fanaustinca commited on
Commit
0d74cc6
·
verified ·
1 Parent(s): 6599eba

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 sha256:4792ba0fc00cd261864f1bbf545725c0cef61fc1cecacf8b71f8a4fa648c68f3
3
+ size 91493
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b0dbfdc2c2547ded2b7aa6b1557debdc0ebaf6d82d9d81d381a92720ca12c359
3
+ size 57193
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": 2136,
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
+ "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
+ 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.top": {
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.top": {
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
+ 0.984313725490196
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.9921568627450981
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.3855610090769053
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.3669831103696986
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.375609339908871
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.003279139123780368
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.004931698818884963
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.005350546519848735
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 454
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.01774778597828306
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.030374801675151095
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.007856339806866282
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.06368370606184436
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.09498296100961928
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.07233824658354794
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.44990040466205705
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.42629917062102335
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.45373395597075167
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.5641446176895768
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.5569651030633693
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.5901395508127755
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.7620783714926456
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.7189300444602373
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.7471334375085725
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "task_index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 0
166
+ ],
167
+ "mean": [
168
+ 0.0
169
+ ],
170
+ "std": [
171
+ 0.0
172
+ ],
173
+ "count": [
174
+ 2136
175
+ ],
176
+ "q01": [
177
+ 3.999999999999418e-16
178
+ ],
179
+ "q10": [
180
+ 3.999999999999417e-15
181
+ ],
182
+ "q50": [
183
+ 1.9999999999997088e-14
184
+ ],
185
+ "q90": [
186
+ 3.5999999999994754e-14
187
+ ],
188
+ "q99": [
189
+ 3.959999999999423e-14
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -20.91143035888672,
195
+ -99.23436737060547,
196
+ -60.68840408325195,
197
+ 8.185361862182617,
198
+ -60.879119873046875,
199
+ 1.6880486011505127
200
+ ],
201
+ "max": [
202
+ 16.501285552978516,
203
+ 67.50318908691406,
204
+ 99.54710388183594,
205
+ 76.95972442626953,
206
+ -37.77777862548828,
207
+ 34.36867141723633
208
+ ],
209
+ "mean": [
210
+ -1.1812330239386148,
211
+ -47.66158315930027,
212
+ 63.92467536997706,
213
+ 52.0135410019521,
214
+ -51.88994714115443,
215
+ 16.695047910740314
216
+ ],
217
+ "std": [
218
+ 7.255308731925368,
219
+ 57.78393856091829,
220
+ 45.83042296469173,
221
+ 25.394059974525945,
222
+ 6.773826755321259,
223
+ 11.154626312807382
224
+ ],
225
+ "count": [
226
+ 2136
227
+ ],
228
+ "q01": [
229
+ -11.422359770070189,
230
+ -99.15317584731903,
231
+ -48.0456693257214,
232
+ 18.95447366546411,
233
+ -60.39883121108532,
234
+ 1.8774325079127643
235
+ ],
236
+ "q10": [
237
+ -10.227949192933089,
238
+ -99.08374988013871,
239
+ -7.2140949735034265,
240
+ 19.8504769206102,
241
+ -58.87163025298804,
242
+ 1.9542287728446373
243
+ ],
244
+ "q50": [
245
+ -1.2928780277350984,
246
+ -81.22520754642191,
247
+ 92.32379794156607,
248
+ 62.78504909826129,
249
+ -53.35809023706236,
250
+ 14.746573334558905
251
+ ],
252
+ "q90": [
253
+ 6.920854627121892,
254
+ 29.516434382196554,
255
+ 99.46530225051168,
256
+ 76.58370988490789,
257
+ -40.719819657497766,
258
+ 28.445979968447844
259
+ ],
260
+ "q99": [
261
+ 10.237934099140935,
262
+ 58.08739282718343,
263
+ 99.47804682417055,
264
+ 76.74578989802345,
265
+ -38.75912677023346,
266
+ 28.718850136760384
267
+ ]
268
+ },
269
+ "timestamp": {
270
+ "min": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 22.533333333333335
275
+ ],
276
+ "mean": [
277
+ 9.207521847690387
278
+ ],
279
+ "std": [
280
+ 5.661021332138832
281
+ ],
282
+ "count": [
283
+ 2136
284
+ ],
285
+ "q01": [
286
+ 0.16581057231127766
287
+ ],
288
+ "q10": [
289
+ 1.8245061859372806
290
+ ],
291
+ "q50": [
292
+ 9.208892278402008
293
+ ],
294
+ "q90": [
295
+ 16.59053750944349
296
+ ],
297
+ "q99": [
298
+ 18.249233123069494
299
