deinruntergang commited on
Commit
5df2fbd
·
verified ·
1 Parent(s): f8039b6

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:cb4ce333d2bfc532033c62e3e0c03609f44104d83eaffc3cf036c516b468cae1
3
+ size 313925
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7acba787e575392c2c695d618c0a81b39d53c0c16f4099ca90266b64d7e57bf6
3
+ size 59066
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 4393,
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": "0:5"
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.top": {
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
+ "observation.images.front": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.42586224323062555
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.41528351423902893
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4356054992286769
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.006283005346777196
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.008036812388255678
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.007932873810579546
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 805
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.02121443936698755
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.027454108894827297
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.059611070573216164
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.08313033629438168
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.08713505535878914
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.13028330320767276
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.46343891659141706
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.42583435883857007
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.4383978393046265
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.6869733490834281
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.7009943051977895
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.7152079603329591
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.8462623549897514
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.8964437862488457
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9176377538088274
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "task_index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 0
166
+ ],
167
+ "mean": [
168
+ 0.0
169
+ ],
170
+ "std": [
171
+ 0.0
172
+ ],
173
+ "count": [
174
+ 4393
175
+ ],
176
+ "q01": [
177
+ 3.999999999999418e-16
178
+ ],
179
+ "q10": [
180
+ 3.999999999999417e-15
181
+ ],
182
+ "q50": [
183
+ 1.9999999999997088e-14
184
+ ],
185
+ "q90": [
186
+ 3.599999999999476e-14
187
+ ],
188
+ "q99": [
189
+ 3.9599999999994235e-14
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -80.60657501220703,
195
+ -99.24082946777344,
196
+ -45.882354736328125,
197
+ 44.80686569213867,
198
+ -83.88278198242188,
199
+ 3.223545789718628
200
+ ],
201
+ "max": [
202
+ -11.490816116333008,
203
+ 49.55714797973633,
204
+ 99.27601623535156,
205
+ 99.14163208007812,
206
+ 1.1477411985397339,
207
+ 29.85283851623535
208
+ ],
209
+ "mean": [
210
+ -44.45007227396818,
211
+ 4.9745679949129356,
212
+ 6.5680948956908765,
213
+ 79.0228686976373,
214
+ -45.96616292320024,
215
+ 12.409977260331697
216
+ ],
217
+ "std": [
218
+ 16.625857091948575,
219
+ 33.84294316150395,
220
+ 33.52595188659466,
221
+ 9.68070754207036,
222
+ 21.735215099807476,
223
+ 7.050555633533313
224
+ ],
225
+ "count": [
226
+ 4393
227
+ ],
228
+ "q01": [
229
+ -74.70234917269158,
230
+ -94.60006636954971,
231
+ -32.34786088621639,
232
+ 52.60283264268701,
233
+ -70.7628547304094,
234
+ 3.3629994578351
235
+ ],
236
+ "q10": [
237
+ -69.63539822073699,
238
+ -38.714624158901366,
239
+ -25.56911284231046,
240
+ 66.80648224047152,
241
+ -67.92380095665115,
242
+ 3.460998966747282
243
+ ],
244
+ "q50": [
245
+ -42.370904838674164,
246
+ 12.115426075751738,
247
+ 0.84031897561691,
248
+ 80.21706963732923,
249
+ -48.116062566211724,
250
+ 13.133094016159925
251
+ ],
252
+ "q90": [
253
+ -24.49048451148769,
254
+ 35.81977624853802,
255
+ 51.02851404467505,
256
+ 88.73715813305375,
257
+ -14.992312219846823,
258
+ 20.651746491447962
259
+ ],
260
+ "q99": [
261
+ -16.11287549118851,
262
+ 40.63437075278069,
263
+ 95.82138112145778,
264
+ 96.43778903412726,
265
+ -1.9359247236210584,
266
+ 25.47003936138453
267
+ ]
268
+ },
269
+ "episode_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 4
275
+ ],
276
+ "mean": [
277
+ 2.011609378556795
278
+ ],
279
+ "std": [
280
+ 1.4124747395909811
281
+ ],
282
+ "count": [
283
+ 4393
284
+ ],
285
+ "q01": [
286
+ 2.0116093785567952
287
+ ],
288
+ "q10": [
289
+ 2.011609378556799
290
+ ],
291
+ "q50": [
292
+ 2.0116093785568148
293
+ ],
294
+ "q90": [
295
+ 2.0116093785568308
296
+ ],
297
+ "q99": [
298
+ 2.0116093785568347
299
+ ]
300
+ },
301
+ "observation.images.top": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.35070044579425974
