fanaustinca commited on
Commit
a191e2d
·
verified ·
1 Parent(s): 6d0b882

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 sha256:3be2b982defd7765c727156c3de41ffb08f105b97cab32f6ba241ede97ebc7f6
3
+ size 687907
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:093abef25aabeed44fa664f28b85a64a9e22b4f12a8d5f44efc843d143d25e42
3
+ size 147353
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 29,
5
+ "total_frames": 13939,
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": "0:29"
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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 13939
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997084e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999477e-14
29
+ ],
30
+ "q99": [
31
+ 3.959999999999424e-14
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 28
40
+ ],
41
+ "mean": [
42
+ 14.148504196857738
43
+ ],
44
+ "std": [
45
+ 8.634774857930912
46
+ ],
47
+ "count": [
48
+ 13939
49
+ ],
50
+ "q01": [
51
+ 14.148504196857738
52
+ ],
53
+ "q10": [
54
+ 14.148504196857738
55
+ ],
56
+ "q50": [
57
+ 14.148504196857758
58
+ ],
59
+ "q90": [
60
+ 14.148504196857777
61
+ ],
62
+ "q99": [
63
+ 14.148504196857779
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 13938
72
+ ],
73
+ "mean": [
74
+ 6969.0
75
+ ],
76
+ "std": [
77
+ 4023.8426907621524
78
+ ],
79
+ "count": [
80
+ 13939
81
+ ],
82
+ "q01": [
83
+ 6712.0998889500415
84
+ ],
85
+ "q10": [
86
+ 6759.217864521047
87
+ ],
88
+ "q50": [
89
+ 6968.790284195423
90
+ ],
91
+ "q90": [
92
+ 7178.638837394441
93
+ ],
94
+ "q99": [
95
+ 7225.9001110499585
96
+ ]
97
+ },
98
+ "observation.state": {
99
+ "min": [
100
+ -59.94119644165039,
101
+ -99.40451049804688,
102
+ -97.10144805908203,
103
+ -36.59592819213867,
104
+ -81.92918395996094,
105
+ 1.620526671409607
106
+ ],
107
+ "max": [
108
+ 19.882396697998047,
109
+ 73.88345336914062,
110
+ 99.54710388183594,
111
+ 98.61412048339844,
112
+ -18.925518035888672,
113
+ 39.23025131225586
114
+ ],
115
+ "mean": [
116
+ -4.378727194441083,
117
+ -26.42173204073751,
118
+ 35.935909799835386,
119
+ 56.67289622338501,
120
+ -47.20036149334553,
121
+ 10.529414000525879
122
+ ],
123
+ "std": [
124
+ 10.780948836443416,
125
+ 60.0626107411968,
126
+ 53.980725709076715,
127
+ 30.5271031924429,
128
+ 8.46990304811116,
129
+ 10.71243980052339
130
+ ],
131
+ "count": [
132
+ 13939
133
+ ],
134
+ "q01": [
135
+ -17.79384145274807,
136
+ -99.17317190865751,
137
+ -63.4137913133846,
138
+ -2.574870968212296,
139
+ -56.98457560435325,
140
+ 1.8476472151861856
141
+ ],
142
+ "q10": [
143
+ -15.426742972742613,
144
+ -99.01043065308572,
145
+ -35.65636435127241,
146
+ 11.503277963049756,
147
+ -55.48486888573706,
148
+ 1.8577512912932637
149
+ ],
150
+ "q50": [
151
+ -3.930714179390032,
152
+ -15.387609488174625,
153
+ 32.67281320317872,
154
+ 63.152974249901106,
155
+ -47.209863324075044,
156
+ 6.405967023713996
157
+ ],
158
+ "q90": [
159
+ 4.978540950112174,
160
+ 45.539152410823576,
161
+ 99.28326809601474,
162
+ 86.7775419012651,
163
+ -39.05098370139678,
164
+ 28.664749781350707
165
+ ],
166
+ "q99": [
167
+ 8.676773591187953,
168
+ 59.287558744476186,
169
+ 99.35320749365084,
170
+ 98.0319309880522,
171
+ -35.81497649556746,
172
+ 30.542341662192683
173
+ ]
174
+ },
175
