bluephysi01 commited on
Commit
eb832b6
·
verified ·
1 Parent(s): e85d0be

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:aefbde06f16d23f2aea6bbc767623e728b814c8378ef8856eae029f81cacf5de
3
+ size 32967
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cbd423447ebc3c05d888473dd2cbf75d5a8e72be3e110655f692dea5d6b563d6
3
+ size 96519
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 375,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 5,
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.top": {
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": 5,
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": 5,
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
+ "observation.images.wrist": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.640865126906318
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.6333283017429194
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.6340106127450981
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.020548211818625456
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.01794201911770782
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.02614226068280797
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 375
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.2886153214115409
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.23219223333995492
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.21796405550850267
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.4243481130024608
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.38594856318343657
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.37728951572673625
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.669739169745699
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.6713095442430551
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.6737393720880088
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.8313875161555235
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.8368577160410599
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.8463393828602281
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9490299029437356
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9426934864381231
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9568736725277271
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.state": {
161
+ "min": [
162
+ -11.053604125976562,
163
+ -100.0,
164
+ -19.873531341552734,
165
+ 46.83871078491211,
166
+ -23.097043991088867,
167
+ 0.2752924859523773
168
+ ],
169
+ "max": [
170
+ 28.05914878845215,
171
+ 15.986394882202148,
172
+ 98.9159927368164,
173
+ 79.69892120361328,
174
+ 6.356264591217041,
175
+ 74.19132995605469
176
+ ],
177
+ "mean": [
178
+ 1.602267861366272,
179
+ -73.59094009399413,
180
+ 68.61284408569335,
181
+ 69.95211486816406,
182
+ -3.044798177480698,
183
+ 11.169170480966567
184
+ ],
185
+ "std": [
186
+ 7.36199768284606,
187
+ 36.26898718940863,
188
+ 37.59100519718227,
189
+ 5.798059901493945,
190
+ 4.482802757482394,
191
+ 21.991053934276785
192
+ ],
193
+ "count": [
194
+ 375
195
+ ],
196
+ "q01": [
197
+ -4.28096113204956,
198
+ -99.89795837402343,
199
+ 27.22673969268799,
200
+ 58.296774291992186,
201
+ -12.110907649993896,
202
+ 0.3303509891033173
203
+ ],
204
+ "q10": [
205
+ -3.8821143205385154,
206
+ -99.81613362065069,
207
+ 31.25775448481242,
208
+ 63.062564341227215,
209
+ -9.651905890305837,
210
+ 0.3967926131956505
211
+ ],
212
+ "q50": [
213
+ -1.338115996568296,
214
+ -88.49093132019043,
215
+ 73.15157117843628,
216
+ 71.95669040101947,
217
+ -2.463376971199399,
218
+ 0.42847174412824895
219
+ ],
220
+ "q90": [
221
+ 9.248495163003058,
222
+ -34.2535099029541,
223
+ 98.40425910660714,
224
+ 74.45139776531018,
225
+ 0.8417624473571778,
226
+ 47.02094676494598
227
+ ],
228
+ "q99": [
229
+ 14.64436343565379,
230
+ -27.509117882592335,
231
+ 98.48174282998751,
232
+ 75.72293787002563,
233
+ 1.6153949305415154,
234
+ 53.936534190177916
235
+ ]
236
+ },
237
+ "index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 374
243
+ ],
244
+ "mean": [
245
+ 187.0
246
+ ],
247
+ "std": [
248
+ 108.25279057219112
249
+ ],
250
+ "count": [
251
+ 375
252
+ ],
253
+ "q01": [
254
+ 149.99999999990004
255
+ ],
256
+ "q10": [
257
+ 156.9929999999189
258
+ ],
259
+ "q50": [
260
+ 187.00740000000002
261
+ ],
262
+ "q90": [
263
+ 217.00700000008106
264
+ ],
265
+ "q99": [
266
+ 223.98890000009996
267
+ ]
268
+ },
269
+ "frame_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 74
275
+ ],
276
+ "mean": [
277
+ 37.0
278
+ ],
279
+ "std": [
280
+ 21.64871050817269
281
+ ],
282
+ "count": [
283
+ 375
284
+ ],
285
+ "q01": [
286
+ -1.0000000000000002e-10
287
+ ],
288
+ "q10": [
289
+ 6.9929999999189
290
+ ],
291
+ "q50": [
292
+ 37.00740000000001
293
+ ],
294
+ "q90": [
295
+ 67.0070000000811
296
+ ],
297
+ "q99": [
298
+ 73.98890000009996
299
+ ]
300
+ },
301
+ "task_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 0
307
+ ],
