dariusss04 commited on
Commit
714435b
·
verified ·
1 Parent(s): bf7c1a2

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:baa87d68b3d88510ed9df46bb41cebc87e5d25b995a578c48f66a02c886482a3
3
+ size 9055
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2cec5bdb2b0235b49c994bb37ea7975f78471eb8edf9dacc2751919b6f181c0f
3
+ size 52732
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": 112,
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
+ 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
+ "action": {
3
+ "min": [
4
+ -32.54350280761719,
5
+ -98.82599639892578,
6
+ -24.547101974487305,
7
+ 63.59724426269531,
8
+ 5.307409286499023,
9
+ 0.7419620752334595
10
+ ],
11
+ "max": [
12
+ 1.9622361660003662,
13
+ 30.98532485961914,
14
+ 93.659423828125,
15
+ 88.2099838256836,
16
+ 13.399894714355469,
17
+ 28.77164077758789
18
+ ],
19
+ "mean": [
20
+ -8.370575904846191,
21
+ -30.849821090698242,
22
+ 30.541540145874023,
23
+ 73.47322082519531,
24
+ 9.047743797302246,
25
+ 9.002179145812988
26
+ ],
27
+ "std": [
28
+ 11.628972053527832,
29
+ 54.34574508666992,
30
+ 49.437767028808594,
31
+ 5.789942741394043,
32
+ 3.0235838890075684,
33
+ 10.574694633483887
34
+ ],
35
+ "count": [
36
+ 112
37
+ ],
38
+ "q01": [
39
+ -32.54350280761719,
40
+ -98.82599639892578,
41
+ -24.474758834838866,
42
+ 63.68151779174805,
43
+ 5.307409286499023,
44
+ 0.7419620752334595
45
+ ],
46
+ "q10": [
47
+ -27.29034881591797,
48
+ -98.82599639892578,
49
+ -18.49020004272461,
50
+ 67.63964080810547,
51
+ 5.307409286499023,
52
+ 0.8216784858703613
53
+ ],
54
+ "q50": [
55
+ -3.1446151733398438,
56
+ -7.4128570556640625,
57
+ 2.183333079020182,
58
+ 71.94305142489347,
59
+ 9.355270385742188,
60
+ 2.3957130908966064
61
+ ],
62
+ "q90": [
63
+ 1.9598935141707912,
64
+ 29.993565368652344,
65
+ 93.20314254760743,
66
+ 82.188720703125,
67
+ 12.926322174072265,
68
+ 26.6262487411499
69
+ ],
70
+ "q99": [
71
+ 1.9620019008174088,
72
+ 30.978058471679688,
73
+ 93.21015214807846,
74
+ 88.20722808837891,
75
+ 13.398988418579101,
76
+ 28.524642295837403
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -32.741397857666016,
82
+ -98.74948120117188,
83
+ -22.241992950439453,
84
+ 64.2429428100586,
85
+ 5.1025776863098145,
86
+ 2.6440677642822266
87
+ ],
88
+ "max": [
89
+ 2.182760000228882,
90
+ 31.72154998779297,
91
+ 93.7722396850586,
92
+ 88.19503784179688,
93
+ 13.256180763244629,
94
+ 28.13559341430664
95
+ ],
96
+ "mean": [
97
+ -7.890040874481201,
98
+ -32.85969543457031,
99
+ 34.307464599609375,
100
+ 73.4693832397461,
101
+ 8.79377269744873,
102
+ 11.311141967773438
103
+ ],
104
+ "std": [
105
+ 11.520646095275879,
106
+ 55.228763580322266,
107
+ 49.18640899658203,
108
+ 5.665867328643799,
109
+ 3.0782229900360107,
110
+ 9.158676147460938
111
+ ],
112
+ "count": [
113
+ 112
114
+ ],
115
+ "q01": [
116
+ -32.30051528930664,
117
+ -98.74948120117188,
118
+ -22.241992950439453,
119
+ 64.2429428100586,
120
+ 5.1025776863098145,
121
+ 2.6440677642822266
122
+ ],
123
+ "q10": [
124
+ -27.64107437133789,
125
+ -98.74948120117188,
126
+ -16.202502025257456,
127
+ 68.34881362915038,
128
+ 5.1025776863098145,
129
+ 2.6440677642822266
130
+ ],
131
+ "q50": [
132
+ -3.0721619923909507,
133
+ -5.864540100097656,
134
+ 2.956298828125,
135
+ 71.68465488978795,
136
+ 9.152472496032715,
137
+ 11.796452522277832
138
+ ],
139
+ "q90": [
140
+ 2.1108158111572264,
141
+ 31.467575073242188,
142
+ 93.4187721470424,
143
+ 82.20893249511718,
144
+ 12.572745323181152,
145
+ 26.37361946105957
146
+ ],
147
+ "q99": [
148
+ 2.11288657244514,
149
+ 31.642757873535157,
150
+ 93.76357798258464,
151
+ 87.42799865722657,
152
+ 13.255815254211425,
153
+ 28.1341658782959
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
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.5461750796568628
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5350931454248367
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5476727839052288
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
+ 100
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.15681238471646333
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.16470392156836444