+ "frame_index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 1055
181
+ ],
182
+ "mean": [
183
+ 261.6491857378578
184
+ ],
185
+ "std": [
186
+ 185.48182670094542
187
+ ],
188
+ "count": [
189
+ 13939
190
+ ],
191
+ "q01": [
192
+ 4.749074687899503
193
+ ],
194
+ "q10": [
195
+ 51.86705025890538
196
+ ],
197
+ "q50": [
198
+ 261.42891835856227
199
+ ],
200
+ "q90": [
201
+ 471.2880231322991
202
+ ],
203
+ "q99": [
204
+ 518.5492967878162
205
+ ]
206
+ },
207
+ "observation.images.top": {
208
+ "min": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "max": [
226
+ [
227
+ [
228
+ 1.0
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 1.0
234
+ ]
235
+ ],
236
+ [
237
+ [
238
+ 1.0
239
+ ]
240
+ ]
241
+ ],
242
+ "mean": [
243
+ [
244
+ [
245
+ 0.42842193389770655
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.4300681151976456
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.4340724992895709
256
+ ]
257
+ ]
258
+ ],
259
+ "std": [
260
+ [
261
+ [
262
+ 0.013223445933688214
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.011910968498163508
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.010650451381516962
273
+ ]
274
+ ]
275
+ ],
276
+ "count": [
277
+ 3128
278
+ ],
279
+ "q01": [
280
+ [
281
+ [
282
+ 0.0335620081280324
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.0409805418765877
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.017631637867035834
293
+ ]
294
+ ]
295
+ ],
296
+ "q10": [
297
+ [
298
+ [
299
+ 0.09056246143208409
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.15909457088538909
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.11440281593557225
310
+ ]
311
+ ]
312
+ ],
313
+ "q50": [
314
+ [
315
+ [
316
+ 0.49249318815410376
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.4916309396572651
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.5076910554517314
327
+ ]
328
+ ]
329
+ ],
330
+ "q90": [
331
+ [
332
+ [
333
+ 0.6298709980428366
334
+ ]
335
+ ],
336
+ [
337
+ [
338
+ 0.6047006044393729
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.6311365723175305
344
+ ]
345
+ ]
346
+ ],
347
+ "q99": [
348
+ [
349
+ [
350
+ 0.7051381824807862
351
+ ]
352
+ ],
353
+ [
354
+ [
355
+ 0.7768535089136698
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.8629636620483377
361
+ ]
362
+ ]
363
+ ]
364
+ },
365
+ "observation.images.wrist": {
366
+ "min": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "max": [
384
+ [
385
+ [
386
+ 1.0
387
+ ]
388
+ ],
389
+ [
390
+ [
391
+ 1.0
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 1.0
397
+ ]
398
+ ]
399
+ ],
400
+ "mean": [
401
+ [
402
+ [
403
+ 0.4664586945551878
404
+ ]
405
+ ],
406
+ [
407
+ [
408
+ 0.47772461234600405
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.47676812495298626
414
+ ]
415
+ ]
416
+ ],
417
+ "std": [
418
+ [
419
+ [
420
+ 0.012806902484271408
421
+ ]
422
+ ],
423
+ [
424
+ [
425
+ 0.010486646354019634
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.011601162094276363
431
+ ]
432
+ ]
433
+ ],
434
+ "count": [
435
+ 3128
436
+ ],
437
+ "q01": [
438
+ [
439
+ [
440
+ 0.023473257362412604
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.04802297187504442
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.030503558025553823
451
+ ]
452
+ ]
453
+ ],
454
+ "q10": [
455
+ [
456
+ [
