chenproject35 commited on
Commit
03408d2
·
verified ·
1 Parent(s): b5ef9f5

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 sha256:910043db99a03a23424930f42715b45dde595c871dd5069e3159e5f213534cd5
3
+ size 150861
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55ec961fc3a0b3a043299f74e0229f5698cf9b9b8cc4d82f81c1af065a9bd2d0
3
+ size 60645
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 6,
5
+ "total_frames": 3202,
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": "0:6"
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
+ "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
+ 3202
17
+ ],
18
+ "q01": [
19
+ 3.999999999999417e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 5
40
+ ],
41
+ "mean": [
42
+ 2.2617114303560273
43
+ ],
44
+ "std": [
45
+ 1.719626739033653
46
+ ],
47
+ "count": [
48
+ 3202
49
+ ],
50
+ "q01": [
51
+ 2.2617114303560277
52
+ ],
53
+ "q10": [
54
+ 2.2617114303560313
55
+ ],
56
+ "q50": [
57
+ 2.2617114303560473
58
+ ],
59
+ "q90": [
60
+ 2.2617114303560633
61
+ ],
62
+ "q99": [
63
+ 2.2617114303560673
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 3201
72
+ ],
73
+ "mean": [
74
+ 1600.5
75
+ ],
76
+ "std": [
77
+ 924.3377358952732
78
+ ],
79
+ "count": [
80
+ 3202
81
+ ],
82
+ "q01": [
83
+ 1333.2882769318196
84
+ ],
85
+ "q10": [
86
+ 1382.3149242222808
87
+ ],
88
+ "q50": [
89
+ 1600.2095628981888
90
+ ],
91
+ "q90": [
92
+ 1818.546253166851
93
+ ],
94
+ "q99": [
95
+ 1867.7117230681804
96
+ ]
97
+ },
98
+ "action": {
99
+ "min": [
100
+ -33.13543701171875,
101
+ -98.79469299316406,
102
+ -0.8211678862571716,
103
+ 46.24027633666992,
104
+ -57.80219650268555,
105
+ 0.5658851861953735
106
+ ],
107
+ "max": [
108
+ 18.218923568725586,
109
+ 17.235837936401367,
110
+ 97.26277160644531,
111
+ 93.94986724853516,
112
+ -1.7338217496871948,
113
+ 43.65400314331055
114
+ ],
115
+ "mean": [
116
+ -9.309255580616176,
117
+ -50.8478473923044,
118
+ 57.0218984936268,
119
+ 67.83169317156133,
120
+ -19.569603444634936,
121
+ 14.032598702778003
122
+ ],
123
+ "std": [
124
+ 11.732047435975021,
125
+ 44.03911752328211,
126
+ 34.16918151817651,
127
+ 10.041381741837252,
128
+ 17.306419754207692,
129
+ 13.684861946309795
130
+ ],
131
+ "count": [
132
+ 3202
133
+ ],
134
+ "q01": [
135
+ -32.07238178773793,
136
+ -98.19207423938819,
137
+ 7.994005241921958,
138
+ 49.87103476777514,
139
+ -49.48371998915592,
140
+ 0.6978762851030956
141
+ ],
142
+ "q10": [
143
+ -29.731938874504607,
144
+ -98.0659408949191,
145
+ 14.990165999265725,
146
+ 52.48472967537764,
147
+ -47.80187269466983,
148
+ 0.7238923195271048
149
+ ],
150
+ "q50": [
151
+ -5.833861602521486,
152
+ -51.37025767307889,
153
+ 52.89091797088118,
154
+ 70.24180085508384,
155
+ -13.719306070565919,
156
+ 9.628603735858391
157
+ ],
158
+ "q90": [
159
+ 2.7947558318279184,
160
+ 6.177047782898631,
161
+ 96.3171995512664,
162
+ 78.34135562901494,
163
+ -3.696990706164006,
164
+ 31.341015155607938
165
+ ],
166
+ "q99": [
167
+ 3.5153389894272937,
168
+ 7.9210644491135795,
169
+ 96.43162949818219,
170
+ 85.22467320573938,
171
+ -3.251569185492608,
172
+ 31.829147679391195
173
+ ]
174
+ },
175
+ "observation.state": {
176
+ "min": [
177
+ -32.43243408203125,
178
+ -98.58782196044922,
179
+ 3.850050687789917,
180
+ 46.61525344848633,
181
+ -57.36263656616211,
182
+ 2.6334025859832764
183
+ ],
184
+ "max": [
185
+ 17.19219207763672,
186
+ 17.21094512939453,
187
+ 97.26443481445312,
188
+ 93.4875717163086,
189
+ -2.07570219039917,
190
+ 41.5107421875
191
+ ],
192
+ "mean": [
193
+ -9.462766665209092,
194
+ -50.34198802206979,
195
+ 58.01554740629369,
196
+ 67.6215756432404,
197
+ -19.620151593638987,
198
+ 14.945661521568512
199
+ ],
200
+ "std": [
201
+ 11.411458281784698,
202
+ 44.44146242427626,
203
+ 33.010961318254296,
204
+ 9.74695315114115,
205
+ 17.352655410845337,
206
+ 11.589762955765504
207
+ ],
208
+ "count": [
209
+ 3202
210
+ ],
211
+ "q01": [
212
+ -31.172054633016987,
213
+ -98.27568244814947,
214
+ 11.201398151273805,
215
+ 50.40521496821612,
216
+ -49.14307957303144,
217
+ 3.202954178458361
218
+ ],
219
+ "q10": [
220
+ -29.2068823913652,
221
+ -98.21897444933433,
222
+ 17.87261821545803,
223
+ 52.729747847038524,
224
+ -48.136557014454574,
225
+ 3.20322398556309
226
+ ],
227
+ "q50": [
228
+ -5.8281397005516835,
229
+ -50.741389069089585,
230
+ 54.364815780446264,
231
+ 69.7137291915675,
232
+ -13.693709387435165,
233
+ 11.413146329107583
234
+ ],
235
+ "q90": [
236
+ 2.2924901215718396,
237
+ 7.098204117912234,
238
+ 96.00858154367809,
239
+ 77.96984668462945,
240
+ -3.935397408484157,
241
+ 29.76567599651144
242
+ ],
243
+ "q99": [
244
+ 2.4557623773122073,
245
+ 8.085434648902527,
246
+ 96.04301890371364,
247
+ 84.96976833935402,
248
+ -3.441603860182761,
249
+ 29.76819061726187
250
+ ]
251
