chen4803 commited on
Commit
23afbd2
·
verified ·
1 Parent(s): f0ca9af

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 sha256:3fc6025296664aaec553e7ca7c53dfc40a6183665345fd3f1a75f666aeeb15bd
3
+ size 188638
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d6775aa622a73b480214bb5b5ac110d158d4b191c0f25b4af8adc704518f6b7
3
+ size 66710
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 4056,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
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.front": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 634
8
+ ],
9
+ "mean": [
10
+ 217.00468441814596
11
+ ],
12
+ "std": [
13
+ 143.5171292848856
14
+ ],
15
+ "count": [
16
+ 4056
17
+ ],
18
+ "q01": [
19
+ 3.8917353953652896
20
+ ],
21
+ "q10": [
22
+ 42.921901587690975
23
+ ],
24
+ "q50": [
25
+ 216.83810695266266
26
+ ],
27
+ "q90": [
28
+ 390.9053962426837
29
+ ],
30
+ "q99": [
31
+ 430.1176334409267
32
+ ]
33
+ },
34
+ "task_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 0
40
+ ],
41
+ "mean": [
42
+ 0.0
43
+ ],
44
+ "std": [
45
+ 0.0
46
+ ],
47
+ "count": [
48
+ 4056
49
+ ],
50
+ "q01": [
51
+ 3.9999999999994176e-16
52
+ ],
53
+ "q10": [
54
+ 3.999999999999418e-15
55
+ ],
56
+ "q50": [
57
+ 1.999999999999709e-14
58
+ ],
59
+ "q90": [
60
+ 3.5999999999994754e-14
61
+ ],
62
+ "q99": [
63
+ 3.959999999999423e-14
64
+ ]
65
+ },
66
+ "observation.images.front": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.00392156862745098
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 0.9686274509803922
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 1.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.4771368906199134
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.46941369293566726
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.46136438925825757
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.005771103959014638
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.005406310518309101
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.0050128307964813655
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 1044
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ -3.921568627450981e-13
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.058833024777652065
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ -3.921568627450981e-13
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.11669462212595937
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.14845301029306948
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.14348003252658045
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.5637954039207884
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.5590247714217369
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.5601881795638259
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.6351667576729167
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.6191309400584338
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.6257928562663014
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.7134048713778254
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.6473434549360441
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.6661438819265767
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "observation.state": {
225
+ "min": [
226
+ -89.4945068359375,
227
+ -66.63735961914062,
228
+ -88.30769348144531,
229
+ -13.362637519836426,
230
+ -27.384614944458008,
231
+ 12.064343452453613
232
+ ],
233
+ "max": [
234
+ 33.31867980957031,
235
+ 59.868133544921875,
236
+ 65.89010620117188,
237
+ 102.06593322753906,
238
+ 45.846153259277344,
239
+ 99.06166076660156
240
+ ],
241
+ "mean": [
242
+ -3.6248250119020713,
243
+ -1.8456155482892689,
244
+ 7.181025947016137,
245
+ 57.07974103216589,
246
+ 5.15972056003247,
247
+ 50.459508790537214
248
+ ],
249
+ "std": [
250
+ 19.451471140000017,
251
+ 29.753746742362956,
252
+ 31.275351491347564,
253
+ 27.264477010732996,
254
+ 13.356841843061597,
255
+ 32.10225912196083
256
+ ],
257
+ "count": [
258
+ 4056
259
+ ],
260
+ "q01": [
261
+ -31.598728981223974,
262
+ -37.3729287612885,
263
+ -50.085393748252216,
264
+ 8.878747009490368,
265
+ -7.03613208684637,
266
+ 15.726098533011356
267
+ ],
268
+ "q10": [
269
+ -28.67688674787502,
270
+ -32.756391591454886,
271
+ -46.19296919917066,
272
+ 16.291642731456463,
273
+ -4.693211389085389,
274
+ 18.015394409287925
275
+ ],
276
+ "q50": [
277
+ 0.5156284012492817,
278
+ -9.327529944376597,
279
+ 16.761254448936807,
280
+ 65.79305231163367,
281
+ 4.536067610679901,
282
+ 46.4883534869583
283
+ ],
284
+ "q90": [
285
+ 11.334321519542067,
286
+ 40.14990385498051,
287
+ 33.46187987550692,
288
+ 84.38824565446649,
289
+ 15.90128106659295,
290
+ 88.43370831671467
291
+ ],
292
+ "q99": [
293
+ 14.221864859406383,
294
+ 46.398738609285935,
295
+ 41.310469289427694,
296
+ 89.07255348746313,
297
+ 19.06284226093997,
298
+ 92.69844623800917
299
+ ]
300
+ },
301
+ "observation.images.wrist": {
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
