chenproject35 commited on
Commit
facb5e3
·
verified ·
1 Parent(s): c77cea2

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 sha256:1ed77cd601affe645c10e797421bab723803bd717247db1414fdcc873ec6323e
3
+ size 28090
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7812d792829931d19924295993f93b30685bf113ffa509772c1911422d305543
3
+ size 52639
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "shoulder_pan.pos",
9
+ "shoulder_lift.pos",
10
+ "elbow_flex.pos",
11
+ "wrist_flex.pos",
12
+ "wrist_roll.pos",
13
+ "gripper.pos"
14
+ ],
15
+ "shape": [
16
+ 6
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "names": [
22
+ "shoulder_pan.pos",
23
+ "shoulder_lift.pos",
24
+ "elbow_flex.pos",
25
+ "wrist_flex.pos",
26
+ "wrist_roll.pos",
27
+ "gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 6
31
+ ]
32
+ },
33
+ "observation.images.front": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "is_depth_map": false,
47
+ "video.height": 480,
48
+ "video.width": 640,
49
+ "video.codec": "av1",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false,
54
+ "video.g": 2,
55
+ "video.crf": 30,
56
+ "video.preset": 12,
57
+ "video.fast_decode": 0,
58
+ "video.video_backend": "pyav",
59
+ "video.extra_options": {}
60
+ }
61
+ },
62
+ "observation.images.wrist": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 480,
66
+ 640,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channels"
73
+ ],
74
+ "info": {
75
+ "is_depth_map": false,
76
+ "video.height": 480,
77
+ "video.width": 640,
78
+ "video.codec": "av1",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.fps": 30,
81
+ "video.channels": 3,
82
+ "has_audio": false,
83
+ "video.g": 2,
84
+ "video.crf": 30,
85
+ "video.preset": 12,
86
+ "video.fast_decode": 0,
87
+ "video.video_backend": "pyav",
88
+ "video.extra_options": {}
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
+ "total_episodes": 1,
128
+ "total_frames": 400,
129
+ "total_tasks": 1,
130
+ "chunks_size": 1000,
131
+ "data_files_size_in_mb": 100,
132
+ "video_files_size_in_mb": 200,
133
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
134
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
135
+ "robot_type": "so_follower",
136
+ "splits": {
137
+ "train": "0:1"
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -19.700641632080078,
5
+ -106.98690795898438,
6
+ 31.1439151763916,
7
+ 35.882347106933594,
8
+ -98.762939453125,
9
+ 13.984979629516602
10
+ ],
11
+ "max": [
12
+ -6.227133750915527,
13
+ -1.0536422729492188,
14
+ 98.18463134765625,
15
+ 51.35664367675781,
16
+ -90.58099365234375,
17
+ 48.860511779785156
18
+ ],
19
+ "mean": [
20
+ -12.029488563537598,
21
+ -43.003440856933594,
22
+ 56.547523498535156,
23
+ 44.529685974121094,
24
+ -94.33807373046875,
25
+ 38.111167907714844
26
+ ],
27
+ "std": [
28
+ 4.709735870361328,
29
+ 39.253746032714844,
30
+ 24.030187606811523,
31
+ 4.925544261932373,
32
+ 2.3012819290161133,
33
+ 14.846516609191895
34
+ ],
35
+ "count": [
36
+ 400
37
+ ],
38
+ "q01": [
39
+ -19.676389694213867,
40
+ -106.90216064453125,
41
+ 31.197547912597656,
42
+ 35.89781951904297,
43
+ -98.74657440185547,
44
+ 14.023343086242676
45
+ ],
46
+ "q10": [
47
+ -19.072776794433594,
48
+ -101.90211486816406,
49
+ 31.774097442626953,
50
+ 36.52607727050781,
51
+ -97.69437408447266,
52
+ 14.63366413116455
53
+ ],
54
+ "q50": [
55
+ -10.376974105834961,
56
+ -22.833518981933594,
57
+ 41.96428680419922,
58
+ 43.238826751708984,
59
+ -94.03704833984375,
60
+ 48.3635368347168
61
+ ],
62
+ "q90": [
63
+ -7.146027565002441,
64
+ -3.2994232177734375,
65
+ 92.9822769165039,
66
+ 51.174049377441406,
67
+ -90.93445587158203,
68
+ 48.62723371717665
69
+ ],
70
+ "q99": [
71
+ -6.231624921162923,
72
+ -1.1383895874023438,
73
+ 98.17122650146484,
74
+ 51.34735870361328,
75
+ -90.58590698242188,
76
+ 48.82563781738281
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -19.16483497619629,
