edmos7 commited on
Commit
bc2e315
·
verified ·
1 Parent(s): f26911f

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 sha256:6afa3331ad26d96ef1b64aac0382cd32edf465d0021f816b2d12098c35c01a87
3
+ size 52320
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 741,
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": "0:2"
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
+ "observation.images.side": {
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
+ 0.9764705882352941
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.5229398488562091
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.45536290441176475
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.35204936274509807
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0013956086601307205
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.001793923611111109
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.002085249183006538
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 200
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.06069624486773929
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.021614598562085016
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509807e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.3235332495705024
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.1705704473871605
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.10577341784059359
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.568712563398938
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.47445957130317373
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.32943520225380846
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.6431871940859358
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.6530434270265394
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.6451073460660688
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.7097478387061134
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.6725395712967293
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.6823326370432788
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "timestamp": {
161
+ "min": [
162
+ 0.0
163
+ ],
164
+ "max": [
165
+ 13.066666666666666
166
+ ],
167
+ "mean": [
168
+ 6.181106612685561
169
+ ],
170
+ "std": [
171
+ 3.6042817756785164
172
+ ],
173
+ "count": [
174
+ 741
175
+ ],
176
+ "q01": [
177
+ 0.10119542014455765
178
+ ],
179
+ "q10": [
180
+ 1.2213975491775109
181
+ ],
182
+ "q50": [
183
+ 6.174194655870323
184
+ ],
185
+ "q90": [
186
+ 11.140815676193608
187
+ ],
188
+ "q99": [
189
+ 12.261017805226563
190
+ ]
191
+ },
192
+ "index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 740
198
+ ],
199
+ "mean": [
200
+ 370.0
201
+ ],
202
+ "std": [
203
+ 213.90807994712748
204
+ ],
205
+ "count": [
206
+ 741
207
+ ],
208
+ "q01": [
209
+ 187.60266422662227
210
+ ],
211
+ "q10": [
212
+ 221.20872809708573
213
+ ],
214
+ "q50": [
215
+ 369.79264129554645
216
+ ],
217
+ "q90": [
218
+ 518.7912719029142
219
+ ],
220
+ "q99": [
221
+ 552.3973357733778
222
+ ]
223
+ },
224
+ "task_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 0
230
+ ],
231
+ "mean": [
232
+ 0.0
233
+ ],
234
+ "std": [
235
+ 0.0
236
+ ],
237
+ "count": [
238
+ 741
239
+ ],
240
+ "q01": [
241
+ 3.999999999999417e-16
242
+ ],
243
+ "q10": [
244
+ 3.999999999999417e-15
245
+ ],
246
+ "q50": [
247
+ 1.9999999999997088e-14
248
+ ],
249
+ "q90": [
250
+ 3.599999999999476e-14
251
+ ],
252
+ "q99": [
253
+ 3.959999999999424e-14
254
+ ]
255
+ },
256
+ "action": {
257
+ "min": [
258
+ -84.06269836425781,
259
+ -100.87911987304688,
260
+ -64.30097961425781,
261
+ 50.4593505859375,
262
+ -4.996490478515625,
263
+ 0.0
264
+ ],
265
+ "max": [
266
+ -4.02471923828125,
267
+ 33.81190490722656,
268
+ 95.9842300415039,
269
+ 90.95701599121094,
270
+ 61.51250457763672,
271
+ 45.24824905395508
272
+ ],
273
+ "mean": [
274
+ -52.39378590139783,
275
+ 4.289099924960117,
276
+ -18.09869680906597,
277
+ 72.02149395035346,
278
+ 16.756952471096024,
279
+ 11.312014417609705
280
+ ],
281
+ "std": [
282
+ 25.097344311806864,
283
+ 28.879823219195252,
284
+ 29.765108165433496,
285
+ 9.91870194907303,
286
+ 16.62584933816915,
287
+ 15.351456453083655
288
+ ],
289
+ "count": [
290
+ 741
291
+ ],
292
+ "q01": [
293
+ -82.40681458507954,
294
+ -90.43926742399269,
295
+ -49.470912836669434,
296
+ 52.119478904631464,
297
+ -2.9648227950146326,
298
+ -1.000000013351432e-10
299
+ ],
300
+ "q10": [
301
+ -79.78192167089054,
302
+ -41.8483182188953,
303
+ -45.54132352203492,
304
+ 59.743420873479806,
305
+ 0.8448806223116424,
306
+ -1.000000013351432e-10
307
+ ],
308
+ "q50": [
309
+ -57.58514974184847,
310
+ 15.316045166509836,
311
+ -24.808398976499735,
312
+ 71.30510444486671,
313
+ 16.89927551524359,
314
+ 1.0816842853299036
315
+ ],
316
+ "q90": [
317
+ -19.236231484972997,
318
+ 27.627323002371227,
319
+ 22.0447100342044,
320
+ 84.63728130819344,
321
+ 32.85004420106711,
322
+ 37.34667910988997
323
+ ],
324