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.18830525087490135
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.3451175641320717
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.3411804864863619
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.3606548195630435
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.5491070105480189
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.5372052705151728
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.5490407560261166
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.7254214902707035
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.7136639139030886
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.7214396216611236
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.9998694632359361
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.9998041915255563
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.9998219336892397
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
+ 0.5951802982026144
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.589901045751634
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.6332028492647059
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
+ 100
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.003901251421681437
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.02749097888638564
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.019769517357794385
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.10992691233916921
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.1294759311170502
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.15297358490538818
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6626579039530354
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.6627273389378722
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.7019093790807113
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.7920393636527218
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.7803679850947101
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8549459524097007
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9998478846462484
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.8667976356052945
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.9998195658306711
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 3.7
478
+ ],
479
+ "mean": [
480
+ 1.8499999999999999
481
+ ],
482
+ "std": [
483
+ 1.0776775440218143
484
+ ],
485
+ "count": [
486
+ 112
487
+ ],
488
+ "q01": [
489
+ 0.0333887999018048
490
+ ],
491
+ "q10": [
492
+ 0.366447999919808
493
+ ],
494
+ "q50": [
495
+ 1.83371999999912
496
+ ],
497
+ "q90": [
498
+ 3.333552000080192
499
+ ],
500
+ "q99": [
501
+ 3.6666112000981954
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 111
510
+ ],
511
+ "mean": [
512
+ 55.5
513
+ ],
514
+ "std": [
515
+ 32.33032632065442
516
+ ],
517
+ "count": [
518
+ 112
519
+ ],
520
+ "q01": [
521
+ 1.0016639999018049
522
+ ],
523
+ "q10": [
524
+ 10.993439999919808
525
+ ],
526
+ "q50": [
527
+ 55.01159999999912
528
+ ],
529
+ "q90": [
530
+ 100.0065600000802
531
+ ],
532
+ "q99": [
533
+ 109.99833600009819
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
+ 112
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
+ 111
574
+ ],
575
+ "mean": [
576
+ 55.5
577
+ ],
578
+ "std": [
579
+ 32.33032632065442
580
+ ],
581
+ "count": [
582
+ 112
583
+ ],
584
+ "q01": [
585
+ 1.0016639999018049
586
+ ],
587
+ "q10": [
588
+ 10.993439999919808
589
+ ],
590
+ "q50": [
591
+ 55.01159999999912
592
+ ],
593
+ "q90": [
594
+ 100.0065600000802
595
+ ],
596
+ "q99": [
597
+ 109.99833600009819
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
+ 112
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 sha256:27fddd21589795187990fb7f0438c351dc03d2f80521488d02b0f017f3796a3f
3
+ size 2346
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 sha256:768c72d79a3b7463e30017904dae8b40cf0d8099036716d504e13f70d514b136
3
+ size 1255192
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 sha256:4a2fdfdef76c528a59d71b38d52884753a0664ff8c1f8ffb8e8e12f4f36a8d29
3
+ size 1185643