brucekimrok commited on
Commit
1e30d11
·
verified ·
1 Parent(s): 3eecd07

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 sha256:0646da7de41f9bce220d005a279453e10082f106960c3b468f9817b2863873a0
3
+ size 139594
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:87c5c0fb2b32214ae62653eda4af7e5d071aeb846afd7f17767a954f5a328880
3
+ size 58335
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": 3186,
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": "0:5"
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": 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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 3185
8
+ ],
9
+ "mean": [
10
+ 1592.5
11
+ ],
12
+ "std": [
13
+ 919.7189335153793
14
+ ],
15
+ "count": [
16
+ 3186
17
+ ],
18
+ "q01": [
19
+ 1280.1365471938755
20
+ ],
21
+ "q10": [
22
+ 1337.6217791587394
23
+ ],
24
+ "q50": [
25
+ 1592.2503348399243
26
+ ],
27
+ "q90": [
28
+ 1847.3782208412606
29
+ ],
30
+ "q99": [
31
+ 1904.8634528061245
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -34.34830856323242,
37
+ -99.48892974853516,
38
+ 18.884891510009766,
39
+ -70.55531311035156,
40
+ -54.441558837890625,
41
+ 1.5224913358688354
42
+ ],
43
+ "max": [
44
+ 0.7055328488349915,
45
+ 52.64054489135742,
46
+ 96.94244384765625,
47
+ 98.70856475830078,
48
+ -49.45454406738281,
49
+ 78.82353210449219
50
+ ],
51
+ "mean": [
52
+ -18.055887279462603,
53
+ -26.24461028056555,
54
+ 49.432030963358905,
55
+ 10.674358608583496,
56
+ -52.43583493253681,
57
+ 44.9298351010061
58
+ ],
59
+ "std": [
60
+ 9.557215771022072,
61
+ 60.640846779018226,
62
+ 19.069928641601024,
63
+ 72.56612729848558,
64
+ 1.3215014512193504,
65
+ 32.54769260928029
66
+ ],
67
+ "count": [
68
+ 3186
69
+ ],
70
+ "q01": [
71
+ -29.42350206928528,
72
+ -99.43794342213853,
73
+ 28.916755842366317,
74
+ -62.338080657129865,
75
+ -53.48100897737252,
76
+ 3.187392182275923
77
+ ],
78
+ "q10": [
79
+ -26.291570383213088,
80
+ -99.43794342213853,
81
+ 31.59627286810343,
82
+ -62.32344008573747,
83
+ -53.36874576344451,
84
+ 7.189382242402831
85
+ ],
86
+ "q50": [
87
+ -23.650805427569537,
88
+ -21.40990364777068,
89
+ 42.3777717851629,
90
+ -8.879932958370935,
91
+ -52.74889543691735,
92
+ 68.63885132132927
93
+ ],
94
+ "q90": [
95
+ -5.096488633613153,
96
+ 45.075824287297664,
97
+ 83.42935401869035,
98
+ 98.60903320282038,
99
+ -50.677933033334426,
100
+ 75.64507660113196
101
+ ],
102
+ "q99": [
103
+ -3.6630720601112032,
104
+ 45.09252437796369,
105
+ 94.20619922126076,
106
+ 98.62536241923563,
107
+ -50.3288026747081,
108
+ 75.6477720868858
109
+ ]
110
+ },
111
+ "observation.images.wrist": {
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
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5007108741571523
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.4922010175576032
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.4671394948472533
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.016767063297256416
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.016216273467249732
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.0176387644357417
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 632
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.023637943114046524
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.028346829500625104
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ -3.92156862745098e-13
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.135763895840489
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.12635204801109357
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.06598950157097194
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.4579708368558917
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.4595305564540247
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.43138084217947964
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.9891867241220963
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.9698239021253576
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.9861468814739651
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9999799993209666
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9999753679433293
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.9999792684540975
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "frame_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 660
275
+ ],
276
+ "mean": [
277
+ 318.33647206528565
278
+ ],
279
+ "std": [
280
+ 184.35446092686917
281
+ ],
282
+ "count": [
283
+ 3186
284
+ ],
285
+ "q01": [
286
+ 5.973019259161138
287
+ ],
288
+ "q10": [
289
+ 63.4582512240254
290
+ ],
291
+ "q50": [
292
+ 318.05942084118016
293
+ ],
294
+ "q90": [
295
+ 573.214692906546
296
+ ],
297
+ "q99": [
298
+ 630.6999248714102
299
+ ]
300
+ },
301
+ "observation.images.top": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.4255938172209813
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.4334032909841151
