bluephysi01 commited on
Commit
b8e36a8
·
verified ·
1 Parent(s): 4e9f5cb

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 sha256:9d92ed3ec180136766e76e968f18465956ecfbb9bc0b9bd2461f6b534c2dbca7
3
+ size 36466
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e1093c849f4177062dc67cfc96eb0bdabdf96b1f77a557a48af6f9c404a45cd
3
+ size 96512
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.state": {
3
+ "min": [
4
+ -62.883548736572266,
5
+ -100.0,
6
+ -38.57271957397461,
7
+ -13.892473220825195,
8
+ -57.78184509277344,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 72.79113006591797,
13
+ 52.63605499267578,
14
+ 100.0,
15
+ 89.67742156982422,
16
+ 6.984044075012207,
17
+ 85.615966796875
18
+ ],
19
+ "mean": [
20
+ 3.4575960636138916,
21
+ -43.34694137573242,
22
+ 38.10852737426758,
23
+ 61.861045837402344,
24
+ -4.988126873970032,
25
+ 19.929341125488282
26
+ ],
27
+ "std": [
28
+ 25.546179609444,
29
+ 51.7011788384966,
30
+ 51.507405388928014,
31
+ 20.578552170983475,
32
+ 12.215534662594534,
33
+ 28.829294164292087
34
+ ],
35
+ "count": [
36
+ 375
37
+ ],
38
+ "q01": [
39
+ -33.35304946899414,
40
+ -99.91496429443359,
41
+ -31.689250183105468,
42
+ 25.470968389511107,
43
+ -23.567878484725952,
44
+ 0.24776324031737182
45
+ ],
46
+ "q10": [
47
+ -29.917605495452882,
48
+ -99.8158622970581,
49
+ -19.40591697692871,
50
+ 35.84661464691162,
51
+ -20.0632529769625,
52
+ 0.35653244718231814
53
+ ],
54
+ "q50": [
55
+ -0.93468522057477,
56
+ -37.11050186157227,
57
+ 20.65763740539551,
58
+ 67.62341957092285,
59
+ -1.4069020239512127,
60
+ 0.4854901951882575
61
+ ],
62
+ "q90": [
63
+ 35.315581703186034,
64
+ 22.2744930267334,
65
+ 99.04243829922797,
66
+ 75.90048606509254,
67
+ 1.3034347204061656,
68
+ 70.84339141845703
69
+ ],
70
+ "q99": [
71
+ 38.87474937438965,
72
+ 31.413735485076906,
73
+ 99.30512721721942,
74
+ 82.7698974609375,
75
+ 2.8996543854475023,
76
+ 79.5361406326294
77
+ ]
78
+ },
79
+ "index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 374
85
+ ],
86
+ "mean": [
87
+ 187.0
88
+ ],
89
+ "std": [
90
+ 108.25279057219112
91
+ ],
92
+ "count": [
93
+ 375
94
+ ],
95
+ "q01": [
96
+ 149.99999999990004
97
+ ],
98
+ "q10": [
99
+ 156.9929999999189
100
+ ],
101
+ "q50": [
102
+ 187.00740000000002
103
+ ],
104
+ "q90": [
105
+ 217.00700000008106
106
+ ],
107
+ "q99": [
108
+ 223.98890000009996
109
+ ]
110
+ },
111
+ "observation.images.top": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 0.9294117647058824
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 0.8862745098039215
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 0.9215686274509803
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.4005132614379085
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.4098851421568628
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.40203518954248374
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.004299475844701922
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.005632414075932934
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.007715392783325987
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 375
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.024313028510695982
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.012621068714159252
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ -3.9215686274509807e-13
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.07530362348235833
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.050159991792834896
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.019615061704819952
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.4863493790049951
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.5239279021643899
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.527085797080684
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.6078875376196579
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.6682199271337621
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.6948709194657264
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.7075073518418703
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.7427582453999956
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.7827259882080251
265
+ ]
266
+ ]
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
+ "action": {
302
+ "min": [
303
+ -63.142662048339844,
304
+ -102.4990234375,
305
+ -40.72850036621094,
306
+ -14.891975402832031,
307
+ -57.95480728149414,
308
+ -2.0779342651367188
309
+ ],
310
+ "max": [
311
+ 73.1002426147461,
312
+ 51.640140533447266,
313