+ },
252
+ "timestamp": {
253
+ "min": [
254
+ 0.0
255
+ ],
256
+ "max": [
257
+ 22.233333333333334
258
+ ],
259
+ "mean": [
260
+ 9.066208619612743
261
+ ],
262
+ "std": [
263
+ 5.4664613603384336
264
+ ],
265
+ "count": [
266
+ 3202
267
+ ],
268
+ "q01": [
269
+ 0.15915118391174815
270
+ ],
271
+ "q10": [
272
+ 1.793372760277887
273
+ ],
274
+ "q50": [
275
+ 9.056527382885587
276
+ ],
277
+ "q90": [
278
+ 16.33441705858526
279
+ ],
280
+ "q99": [
281
+ 17.97326605531373
282
+ ]
283
+ },
284
+ "frame_index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 667
290
+ ],
291
+ "mean": [
292
+ 271.9862585883822
293
+ ],
294
+ "std": [
295
+ 163.99384081015302
296
+ ],
297
+ "count": [
298
+ 3202
299
+ ],
300
+ "q01": [
301
+ 4.774535520201567
302
+ ],
303
+ "q10": [
304
+ 53.801182810663065
305
+ ],
306
+ "q50": [
307
+ 271.67784322298553
308
+ ],
309
+ "q90": [
310
+ 490.03251175523326
311
+ ],
312
+ "q99": [
313
+ 539.197981656563
314
+ ]
315
+ },
316
+ "observation.images.front": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.10196078431372549
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.16862745098039217
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.12549019607843137
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
+ 0.641137285662257
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.7166851668315419
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.7202713713309119
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.004698556264231213
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.0038263428944281005
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.003722109862121396
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 664
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.2788076870043949
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.3799666860058045
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.4154701120691656
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.30175413930011574
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.4911553994107395
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.5186452491876927
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.7708087059636195
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.7884992172000086
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.7806447049186986
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.9559428633778793
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.9441070952646959
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.9160845062977668
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.9844028712868237
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.9843489223458912
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9842827579637096
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
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
+ 0.48910515007333255
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5568308740476611
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.554459372723738
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.06452205086476044
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.011197861044208812
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.034126366035305694
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 664
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.1866933730453703
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.11788833345654781
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.13923444151896405
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.3007181127615877
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.4127184630130245
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.40750850342614164
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.39110146259838957
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5061302460049122
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.509003334992755
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.9026759757203268
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.8630038819290927
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.8695019893263441
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9565840886346184
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9558891127342696
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9489932768942306
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:b4ad819e5afd290bcfb56ea5cda60ed3ceee9707cc406cd9aba1d44eb21c5b2c
3
+ size 2221
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:ea3e7e1cf4f422e87baba03d05e7276699e07a6c681ccfc5fe5a578082f24a7e
3
+ size 21696788
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 sha256:908cc1964d99f694507c21e9a309e52a037a8f2b699885e0de96d6c633d41ac2
3
+ size 11658502