fabiangrob commited on
Commit
5ed0233
·
verified ·
1 Parent(s): b861441

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 sha256:2b7851669fcb8ff761615819d572b215a73c33603c27fc0e01774238698c98b7
3
+ size 380138
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b7e74c2868b41f34719f974f32e3215d413cc572ec07bf72b010768578e117f
3
+ size 107012
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 7729,
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": "0:20"
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.wrist": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 1080,
49
+ 1920,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 1080,
59
+ "video.width": 1920,
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
+ 720,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 720,
82
+ "video.width": 1280,
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.top": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0784313725490196
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0784313725490196
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.1568627450980392
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 0.5882352941176471
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.788235294117647
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.9333333333333333
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.3143841267664797
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.3694553370104841
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4301818663362781
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.00446327385075796
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.005555851417212323
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.005366027097767876
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 2002
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.09060109668048838
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.09410917775725626
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.17645158755915505
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.14471617939434067
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.15174613140604437
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.2223474627260244
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.3378540319793278
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.39276628036972194
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.447471406355209
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.44488967298443477
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.5433742246216481
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.6025551518352206
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.4913748309357149
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.6068946319881823
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.6676567931011657
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.state": {
161
+ "min": [
162
+ -9.630963325500488,
163
+ -100.0,
164
+ -55.4954948425293,
165
+ 25.46184730529785,
166
+ -43.24786376953125,
167
+ 0.8748317360877991
168
+ ],
169
+ "max": [
170
+ 55.4455451965332,
171
+ 48.559139251708984,
172
+ 99.36936950683594,
173
+ 92.28915405273438,
174
+ 42.9548225402832,
175
+ 41.99192428588867
176
+ ],
177
+ "mean": [
178
+ 20.02857302101699,
179
+ -53.33584123281508,
180
+ 52.89300678414567,
181
+ 66.93641434426539,
182
+ -4.641492903598886,
183
+ 7.64659920638276
184
+ ],
185
+ "std": [
186
+ 11.804072370151603,
187
+ 51.439848092060835,
188
+ 47.0926335770847,
189
+ 9.354247917618046,
190
+ 14.653391462533017,
191
+ 9.83300321241655
192
+ ],
193
+ "count": [
194
+ 7729
195
+ ],
196
+ "q01": [
197
+ 6.9714641298699265,
198
+ -99.90399587051107,
199
+ -27.763409895354613,
200
+ 47.13577397627948,
201
+ -20.033328980782677,
202
+ 0.9267242018117496
203
+ ],
204
+ "q10": [
205
+ 9.472516573303947,
206
+ -99.87365125094466,
207
+ -18.91382000197167,
208
+ 55.728014857090855,
209
+ -17.621804046990185,
210
+ 0.9332023296366019
211
+ ],
212
+ "q50": [
213
+ 15.793106735510541,
214
+ -79.1983913569795,
215
+ 77.80157245134053,
216
+ 69.4502019834114,
217
+ -4.700317735227749,
218
+ 0.9427586529259515
219
+ ],
220
+ "q90": [
221
+ 39.793278276831835,
222
+ 20.129430814355633,
223
+ 93.65018172239851,
224
+ 74.32296623962219,
225
+ 8.563405128000914,
226
+ 23.53366677065472
227
+ ],
228
+ "q99": [
229
+ 42.157183287279956,
230
+ 30.4040209457222,
231
+ 93.91842004587559,
232
+ 76.02751930579484,
233
+ 10.742064947752937,
234
+ 31.604991541765376
235
+ ]
236
+ },
237
+ "frame_index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 477
243
+ ],
244
+ "mean": [
245
+ 195.82559192651055
246
+ ],
247
+ "std": [
248
+ 116.85628455719429
249
+ ],
250
+ "count": [
251
+ 7729
252
+ ],
253
+ "q01": [
254
+ 3.4020294324285842
255
+ ],
256
+ "q10": [
257
+ 38.721509488857535
258
+ ],
259
+ "q50": [
260
+ 195.68152270668904
261
+ ],
262
+ "q90": [
263
+ 352.88495344295774
264
+ ],
265
+ "q99": [
266
+ 388.24915442059245
267
+ ]
268
+ },
269
+ "task_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 0
275
+ ],
276
+ "mean": [
277
+ 0.0
278
+ ],
279
+ "std": [
280
+ 0.0
281
+ ],
282
+ "count": [
283
+ 7729
284
+ ],
285
+ "q01": [
286
+ 3.9999999999994186e-16
287
+ ],
288
+ "q10": [
289
