9999737581847369
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.9843219348017878
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.9411177975749971
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9999973758188264
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.9849803829127411
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.9425591441989036
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 1267
606
+ ],
607
+ "mean": [
608
+ 290.8745404771216
609
+ ],
610
+ "std": [
611
+ 217.90443323372676
612
+ ],
613
+ "count": [
614
+ 25570
615
+ ],
616
+ "q01": [
617
+ 5.312516485470835
618
+ ],
619
+ "q10": [
620
+ 57.73968918881305
621
+ ],
622
+ "q50": [
623
+ 290.677034493547
624
+ ],
625
+ "q90": [
626
+ 523.9374781948394
627
+ ],
628
+ "q99": [
629
+ 576.3740232094841
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d293e8a7b0771248c9b9e64f7a94d7c39d9dc703ae34011ee95b30194295ac7a
3
+ size 2172
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1b5f3342f042454b953395089c3ce60fd7c8c5ab6fd738662dba0b21d095be39
3
+ size 208700856
videos/observation.images.side/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:54b24af8c339a61d18f6587ab952f51290b2232f71537760fc348d08ff1b0382
3
+ size 37406411
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:a3a581de935998fbe29753671d5429f7dbfb8c0120471a33d2759100a6867222
3
+ size 165261784