+ 0.5714940609505297
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.5706869275567826
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5814483783775325
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.013244589908337566
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.012606879589175326
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.011615189543544869
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 1044
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ -3.921568627450981e-13
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.03418235067889989
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.05912515328134608
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.24660941253653365
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.253589538467613
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.29152513541077035
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.6506442789343241
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.6495469133457642
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.6585467262382684
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.7495099631220238
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.7507253420568283
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.7638728082438436
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.8041915938285307
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.8065595727490392
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.8332809034299764
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "timestamp": {
460
+ "min": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 21.133333333333333
465
+ ],
466
+ "mean": [
467
+ 7.233489480604865
468
+ ],
469
+ "std": [
470
+ 4.783904309496188
471
+ ],
472
+ "count": [
473
+ 4056
474
+ ],
475
+ "q01": [
476
+ 0.1297245130838965
477
+ ],
478
+ "q10": [
479
+ 1.4307300528454805
480
+ ],
481
+ "q50": [
482
+ 7.229148686719187
483
+ ],
484
+ "q90": [
485
+ 13.030179874833582
486
+ ],
487
+ "q99": [
488
+ 14.337254448125835
489
+ ]
490
+ },
491
+ "episode_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 9
497
+ ],
498
+ "mean": [
499
+ 4.394477317554241
500
+ ],
501
+ "std": [
502
+ 2.9133118050680094
503
+ ],
504
+ "count": [
505
+ 4056
506
+ ],
507
+ "q01": [
508
+ 4.394477317554241
509
+ ],
510
+ "q10": [
511
+ 4.394477317554244
512
+ ],
513
+ "q50": [
514
+ 4.394477317554261
515
+ ],
516
+ "q90": [
517
+ 4.394477317554276
518
+ ],
519
+ "q99": [
520
+ 4.394477317554281
521
+ ]
522
+ },
523
+ "action": {
524
+ "min": [
525
+ -89.93406677246094,
526
+ -52.79121017456055,
527
+ -92.30769348144531,
528
+ -14.769230842590332,
529
+ -27.208791732788086,
530
+ 0.19607843458652496
531
+ ],
532
+ "max": [
533
+ 33.58241653442383,
534
+ 58.32966995239258,
535
+ 65.75823974609375,
536
+ 109.45054626464844,
537
+ 46.10988998413086,
538
+ 100.0
539
+ ],
540
+ "mean": [
541
+ -3.5954759750640144,
542
+ -3.8608500682096745,
543
+ 4.661703185510824,
544
+ 56.738090461527804,
545
+ 5.122977698872075,
546
+ 48.71186589066094
547
+ ],
548
+ "std": [
549
+ 19.557901688617033,
550
+ 29.24693577178372,
551
+ 32.046089783153604,
552
+ 27.781485212001257,
553
+ 13.439910181931376,
554
+ 34.30775146632
555
+ ],
556
+ "count": [
557
+ 4056
558
+ ],
559
+ "q01": [
560
+ -31.847825351825367,
561
+ -36.760333587196925,
562
+ -55.0290298482135,
563
+ 7.467734229208353,
564
+ -7.265737523825198,
565
+ 12.206919983606927
566
+ ],
567
+ "q10": [
568
+ -28.67291764151851,
569
+ -35.26112380256074,
570
+ -50.117079259975775,
571
+ 14.932025411660996,
572
+ -4.689193170766108,
573
+ 14.890138498015833
574
+ ],
575
+ "q50": [
576
+ 0.40711670346755124,
577
+ -11.615680391228224,
578
+ 14.536346403139335,
579
+ 65.4745240953965,
580
+ 4.444563917425157,
581
+ 42.82915056072694
582
+ ],
583
+ "q90": [
584
+ 11.555642541279273,
585
+ 37.77663363124257,
586
+ 32.387454855872285,
587
+ 85.13943664061614,
588
+ 15.8900428583898,
589
+ 90.00840084870657
590
+ ],
591
+ "q99": [
592
+ 14.177831783503697,
593
+ 45.04282579706102,
594
+ 40.691248884708926,
595
+ 88.81081715736457,
596
+ 19.298802682258476,
597
+ 94.09939480088289
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 4055
606
+ ],
607
+ "mean": [
608
+ 2027.5
609
+ ],
610
+ "std": [
611
+ 1170.8663103303752
612
+ ],
613
+ "count": [
614
+ 4056
615
+ ],
616
+ "q01": [
617
+ 1814.3870509772191
618
+ ],
619
+ "q10": [
620
+ 1853.417217169545
621
+ ],
622
+ "q50": [
623
+ 2027.353274112426
624
+ ],
625
+ "q90": [
626
+ 2201.400711824538
627
+ ],
628
+ "q99": [
629
+ 2240.612949022781
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12ee02fdbc5b5406fc8044dbef135b9633863b0811b8554c815c0c937e02e60e
3
+ size 2163
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e7172b82ed7cb06c76bfa9dcb9349186dab42e6b89c551ea16c17a19f556470
3
+ size 34082084
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 sha256:7ed1744c91e09a934a50ac6c322cdf35c185e4d87f2610e6cc096917aff0970a
3
+ size 18983694