+ ]
300
+ },
301
+ "observation.images.wrist": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.38007749201001984
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.37725901887002966
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.376422703690507
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.005470283721173547
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.004902546862162422
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.004477056833809844
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 454
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ -3.921568627450981e-13
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ -3.921568627450981e-13
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ -3.921568627450981e-13
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.06480254982536297
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.13414040654911838
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.0764105170444387
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.41879488441923735
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.40551828000778034
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.4122882395936038
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.5622180035789007
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.5428194567120981
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.5608041283797902
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.8160426241252875
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.7346056877940353
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.7297462467455977
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 2135
465
+ ],
466
+ "mean": [
467
+ 1067.5
468
+ ],
469
+ "std": [
470
+ 616.6100199207492
471
+ ],
472
+ "count": [
473
+ 2136
474
+ ],
475
+ "q01": [
476
+ 796.2486617414748
477
+ ],
478
+ "q10": [
479
+ 846.0095301497325
480
+ ],
481
+ "q50": [
482
+ 1067.527891198502
483
+ ],
484
+ "q90": [
485
+ 1288.9904698502676
486
+ ],
487
+ "q99": [
488
+ 1338.7513382585253
489
+ ]
490
+ },
491
+ "frame_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 676
497
+ ],
498
+ "mean": [
499
+ 276.2256554307116
500
+ ],
501
+ "std": [
502
+ 169.83063996416496
503
+ ],
504
+ "count": [
505
+ 2136
506
+ ],
507
+ "q01": [
508
+ 4.974317172186435
509
+ ],
510
+ "q10": [
511
+ 54.73518558044415
512
+ ],
513
+ "q50": [
514
+ 276.1845425093633
515
+ ],
516
+ "q90": [
517
+ 497.71612528097916
518
+ ],
519
+ "q99": [
520
+ 547.4769936892369
521
+ ]
522
+ },
523
+ "action": {
524
+ "min": [
525
+ -20.860782623291016,
526
+ -99.74413299560547,
527
+ -63.64456558227539,
528
+ 8.032999992370605,
529
+ -61.22100067138672,
530
+ 0.0
531
+ ],
532
+ "max": [
533
+ 17.610891342163086,
534
+ 66.48187255859375,
535
+ 99.54894256591797,
536
+ 77.2470703125,
537
+ -37.58241653442383,
538
+ 34.27450942993164
539
+ ],
540
+ "mean": [
541
+ -1.1001163978924913,
542
+ -48.42112418149741,
543
+ 62.85241125049662,
544
+ 51.74615627638856,
545
+ -51.927293205975595,
546
+ 16.058908637989774
547
+ ],
548
+ "std": [
549
+ 7.363380328905209,
550
+ 57.29079693586501,
551
+ 46.597304472817754,
552
+ 25.635464977599714,
553
+ 6.8883335568783135,
554
+ 12.100794910969945
555
+ ],
556
+ "count": [
557
+ 2136
558
+ ],
559
+ "q01": [
560
+ -11.824930130265624,
561
+ -99.6052469329008,
562
+ -51.56972401520976,
563
+ 18.299637186127047,
564
+ -60.7146698151367,
565
+ 1.4339096315786815
566
+ ],
567
+ "q10": [
568
+ -10.304195392697341,
569
+ -99.54711930877617,
570
+ -9.105716633885985,
571
+ 19.38343252488777,
572
+ -59.103288916267296,
573
+ 1.555407399427723
574
+ ],
575
+ "q50": [
576
+ -1.1867847524628028,
577
+ -81.44854813887032,
578
+ 91.00927025332871,
579
+ 62.424927626944736,
580
+ -53.16788623561673,
581
+ 12.614023959375489
582
+ ],
583
+ "q90": [
584
+ 7.065049209651159,
585
+ 27.45993605624424,
586
+ 99.09567124616827,
587
+ 76.63208424205287,
588
+ -40.752982247802144,
589
+ 28.672321500841747
590
+ ],
591
+ "q99": [
592
+ 10.765385477536555,
593
+ 57.07139468567717,
594
+ 99.2199476210621,
595
+ 77.06921828765228,
596
+ -38.433675166094,
597
+ 28.76587152537747
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 3
606
+ ],
607
+ "mean": [
608
+ 1.3586142322097379
609
+ ],
610
+ "std": [
611
+ 1.0491885347830916
612
+ ],
613
+ "count": [
614
+ 2136
615
+ ],
616
+ "q01": [
617
+ 1.3586142322097383
618
+ ],
619
+ "q10": [
620
+ 1.3586142322097416
621
+ ],
622
+ "q50": [
623
+ 1.3586142322097579
624
+ ],
625
+ "q90": [
626
+ 1.3586142322097738
627
+ ],
628
+ "q99": [
629
+ 1.3586142322097774
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f1822303221b7c2dd686e73e0d703491ad7fe3aceffa411543bd71226ff047c4
3
+ size 2151
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 sha256:876010157a083437e7be9856631cf075c5a20c48796a9e3f01f2ab5bfa7f2fbb
3
+ size 44470248
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 sha256:472dd0f0ad73846ecc7ff1f49cb2c6dd6c3ea8e3d9563b52d80fb9aa6de6ab0f
3
+ size 14955666