bluephysi01 commited on
Commit
54d907c
·
verified ·
1 Parent(s): 4513c6e

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:bd4fa4180a17b9c4fbbaeb3809eaee3a5a2f5f0db683a3b97c00df940cbd26c6
3
+ size 224788
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76847767c29d89f756918e16d57789ded46db386434b75f7cb7dce900f8cc360
3
+ size 103807
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 5401,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:10"
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": 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
+ "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
+ 0.6232118046412835
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.6164047132916134
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.6085848197567596
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.03653177571586055
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.03859377493379601
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.038586223978371796
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1117
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ -3.9215686274509807e-13
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -3.9215686274509807e-13
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509807e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.21740787218605664
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.18790002827163346
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.18358567165472736
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.6949668620969459
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.6949769775756606
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.6824390304785315
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.9073764699113601
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.9128846253324746
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.9097031098678638
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9677994436275686
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.97525489970302
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.974105942193843
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 5400
166
+ ],
167
+ "mean": [
168
+ 2700.0
169
+ ],
170
+ "std": [
171
+ 1559.134375222354
172
+ ],
173
+ "count": [
174
+ 5401
175
+ ],
176
+ "q01": [
177
+ 2435.4481705772027
178
+ ],
179
+ "q10": [
180
+ 2484.164879407437
181
+ ],
182
+ "q50": [
183
+ 2699.799863358637
184
+ ],
185
+ "q90": [
186
+ 2915.835120592563
187
+ ],
188
+ "q99": [
189
+ 2964.5518294227973
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -84.69500732421875,
195
+ -100.0,
196
+ -82.74616241455078,
197
+ -31.09677505493164,
198
+ -99.79074096679688,
199
+ 0.2752924859523773
200
+ ],
201
+ "max": [
202
+ 46.54343795776367,
203
+ 35.28911590576172,
204
+ 99.72899627685547,
205
+ 99.48387145996094,
206
+ 60.18833541870117,
207
+ 97.52236938476562
208
+ ],
209
+ "mean": [
210
+ -8.42994006777931,
211
+ -58.591632007471034,
212
+ 55.67722028433184,
213
+ 59.93551421134566,
214
+ 7.806352040697481,
215
+ 19.48221880964517
216
+ ],
217
+ "std": [
218
+ 24.932955911483887,
219
+ 40.340096679792936,
220
+ 45.6625808871074,
221
+ 26.21570335941127,
222
+ 36.064009441464016,
223
+ 20.289124880803474
224
+ ],
225
+ "count": [
226
+ 5401
227
+ ],
228
+ "q01": [
229
+ -32.172510234811995,
230
+ -98.27099414942543,
231
+ -27.532576865450668,
232
+ 20.236465032860256,
233
+ -18.974516779706565,
234
+ 2.2832688566844976
235
+ ],
236
+ "q10": [
237
+ -28.127792800660192,
238
+ -96.90360077877015,
239
+ -0.9930650236429577,
240
+ 30.630898705395783,
241
+ -5.627898874210001,
242
+ 2.544737821865551
243
+ ],
244
+ "q50": [
245
+ -6.617242439088806,
246
+ -61.58019353012898,
247
+ 66.85367440726152,
248
+ 61.73725832291074,
249
+ 8.432353688988057,
250
+ 13.188704946163488
251
+ ],
252
+ "q90": [
253
+ 12.13637341818178,
254
+ -10.679625814743975,
255
+ 97.794002189852,
256
+ 82.57688347105537,
257
+ 22.20795754839549,
258
+ 48.731004641396446
259
+ ],
260
+ "q99": [
261
+ 16.713507707557312,
262
+ 5.124926220806611,
263
+ 98.43053698214648,
264
+ 93.17310468425617,
265
+ 26.465754196021702,
266
+ 55.67814847260448
267
+ ]
268
+ },
269
+ "task_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 0
275
+ ],
276
+ "mean": [
277
+ 0.0
278
+ ],
279
+ "std": [
280
+ 0.0
281
+ ],
282
+ "count": [
283
+ 5401
284
+ ],
285
+ "q01": [
286
+ 3.999999999999418e-16
287
+ ],
288
+ "q10": [
289
+ 3.9999999999994166e-15
290
+ ],
291
+ "q50": [
292
+ 1.9999999999997088e-14
293
+ ],
294
+ "q90": [
295
+ 3.599999999999476e-14
296
+ ],
297
+ "q99": [
298
+ 3.959999999999424e-14
299
+ ]
300
+ },
301
+ "frame_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 541
307
+ ],
308
+ "mean": [
309
+ 269.55489724125164
310
+ ],
311
+ "std": [
312
+ 155.92163536034195
313
+ ],
314
+ "count": [
315
+ 5401
316
+ ],
317
+ "q01": [
318
+ 5.003067818453977
319
+ ],
320
+ "q10": [
321
+ 53.719776648688686
322
+ ],
323
+ "q50": [
324
