edmos7 commited on
Commit
facb40a
·
verified ·
1 Parent(s): 394de92

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 sha256:0f37ad12a573b8b33a32c2fe22320345b2a497b9fd9739c82703d219a07d6eab
3
+ size 168391
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 2542,
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": "0:4"
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
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.side": {
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 33.06666666666667
8
+ ],
9
+ "mean": [
10
+ 11.971911880409127
11
+ ],
12
+ "std": [
13
+ 8.298347357669194
14
+ ],
15
+ "count": [
16
+ 2542
17
+ ],
18
+ "q01": [
19
+ 0.21823430957923134
20
+ ],
21
+ "q10": [
22
+ 2.380047203696413
23
+ ],
24
+ "q50": [
25
+ 11.966325397324871
26
+ ],
27
+ "q90": [
28
+ 21.563776557121844
29
+ ],
30
+ "q99": [
31
+ 23.725589451239024
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -85.14286041259766,
37
+ -98.46154022216797,
38
+ -57.406593322753906,
39
+ 44.92307662963867,
40
+ -9.01098918914795,
41
+ 0.48342540860176086
42
+ ],
43
+ "max": [
44
+ -5.142857074737549,
45
+ 39.736263275146484,
46
+ 94.32967376708984,
47
+ 94.76923370361328,
48
+ 52.0,
49
+ 44.68231964111328
50
+ ],
51
+ "mean": [
52
+ -40.36865467803859,
53
+ 9.565197995288647,
54
+ -21.03885710661473,
55
+ 65.94559143960804,
56
+ 10.99741635183759,
57
+ 16.76667129252484
58
+ ],
59
+ "std": [
60
+ 21.513356631658937,
61
+ 27.02536280987479,
62
+ 26.408179011092344,
63
+ 10.506729174140393,
64
+ 10.98653856952819,
65
+ 11.137232011116547
66
+ ],
67
+ "count": [
68
+ 2542
69
+ ],
70
+ "q01": [
71
+ -60.85220122127247,
72
+ -92.39803144894651,
73
+ -48.391263770073614,
74
+ 49.19810488514034,
75
+ -4.399421807733165,
76
+ 0.5309420500821151
77
+ ],
78
+ "q10": [
79
+ -57.17912846967175,
80
+ -20.438613845681132,
81
+ -41.62958770929031,
82
+ 55.77335774195091,
83
+ 0.8935232066783013,
84
+ 0.7775689523446101
85
+ ],
86
+ "q50": [
87
+ -41.40977328463298,
88
+ 17.747075200485327,
89
+ -26.673529925260087,
90
+ 64.96048113795175,
91
+ 12.434197822389459,
92
+ 16.922441879419072
93
+ ],
94
+ "q90": [
95
+ -25.576801767028478,
96
+ 28.971475330775977,
97
+ 2.064142338935077,
98
+ 77.24282678983795,
99
+ 18.280296620258692,
100
+ 30.92150479956746
101
+ ],
102
+ "q99": [
103
+ -8.25153699585249,
104
+ 31.57897244694287,
105
+ 88.03706194231587,
106
+ 81.96227227499877,
107
+ 21.961984228966415,
108
+ 37.39677703650705
109
+ ]
110
+ },
111
+ "observation.images.side": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5294506817834347
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.4640536181821656
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.36187542004293594
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.017373960024396284
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.011928517819335719
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.010285031476034845
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 513
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.03397558825875998
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.01849745404844269
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.009138294935109445
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.25990435984254356
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.13616368251722213
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.09512117227549113
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.5832339469596753
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.4937786115353095
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.35243655994084605
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.7009344357632793
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.6748278503944232
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.662425205484142
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.7666568257066109
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.698145320359367
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.70379891832808
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 2541
275
+ ],
276
+ "mean": [
277
+ 1270.5
278
+ ],
279
+ "std": [
280
+ 733.812135358908
281
+ ],
282
+ "count": [
283
+ 2542
284
+ ],
285
+ "q01": [
286
+ 917.8896728779506
287
+ ],
288
+ "q10": [
289
+ 982.7440597009426
290
+ ],
291
+ "q50": [
292
+ 1270.4099079464986
293
+ ],
294
+ "q90": [
295
+ 1558.2559402990573
296
+ ],
297
+ "q99": [
298
+ 1623.1103271220493
299
+ ]
300
+ },
301
+ "action": {
302
+ "min": [
303
+ -85.27098846435547,
304
+ -98.40956115722656,
305
+ -60.8431510925293,
306
+ 43.50242614746094,
307