457
+ 0.15086443791801654
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.22094916813749718
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.1903448371269117
468
+ ]
469
+ ]
470
+ ],
471
+ "q50": [
472
+ [
473
+ [
474
+ 0.49697194017479657
475
+ ]
476
+ ],
477
+ [
478
+ [
479
+ 0.4983287080771902
480
+ ]
481
+ ],
482
+ [
483
+ [
484
+ 0.5009177557436366
485
+ ]
486
+ ]
487
+ ],
488
+ "q90": [
489
+ [
490
+ [
491
+ 0.6614699069892521
492
+ ]
493
+ ],
494
+ [
495
+ [
496
+ 0.6560099935510901
497
+ ]
498
+ ],
499
+ [
500
+ [
501
+ 0.6695987738456944
502
+ ]
503
+ ]
504
+ ],
505
+ "q99": [
506
+ [
507
+ [
508
+ 0.9044436337049213
509
+ ]
510
+ ],
511
+ [
512
+ [
513
+ 0.8701645187353383
514
+ ]
515
+ ],
516
+ [
517
+ [
518
+ 0.8863194302144627
519
+ ]
520
+ ]
521
+ ]
522
+ },
523
+ "timestamp": {
524
+ "min": [
525
+ 0.0
526
+ ],
527
+ "max": [
528
+ 35.166666666666664
529
+ ],
530
+ "mean": [
531
+ 8.721639524595261
532
+ ],
533
+ "std": [
534
+ 6.18272755669818
535
+ ],
536
+ "count": [
537
+ 13939
538
+ ],
539
+ "q01": [
540
+ 0.1583024895017227
541
+ ],
542
+ "q10": [
543
+ 1.7289016752193238
544
+ ],
545
+ "q50": [
546
+ 8.714680512231784
547
+ ],
548
+ "q90": [
549
+ 15.709600771154092
550
+ ],
551
+ "q99": [
552
+ 17.2849765596888
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -61.26482391357422,
558
+ -100.0,
559
+ -99.63915252685547,
560
+ -37.90707778930664,
561
+ -82.12454223632812,
562
+ 0.0
563
+ ],
564
+ "max": [
565
+ 21.03645133972168,
566
+ 73.04904174804688,
567
+ 99.63915252685547,
568
+ 100.0,
569
+ -18.827838897705078,
570
+ 42.509803771972656
571
+ ],
572
+ "mean": [
573
+ -4.329894016013571,
574
+ -27.229580215422903,
575
+ 34.4789666218877,
576
+ 56.52378520723377,
577
+ -47.218369396988855,
578
+ 9.167488477383841
579
+ ],
580
+ "std": [
581
+ 10.832850086069671,
582
+ 59.54385951753336,
583
+ 54.72422063455132,
584
+ 30.94308579382865,
585
+ 8.506129789340791,
586
+ 11.372493714336303
587
+ ],
588
+ "count": [
589
+ 13939
590
+ ],
591
+ "q01": [
592
+ -18.009646509854974,
593
+ -99.6828952663923,
594
+ -66.06655277741324,
595
+ -3.8292322221743937,
596
+ -57.20499675070905,
597
+ 1.3313660934243325
598
+ ],
599
+ "q10": [
600
+ -15.42373312429006,
601
+ -99.34345241847473,
602
+ -38.494036247369394,
603
+ 10.350567401381644,
604
+ -55.6085750124258,
605
+ 1.4298116335582336
606
+ ],
607
+ "q50": [
608
+ -3.9497203501781475,
609
+ -16.28158552649838,
610
+ 31.02653469424669,
611
+ 63.183777025384515,
612
+ -47.27534850434789,
613
+ 3.4199934847508753
614
+ ],
615
+ "q90": [
616
+ 5.0781159074097895,
617
+ 43.21399956276505,
618
+ 99.0978346452528,
619
+ 87.02071679266756,
620
+ -38.9885545611911,
621
+ 28.896362212563837
622
+ ],
623
+ "q99": [
624
+ 9.274510508353979,
625
+ 58.48664745805528,
626
+ 99.195391937322,
627
+ 98.87262440113122,
628
+ -35.58081174004066,
629
+ 30.884485473727555
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:b918ac4905025d439be83584532a3b4c85407d271c6482bf106c1e49cf11bf81
3
+ size 208856815
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c109f6fcea594740ef093bcae517007431ef4e929d1f47f129d36b1253c8463
3
+ size 53493860
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 sha256:250f92d384a990107cc7c085dfbce9871cec464ffbbd9a578f40429780148f0e
3
+ size 97070956