chensgd commited on
Commit
26ebe69
·
verified ·
1 Parent(s): 56bd603

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 sha256:896a200c26dae221d755db2982da50fe8692781996d8161b60be08b2b504fa7d
3
+ size 98735
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ea1c53c4a446012c20e62b8e4a7025fbd03b45e5eb80144e0e4af5e01db7e37
3
+ size 52652
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 1497,
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": "0:1"
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
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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
+ "action": {
3
+ "min": [
4
+ -7.4380292892456055,
5
+ -106.1116943359375,
6
+ -25.027570724487305,
7
+ -42.6695442199707,
8
+ -58.368141174316406,
9
+ 0.17669105529785156
10
+ ],
11
+ "max": [
12
+ 56.187042236328125,
13
+ 63.54328155517578,
14
+ 101.27638244628906,
15
+ 102.10853576660156,
16
+ -52.33049774169922,
17
+ 44.314537048339844
18
+ ],
19
+ "mean": [
20
+ 9.267170906066895,
21
+ -46.2806510925293,
22
+ 50.57105255126953,
23
+ 46.24397659301758,
24
+ -56.80583572387695,
25
+ 13.07810115814209
26
+ ],
27
+ "std": [
28
+ 17.893741607666016,
29
+ 54.3564567565918,
30
+ 46.01633071899414,
31
+ 46.294395446777344,
32
+ 1.1346160173416138,
33
+ 15.00843620300293
34
+ ],
35
+ "count": [
36
+ 1497
37
+ ],
38
+ "q01": [
39
+ -6.547660038413928,
40
+ -104.5179554925145,
41
+ -21.971772881568704,
42
+ -42.43876796057179,
43
+ -58.23051913000877,
44
+ 1.73007840708401
45
+ ],
46
+ "q10": [
47
+ -1.9700906424206108,
48
+ -99.2833239206634,
49
+ -11.470104391214699,
50
+ -34.8023033535895,
51
+ -57.7864746060988,
52
+ 3.1982208657418876
53
+ ],
54
+ "q50": [
55
+ 0.9823954544709611,
56
+ -56.148303936045735,
57
+ 49.20126255399551,
58
+ 72.74211196738464,
59
+ -56.927257569174586,
60
+ 4.114417458452084
61
+ ],
62
+ "q90": [
63
+ 48.84025522734703,
64
+ 34.610321966771224,
65
+ 100.09742526064741,
66
+ 85.75150828979604,
67
+ -56.220974040403625,
68
+ 39.62091850551849
69
+ ],
70
+ "q99": [
71
+ 53.97327149776036,
72
+ 55.604446613417686,
73
+ 101.07467503317501,
74
+ 99.56131022741428,
75
+ -52.55023173669316,
76
+ 44.04101481681972
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -6.270872116088867,
82
+ -99.92034912109375,
83
+ -21.228546142578125,
84
+ -41.91114807128906,
85
+ -57.41464614868164,
86
+ 5.027933120727539
87
+ ],
88
+ "max": [
89
+ 54.73098373413086,
90
+ 60.5734748840332,
91
+ 98.19331359863281,
92
+ 98.74266815185547,
93
+ -53.34897232055664,
94
+ 43.88578414916992
95
+ ],
96
+ "mean": [
97
+ 9.013361930847168,
98
+ -45.412391662597656,
99
+ 51.08761978149414,
100
+ 46.264564514160156,
101
+ -56.80897903442383,
102
+ 16.34320640563965
103
+ ],
104
+ "std": [
105
+ 17.867721557617188,
106
+ 54.59929275512695,
107
+ 44.64861297607422,
108
+ 45.89372634887695,
109
+ 0.7307089567184448,
110
+ 13.50393009185791
111
+ ],
112
+ "count": [
113
+ 1497
114
+ ],
115
+ "q01": [
116
+ -6.121890795873451,
117
+ -99.7822267406563,
118
+ -19.414050405767128,
119
+ -41.06806909694634,
120
+ -57.41464614878164,
121
+ 5.144833408038313
122
+ ],
123
+ "q10": [
124
+ -2.115832374697278,
125
+ -99.19015756466744,
126
+ -9.933735213662514,
127
+ -34.53432425652872,
128
+ -57.41464614878164,
129
+ 5.152207095741256
130
+ ],
131
+ "q50": [
132
+ 0.7051258278484179,
133
+ -54.99812778210274,
134
+ 52.132302296470606,
135
+ 73.3520170645876,
136
+ -56.94573187978645,
137
+ 5.587179402931869
138
+ ],
139
+ "q90": [
140
+ 48.79012390542367,
141
+ 35.23631488841224,
142
+ 98.02391182472306,
143
+ 86.17735947964299,
144
+ -56.788701960614794,
145
+ 38.796571400048634
146
+ ],
147
+ "q99": [
148
+ 54.50841846316061,
149
+ 55.801779504689485,
150
+ 98.11951284714802,
151
+ 98.32091768400977,
152
+ -53.557943889558715,
153
+ 43.88024412993755
154
+ ]
155
+ },
156
+ "observation.images.front": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9921568627450981
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.5034598266158314
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5132473334241104
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5362768257534495
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 240
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.0744845429696025