+ "q99": [
325
+ -5.365697348899688,
326
+ 30.577446784509817,
327
+ 84.89582893340693,
328
+ 89.97349901824828,
329
+ 38.502514237855614,
330
+ 42.850740553666704
331
+ ]
332
+ },
333
+ "frame_index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 392
339
+ ],
340
+ "mean": [
341
+ 185.4331983805668
342
+ ],
343
+ "std": [
344
+ 108.12845327035552
345
+ ],
346
+ "count": [
347
+ 741
348
+ ],
349
+ "q01": [
350
+ 3.0358626071890913
351
+ ],
352
+ "q10": [
353
+ 36.64192647765254
354
+ ],
355
+ "q50": [
356
+ 185.22583967611322
357
+ ],
358
+ "q90": [
359
+ 334.2244702834811
360
+ ],
361
+ "q99": [
362
+ 367.83053415394454
363
+ ]
364
+ },
365
+ "episode_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 1
371
+ ],
372
+ "mean": [
373
+ 0.46963562753036436
374
+ ],
375
+ "std": [
376
+ 0.4990771532383798
377
+ ],
378
+ "count": [
379
+ 741
380
+ ],
381
+ "q01": [
382
+ 0.4696356275303648
383
+ ],
384
+ "q10": [
385
+ 0.46963562753036836
386
+ ],
387
+ "q50": [
388
+ 0.4696356275303843
389
+ ],
390
+ "q90": [
391
+ 0.46963562753040033
392
+ ],
393
+ "q99": [
394
+ 0.46963562753040394
395
+ ]
396
+ },
397
+ "observation.images.wrist": {
398
+ "min": [
399
+ [
400
+ [
401
+ 0.0
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 0.0
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.0
412
+ ]
413
+ ]
414
+ ],
415
+ "max": [
416
+ [
417
+ [
418
+ 1.0
419
+ ]
420
+ ],
421
+ [
422
+ [
423
+ 1.0
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 1.0
429
+ ]
430
+ ]
431
+ ],
432
+ "mean": [
433
+ [
434
+ [
435
+ 0.5354572385620915
436
+ ]
437
+ ],
438
+ [
439
+ [
440
+ 0.5282313306781046
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.5200546200980392
446
+ ]
447
+ ]
448
+ ],
449
+ "std": [
450
+ [
451
+ [
452
+ 0.005100136846405201
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 0.00016449244281041553
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.0022910110294118158
463
+ ]
464
+ ]
465
+ ],
466
+ "count": [
467
+ 200
468
+ ],
469
+ "q01": [
470
+ [
471
+ [
472
+ 0.009885479543545843
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.017628488553359904
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ -3.9215686274509807e-13
483
+ ]
484
+ ]
485
+ ],
486
+ "q10": [
487
+ [
488
+ [
489
+ 0.22553726361993776
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.227477999146043
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.20789026713686767
500
+ ]
501
+ ]
502
+ ],
503
+ "q50": [
504
+ [
505
+ [
506
+ 0.5803251774190368
507
+ ]
508
+ ],
509
+ [
510
+ [
511
+ 0.5646829328995909
512
+ ]
513
+ ],
514
+ [
515
+ [
516
+ 0.5509966227727026
517
+ ]
518
+ ]
519
+ ],
520
+ "q90": [
521
+ [
522
+ [
523
+ 0.7215410297084083
524
+ ]
525
+ ],
526
+ [
527
+ [
528
+ 0.7334299235981294
529
+ ]
530
+ ],
531
+ [
532
+ [
533
+ 0.7528747075605033
534
+ ]
535
+ ]
536
+ ],
537
+ "q99": [
538
+ [
539
+ [
540
+ 0.8057774656124925
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.8235517275272423
546
+ ]
547
+ ],
548
+ [
549
+ [
550
+ 0.8607814378583256
551
+ ]
552
+ ]
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -83.82417297363281,
558
+ -98.46154022216797,
559
+ -59.60439682006836,
560
+ 51.60439682006836,
561
+ -4.615384578704834,
562
+ 0.48342540860176086
563
+ ],
564
+ "max": [
565
+ -4.527472496032715,
566
+ 35.16483688354492,
567
+ 94.5934066772461,
568
+ 90.63735961914062,
569
+ 59.912086486816406,
570
+ 43.78453063964844
571
+ ],
572
+ "mean": [
573
+ -52.41463986292542,
574
+ 5.101511937886597,
575
+ -14.87042674168884,
576
+ 72.08683236311322,
577
+ 16.40011486447292,
578
+ 15.551628421675339
579
+ ],
580
+ "std": [
581
+ 25.23130486518189,
582
+ 31.25661157456344,
583
+ 31.5416477940972,
584
+ 9.838267595165853,
585
+ 16.310105108420732,
586
+ 13.863410143475667
587
+ ],
588
+ "count": [
589
+ 741
590
+ ],
591
+ "q01": [
592
+ -82.4636320538849,
593
+ -98.29235129290748,
594
+ -46.55755025787971,
595
+ 52.62394479249654,
596
+ -2.497575494461214,
597
+ 0.5566801711132652
598
+ ],
599
+ "q10": [
600
+ -80.13318662038539,
601
+ -47.967840559183344,
602
+ -43.45328718789528,
603
+ 59.85305059075195,
604
+ 0.6474860419145964,
605
+ 0.65423290823213
606
+ ],
607
+ "q50": [
608
+ -57.20995955911243,
609
+ 17.14250117725367,
610
+ -21.18611160772532,
611
+ 71.63475822285464,
612
+ 17.023519708077433,
613
+ 18.1448248967468
614
+ ],
615
+ "q90": [
616
+ -19.76102342875863,
617
+ 30.087256550054693,
618
+ 31.38318486850754,
619
+ 84.39318057329227,
620
+ 32.43868685476532,
621
+ 37.079812168399336
622
+ ],
623
+ "q99": [
624
+ -4.983227882142009,
625
+ 32.080383743358205,
626
+ 94.413606553097,
627
+ 88.99896957829895,
628
+ 37.55799845490861,
629
+ 41.95804974901418
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:b6187bcfa838d75904d696c938a3ac95639d0d271d57cc928909e42a1bd791ea
3
+ size 10871858
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 sha256:703cf2bc6e1df72d1e8cd92761c6ddc58ac9684fd36d76d5282fbd7800beb5dc
3
+ size 6651578