bluephysi01 commited on
Commit
af0555e
·
verified ·
1 Parent(s): 55211e4

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 sha256:62fb98d65e12f39440ba9d65e6223992434a1daea5927cabad32c27b6ef845cf
3
+ size 23385
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c643cfdbe86fa2806645a89139dfbd824527259f07e9624dbba16c7c549e260
3
+ size 92667
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 210,
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": "0:2"
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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 210
17
+ ],
18
+ "q01": [
19
+ 3.999999999999417e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "observation.images.wrist": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.6825319342320262
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.6755895843545753
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.6748480279820263
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.0023228186274509843
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.0022903441584967155
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.0013888143382353446
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 200
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.2412053298846339
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.2235355607523546
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.19207975396464883
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.5274456119565588
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.49608641731729763
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.48823415645792084
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.6960347717224079
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.6960402475487419
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.6980994808526917
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.8275306526784223
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.8313204791385748
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.8371121223854532
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.941139930362495
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9334077832505564
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9490742170569771
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "observation.images.top": {
193
+ "min": [
194
+ [
195
+ [
196
+ 0.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 0.0
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.0
207
+ ]
208
+ ]
209
+ ],
210
+ "max": [
211
+ [
212
+ [
213
+ 0.9254901960784314
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.9098039215686274
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.9254901960784314
224
+ ]
225
+ ]
226
+ ],
227
+ "mean": [
228
+ [
229
+ [
230
+ 0.39839026245915027
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.40882731821895424
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.4013290890522876
241
+ ]
242
+ ]
243
+ ],
244
+ "std": [
245
+ [
246
+ [
247
+ 0.000948544730392159
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.0008933251633987116
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.0008741809640522846
258
+ ]
259
+ ]
260
+ ],
261
+ "count": [
262
+ 200
263
+ ],
264
+ "q01": [
265
+ [
266
+ [
267
+ 0.02354722290977291
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.011783218321596664
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ -3.9215686274509807e-13
278
+ ]
279
+ ]
280
+ ],
281
+ "q10": [
282
+ [
283
+ [
284
+ 0.06863351437927857
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.0431705166048742
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.01569567287564821
295
+ ]
296
+ ]
297
+ ],
298
+ "q50": [
299
+ [
300
+ [
301
+ 0.48820861523836284
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.5234998115894026
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.5293756263473652
312
+ ]
313
+ ]
314
+ ],
315
+ "q90": [
316
+ [
317
+ [
318
+ 0.6039117752852385
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.6744005376954831
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.6999904574067699
329
+ ]
330
+ ]
331
+ ],
332
+ "q99": [
333
+ [
334
+ [
335
+ 0.7078572984844876
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 0.7431429160716543
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 0.7706490885181623
346
+ ]
347
+ ]
348
+ ]
349
+ },
350
+ "observation.state": {
351
+ "min": [
352
+ -9.870610237121582,
353
+ -99.8299331665039,
354
+ -40.108402252197266,
355
+ 30.408601760864258,
356
+ -9.285901069641113,
357
+ 0.4817618727684021
358
+ ],
359
+ "max": [
360
+ 35.97042465209961,
361
+ 33.07823181152344,
362
+ 99.36766052246094,
363
+ 87.3548355102539,
364
+ 4.996076583862305,
365
+ 83.6200942993164
366
+ ],
367
+ "mean": [
368
+ 5.9906699657440186,
369
+ -38.3705940246582,
370
+ 33.572940826416016,
371
+ 60.74018859863281,
