brucekimrok commited on
Commit
ec4704f
·
verified ·
1 Parent(s): 2538b27

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:b79c41f834eaa2fb7afb0439816f83c4e11ef6596c19756960f1c1b31ac6b8b6
3
+ size 151577
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7bbf3c1052bbd5663e9606cc6682cdbc2500086af46e78db920e98aac7863cdc
3
+ size 58411
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": 3229,
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
+ "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
+ 3229
17
+ ],
18
+ "q01": [
19
+ 3.999999999999418e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997084e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 3228
40
+ ],
41
+ "mean": [
42
+ 1614.0
43
+ ],
44
+ "std": [
45
+ 932.1319649062574
46
+ ],
47
+ "count": [
48
+ 3229
49
+ ],
50
+ "q01": [
51
+ 1294.4086590683442
52
+ ],
53
+ "q10": [
54
+ 1353.1447193929207
55
+ ],
56
+ "q50": [
57
+ 1613.6735565809845
58
+ ],
59
+ "q90": [
60
+ 1874.8552806070793
61
+ ],
62
+ "q99": [
63
+ 1933.5913409316563
64
+ ]
65
+ },
66
+ "frame_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 697
72
+ ],
73
+ "mean": [
74
+ 325.451842675751
75
+ ],
76
+ "std": [
77
+ 191.3376975734489
78
+ ],
79
+ "count": [
80
+ 3229
81
+ ],
82
+ "q01": [
83
+ 5.860501744095055
84
+ ],
85
+ "q10": [
86
+ 64.59656206867179
87
+ ],
88
+ "q50": [
89
+ 325.1020105915144
90
+ ],
91
+ "q90": [
92
+ 586.3071232828303
93
+ ],
94
+ "q99": [
95
+ 645.043183607407
96
+ ]
97
+ },
98
+ "observation.images.wrist": {
99
+ "min": [
100
+ [
101
+ [
102
+ 0.0
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 0.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 0.0
113
+ ]
114
+ ]
115
+ ],
116
+ "max": [
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 1.0
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 1.0
130
+ ]
131
+ ]
132
+ ],
133
+ "mean": [
134
+ [
135
+ [
136
+ 0.5046087678661209
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.49400508568812146
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.4844334711448681
147
+ ]
148
+ ]
149
+ ],
150
+ "std": [
151
+ [
152
+ [
153
+ 0.010943367169953463
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.017416529781916164
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.017332829748763157
164
+ ]
165
+ ]
166
+ ],
167
+ "count": [
168
+ 637
169
+ ],
170
+ "q01": [
171
+ [
172
+ [
173
+ 0.05509606939496438
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.04238318877245213
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.005129959362062833
184
+ ]
185
+ ]
186
+ ],
187
+ "q10": [
188
+ [
189
+ [
190
+ 0.2138923581780869
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.1979062240333422
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.15464794691500655
201
+ ]
202
+ ]
203
+ ],
204
+ "q50": [
205
+ [
206
+ [
207
+ 0.46544775691824786
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 0.4568527200124844
213
+ ]
214
+ ],
215
+ [
216
+ [
217
+ 0.45443866282197115
218
+ ]
219
+ ]
220
+ ],
221
+ "q90": [
222
+ [
223
+ [
224
+ 0.892953064043649
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.8832728197975794
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.8950285820645209
235
+ ]
236
+ ]
237
+ ],
238
+ "q99": [
239
+ [
240
+ [
241
+ 0.9999634001837482