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.3618616817379126
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.3760400116205903
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.009474615388204126
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.00963020284338409
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.008792043518965873
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 805
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.013330728160416033
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.016481275879068696
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.04704225053570597
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.06583230923733822
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.07135936517470284
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.09890150994550088
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.3437028101060059
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.37961794052734027
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.3781815339612349
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.6690273635463271
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.6674350078211386
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.6800560839284976
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.7968517728263359
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.8117656527344324
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.8212240485305694
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 4392
465
+ ],
466
+ "mean": [
467
+ 2196.0
468
+ ],
469
+ "std": [
470
+ 1268.1498334187486
471
+ ],
472
+ "count": [
473
+ 4393
474
+ ],
475
+ "q01": [
476
+ 1765.1818493347528
477
+ ],
478
+ "q10": [
479
+ 1844.7528419940015
480
+ ],
481
+ "q50": [
482
+ 2195.7371574778053
483
+ ],
484
+ "q90": [
485
+ 2547.2471580059987
486
+ ],
487
+ "q99": [
488
+ 2626.8181506652472
489
+ ]
490
+ },
491
+ "action": {
492
+ "min": [
493
+ -80.77079772949219,
494
+ -101.21469116210938,
495
+ -48.354068756103516,
496
+ 43.97350311279297,
497
+ -84.0350341796875,
498
+ 0.9176788330078125
499
+ ],
500
+ "max": [
501
+ -11.481645584106445,
502
+ 49.08598709106445,
503
+ 100.70125579833984,
504
+ 102.69247436523438,
505
+ 1.3905963897705078,
506
+ 30.31967544555664
507
+ ],
508
+ "mean": [
509
+ -44.59847570220023,
510
+ 3.9186564607661487,
511
+ 4.809721414629864,
512
+ 78.99668738045834,
513
+ -46.03044638144191,
514
+ 12.177959237206153
515
+ ],
516
+ "std": [
517
+ 16.568572008930374,
518
+ 32.975573684115204,
519
+ 33.163113374247196,
520
+ 9.849276460417633,
521
+ 21.669439027917633,
522
+ 7.501820425888996
523
+ ],
524
+ "count": [
525
+ 4393
526
+ ],
527
+ "q01": [
528
+ -74.82803796066122,
529
+ -92.75900512973188,
530
+ -34.35660394565534,
531
+ 52.2340693569205,
532
+ -70.76895307051574,
533
+ 1.6356003124456646
534
+ ],
535
+ "q10": [
536
+ -69.5311172629499,
537
+ -38.097689386719914,
538
+ -27.103445334991346,
539
+ 66.66950274996515,
540
+ -67.84468586214342,
541
+ 2.0972365022356896
542
+ ],
543
+ "q50": [
544
+ -42.50282146243425,
545
+ 10.75862567483931,
546
+ -0.9945345628296841,
547
+ 80.28998202786966,
548
+ -48.084674992956806,
549
+ 13.418275071435076
550
+ ],
551
+ "q90": [
552
+ -24.528812793477258,
553
+ 34.63535509393884,
554
+ 48.576220594146065,
555
+ 88.86177600507753,
556
+ -15.594727071357864,
557
+ 20.75137444779891
558
+ ],
559
+ "q99": [
560
+ -16.126820989687353,
561
+ 40.067163548529244,
562
+ 92.96393481946875,
563
+ 97.12156208193767,
564
+ -2.0003775342754158,
565
+ 25.58700536400534
566
+ ]
567
+ },
568
+ "frame_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 891
574
+ ],
575
+ "mean": [
576
+ 438.8536307762349
577
+ ],
578
+ "std": [
579
+ 253.7225546410363
580
+ ],
581
+ "count": [
582
+ 4393
583
+ ],
584
+ "q01": [
585
+ 8.035480110987653
586
+ ],
587
+ "q10": [
588
+ 87.60647277023638
589
+ ],
590
+ "q50": [
591
+ 438.5554921010699
592
+ ],
593
+ "q90": [
594
+ 790.1007887822335
595
+ ],
596
+ "q99": [
597
+ 869.6717814414823
598
+ ]
599
+ },
600
+ "timestamp": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 29.7
606
+ ],
607
+ "mean": [
608
+ 14.62845435920783
609
+ ],
610
+ "std": [
611
+ 8.457418488034541
612
+ ],
613
+ "count": [
614
+ 4393
615
+ ],
616
+ "q01": [
617
+ 0.2678493369380251
618
+ ],
619
+ "q10": [
620
+ 2.9202157589305093
621
+ ],
622
+ "q50": [
623
+ 14.61969294180129
624
+ ],
625
+ "q90": [
626
+ 26.33669295948515
627
+ ],
628
+ "q99": [
629
+ 28.989059381477635
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c0f9c2a45d1ec886b202f74c235456c340a78c182b885f1a73f5dda4fd70500
3
+ size 2447
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 sha256:58d40265329631b46b5f9b71f44ce8f60b1aab2dacc0149b642583c4bf52db8b
3
+ size 38963080
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:160d0ab2d0dc6dd061fbda411ce03f6e1183bb9903e7d4e4918e33d6975b949b
3
+ size 79319537