82
+ -98.989013671875,
83
+ 33.14285659790039,
84
+ 36.30769348144531,
85
+ -98.32967376708984,
86
+ 19.057519912719727
87
+ ],
88
+ "max": [
89
+ -7.296703338623047,
90
+ -1.4065934419631958,
91
+ 86.32967376708984,
92
+ 51.25274658203125,
93
+ -91.12088012695312,
94
+ 46.98544692993164
95
+ ],
96
+ "mean": [
97
+ -12.13032341003418,
98
+ -41.847923278808594,
99
+ 56.29248046875,
100
+ 44.791873931884766,
101
+ -94.25946044921875,
102
+ 38.19086837768555
103
+ ],
104
+ "std": [
105
+ 4.458614349365234,
106
+ 38.547237396240234,
107
+ 21.134607315063477,
108
+ 4.857641220092773,
109
+ 2.1206297874450684,
110
+ 12.390324592590332
111
+ ],
112
+ "count": [
113
+ 400
114
+ ],
115
+ "q01": [
116
+ -19.16483497619629,
117
+ -98.989013671875,
118
+ 33.14285659790039,
119
+ 36.30769348144531,
120
+ -98.32967376708984,
121
+ 19.057519912719727
122
+ ],
123
+ "q10": [
124
+ -18.81240280814793,
125
+ -98.989013671875,
126
+ 33.31571292877197,
127
+ 36.74807484944662,
128
+ -97.36315250396729,
129
+ 19.057519912719727
130
+ ],
131
+ "q50": [
132
+ -10.286582589149475,
133
+ -21.274368286132812,
134
+ 43.688028971354164,
135
+ 43.25400103055514,
136
+ -94.19823455810547,
137
+ 46.63711280822754
138
+ ],
139
+ "q90": [
140
+ -7.561174088630123,
141
+ -1.93353271484375,
142
+ 86.3250961303711,
143
+ 51.25040091720282,
144
+ -91.29575443267822,
145
+ 46.98413198134478
146
+ ],
147
+ "q99": [
148
+ -7.29756650057706,
149
+ -1.4090329259634018,
150
+ 86.32921600341797,
151
+ 51.252512015548405,
152
+ -91.12114230069247,
153
+ 46.985315435072955
154
+ ]
155
+ },
156
+ "timestamp": {
157
+ "min": [
158
+ 0.0
159
+ ],
160
+ "max": [
161
+ 13.3
162
+ ],
163
+ "mean": [
164
+ 6.65
165
+ ],
166
+ "std": [
167
+ 3.848989766448102
168
+ ],
169
+ "count": [
170
+ 400
171
+ ],
172
+ "q01": [
173
+ 0.10107999990152002
174
+ ],
175
+ "q10": [
176
+ 1.3007399999195601
177
+ ],
178
+ "q50": [
179
+ 6.634039999999761
180
+ ],
181
+ "q90": [
182
+ 11.967340000079961
183
+ ],
184
+ "q99": [
185
+ 13.167000000098001
186
+ ]
187
+ },
188
+ "frame_index": {
189
+ "min": [
190
+ 0.0
191
+ ],
192
+ "max": [
193
+ 399.0
194
+ ],
195
+ "mean": [
196
+ 199.5
197
+ ],
198
+ "std": [
199
+ 115.46969299344309
200
+ ],
201
+ "count": [
202
+ 400
203
+ ],
204
+ "q01": [
205
+ 3.0323999999015196
206
+ ],
207
+ "q10": [
208
+ 39.02219999991956
209
+ ],
210
+ "q50": [
211
+ 199.02119999999977
212
+ ],
213
+ "q90": [
214
+ 359.0202000000799
215
+ ],
216
+ "q99": [
217
+ 395.010000000098
218
+ ]
219
+ },
220
+ "episode_index": {
221
+ "min": [
222
+ 0.0
223
+ ],
224
+ "max": [
225
+ 0.0
226
+ ],
227
+ "mean": [
228
+ 0.0
229
+ ],
230
+ "std": [
231
+ 0.0
232
+ ],
233
+ "count": [
234
+ 400
235
+ ],
236
+ "q01": [
237
+ 3.9999999999994176e-16
238
+ ],
239
+ "q10": [
240
+ 3.999999999999417e-15
241
+ ],
242
+ "q50": [
243
+ 1.9999999999997088e-14
244
+ ],
245
+ "q90": [
246
+ 3.599999999999476e-14
247
+ ],
248
+ "q99": [
249
+ 3.9599999999994235e-14
250
+ ]
251
+ },
252
+ "index": {
253
+ "min": [
254
+ 0.0
255
+ ],
256
+ "max": [
257
+ 399.0
258
+ ],
259
+ "mean": [
260
+ 199.5
261
+ ],
262
+ "std": [
263
+ 115.46969299344309
264
+ ],
265
+ "count": [
266
+ 400
267
+ ],
268
+ "q01": [
269
+ 3.0323999999015196
270
+ ],
271
+ "q10": [
272
+ 39.02219999991956
273
+ ],
274
+ "q50": [
275
+ 199.02119999999977
276
+ ],
277
+ "q90": [
278
+ 359.0202000000799
279
+ ],
280
+ "q99": [
281
+ 395.010000000098
282
+ ]
283
+ },
284
+ "task_index": {
285
+ "min": [
286
+ 0.0
287
+ ],
288
+ "max": [
289
+ 0.0
290
+ ],
291
+ "mean": [
292
+ 0.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 400
299
+ ],
300
+ "q01": [
301
+ 3.9999999999994176e-16
302
+ ],
303
+ "q10": [
304
+ 3.999999999999417e-15
305
+ ],
306
+ "q50": [
307
+ 1.9999999999997088e-14
308
+ ],
309
+ "q90": [
310
+ 3.599999999999476e-14
311
+ ],
312
+ "q99": [
313
+ 3.9599999999994235e-14
314
+ ]
315
+ },
316