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.9999601679101774
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.9999632395835187
252
+ ]
253
+ ]
254
+ ]
255
+ },
256
+ "timestamp": {
257
+ "min": [
258
+ 0.0
259
+ ],
260
+ "max": [
261
+ 23.233333333333334
262
+ ],
263
+ "mean": [
264
+ 10.848394755858367
265
+ ],
266
+ "std": [
267
+ 6.377923252448299
268
+ ],
269
+ "count": [
270
+ 3229
271
+ ],
272
+ "q01": [
273
+ 0.19535005804158034
274
+ ],
275
+ "q10": [
276
+ 2.153218735544912
277
+ ],
278
+ "q50": [
279
+ 10.837513308557758
280
+ ],
281
+ "q90": [
282
+ 19.543570776171823
283
+ ],
284
+ "q99": [
285
+ 21.501439453675154
286
+ ]
287
+ },
288
+ "action": {
289
+ "min": [
290
+ -41.269840240478516,
291
+ -99.57752227783203,
292
+ -23.925825119018555,
293
+ -76.75568389892578,
294
+ -76.11630249023438,
295
+ 1.2470771074295044
296
+ ],
297
+ "max": [
298
+ 6.6137566566467285,
299
+ 37.980567932128906,
300
+ 95.65807342529297,
301
+ 100.0,
302
+ -44.236759185791016,
303
+ 33.35931396484375
304
+ ],
305
+ "mean": [
306
+ -15.82176864815408,
307
+ -32.082310905468354,
308
+ 53.44297158367385,
309
+ 22.152965722862284,
310
+ -52.81055534672316,
311
+ 13.428644418642595
312
+ ],
313
+ "std": [
314
+ 11.347839050882529,
315
+ 41.00844828066503,
316
+ 23.80078218999769,
317
+ 56.197031219289215,
318
+ 6.288213487855505,
319
+ 10.948808897963623
320
+ ],
321
+ "count": [
322
+ 3229
323
+ ],
324
+ "q01": [
325
+ -26.096061799395102,
326
+ -99.38186628978401,
327
+ -2.30036381868682,
328
+ -39.43528314246014,
329
+ -60.62084962581209,
330
+ 2.9999708264444562
331
+ ],
332
+ "q10": [
333
+ -22.032697186509274,
334
+ -84.99677797863819,
335
+ 21.632988594516707,
336
+ -36.6955218091827,
337
+ -59.059060793967625,
338
+ 3.0913258064510067
339
+ ],
340
+ "q50": [
341
+ -17.109295316440708,
342
+ -23.68055604332767,
343
+ 57.41203328614119,
344
+ 15.112121475169406,
345
+ -51.80715211070747,
346
+ 9.16307427919604
347
+ ],
348
+ "q90": [
349
+ -4.489475818781933,
350
+ 10.683861660855356,
351
+ 79.6230603470343,
352
+ 99.980134661697,
353
+ -48.02743382577249,
354
+ 28.239051853973844
355
+ ],
356
+ "q99": [
357
+ -1.463523390606805,
358
+ 14.001129522993327,
359
+ 85.01829182880076,
360
+ 99.99801346625969,
361
+ -46.845890147404255,
362
+ 28.332195025201408
363
+ ]
364
+ },
365
+ "observation.images.top": {
366
+ "min": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "max": [
384
+ [
385
+ [
386
+ 1.0
387
+ ]
388
+ ],
389
+ [
390
+ [
391
+ 1.0
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 1.0
397
+ ]
398
+ ]
399
+ ],
400
+ "mean": [
401
+ [
402
+ [
403
+ 0.44542051435958996
404
+ ]
405
+ ],
406
+ [
407
+ [
408
+ 0.4360446867849704
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.4351087114332912
414
+ ]
415
+ ]
416
+ ],
417
+ "std": [
418
+ [
419
+ [
420
+ 0.0017888464978393214
421
+ ]
422
+ ],
423
+ [
424
+ [
425
+ 0.0019742441593506065
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.0019031503624878797
431
+ ]
432
+ ]
433
+ ],
434
+ "count": [
435
+ 637
436
+ ],
437
+ "q01": [
438
+ [
439
+ [
440
+ 0.12669536603629436
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.12842098533181326
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.12668595002284969
451
+ ]
452
+ ]
453
+ ],
454
+ "q10": [
455
+ [
456
+ [
457
+ 0.19755818014511659
