chenproject35 commited on
Commit
6c238ef
·
verified ·
1 Parent(s): ca87a39

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:e9d68cd467b230279f59f92961b136f5f77d039a48c12b37e19d26b2745bab11
3
+ size 70750
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e51d1978b6215c23c0f23e21ee8c583287ea2958260ed2cb619ee427c421d66
3
+ size 54299
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 1582,
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": "0:2"
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1
8
+ ],
9
+ "mean": [
10
+ 0.4620733249051833
11
+ ],
12
+ "std": [
13
+ 0.498559492253685
14
+ ],
15
+ "count": [
16
+ 1582
17
+ ],
18
+ "q01": [
19
+ 0.46207332490518377
20
+ ],
21
+ "q10": [
22
+ 0.4620733249051873
23
+ ],
24
+ "q50": [
25
+ 0.4620733249052033
26
+ ],
27
+ "q90": [
28
+ 0.46207332490521924
29
+ ],
30
+ "q99": [
31
+ 0.46207332490522285
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -28.6827449798584,
37
+ -98.71434020996094,
38
+ 7.3905110359191895,
39
+ 45.46240234375,
40
+ -65.32356262207031,
41
+ 0.6467259526252747
42
+ ],
43
+ "max": [
44
+ 0.11131725460290909,
45
+ 15.38770580291748,
46
+ 99.36131286621094,
47
+ 82.36819458007812,
48
+ -49.93894958496094,
49
+ 31.851253509521484
50
+ ],
51
+ "mean": [
52
+ -11.971028123583112,
53
+ -43.63885609449539,
54
+ 56.410611423921644,
55
+ 66.17777523711116,
56
+ -56.599479564372565,
57
+ 17.255751504307298
58
+ ],
59
+ "std": [
60
+ 8.91487295186726,
61
+ 40.713493793540295,
62
+ 31.50772428179603,
63
+ 10.312629443546644,
64
+ 4.094749934359685,
65
+ 12.870558026458431
66
+ ],
67
+ "count": [
68
+ 1582
69
+ ],
70
+ "q01": [
71
+ -27.844417907194,
72
+ -98.46703067831726,
73
+ 21.767266396461032,
74
+ 51.227563110525175,
75
+ -63.694677622972335,
76
+ 0.6467259526252747
77
+ ],
78
+ "q10": [
79
+ -25.900528023080188,
80
+ -97.18736314616395,
81
+ 24.832728012593748,
82
+ 52.92058167717993,
83
+ -62.71737262041955,
84
+ 0.7241027331961719
85
+ ],
86
+ "q50": [
87
+ -12.065182742819323,
88
+ -29.150409586360272,
89
+ 41.65603299822126,
90
+ 66.91328434033882,
91
+ -55.87139866073775,
92
+ 19.427016857451044
93
+ ],
94
+ "q90": [
95
+ -1.1601919177992153,
96
+ -4.686673588453344,
97
+ 99.27703332794965,
98
+ 77.47696254817096,
99
+ -52.19985216305199,
100
+ 31.232075176166674
101
+ ],
102
+ "q99": [
103
+ -0.8384508605266785,
104
+ 1.6940595802911158,
105
+ 99.36017425865452,
106
+ 79.52997175111433,
107
+ -51.14352173108013,
108
+ 31.511553488029868
109
+ ]
110
+ },
111
+ "observation.state": {
112
+ "min": [
113
+ -27.627628326416016,
114
+ -98.67607879638672,
115
+ 9.625126838684082,
116
+ 46.01542282104492,
117
+ -65.0793685913086,
118
+ 2.6334025859832764
119
+ ],
120
+ "max": [
121
+ -0.9759759902954102,
122
+ 15.710502624511719,
123
+ 98.68287658691406,
124
+ 82.347900390625,
125
+ -50.28083038330078,
126
+ 30.006929397583008
127
+ ],
128
+ "mean": [
129
+ -12.083252520386399,
130
+ -43.234547763347024,
131
+ 57.733501588650206,
132
+ 65.59945375608885,
133
+ -56.60013291205829,
134
+ 18.093136543871932
135
+ ],
136
+ "std": [
137
+ 8.73064933909847,
138
+ 41.12153202280206,
139
+ 30.448595913875714,
140
+ 9.448287637612376,
141
+ 4.096547691181037,
142
+ 10.870537105599382
143
+ ],
144
+ "count": [
145
+ 1582
146
+ ],
147
+ "q01": [
148
+ -27.027556891208743,
149
+ -98.67607879638672,
150
+ 24.83809508949405,
151
+ 51.73118307979309,
152
+ -63.37166316711194,
153
+ 4.1990934770116315
154
+ ],
155
+ "q10": [
156
+ -26.171964135104307,
157
+ -97.18537079377418,
158
+ 27.748195673029887,
159
+ 53.00299176958485,
160
+ -62.83009129477813,
161
+ 5.383870862664757
162
+ ],
163
+ "q50": [
164
+ -12.451574952095257,
165
+ -28.055873148074173,
166
+ 42.165025633449964,
167
+ 67.04011948461327,
168
+ -56.166746500110406,
169
+ 21.067866526732054
170
+ ],
171
+ "q90": [
172
+ -1.6997947271635374,
173
+ -4.25618816101386,
174
+ 98.61762902825113,
175
+ 74.72613651681084,
176
+ -52.40452164596766,
177
+ 29.74930786055768
178
+ ],
179
+ "q99": [
180
+ -1.6633926310917495,
181
+ 2.0448097654403594,
182
+ 98.62730016768158,
183
+ 78.61160706950558,
184
+ -51.46367644953033,
185
+ 29.75061134962921
186
+ ]
187
+ },
188
+ "timestamp": {
189
+ "min": [
190
+ 0.0
191
+ ],
192
+ "max": [
193
+ 28.333333333333332
194
+ ],
195
+ "mean": [
196
+ 13.242520016856304
197
+ ],
198
+ "std": [
199
+ 7.741290564408386
200
+ ],
201
+ "count": [
202
+ 1582
203
+ ],
204
+ "q01": [
205
+ 0.25121109893265936
206
+ ],
207
+ "q10": [
208
+ 2.649033704091938
209
+ ],
210
+ "q50": [
211
+ 13.24516852085969
212
+ ],
213
+ "q90": [
214
+ 23.836006329620655
215
+ ],
216
+ "q99": [
217
+ 26.233828934779936
218
+ ]
219
+ },
220
+ "task_index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 0
226
+ ],
227
+ "mean": [
228
+ 0.0
229
+ ],
230
+ "std": [
231
+ 0.0
232
+ ],
233
+ "count": [
234
+ 1582
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