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.043187292074214206
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.06278783690359627
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.19204695962356255
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.1684887729848766
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.1803246826019732
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.5098451442038008
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.4823110021786383
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.4862370525653683
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.6981383516952708
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.7882408628120412
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.8430940612467224
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.7607563384921373
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.8312822934770345
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.8941965576595173
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.wrist": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.5312457907815904
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5475337001293573
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.5465029760688997
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 240
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ -3.9215686274509807e-13
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ -3.9215686274509807e-13
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.9215686274509807e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.011611486092948731
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.015709466247149088
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.011607813857306902
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.647171348507886
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.674466612075132
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.6785595665271175
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.764602575253172
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.7802046951303662
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.7883804018094193
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.8588324993129016
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.8627649984837543
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.878570881503187
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 49.86666666666667
478
+ ],
479
+ "mean": [
480
+ 24.93333333333333
481
+ ],
482
+ "std": [
483
+ 14.404886002351454
484
+ ],
485
+ "count": [
486
+ 1497
487
+ ],
488
+ "q01": [
489
+ 0.4684474665685454
490
+ ],
491
+ "q10": [
492
+ 4.963727999919908
493
+ ],
494
+ "q50": [
495
+ 24.93832000000002
496
+ ],
497
+ "q90": [
498
+ 44.902938666746756
499
+ ],
500
+ "q99": [
501
+ 49.39821920009812
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 1496
510
+ ],
511
+ "mean": [
512
+ 748.0
513
+ ],
514
+ "std": [
515
+ 432.14658007054345
516
+ ],
517
+ "count": [
518
+ 1497
519
+ ],
520
+ "q01": [
521
+ 14.05342399990188
522
+ ],
523
+ "q10": [
524
+ 148.91183999991995
525
+ ],
526
+ "q50": [
527
+ 747.8504
528
+ ],
529
+ "q90": [
530
+ 1347.0881600000803
531
+ ],
532
+ "q99": [
533
+ 1481.9465760000983
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 1497
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 1496
574
+ ],
575
+ "mean": [
576
+ 748.0
577
+ ],
578
+ "std": [
579
+ 432.14658007054345
580
+ ],
581
+ "count": [
582
+ 1497
583
+ ],
584
+ "q01": [
585
+ 14.05342399990188
586
+ ],
587
+ "q10": [
588
+ 148.91183999991995
589
+ ],
590
+ "q50": [
591
+ 747.8504
592
+ ],
593
+ "q90": [
594
+ 1347.0881600000803
595
+ ],
596
+ "q99": [
597
+ 1481.9465760000983
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 1497
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:71656a0d959b86a9b955efb0954184bb5f0a49053d4bf7b8cec40c4d7e3257ae
3
+ size 2276
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:da342c4d34aabab79d08bd880edc31a4eeb52826d3dc206e1db092615da00df8
3
+ size 34771921
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:b81f78708b1e181dcfa8af9819f12bee49244b1f77fe3a1710fd721b7b132a06
3
+ size 6697592