308
+ "mean": [
309
+ 0.0
310
+ ],
311
+ "std": [
312
+ 0.0
313
+ ],
314
+ "count": [
315
+ 375
316
+ ],
317
+ "q01": [
318
+ 3.9999999999994176e-16
319
+ ],
320
+ "q10": [
321
+ 3.999999999999417e-15
322
+ ],
323
+ "q50": [
324
+ 1.9999999999997088e-14
325
+ ],
326
+ "q90": [
327
+ 3.599999999999476e-14
328
+ ],
329
+ "q99": [
330
+ 3.9599999999994235e-14
331
+ ]
332
+ },
333
+ "timestamp": {
334
+ "min": [
335
+ 0.0
336
+ ],
337
+ "max": [
338
+ 14.8
339
+ ],
340
+ "mean": [
341
+ 7.4
342
+ ],
343
+ "std": [
344
+ 4.329742101634537
345
+ ],
346
+ "count": [
347
+ 375
348
+ ],
349
+ "q01": [
350
+ -1.0000000000000002e-10
351
+ ],
352
+ "q10": [
353
+ 1.3985999999189
354
+ ],
355
+ "q50": [
356
+ 7.401480000000022
357
+ ],
358
+ "q90": [
359
+ 13.401400000081098
360
+ ],
361
+ "q99": [
362
+ 14.797780000099968
363
+ ]
364
+ },
365
+ "action": {
366
+ "min": [
367
+ -11.20738410949707,
368
+ -102.7791748046875,
369
+ -22.13768196105957,
370
+ 46.26102828979492,
371
+ -23.357101440429688,
372
+ -3.669401168823242
373
+ ],
374
+ "max": [
375
+ 28.662748336791992,
376
+ 15.16015625,
377
+ 99.27857208251953,
378
+ 80.01863861083984,
379
+ 6.509308815002441,
380
+ 74.67777252197266
381
+ ],
382
+ "mean": [
383
+ 1.659904146194458,
384
+ -75.07630081176758,
385
+ 67.89814529418945,
386
+ 70.40011138916016,
387
+ -3.0391728460788725,
388
+ 10.605984841287135
389
+ ],
390
+ "std": [
391
+ 7.433823439795309,
392
+ 36.594614281800546,
393
+ 38.4477328417043,
394
+ 6.265102535610094,
395
+ 4.502177610892756,
396
+ 22.88454342660075
397
+ ],
398
+ "count": [
399
+ 375
400
+ ],
401
+ "q01": [
402
+ -4.259926867485047,
403
+ -102.5131103515625,
404
+ 24.944682693481447,
405
+ 57.62654190063476,
406
+ -12.307069778442383,
407
+ -2.064112091064453
408
+ ],
409
+ "q10": [
410
+ -3.866554081439972,
411
+ -101.9945182800293,
412
+ 30.217318852742512,
413
+ 62.80382041931152,
414
+ -9.741310739517212,
415
+ -1.2041977927088738
416
+ ],
417
+ "q50": [
418
+ -1.3920858740806579,
419
+ -88.48819923400879,
420
+ 71.50829137166342,
421
+ 72.50628814697265,
422
+ -2.3690825939178466,
423
+ 0.09433437393470244
424
+ ],
425
+ "q90": [
426
+ 9.425316286087035,
427
+ -35.09283027648926,
428
+ 98.7749698638916,
429
+ 75.14528732299804,
430
+ 0.8345929622650147,
431
+ 46.618678367882964
432
+ ],
433
+ "q99": [
434
+ 16.003420621156693,
435
+ -28.21507682800293,
436
+ 98.92143669128419,
437
+ 76.35085525512696,
438
+ 1.5718833923339843,
439
+ 54.25116653367877
440
+ ]
441
+ },
442
+ "episode_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 4
448
+ ],
449
+ "mean": [
450
+ 2.0
451
+ ],
452
+ "std": [
453
+ 1.4142135623730951
454
+ ],
455
+ "count": [
456
+ 375
457
+ ],
458
+ "q01": [
459
+ 2.0000000000000004
460
+ ],
461
+ "q10": [
462
+ 2.0000000000000044
463
+ ],
464
+ "q50": [
465
+ 2.00000000000002
466
+ ],
467
+ "q90": [
468
+ 2.000000000000036
469
+ ],
470
+ "q99": [
471
+ 2.0000000000000395
472
+ ]
473
+ },
474
+ "observation.images.top": {
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
+ 0.40201719226579524
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.4113931263616558
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.40150322004357303
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.12725745531303123
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.1333374888606187
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.13384250348424742
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 375
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.06905424998659558
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.044641502392108984
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.024352492826506845
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.13807927423175684
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.10355722672628896
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.08080135210246996
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.39451744404423317
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.40162219830702606
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.39215444218739987
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.725487505638016
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.755318714576978
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7662640897212378
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8267421506138845
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.8815891731757733
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9074226256759395
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0852be5b4c04f112af37aef81474b0238fd6606d8b2f95953ead308d7206324c
3
+ size 2271
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c6801f4a6133f8c76aa5d133d0ba7d178b2ef055cab9e0ce5ce3eca7a90b02a3
3
+ size 1961863
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:f56e56efd652fa01a0f62f07313ae268c10aa9776a9b89eb8d4543f12938cb54
3
+ size 1999960