+ "observation.images.front": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.019607843831181526
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.13725490868091583
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.10980392247438431
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.44277915358543396
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.566918671131134
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.5736161470413208
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.2611691355705261
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.1894342303276062
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.1871451586484909
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 7680000
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.2199226713617911
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.30985643351739767
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.3138015800205636
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.24723428404242423
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.4273905536193172
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.43149328905701395
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.2980519765109527
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.470538415471902
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.4822939698141376
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.9256708613914786
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.9254149784469217
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.9175803758480275
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.9570323927929746
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.952926737154004
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9489346024860584
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0313725508749485
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.003921568859368563
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.26185402274131775
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.6461126804351807
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.6755490303039551
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.3166612386703491
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.17106474936008453
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.16258925199508667
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 7680000
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ -1.0000000130793185e-10
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.18035277357214427
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.21564133869877605
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.023585719354806113
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.521503896263817
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.5451867385581355
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.08638414940976862
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5764826319652013
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.6157871943820812
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.8471118294116766
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.9333328833972708
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.9410467711809428
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9295979153602035
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9568015544836747
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9880865555502856
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6c7f8731aaf73673b6939f76871662b5cf35bbf9c35432d45ece7e19b73e8bc
3
+ size 2135
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 sha256:5985be5d3a5949fe072e6a51aace03c019a442b5239e181718ff8f0caef6f9d4
3
+ size 2104606
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:dcc5d4812875bef4c8b292e396a4e6a2891f1b147a40419f96d74d799fb5730b
3
+ size 1841446