372
+ -2.005903869867325,
373
+ 21.63208293914795
374
+ ],
375
+ "std": [
376
+ 10.918497051408256,
377
+ 48.533946252283734,
378
+ 47.53365010110057,
379
+ 14.688152214124285,
380
+ 2.812508085601447,
381
+ 29.304569616764727
382
+ ],
383
+ "count": [
384
+ 210
385
+ ],
386
+ "q01": [
387
+ -7.286337041854859,
388
+ -99.74489974975586,
389
+ -28.061435222625732,
390
+ 32.470859146118165,
391
+ -6.854540916283925,
392
+ 0.5161734223365784
393
+ ],
394
+ "q10": [
395
+ -5.470720946788788,
396
+ -99.31158065795898,
397
+ -20.82863211631775,
398
+ 38.07002607981364,
399
+ -5.570547540982564,
400
+ 0.6530052547653517
401
+ ],
402
+ "q50": [
403
+ 0.8891348242759705,
404
+ -39.455379486083984,
405
+ 32.19773864746094,
406
+ 65.20112228393555,
407
+ -1.6225714087486267,
408
+ 1.3377907872200012
409
+ ],
410
+ "q90": [
411
+ 24.84047794342041,
412
+ 21.25764274597168,
413
+ 96.21217700413295,
414
+ 75.7878007888794,
415
+ 0.9160281419754028,
416
+ 71.16680908203125
417
+ ],
418
+ "q99": [
419
+ 30.946662616729736,
420
+ 27.0432710647583,
421
+ 98.27036743164062,
422
+ 84.9065752029419,
423
+ 3.845528793334961,
424
+ 82.45814743041993
425
+ ]
426
+ },
427
+ "index": {
428
+ "min": [
429
+ 0
430
+ ],
431
+ "max": [
432
+ 209
433
+ ],
434
+ "mean": [
435
+ 104.5
436
+ ],
437
+ "std": [
438
+ 60.62109093926525
439
+ ],
440
+ "count": [
441
+ 210
442
+ ],
443
+ "q01": [
444
+ 53.499439999901924
445
+ ],
446
+ "q10": [
447
+ 62.49439999991921
448
+ ],
449
+ "q50": [
450
+ 104.5104
451
+ ],
452
+ "q90": [
453
+ 146.5056000000808
454
+ ],
455
+ "q99": [
456
+ 155.50056000009806
457
+ ]
458
+ },
459
+ "frame_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 104
465
+ ],
466
+ "mean": [
467
+ 52.0
468
+ ],
469
+ "std": [
470
+ 30.30951445778481
471
+ ],
472
+ "count": [
473
+ 210
474
+ ],
475
+ "q01": [
476
+ 0.9994399999019222
477
+ ],
478
+ "q10": [
479
+ 9.994399999919219
480
+ ],
481
+ "q50": [
482
+ 52.010400000000025
483
+ ],
484
+ "q90": [
485
+ 94.00560000008079
486
+ ],
487
+ "q99": [
488
+ 103.00056000009809
489
+ ]
490
+ },
491
+ "episode_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 1
497
+ ],
498
+ "mean": [
499
+ 0.5
500
+ ],
501
+ "std": [
502
+ 0.5
503
+ ],
504
+ "count": [
505
+ 210
506
+ ],
507
+ "q01": [
508
+ 0.5000000000000004
509
+ ],
510
+ "q10": [
511
+ 0.5000000000000041
512
+ ],
513
+ "q50": [
514
+ 0.50000000000002
515
+ ],
516
+ "q90": [
517
+ 0.500000000000036
518
+ ],
519
+ "q99": [
520
+ 0.5000000000000396
521
+ ]
522
+ },
523
+ "timestamp": {
524
+ "min": [
525
+ 0.0
526
+ ],
527
+ "max": [
528
+ 20.8
529
+ ],
530
+ "mean": [
531
+ 10.399999999999999
532
+ ],
533
+ "std": [
534
+ 6.061902891556965
535
+ ],
536
+ "count": [
537
+ 210
538
+ ],
539
+ "q01": [
540
+ 0.199887999901922
541
+ ],
542
+ "q10": [
543
+ 1.99887999991922
544
+ ],
545
+ "q50": [
546
+ 10.40208000000002
547
+ ],
548
+ "q90": [
549
+ 18.80112000008078
550
+ ],
551
+ "q99": [
552
+ 20.600112000098083
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -9.921272277832031,
558
+ -99.9677734375,
559
+ -42.206459045410156,
560
+ 29.392879486083984,
561
+ -10.176803588867188,
562
+ 0.10160727798938751
563
+ ],
564
+ "max": [
565
+ 36.43768310546875,
566
+ 32.04815673828125,
567
+ 97.49036407470703,
568
+ 87.817138671875,
569
+ 5.2345733642578125,
570
+ 84.21417999267578
571
+ ],
572
+ "mean": [
573
+ 5.969406604766846,
574
+ -39.269410133361816,
575
+ 32.482056617736816,
576
+ 60.80913162231445,
577
+ -1.9659844040870667,
578
+ 22.19245433807373
579
+ ],
580
+ "std": [
581
+ 10.969286686541524,
582
+ 47.71268615424135,
583
+ 47.73981652364544,
584
+ 14.927325350770733,
585
+ 2.8571094241400137,
586
+ 30.87832365625839
587
+ ],
588
+ "count": [
589
+ 210
590
+ ],
591
+ "q01": [
592
+ -7.600306236743927,
593
+ -99.64469861984253,
594
+ -30.00087261199951,
595
+ 33.0932318687439,
596
+ -7.362972950935363,
597
+ 0.2896514281630516
598
+ ],
599
+ "q10": [
600
+ -5.694629907608032,
601
+ -99.17644500732422,
602
+ -20.773690462112427,
603
+ 38.43985939025879,
604
+ -5.514695882797241,
605
+ 0.5738373920321465
606
+ ],
607
+ "q50": [
608
+ 1.0970370769500732,
609
+ -38.05184268951416,
610
+ 29.272419929504395,
611
+ 64.63633632659912,
612
+ -1.605247974395752,
613
+ 1.1809280514717102
614
+ ],
615
+ "q90": [
616
+ 24.956049919128418,
617
+ 19.72005271911621,
618
+ 95.75479507446289,
619
+ 76.4783878326416,
620
+ 1.2862309217453003,
621
+ 71.85375022888184
622
+ ],
623
+ "q99": [
624
+ 31.407320404052733,
625
+ 25.654786109924316,
626
+ 96.62189407348633,
627
+ 83.63812942504883,
628
+ 3.9609031438827516,
629
+ 82.8841796875
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 sha256:93608a607daf53b0803956cba3b2ad3f00bce8e92663611f043dbcc5f5ad4432
3
+ size 1601521
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 sha256:9499fab0b28aca617cd8eebcd114420f19570a3d01605a6c783f383c3fa5de8f
3
+ size 855431