devikaskumar commited on
Commit
f10c34f
·
verified ·
1 Parent(s): 2b0a61f

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:e9aabf03c31827a972f9f2336f5f2d3473616c7bb040f89bbe1ead2463dc47af
3
+ size 106361
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e5935c867c6bbe2e1e01b0f6d483f00c5384b8900130001a6824c5c5fabdf9ac
3
+ size 56474
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 4505,
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.webcam": {
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.realsense": {
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 30.0
8
+ ],
9
+ "mean": [
10
+ 15.0
11
+ ],
12
+ "std": [
13
+ 8.669871202426636
14
+ ],
15
+ "count": [
16
+ 4505
17
+ ],
18
+ "q01": [
19
+ 0.30005999990200033
20
+ ],
21
+ "q10": [
22
+ 3.0005999999200035
23
+ ],
24
+ "q50": [
25
+ 15.003000000000016
26
+ ],
27
+ "q90": [
28
+ 26.999400000079998
29
+ ],
30
+ "q99": [
31
+ 29.699940000097996
32
+ ]
33
+ },
34
+ "observation.images.realsense": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5315929843177108
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5243171102841544
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5142347127570539
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.025804614202937934
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.026347454604992347
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.027151302927871036
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 820
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.039984032671904035
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.08310864932422588
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.05484258516835872
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.19053953379436753
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.19526541601327344
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.1671136486560531
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.6000135949352003
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.6023389208842808
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5921344833145888
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.7199264240840022
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.705876028482104
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.7066879545181389
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.8541416394937269
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.8055371830008403
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.8109765577406366
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "task_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 0
198
+ ],
199
+ "mean": [
200
+ 0.0
201
+ ],
202
+ "std": [
203
+ 0.0
204
+ ],
205
+ "count": [
206
+ 4505
207
+ ],
208
+ "q01": [
209
+ 3.9999999999994176e-16
210
+ ],
211
+ "q10": [
212
+ 3.999999999999417e-15
213
+ ],
214
+ "q50": [
215
+ 1.9999999999997088e-14
216
+ ],
217
+ "q90": [
218
+ 3.599999999999476e-14
219
+ ],
220
+ "q99": [
221
+ 3.9599999999994235e-14
222
+ ]
223
+ },
224
+ "episode_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 4
230
+ ],
231
+ "mean": [
232
+ 2.0
233
+ ],
234
+ "std": [
235
+ 1.4142135623730951
236
+ ],
237
+ "count": [
238
+ 4505
239
+ ],
240
+ "q01": [
241
+ 2.0000000000000004
242
+ ],
243
+ "q10": [
244
+ 2.000000000000004
245
+ ],
246
+ "q50": [
247
+ 2.00000000000002
248
+ ],
249
+ "q90": [
250
+ 2.0000000000000355
251
+ ],
252
+ "q99": [
253
+ 2.0000000000000395
254
+ ]
255
+ },
256
+ "frame_index": {
257
+ "min": [
258
+ 0
259
+ ],
260
+ "max": [
261
+ 900
262
+ ],
263
+ "mean": [
264
+ 450.0
265
+ ],
266
+ "std": [
267
+ 260.09613607279897
268
+ ],
269
+ "count": [
270
+ 4505
271
+ ],
272
+ "q01": [
273
+ 9.001799999902003
274
+ ],
275
+ "q10": [
276
+ 90.01799999992001
277
+ ],
278
+ "q50": [
279
+ 449.9100000000001
280
+ ],
281
+ "q90": [
282
+ 809.98200000008
283
+ ],
284
+ "q99": [
285
+ 890.998200000098
286
+ ]
287
+ },
288
+ "index": {
289
+ "min": [
290
+ 0
291
+ ],
292
+ "max": [
293
+ 4504
294
+ ],
295
+ "mean": [
296
+ 2252.0
297
+ ],
298
+ "std": [
299
+ 1300.481449310216
300
+ ],
301
+ "count": [
302
+ 4505
303
+ ],
304
+ "q01": [
305
+ 1811.0017999999018
306
+ ],
307
+ "q10": [
308
+ 1892.0179999999198
309
+ ],
310
+ "q50": [
311
+ 2252.054
312
+ ],
313
+ "q90": [
314
+ 2611.9820000000805
315
+ ],
316
+ "q99": [
317
+ 2692.998200000098
318
+ ]
319
+ },
320
+ "observation.images.webcam": {
321
+ "min": [
322
+ [
323
+ [
324
+ 0.0
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.0
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.0
335
+ ]
336
+ ]
337
+ ],
338
+ "max": [
339
+ [
340
+ [
341
+ 1.0
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 1.0
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 1.0
352
+ ]
353
+ ]
354
+ ],
355
+ "mean": [
356
+ [
357
+ [
358
+ 0.5806932877012594
359
+ ]
360
+ ],
361
+ [
362
+ [
363
+ 0.5470133344293001
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.5238589229136776
369
+ ]
370
+ ]
371
+ ],
372
+ "std": [
373
+ [
374
+ [
375
+ 0.024121641104617352