+ 100.36172485351562,
314
+ 90.01533508300781,
315
+ 6.992362022399902,
316
+ 86.26751708984375
317
+ ],
318
+ "mean": [
319
+ 3.472137784957886,
320
+ -45.09177932739258,
321
+ 37.22123565673828,
322
+ 62.08551864624023,
323
+ -4.973496317863464,
324
+ 20.105816650390626
325
+ ],
326
+ "std": [
327
+ 25.641810730698626,
328
+ 51.639660804249196,
329
+ 52.26921253562774,
330
+ 20.970974621709235,
331
+ 12.22896068846335,
332
+ 30.16881907685095
333
+ ],
334
+ "count": [
335
+ 375
336
+ ],
337
+ "q01": [
338
+ -33.52103214263916,
339
+ -102.44222717285156,
340
+ -33.92864303588867,
341
+ 24.63520050048828,
342
+ -23.458788108825683,
343
+ -1.2978248596191406
344
+ ],
345
+ "q10": [
346
+ -29.718452835083006,
347
+ -102.10539995829264,
348
+ -20.931316661834718,
349
+ 35.48102693557739,
350
+ -20.289032340049744,
351
+ -0.24016426801681517
352
+ ],
353
+ "q50": [
354
+ -1.0786608695983886,
355
+ -39.066398239135744,
356
+ 17.616758728027342,
357
+ 67.95429623921713,
358
+ -1.3847405433654785,
359
+ 0.29582962691783904
360
+ ],
361
+ "q90": [
362
+ 35.38324146270752,
363
+ 20.17521514892578,
364
+ 99.42195358276368,
365
+ 76.7445671081543,
366
+ 1.4457560062408448,
367
+ 71.53705825805665
368
+ ],
369
+ "q99": [
370
+ 39.313419818878174,
371
+ 30.48514003753662,
372
+ 99.79545745849609,
373
+ 83.32733993530273,
374
+ 2.9991716384887694,
375
+ 80.11158638000488
376
+ ]
377
+ },
378
+ "timestamp": {
379
+ "min": [
380
+ 0.0
381
+ ],
382
+ "max": [
383
+ 14.8
384
+ ],
385
+ "mean": [
386
+ 7.4
387
+ ],
388
+ "std": [
389
+ 4.329742101634537
390
+ ],
391
+ "count": [
392
+ 375
393
+ ],
394
+ "q01": [
395
+ -1.0000000000000002e-10
396
+ ],
397
+ "q10": [
398
+ 1.3985999999189
399
+ ],
400
+ "q50": [
401
+ 7.401480000000022
402
+ ],
403
+ "q90": [
404
+ 13.401400000081098
405
+ ],
406
+ "q99": [
407
+ 14.797780000099968
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 4
416
+ ],
417
+ "mean": [
418
+ 2.0
419
+ ],
420
+ "std": [
421
+ 1.4142135623730951
422
+ ],
423
+ "count": [
424
+ 375
425
+ ],
426
+ "q01": [
427
+ 2.0000000000000004
428
+ ],
429
+ "q10": [
430
+ 2.0000000000000044
431
+ ],
432
+ "q50": [
433
+ 2.00000000000002
434
+ ],
435
+ "q90": [
436
+ 2.000000000000036
437
+ ],
438
+ "q99": [
439
+ 2.0000000000000395
440
+ ]
441
+ },
442
+ "task_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 0
448
+ ],
449
+ "mean": [
450
+ 0.0
451
+ ],
452
+ "std": [
453
+ 0.0
454
+ ],
455
+ "count": [
456
+ 375
457
+ ],
458
+ "q01": [
459
+ 3.9999999999994176e-16
460
+ ],
461
+ "q10": [
462
+ 3.999999999999417e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997088e-14
466
+ ],
467
+ "q90": [
468
+ 3.599999999999476e-14
469
+ ],
470
+ "q99": [
471
+ 3.9599999999994235e-14
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
+ 0.6873039999999999
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.6819995702614379
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.6796550522875817
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.01513755431539137
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.01663880197148239
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.01549986427630467
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 375
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.15060034277142664
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.13958115783186092
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.12158633312359729
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.4918199800263663
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.4627466162416153
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.44860092966605253
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.7152589020507206
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.7137543422725148
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.7137610069507418
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.8485652122689248
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.8493633682519083
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.857247815778996
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9428291840775778
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9388451467724755
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.951312414408991
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:fbb0a66e1369acb059b6337842bf002b20be2cac93b4d3f1ba617f0f32cbeb05
3
+ size 2619602
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:d7c9b2dfcf33a382f8dd666e6b6c1ff89f36c98bac2e37a7864c2a17d58ef114
3
+ size 1538605