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.19842619858578908
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.18817992809044004
468
+ ]
469
+ ]
470
+ ],
471
+ "q50": [
472
+ [
473
+ [
474
+ 0.43861302212547026
475
+ ]
476
+ ],
477
+ [
478
+ [
479
+ 0.42773794874196375
480
+ ]
481
+ ],
482
+ [
483
+ [
484
+ 0.4332291760175914
485
+ ]
486
+ ]
487
+ ],
488
+ "q90": [
489
+ [
490
+ [
491
+ 0.7992092530073639
492
+ ]
493
+ ],
494
+ [
495
+ [
496
+ 0.7968689900721085
497
+ ]
498
+ ],
499
+ [
500
+ [
501
+ 0.7976241245863921
502
+ ]
503
+ ]
504
+ ],
505
+ "q99": [
506
+ [
507
+ [
508
+ 0.9373137295657122
509
+ ]
510
+ ],
511
+ [
512
+ [
513
+ 0.9294873373299392
514
+ ]
515
+ ],
516
+ [
517
+ [
518
+ 0.9348487429578407
519
+ ]
520
+ ]
521
+ ]
522
+ },
523
+ "episode_index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 4
529
+ ],
530
+ "mean": [
531
+ 2.031898420563642
532
+ ],
533
+ "std": [
534
+ 1.4369924097633717
535
+ ],
536
+ "count": [
537
+ 3229
538
+ ],
539
+ "q01": [
540
+ 2.0318984205636426
541
+ ],
542
+ "q10": [
543
+ 2.031898420563646
544
+ ],
545
+ "q50": [
546
+ 2.0318984205636617
547
+ ],
548
+ "q90": [
549
+ 2.0318984205636776
550
+ ],
551
+ "q99": [
552
+ 2.0318984205636816
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -69.03082275390625,
558
+ -99.48892974853516,
559
+ -20.953237533569336,
560
+ -75.89324188232422,
561
+ -75.84415435791016,
562
+ 1.245674729347229
563
+ ],
564
+ "max": [
565
+ 6.424062252044678,
566
+ 38.33049392700195,
567
+ 95.86331176757812,
568
+ 99.31123352050781,
569
+ -39.16883087158203,
570
+ 32.871971130371094
571
+ ],
572
+ "mean": [
573
+ -16.073441276538478,
574
+ -31.56462325411856,
575
+ 54.54562321459409,
576
+ 22.868076693646195,
577
+ -52.89359278131026,
578
+ 14.722428311501247
579
+ ],
580
+ "std": [
581
+ 11.58595114578499,
582
+ 41.74011047488055,
583
+ 23.811791400331725,
584
+ 56.01462943026106,
585
+ 6.255113225459893,
586
+ 10.104079789433221
587
+ ],
588
+ "count": [
589
+ 3229
590
+ ],
591
+ "q01": [
592
+ -30.865215281820518,
593
+ -99.45674054956591,
594
+ -0.4728612653364404,
595
+ -38.3784782609141,
596
+ -60.48665506274267,
597
+ 3.0740849819229985
598
+ ],
599
+ "q10": [
600
+ -22.206652722745336,
601
+ -89.76579574696474,
602
+ 22.782182984727687,
603
+ -35.999521863167864,
604
+ -59.09680166559122,
605
+ 3.190472684427392
606
+ ],
607
+ "q50": [
608
+ -17.0596099176969,
609
+ -22.69968991297248,
610
+ 58.697414474807935,
611
+ 16.08310546019408,
612
+ -51.97550640872666,
613
+ 12.438928481229068
614
+ ],
615
+ "q90": [
616
+ -4.786479245991062,
617
+ 11.596281487350545,
618
+ 80.8164275753934,
619
+ 99.27905381935727,
620
+ -48.02446420770814,
621
+ 27.911350846316676
622
+ ],
623
+ "q99": [
624
+ -1.634406359172268,
625
+ 14.141320491223748,
626
+ 85.63452629300487,
627
+ 99.30888853738954,
628
+ -46.658539944612116,
629
+ 27.927725795235002
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f0f06db16444bf40374c2dabbfe853a52747c559884fa08334a95d99dab8ac3
3
+ size 2141
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 sha256:6bed9f666448a57bfb114e2f6e31858302a9b84a3427a022dd20d04c008dd8c9
3
+ size 36617435
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 sha256:6909bb394a3264b80fb189bbd0966e5d7c4545b3d19c20ef3e03e74dc2def828
3
+ size 33794246