+ 3.999999999999417e-15
290
+ ],
291
+ "q50": [
292
+ 1.9999999999997088e-14
293
+ ],
294
+ "q90": [
295
+ 3.599999999999476e-14
296
+ ],
297
+ "q99": [
298
+ 3.9599999999994235e-14
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 7728
307
+ ],
308
+ "mean": [
309
+ 3864.0
310
+ ],
311
+ "std": [
312
+ 2231.1700966085036
313
+ ],
314
+ "count": [
315
+ 7729
316
+ ],
317
+ "q01": [
318
+ 3671.5764375059175
319
+ ],
320
+ "q10": [
321
+ 3706.895917562347
322
+ ],
323
+ "q50": [
324
+ 3863.859559968948
325
+ ],
326
+ "q90": [
327
+ 4021.0593615164466
328
+ ],
329
+ "q99": [
330
+ 4056.423562494082
331
+ ]
332
+ },
333
+ "timestamp": {
334
+ "min": [
335
+ 0.0
336
+ ],
337
+ "max": [
338
+ 15.9
339
+ ],
340
+ "mean": [
341
+ 6.527519730883685
342
+ ],
343
+ "std": [
344
+ 3.8952094852398096
345
+ ],
346
+ "count": [
347
+ 7729
348
+ ],
349
+ "q01": [
350
+ 0.11340098098596656
351
+ ],
352
+ "q10": [
353
+ 1.2907169828843696
354
+ ],
355
+ "q50": [
356
+ 6.522663341527507
357
+ ],
358
+ "q90": [
359
+ 11.762831781509448
360
+ ],
361
+ "q99": [
362
+ 12.941638480781403
363
+ ]
364
+ },
365
+ "episode_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 19
371
+ ],
372
+ "mean": [
373
+ 9.520248415060165
374
+ ],
375
+ "std": [
376
+ 5.645785798800878
377
+ ],
378
+ "count": [
379
+ 7729
380
+ ],
381
+ "q01": [
382
+ 9.520248415060165
383
+ ],
384
+ "q10": [
385
+ 9.520248415060165
386
+ ],
387
+ "q50": [
388
+ 9.520248415060182
389
+ ],
390
+ "q90": [
391
+ 9.5202484150602
392
+ ],
393
+ "q99": [
394
+ 9.520248415060202
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
+ 0.996078431372549
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 1.0
429
+ ]
430
+ ]
431
+ ],
432
+ "mean": [
433
+ [
434
+ [
435
+ 0.47244464359170246
436
+ ]
437
+ ],
438
+ [
439
+ [
440
+ 0.46453821464483225
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.45301635700900394
446
+ ]
447
+ ]
448
+ ],
449
+ "std": [
450
+ [
451
+ [
452
+ 0.005885640846559986
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 0.004889761133985342
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.0047587763307489934
463
+ ]
464
+ ]
465
+ ],
466
+ "count": [
467
+ 2002
468
+ ],
469
+ "q01": [
470
+ [
471
+ [
472
+ 0.01173058397653436
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ -3.9215686274509787e-13
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ -3.9215686274509787e-13
483
+ ]
484
+ ]
485
+ ],
486
+ "q10": [
487
+ [
488
+ [
489
+ 0.06371911330311221
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.04786157103687907
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.002168204559368974
500
+ ]
501
+ ]
502
+ ],
503
+ "q50": [
504
+ [
505
+ [
506
+ 0.5166468448632121
507
+ ]
508
+ ],
509
+ [
510
+ [
511
+ 0.5184032549321909
512
+ ]
513
+ ],
514
+ [
515
+ [
516
+ 0.5148966775457782
517
+ ]
518
+ ]
519
+ ],
520
+ "q90": [
521
+ [
522
+ [
523
+ 0.7259045729106769
524
+ ]
525
+ ],
526
+ [
527
+ [
528
+ 0.7341494596307183
529
+ ]
530
+ ],
531
+ [
532
+ [
533
+ 0.7560748167132443
534
+ ]
535
+ ]
536
+ ],
537
+ "q99": [
538
+ [
539
+ [
540
+ 0.7786550965542005
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.786107078535106
546
+ ]
547
+ ],
548
+ [
549
+ [
550
+ 0.8127491143271801
551
+ ]
552
+ ]
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -10.508182525634766,
558
+ -100.0,
559
+ -58.529945373535156,
560
+ 23.887300491333008,
561
+ -43.492061614990234,
562
+ 0.10277492552995682
563
+ ],
564
+ "max": [
565
+ 55.9862174987793,
566
+ 47.87510681152344,
567
+ 93.9201431274414,
568
+ 93.14006042480469,
569
+ 43.24786376953125,
570
+ 42.34326934814453
571
+ ],
572
+ "mean": [
573
+ 20.04226761435549,
574
+ -54.19665916315534,
575
+ 51.76594944126101,
576
+ 66.87909175069785,
577
+ -4.686677138040222,
578
+ 4.684753535034154
579
+ ],
580
+ "std": [
581
+ 11.833810616931256,
582
+ 50.61997295130656,
583
+ 47.55729011081111,
584
+ 9.52635991750524,
585
+ 14.65542999339611,
586
+ 9.748816160624255
587
+ ],
588
+ "count": [
589
+ 7729
590
+ ],
591
+ "q01": [
592
+ 6.551099298006814,
593
+ -100.0,
594
+ -30.532568819675507,
595
+ 46.319901318115164,
596
+ -20.183202033237897,
597
+ 0.10277492552995682
598
+ ],
599
+ "q10": [
600
+ 9.431720371097118,
601
+ -99.99592268888632,
602
+ -20.63500863126674,
603
+ 55.35656921432292,
604
+ -17.647664355513864,
605
+ 0.10277492552995682
606
+ ],
607
+ "q50": [
608
+ 15.851374695201114,
609
+ -79.4859552947311,
610
+ 76.5723876337727,
611
+ 69.48239629143167,
612
+ -4.778935061847358,
613
+ 0.10889236490725179
614
+ ],
615
+ "q90": [
616
+ 39.63166499870879,
617
+ 18.197154383215782,
618
+ 92.92309982737656,
619
+ 74.32113540189306,
620
+ 8.583171262687074,
621
+ 23.751244858563958
622
+ ],
623
+ "q99": [
624
+ 42.778043664927324,
625
+ 29.62427178047856,
626
+ 93.08218081389963,
627
+ 76.25206637129413,
628
+ 10.884289742805663,
629
+ 32.15194163383868
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:826df6436db362bdde999c57c1ee1721b9f06e7d566d4b1f1d9757b33b1d10ec
3
+ size 2356
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 sha256:51c8e2374ac9c0d92385e0e5a96ffddd4ff34ede60e3366e44cb7525885ad774
3
+ size 33980528
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 sha256:59e4235e445f5756e53243a502480332e6748781a4389ab54e2867615b431bb1
3
+ size 90959065