e-cagan commited on
Commit
35673cb
·
verified ·
1 Parent(s): 11f2017

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 sha256:70eb51ea03b36e536f41e7a119179a69852c59033bc60b8d83c2f6af16c06b5a
3
+ size 1640324
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b3cb2eda90bccf8578f81c573a68bedbcb4de9853ae2bb13a0b14deb36b62b7d
3
+ size 1715432
meta/info.json ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 25,
4
+ "features": {
5
+ "observation.image": {
6
+ "dtype": "video",
7
+ "shape": [
8
+ 96,
9
+ 96,
10
+ 3
11
+ ],
12
+ "names": [
13
+ "height",
14
+ "width",
15
+ "channels"
16
+ ],
17
+ "info": {
18
+ "video.height": 96,
19
+ "video.width": 96,
20
+ "video.codec": "av1",
21
+ "video.pix_fmt": "yuv420p",
22
+ "video.is_depth_map": false,
23
+ "video.fps": 25,
24
+ "video.channels": 3,
25
+ "has_audio": false
26
+ }
27
+ },
28
+ "observation.state": {
29
+ "dtype": "float32",
30
+ "shape": [
31
+ 7
32
+ ],
33
+ "names": [
34
+ "gripper_x",
35
+ "gripper_y",
36
+ "gripper_z",
37
+ "finger_left",
38
+ "finger_right",
39
+ "gripper_vx",
40
+ "gripper_vy",
41
+ "gripper_vz",
42
+ "finger_left_v",
43
+ "finger_right_v"
44
+ ]
45
+ },
46
+ "action": {
47
+ "dtype": "float32",
48
+ "shape": [
49
+ 4
50
+ ],
51
+ "names": [
52
+ "dx",
53
+ "dy",
54
+ "dz",
55
+ "gripper_cmd"
56
+ ]
57
+ },
58
+ "timestamp": {
59
+ "dtype": "float32",
60
+ "shape": [
61
+ 1
62
+ ],
63
+ "names": null
64
+ },
65
+ "frame_index": {
66
+ "dtype": "int64",
67
+ "shape": [
68
+ 1
69
+ ],
70
+ "names": null
71
+ },
72
+ "episode_index": {
73
+ "dtype": "int64",
74
+ "shape": [
75
+ 1
76
+ ],
77
+ "names": null
78
+ },
79
+ "index": {
80
+ "dtype": "int64",
81
+ "shape": [
82
+ 1
83
+ ],
84
+ "names": null
85
+ },
86
+ "task_index": {
87
+ "dtype": "int64",
88
+ "shape": [
89
+ 1
90
+ ],
91
+ "names": null
92
+ }
93
+ },
94
+ "total_episodes": 500,
95
+ "total_frames": 13935,
96
+ "total_tasks": 1,
97
+ "chunks_size": 1000,
98
+ "data_files_size_in_mb": 100,
99
+ "video_files_size_in_mb": 200,
100
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
101
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
102
+ "robot_type": "fetch",
103
+ "splits": {
104
+ "train": "0:500"
105
+ }
106
+ }
meta/stats.json ADDED
@@ -0,0 +1,465 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ 3.835005827568239e-06,
5
+ 6.459524826141205e-08,
6
+ -0.02740744687616825,
7
+ -0.02676718309521675,
8
+ -0.012975824065506458,
9
+ -0.0176957119256258,
10
+ -0.017719559371471405
11
+ ],
12
+ "max": [
13
+ 0.051707297563552856,
14
+ 0.05170696973800659,
15
+ 0.026467671617865562,
16
+ 0.02676936611533165,
17
+ 0.02705194056034088,
18
+ 0.07080845534801483,
19
+ 0.07081454247236252
20
+ ],
21
+ "mean": [
22
+ 0.03225427984464197,
23
+ 0.03229431165432392,
24
+ 2.8998841964336307e-05,
25
+ 9.379135437789835e-06,
26
+ -0.00039949119388585857,
27
+ 0.00151873249024257,
28
+ 0.0015137638158613036
29
+ ],
30
+ "std": [
31
+ 0.013590251276198494,
32
+ 0.013565755775727622,
33
+ 0.007604778876527274,
34
+ 0.007216295010183278,
35
+ 0.007752702632281415,
36
+ 0.013806687886078167,
37
+ 0.013804216711045657
38
+ ],
39
+ "count": [
40
+ 13935
41
+ ],
42
+ "q01": [
43
+ 3.834905783151044e-06,
44
+ 6.449524647678118e-08,
45
+ -0.015684071381767136,
46
+ -0.014330401305645765,
47