+ -10.355072021484375,
308
+ 0.0
309
+ ],
310
+ "max": [
311
+ -5.096160888671875,
312
+ 39.702606201171875,
313
+ 94.56963348388672,
314
+ 95.35005187988281,
315
+ 55.65721893310547,
316
+ 45.73127746582031
317
+ ],
318
+ "mean": [
319
+ -40.436915252079274,
320
+ 7.812540729527957,
321
+ -23.7696483298421,
322
+ 65.85574455171191,
323
+ 11.191199503950394,
324
+ 12.421158892258616
325
+ ],
326
+ "std": [
327
+ 21.39061211637105,
328
+ 25.29246789359819,
329
+ 24.948557422624784,
330
+ 10.668754364794063,
331
+ 11.190850776443698,
332
+ 13.688934624255543
333
+ ],
334
+ "count": [
335
+ 2542
336
+ ],
337
+ "q01": [
338
+ -61.013238365659554,
339
+ -86.74299112810664,
340
+ -51.37528717829616,
341
+ 48.494077861599806,
342
+ -4.296768247357136,
343
+ -1.000000013351432e-10
344
+ ],
345
+ "q10": [
346
+ -56.99492253484359,
347
+ -20.00587296054459,
348
+ -43.66343187891902,
349
+ 55.6336572510534,
350
+ 1.1018073358655822,
351
+ 0.1611025631392877
352
+ ],
353
+ "q50": [
354
+ -41.76926124536738,
355
+ 15.109031921854926,
356
+ -28.751752710079792,
357
+ 65.06452014256799,
358
+ 12.36468862042851,
359
+ 9.80887252963843
360
+ ],
361
+ "q90": [
362
+ -25.2010004364722,
363
+ 26.719585682518556,
364
+ -1.334312341271375,
365
+ 77.19718020519433,
366
+ 18.924913027303415,
367
+ 31.904714197778585
368
+ ],
369
+ "q99": [
370
+ -10.046725830810452,
371
+ 30.453840593597626,
372
+ 77.2153192896209,
373
+ 82.9180953644543,
374
+ 22.568901882250415,
375
+ 38.415078216518225
376
+ ]
377
+ },
378
+ "episode_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 3
384
+ ],
385
+ "mean": [
386
+ 1.8957513768686074
387
+ ],
388
+ "std": [
389
+ 1.0826167622217484
390
+ ],
391
+ "count": [
392
+ 2542
393
+ ],
394
+ "q01": [
395
+ 1.8957513768686078
396
+ ],
397
+ "q10": [
398
+ 1.8957513768686116
399
+ ],
400
+ "q50": [
401
+ 1.8957513768686274
402
+ ],
403
+ "q90": [
404
+ 1.8957513768686436
405
+ ],
406
+ "q99": [
407
+ 1.8957513768686467
408
+ ]
409
+ },
410
+ "observation.images.wrist": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.4794966870357629
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.46279771528494434
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.4533499821631056
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.06160306721927346
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.0669035631954544
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.050928054176449744
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 513
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.003631639690562416
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.01024112018871666
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ -3.9215686274509807e-13
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.19242441312513958
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.20089806290717926
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.15697154642727343
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.4845095661253135
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.4553939684285077
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.44652540177036304
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.7898814408902324
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.7230129007458076
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.742851250289403
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.8712727663788546
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.8709646861174458
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.908005583898033
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "frame_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 992
574
+ ],
575
+ "mean": [
576
+ 359.1573564122738
577
+ ],
578
+ "std": [
579
+ 248.95042073007585
580
+ ],
581
+ "count": [
582
+ 2542
583
+ ],
584
+ "q01": [
585
+ 6.547029290224394
586
+ ],
587
+ "q10": [
588
+ 71.40141611321647
589
+ ],
590
+ "q50": [
591
+ 358.95460125885126
592
+ ],
593
+ "q90": [
594
+ 646.9132967113311
595
+ ],
596
+ "q99": [
597
+ 711.7676835343232
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
+ 2542
615
+ ],
616
+ "q01": [
617
+ 3.999999999999418e-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
+ 3.959999999999423e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9714c1ca6863aecd7924c00974c6c7c2a210ecb71042e1b24a39c106e949fdd7
3
+ size 1981
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c5b91e04e33956a4742a81ab88595877fe8fe8c7a29246d145d436619fc891fd
3
+ size 44907278
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 sha256:51d3742125d436dba82f218b4e3ac28b0820257266a4578030615eae02fbc119
3
+ size 23215890