376
+ ]
377
+ ],
378
+ [
379
+ [
380
+ 0.024433680988499122
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.03634036153742556
386
+ ]
387
+ ]
388
+ ],
389
+ "count": [
390
+ 820
391
+ ],
392
+ "q01": [
393
+ [
394
+ [
395
+ 0.2636021650731536
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.09726477388969618
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.002325056677776251
406
+ ]
407
+ ]
408
+ ],
409
+ "q10": [
410
+ [
411
+ [
412
+ 0.40625854133109507
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.29885150845714364
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.12309397023799128
423
+ ]
424
+ ]
425
+ ],
426
+ "q50": [
427
+ [
428
+ [
429
+ 0.5764651185870234
430
+ ]
431
+ ],
432
+ [
433
+ [
434
+ 0.5968342692550532
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.6172730253942121
440
+ ]
441
+ ]
442
+ ],
443
+ "q90": [
444
+ [
445
+ [
446
+ 0.7764308443029221
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.6957225574965449
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.7451077001608865
457
+ ]
458
+ ]
459
+ ],
460
+ "q99": [
461
+ [
462
+ [
463
+ 0.9114075130853657
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 0.7740812512098797
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 0.8306044803034105
474
+ ]
475
+ ]
476
+ ]
477
+ },
478
+ "action": {
479
+ "min": [
480
+ -78.11320495605469,
481
+ -86.92144012451172,
482
+ 0.04384041950106621,
483
+ 26.99490737915039,
484
+ -11.452991485595703,
485
+ 0.8333333134651184
486
+ ],
487
+ "max": [
488
+ 94.26415252685547,
489
+ 17.707006454467773,
490
+ 99.91231536865234,
491
+ 78.35314178466797,
492
+ 3.7362637519836426,
493
+ 33.0
494
+ ],
495
+ "mean": [
496
+ -10.922691345214844,
497
+ -71.51764450073242,
498
+ 81.88130493164063,
499
+ 49.29080581665039,
500
+ -3.4016676902770997,
501
+ 9.770369052886963
502
+ ],
503
+ "std": [
504
+ 30.6728810332559,
505
+ 31.659776751545323,
506
+ 26.714666295038544,
507
+ 9.406983439550583,
508
+ 2.1566384428142222,
509
+ 11.538540186753716
510
+ ],
511
+ "count": [
512
+ 4505
513
+ ],
514
+ "q01": [
515
+ -24.994137373373746,
516
+ -85.78209283390208,
517
+ 58.63014562985228,
518
+ 45.24597233693227,
519
+ -5.3477746855137305,
520
+ 4.7487488517567735
521
+ ],
522
+ "q10": [
523
+ -24.410216803868494,
524
+ -85.70158472262011,
525
+ 63.90699612834876,
526
+ 46.026765193876344,
527
+ -4.254080623014771,
528
+ 7.749271896165954
529
+ ],
530
+ "q50": [
531
+ -21.038580421917594,
532
+ -74.72516922959609,
533
+ 87.10723182815913,
534
+ 47.02989513003759,
535
+ -3.5116199382077946,
536
+ 9.19897901736053
537
+ ],
538
+ "q90": [
539
+ 8.405162397588057,
540
+ -50.65378475735392,
541
+ 94.89283316422457,
542
+ 54.397885198612634,
543
+ -2.0952732916931445,
544
+ 15.000549537453612
545
+ ],
546
+ "q99": [
547
+ 11.289209595984326,
548
+ -49.37259068385387,
549
+ 94.8965587070835,
550
+ 60.81420018963536,
551
+ -0.8739531931463688,
552
+ 15.082963722556888
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -78.0244140625,
558
+ -86.47058868408203,
559
+ 2.416780710220337,
560
+ 26.821863174438477,
561
+ -11.159951210021973,
562
+ 1.872909665107727
563
+ ],
564
+ "max": [
565
+ 93.85867309570312,
566
+ 17.983192443847656,
567
+ 100.0,
568
+ 78.03643798828125,
569
+ 3.443223476409912,
570
+ 32.77592086791992
571
+ ],
572
+ "mean": [
573
+ -10.74455680847168,
574
+ -71.19349365234375,
575
+ 82.36019592285156,
576
+ 49.964437866210936,
577
+ -3.5782869338989256,
578
+ 10.003436946868897
579
+ ],
580
+ "std": [
581
+ 30.613196101084508,
582
+ 31.683605221666273,
583
+ 26.343142072294505,
584
+ 9.660367198265151,
585
+ 2.1369178814854446,
586
+ 11.408271227519862
587
+ ],
588
+ "count": [
589
+ 4505
590
+ ],
591
+ "q01": [
592
+ -24.823106821781575,
593
+ -85.34495211513449,
594
+ 59.59839615316618,
595
+ 45.95066665615935,
596
+ -5.37742259075196,
597
+ 5.164233503889643
598
+ ],
599
+ "q10": [
600
+ -24.216761418082896,
601
+ -85.32957256268124,
602
+ 64.22905466863156,
603
+ 46.760775889255065,
604
+ -4.439901733763492,
605
+ 7.892668112533347
606
+ ],
607
+ "q50": [
608
+ -20.873668326080004,
609
+ -74.48818073392397,
610
+ 87.70244006526036,
611
+ 47.79408169841528,
612
+ -3.726489925520058,
613
+ 9.41715963484893
614
+ ],
615
+ "q90": [
616
+ 8.530378373964675,
617
+ -50.36485633849138,
618
+ 95.07134195492402,
619
+ 54.939468675344585,
620
+ -2.2124768156475128,
621
+ 15.07715653634934
622
+ ],
623
+ "q99": [
624
+ 11.373205355238102,
625
+ -49.41180939398082,
626
+ 95.07485117550891,
627
+ 61.27510847914663,
628
+ -1.0211868400763322,
629
+ 15.130288207624899
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:87a69f5bf717b9ae3128838742b6800f4d1a01cf54c8db63b2869cf8b998930f
3
+ size 2241
videos/observation.images.realsense/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84baf00dce37de78acf870b1153be7b22e6a11c741ae0671297a6a7ad873f540
3
+ size 50734953
videos/observation.images.webcam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a5ff8d26cfd0c21fdf8dfdf2019a7a768b07d1ced59c7e87212e2be53feb0dbc
3
+ size 13603810