+ -0.010237245847530208,
48
+ -0.017609662208926707,
49
+ -0.01761606468130363
50
+ ],
51
+ "q10": [
52
+ 0.021694059862195296,
53
+ 0.02181750974269363,
54
+ -0.008939982281030304,
55
+ -0.00834552363030709,
56
+ -0.007329198613013989,
57
+ -0.00379023424204697,
58
+ -0.003716590308330639
59
+ ],
60
+ "q50": [
61
+ 0.025235946732798758,
62
+ 0.02534345356441634,
63
+ -0.00011856552541916273,
64
+ -7.916887924940616e-05,
65
+ -0.001987198068944793,
66
+ -6.43242243050948e-06,
67
+ -6.075600522088437e-06
68
+ ],
69
+ "q90": [
70
+ 0.05005077050434232,
71
+ 0.05005063366088963,
72
+ 0.00903724938096224,
73
+ 0.00832225366705405,
74
+ 0.008464981446501815,
75
+ 0.0013289590718997902,
76
+ 0.0013170098470791961
77
+ ],
78
+ "q99": [
79
+ 0.0515701776066769,
80
+ 0.05156784349059996,
81
+ 0.015420930125985543,
82
+ 0.01453451088761467,
83
+ 0.011171112164126442,
84
+ 0.07039221793262927,
85
+ 0.07038747584431627
86
+ ]
87
+ },
88
+ "episode_index": {
89
+ "min": [
90
+ 0
91
+ ],
92
+ "max": [
93
+ 499
94
+ ],
95
+ "mean": [
96
+ 250.35443128812335
97
+ ],
98
+ "std": [
99
+ 144.7808763278482
100
+ ],
101
+ "count": [
102
+ 13935
103
+ ],
104
+ "q01": [
105
+ 250.35443128812335
106
+ ],
107
+ "q10": [
108
+ 250.35443128812335
109
+ ],
110
+ "q50": [
111
+ 250.35443128812335
112
+ ],
113
+ "q90": [
114
+ 250.35443128812335
115
+ ],
116
+ "q99": [
117
+ 250.35443128812335
118
+ ]
119
+ },
120
+ "index": {
121
+ "min": [
122
+ 0
123
+ ],
124
+ "max": [
125
+ 13934
126
+ ],
127
+ "mean": [
128
+ 6967.0
129
+ ],
130
+ "std": [
131
+ 4022.687990220801
132
+ ],
133
+ "count": [
134
+ 13935
135
+ ],
136
+ "q01": [
137
+ 6953.376390383858
138
+ ],
139
+ "q10": [
140
+ 6955.609952772068
141
+ ],
142
+ "q50": [
143
+ 6966.7352173232875
144
+ ],
145
+ "q90": [
146
+ 6978.261186086922
147
+ ],
148
+ "q99": [
149
+ 6980.622049390257
150
+ ]
151
+ },
152
+ "action": {
153
+ "min": [
154
+ -1.0,
155
+ -1.0,
156
+ -0.5009039044380188,
157
+ -1.0
158
+ ],
159
+ "max": [
160
+ 1.0,
161
+ 1.0,
162
+ 1.0,
163
+ 1.0
164
+ ],
165
+ "mean": [
166
+ 0.0026527413925153116,
167
+ 0.0005281837407831772,
168
+ -0.014465941469820647,
169
+ -0.3152493746681885
170
+ ],
171
+ "std": [
172
+ 0.3204275013554506,
173
+ 0.3027726086680254,
174
+ 0.32558797709147275,
175
+ 0.9490088647143119
176
+ ],
177
+ "count": [
178
+ 13935
179
+ ],
180
+ "q01": [
181
+ -0.5911573420888239,
182
+ -0.5497066663557428,
183
+ -0.3940872727862214,
184
+ -1.0
185
+ ],
186
+ "q10": [
187
+ -0.39090895417072524,
188
+ -0.36434008231976023,
189
+ -0.31422104279435487,
190
+ -1.0
191
+ ],
192
+ "q50": [
193
+ -0.005611111391583006,
194
+ -0.003901900080773494,
195
+ -0.08976369740439433,
196
+ -1.0
197
+ ],
198
+ "q90": [
199
+ 0.39841959320492676,
200
+ 0.36349045974510236,
201
+ 0.36295216041252304,
202
+ 0.9998814821555411
203
+ ],
204
+ "q99": [
205
+ 0.5955129436283415,
206
+ 0.557723122825575,
207
+ 0.428007317646298,
208
+ 0.9999881482155555
209
+ ]
210
+ },
211
+ "task_index": {
212
+ "min": [
213
+ 0
214
+ ],
215
+ "max": [
216
+ 0
217
+ ],
218
+ "mean": [
219
+ 0.0
220
+ ],
221
+ "std": [
222
+ 0.0
223
+ ],
224
+ "count": [
225
+ 13935
226
+ ],
227
+ "q01": [
228
+ 3.999999999999407e-16
229
+ ],
230
+ "q10": [
231
+ 3.99999999999942e-15
232
+ ],
233
+ "q50": [
234
+ 1.999999999999705e-14
235
+ ],