+ 3.959999999999423e-14
250
+ ]
251
+ },
252
+ "observation.images.wrist": {
253
+ "min": [
254
+ [
255
+ [
256
+ 0.047058823529411764
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ]
269
+ ],
270
+ "max": [
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 1.0
284
+ ]
285
+ ]
286
+ ],
287
+ "mean": [
288
+ [
289
+ [
290
+ 0.5381427317840717
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.5575752720560727
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.5452202677647939
301
+ ]
302
+ ]
303
+ ],
304
+ "std": [
305
+ [
306
+ [
307
+ 0.0023105815182193393
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.004643323758280153
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.011419864807157535
318
+ ]
319
+ ]
320
+ ],
321
+ "count": [
322
+ 297
323
+ ],
324
+ "q01": [
325
+ [
326
+ [
327
+ 0.18967766428189553
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.09381501166040292
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.10544188571061447
338
+ ]
339
+ ]
340
+ ],
341
+ "q10": [
342
+ [
343
+ [
344
+ 0.3877586326416812
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.44217242406119794
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.42811810322413396
355
+ ]
356
+ ]
357
+ ],
358
+ "q50": [
359
+ [
360
+ [
361
+ 0.46275761370305446
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.5018717332829058
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.48973658816425425
372
+ ]
373
+ ]
374
+ ],
375
+ "q90": [
376
+ [
377
+ [
378
+ 0.935188643724232
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.9116935164523009
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.9191047486351778
389
+ ]
390
+ ]
391
+ ],
392
+ "q99": [
393
+ [
394
+ [
395
+ 0.9646948127238544
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.9647834260508709
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.9647611151170077
406
+ ]
407
+ ]
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 850
416
+ ],
417
+ "mean": [
418
+ 397.275600505689
419
+ ],
420
+ "std": [
421
+ 232.23871693225163
422
+ ],
423
+ "count": [
424
+ 1582
425
+ ],
426
+ "q01": [
427
+ 7.53633297082478
428
+ ],
429
+ "q10": [
430
+ 79.47101112507804
431
+ ],
432
+ "q50": [
433
+ 397.1961453855879
434
+ ],
435
+ "q90": [
436
+ 715.0801898863
437
+ ],
438
+ "q99": [
439
+ 787.0148680405532
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 1581
448
+ ],
449
+ "mean": [
450
+ 790.5
451
+ ],
452
+ "std": [
453
+ 456.68397169158453
454
+ ],
455
+ "count": [
456
+ 1582
457
+ ],
458
+ "q01": [
459
+ 400.7607324651358
460
+ ],
461
+ "q10": [
462
+ 472.695410619389
463
+ ],
464
+ "q50": [
465
+ 790.488007585335
466
+ ],
467
+ "q90": [
468
+ 1108.3045893806109
469
+ ],
470
+ "q99": [
471
+ 1180.2392675348642
472
+ ]
473
+ },
474
+ "observation.images.front": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.1607843137254902
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.24313725490196078
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.24313725490196078
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
+ 0.5355562432604917
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.6467968842840167
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.6635221791718933
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.0001059432362821513
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.003146171541506329
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.0044686133238604165
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 297
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.28385725830185726
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.3556764662686935
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.39490039184211934
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.3114050021114836
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.48169328101051545
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.509101677539024
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.39793713691703636
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5647087408761589
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.592153353978859
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.9782622966976511
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.9665369035787289
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.96075842922478
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9881447694032512
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9882515999155327
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9844078345399154
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:a6f2b69570b810bce57f88919387b9e45b01f08d61c08de9d6b0fcc1d0a5f40d
3
+ size 7353689
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 sha256:3f2d379ba4f54e5ef14cfe4c4cf60d680054a1e19c52d457b4d318cf80387b95
3
+ size 4904420