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.441584196541222
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.005770500236404545
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.0052560180812333355
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.0051711551220864176
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 632
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.04391761041297231
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.07368716691738755
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.07210767080527289
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.12308229043725188
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.1310216372964901
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.13018551013006027
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.38494905953913006
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.39987461655376233
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.4132634469206326
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.8516708076031572
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.835167780703315
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.8642614809911673
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.992144284226791
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.9843122293049195
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.9998481244091232
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "task_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 0
465
+ ],
466
+ "mean": [
467
+ 0.0
468
+ ],
469
+ "std": [
470
+ 0.0
471
+ ],
472
+ "count": [
473
+ 3186
474
+ ],
475
+ "q01": [
476
+ 3.999999999999417e-16
477
+ ],
478
+ "q10": [
479
+ 3.999999999999418e-15
480
+ ],
481
+ "q50": [
482
+ 1.9999999999997088e-14
483
+ ],
484
+ "q90": [
485
+ 3.599999999999476e-14
486
+ ],
487
+ "q99": [
488
+ 3.9599999999994235e-14
489
+ ]
490
+ },
491
+ "timestamp": {
492
+ "min": [
493
+ 0.0
494
+ ],
495
+ "max": [
496
+ 22.0
497
+ ],
498
+ "mean": [
499
+ 10.61121573550952
500
+ ],
501
+ "std": [
502
+ 6.145148697562307
503
+ ],
504
+ "count": [
505
+ 3186
506
+ ],
507
+ "q01": [
508
+ 0.1991006418771862
509
+ ],
510
+ "q10": [
511
+ 2.115275040723448
512
+ ],
513
+ "q50": [
514
+ 10.603699213224452
515
+ ],
516
+ "q90": [
517
+ 19.107156430295593
518
+ ],
519
+ "q99": [
520
+ 21.02333082914185
521
+ ]
522
+ },
523
+ "episode_index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 4
529
+ ],
530
+ "mean": [
531
+ 1.9890144381669805
532
+ ],
533
+ "std": [
534
+ 1.4004545385045637
535
+ ],
536
+ "count": [
537
+ 3186
538
+ ],
539
+ "q01": [
540
+ 1.9890144381669805
541
+ ],
542
+ "q10": [
543
+ 1.9890144381669845
544
+ ],
545
+ "q50": [
546
+ 1.9890144381670005
547
+ ],
548
+ "q90": [
549
+ 1.9890144381670165
550
+ ],
551
+ "q99": [
552
+ 1.9890144381670198
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -34.39153289794922,
558
+ -99.66201782226562,
559
+ 16.05608367919922,
560
+ -71.81008911132812,
561
+ -54.36137008666992,
562
+ 1.0132502317428589
563
+ ],
564
+ "max": [
565
+ 0.7936508059501648,
566
+ 52.513729095458984,
567
+ 97.28629302978516,
568
+ 100.0,
569
+ -49.37694549560547,
570
+ 79.18939971923828
571
+ ],
572
+ "mean": [
573
+ -17.86246655351025,
574
+ -26.59246644237396,
575
+ 48.45857617365663,
576
+ 10.754665881376631,
577
+ -52.4655303260626,
578
+ 42.4874401080556
579
+ ],
580
+ "std": [
581
+ 9.549441036084652,
582
+ 60.36353397401589,
583
+ 19.137579861464705,
584
+ 73.36975909167843,
585
+ 1.3315632040504395,
586
+ 35.412176127704015
587
+ ],
588
+ "count": [
589
+ 3186
590
+ ],
591
+ "q01": [
592
+ -29.509542931639096,
593
+ -99.52673478025774,
594
+ 27.622451870803708,
595
+ -63.56987904344922,
596
+ -53.58853966194042,
597
+ 1.6205035361290676
598
+ ],
599
+ "q10": [
600
+ -25.955523405357408,
601
+ -99.46876904687417,
602
+ 30.769629555674634,
603
+ -63.439866032064884,
604
+ -53.51613433517724,
605
+ 1.810164072835369
606
+ ],
607
+ "q50": [
608
+ -23.418745248824667,
609
+ -22.23816593090862,
610
+ 41.49670352193085,
611
+ -9.19998404002717,
612
+ -52.71886127133298,
613
+ 68.71965559724991
614
+ ],
615
+ "q90": [
616
+ -4.932751925660655,
617
+ 44.72916125426488,
618
+ 82.82419521776815,
619
+ 99.98987689603213,
620
+ -50.68269291100078,
621
+ 75.70141475827026
622
+ ],
623
+ "q99": [
624
+ -3.3726583136051493,
625
+ 44.80313426292882,
626
+ 94.20972123798083,
627
+ 99.99898768969322,
628
+ -50.240392412901336,
629
+ 75.91265900072004
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b611bbd6077e2c92fab893fad13d1150676959bb21c1826685ae1bda38a60f77
3
+ size 2136
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 sha256:2ee8a829d1679efbd7147535654ec9c671c533556ef1dbf1ed6521c4f9f4f41b
3
+ size 66220293
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 sha256:64cb8d45d6c7be68cf8dc0614a8baeb4a40ced1c8b3d2e795177fed7ff830177
3
+ size 39913309