236
+ "q90": [
237
+ 3.599999999999481e-14
238
+ ],
239
+ "q99": [
240
+ 3.959999999999424e-14
241
+ ]
242
+ },
243
+ "timestamp": {
244
+ "min": [
245
+ 0.0
246
+ ],
247
+ "max": [
248
+ 1.4
249
+ ],
250
+ "mean": [
251
+ 0.5449443846429836
252
+ ],
253
+ "std": [
254
+ 0.3344098295735337
255
+ ],
256
+ "count": [
257
+ 13935
258
+ ],
259
+ "q01": [
260
+ -9.999999999999998e-11
261
+ ],
262
+ "q10": [
263
+ 0.08934249544562467
264
+ ],
265
+ "q50": [
266
+ 0.5343530775724845
267
+ ],
268
+ "q90": [
269
+ 0.9953918281989824
270
+ ],
271
+ "q99": [
272
+ 1.0898263603497216
273
+ ]
274
+ },
275
+ "frame_index": {
276
+ "min": [
277
+ 0
278
+ ],
279
+ "max": [
280
+ 35
281
+ ],
282
+ "mean": [
283
+ 13.623609616074631
284
+ ],
285
+ "std": [
286
+ 8.360245739338348
287
+ ],
288
+ "count": [
289
+ 13935
290
+ ],
291
+ "q01": [
292
+ -9.999999999999998e-11
293
+ ],
294
+ "q10": [
295
+ 2.2335623881474524
296
+ ],
297
+ "q50": [
298
+ 13.358481966269931
299
+ ],
300
+ "q90": [
301
+ 24.884795702989102
302
+ ],
303
+ "q99": [
304
+ 27.245659006343132
305
+ ]
306
+ },
307
+ "observation.image": {
308
+ "min": [
309
+ [
310
+ [
311
+ 0.00784313725490196
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.0
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.0
322
+ ]
323
+ ]
324
+ ],
325
+ "max": [
326
+ [
327
+ [
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 1.0
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 1.0
339
+ ]
340
+ ]
341
+ ],
342
+ "mean": [
343
+ [
344
+ [
345
+ 0.4539015308025393
346
+ ]
347
+ ],
348
+ [
349
+ [
350
+ 0.7550098351475553
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.5472062218813454
356
+ ]
357
+ ]
358
+ ],
359
+ "std": [
360
+ [
361
+ [
362
+ 0.0006713162409620182
363
+ ]
364
+ ],
365
+ [
366
+ [
367
+ 0.00031163533731683803
368
+ ]
369
+ ],
370
+ [
371
+ [
372
+ 0.0004718711598426743
373
+ ]
374
+ ]
375
+ ],
376
+ "count": [
377
+ 13935
378
+ ],
379
+ "q01": [
380
+ [
381
+ [
382
+ 0.20606131732530192
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.2391444002343092
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.2391480122078778
393
+ ]
394
+ ]
395
+ ],
396
+ "q10": [
397
+ [
398
+ [
399
+ 0.2545496032811034
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.3433633481560089
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 0.35021783335219586
410
+ ]
411
+ ]
412
+ ],
413
+ "q50": [
414
+ [
415
+ [
416
+ 0.45090208878127097
417
+ ]
418
+ ],
419
+ [
420
+ [
421
+ 0.8588370211403615
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ 0.5686653442088486
427
+ ]
428
+ ]
429
+ ],
430
+ "q90": [
431
+ [
432
+ [
433
+ 0.5381329700569585
434
+ ]
435
+ ],
436
+ [
437
+ [
438
+ 0.8627601379418396
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.5726142285425653
444
+ ]
445
+ ]
446
+ ],
447
+ "q99": [
448
+ [
449
+ [
450
+ 0.9998959961499495
451
+ ]
452
+ ],
453
+ [
454
+ [
455
+ 0.9998977860061186
456
+ ]
457
+ ],
458
+ [
459
+ [
460
+ 0.9999024694464892
461
+ ]
462
+ ]
463
+ ]
464
+ }
465
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83170b9f128872dfadfa84208f1ae25ae54b2b434f62ec143f75bd40ac442542
3
+ size 2258
videos/observation.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aee3b26fbc17c4cb5a8b1506ac14f31bceb174f02448be23be707fc52d625365
3
+ size 11005668