+ 269.31180766524716
325
+ ],
326
+ "q90": [
327
+ 485.3900178338145
328
+ ],
329
+ "q99": [
330
+ 534.1067266640491
331
+ ]
332
+ },
333
+ "observation.images.top": {
334
+ "min": [
335
+ [
336
+ [
337
+ 0.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 0.0
348
+ ]
349
+ ]
350
+ ],
351
+ "max": [
352
+ [
353
+ [
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 1.0
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 1.0
365
+ ]
366
+ ]
367
+ ],
368
+ "mean": [
369
+ [
370
+ [
371
+ 0.4522708845325657
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.4570804888502701
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.4539456673746789
382
+ ]
383
+ ]
384
+ ],
385
+ "std": [
386
+ [
387
+ [
388
+ 0.010209530338475674
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.01057773901332456
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.012430145235534339
399
+ ]
400
+ ]
401
+ ],
402
+ "count": [
403
+ 1117
404
+ ],
405
+ "q01": [
406
+ [
407
+ [
408
+ 0.02394572804279722
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.012130560365269324
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ -3.9215686274509807e-13
419
+ ]
420
+ ]
421
+ ],
422
+ "q10": [
423
+ [
424
+ [
425
+ 0.11103523856400677
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.09105273974935751
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.07101880755383636
436
+ ]
437
+ ]
438
+ ],
439
+ "q50": [
440
+ [
441
+ [
442
+ 0.5599842004743666
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.5596209056928845
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.5619679052427767
453
+ ]
454
+ ]
455
+ ],
456
+ "q90": [
457
+ [
458
+ [
459
+ 0.6819593120549179
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.7047015944073408
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.7168725204064692
470
+ ]
471
+ ]
472
+ ],
473
+ "q99": [
474
+ [
475
+ [
476
+ 0.7258972605445277
477
+ ]
478
+ ],
479
+ [
480
+ [
481
+ 0.7517410823541056
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 0.7698031200270103
487
+ ]
488
+ ]
489
+ ]
490
+ },
491
+ "timestamp": {
492
+ "min": [
493
+ 0.0
494
+ ],
495
+ "max": [
496
+ 18.033333333333335
497
+ ],
498
+ "mean": [
499
+ 8.985163241375055
500
+ ],
501
+ "std": [
502
+ 5.197387845344731
503
+ ],
504
+ "count": [
505
+ 5401
506
+ ],
507
+ "q01": [
508
+ 0.16676892718692665
509
+ ],
510
+ "q10": [
511
+ 1.7906592215455532
512
+ ],
513
+ "q50": [
514
+ 8.978852619885133
515
+ ],
516
+ "q90": [
517
+ 16.179667261204553
518
+ ],
519
+ "q99": [
520
+ 17.80355755556318
521
+ ]
522
+ },
523
+ "episode_index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 9
529
+ ],
530
+ "mean": [
531
+ 4.495463802999445
532
+ ],
533
+ "std": [
534
+ 2.8724711187938277
535
+ ],
536
+ "count": [
537
+ 5401
538
+ ],
539
+ "q01": [
540
+ 4.495463802999445
541
+ ],
542
+ "q10": [
543
+ 4.495463802999448
544
+ ],
545
+ "q50": [
546
+ 4.495463802999465
547
+ ],
548
+ "q90": [
549
+ 4.495463802999481
550
+ ],
551
+ "q99": [
552
+ 4.495463802999485
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -85.3190689086914,
558
+ -100.0,
559
+ -85.26886749267578,
560
+ -33.474937438964844,
561
+ -100.0,
562
+ 0.0
563
+ ],
564
+ "max": [
565
+ 46.661746978759766,
566
+ 34.13322448730469,
567
+ 100.0,
568
+ 100.0,
569
+ 60.25203323364258,
570
+ 100.0
571
+ ],
572
+ "mean": [
573
+ -8.409235024977516,
574
+ -58.872235508455965,
575
+ 54.655824581796736,
576
+ 59.87665209269616,
577
+ 8.043095653221753,
578
+ 18.651588541471256
579
+ ],
580
+ "std": [
581
+ 24.984363578783114,
582
+ 39.80706558541812,
583
+ 46.33143773089723,
584
+ 26.527623017087333,
585
+ 36.06772185906582,
586
+ 21.305705018585737
587
+ ],
588
+ "count": [
589
+ 5401
590
+ ],
591
+ "q01": [
592
+ -32.34352157703538,
593
+ -98.08888888449044,
594
+ -30.109444733870834,
595
+ 19.56426780339444,
596
+ -9.604208208678903,
597
+ 0.36227548527475545
598
+ ],
599
+ "q10": [
600
+ -28.206478390981477,
601
+ -96.75239286396013,
602
+ -3.033799250552752,
603
+ 30.041451900000162,
604
+ -5.286742786767119,
605
+ 0.7990435044643523
606
+ ],
607
+ "q50": [
608
+ -6.579671447030167,
609
+ -61.80435605481729,
610
+ 65.41037963452848,
611
+ 61.32507649045067,
612
+ 8.447643169412451,
613
+ 11.996200547094492
614
+ ],
615
+ "q90": [
616
+ 12.155111391930896,
617
+ -12.160682354819798,
618
+ 97.6014965862948,
619
+ 82.88362499491924,
620
+ 22.058712498557682,
621
+ 50.30477816885765
622
+ ],
623
+ "q99": [
624
+ 16.706008292789527,
625
+ 5.0169984190215,
626
+ 98.5764187236846,
627
+ 93.89353497565133,
628
+ 23.70053982196827,
629
+ 56.42553272055847
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:44b826a6cdccb1e739978a0c2a27feb9b0c9f3b14bfda0892fed25b07cf98216
3
+ size 2116
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:b13ac7dbe8d8ba8ed8d470a21a2ae63dd4f5a1298cca7815e972d52f94c8e1be
3
+ size 39585909
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:d1182699d8e41d5b537abec885e06e117a10eb6b9000748e45bf36fddf4d029d
3
+ size 19296933