fengheyun commited on
Commit
e317742
·
verified ·
1 Parent(s): f895106

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:ad3a1c1bfcce6b9b01d8242780faa4cc22c3af87a17390366e51f1dcb9e73adb
3
+ size 379353
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:34c650a2bc476f18c0a897e78ec621757a43d350b2e968cc3c62ff12c76d4580
3
+ size 108124
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": 8249,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
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.front": {
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.side": {
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 19
8
+ ],
9
+ "mean": [
10
+ 9.520790398836223
11
+ ],
12
+ "std": [
13
+ 5.929871456750731
14
+ ],
15
+ "count": [
16
+ 8249
17
+ ],
18
+ "q01": [
19
+ 9.520790398836223
20
+ ],
21
+ "q10": [
22
+ 9.520790398836224
23
+ ],
24
+ "q50": [
25
+ 9.520790398836244
26
+ ],
27
+ "q90": [
28
+ 9.52079039883626
29
+ ],
30
+ "q99": [
31
+ 9.520790398836265
32
+ ]
33
+ },
34
+ "observation.images.front": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5274714487795596
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5329481584959491
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.6093184423845406
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.0038120688536866683
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.004611091725345709
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.012776686784930045
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 2087
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.29329088358626887
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.28420634368472947
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.22811189800032933
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.39509610954377805
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.4029254098491
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.49889299232302375
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.4682562290951207
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.4732552571441212
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.6224039352463392
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.7103417601806682
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.7323559254899368
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.6836527312649373
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.999914972749173
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9921900013624534
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9660708894777744
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "timestamp": {
193
+ "min": [
194
+ 0.0
195
+ ],
196
+ "max": [
197
+ 23.566666666666666
198
+ ],
199
+ "mean": [
200
+ 7.42011152867014
201
+ ],
202
+ "std": [
203
+ 4.951977111085847
204
+ ],
205
+ "count": [
206
+ 8249
207
+ ],
208
+ "q01": [
209
+ 0.13496509496786618
210
+ ],
211
+ "q10": [
212
+ 1.469016961814158
213
+ ],
214
+ "q50": [
215
+ 7.409272366751383
216
+ ],
217
+ "q90": [
218
+ 13.369566163413115
219
+ ],
220
+ "q99": [
221
+ 14.705257962372418
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
+ 8249
239
+ ],
240
+ "q01": [
241
+ 3.999999999999417e-16
242
+ ],
243
+ "q10": [
244
+ 3.999999999999417e-15
245
+ ],
246
+ "q50": [
247
+ 1.999999999999709e-14
248
+ ],
249
+ "q90": [
250
+ 3.5999999999994766e-14
251
+ ],
252
+ "q99": [
253
+ 3.959999999999424e-14
254
+ ]
255
+ },
256
+ "index": {
257
+ "min": [
258
+ 0
259
+ ],
260
+ "max": [
261
+ 8248
262
+ ],
263
+ "mean": [
264
+ 4124.0
265
+ ],
266
+ "std": [
267
+ 2381.281167775028
268
+ ],
269
+ "count": [
270
+ 8249
271
+ ],
272
+ "q01": [
273
+ 3905.44560699178
274
+ ],
275
+ "q10": [
276
+ 3945.467162996647
277
+ ],
278
+ "q50": [
279
+ 4123.674825142441
280
+ ],
281
+ "q90": [
282
+ 4302.483639039964
283
+ ],
284
+ "q99": [
285
+ 4342.55439300822
286
+ ]
287
+ },
288
+ "observation.images.side": {
289
+ "min": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "max": [
307
+ [
308
+ [
309
+ 1.0
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 1.0
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 1.0
320
+ ]
321
+ ]
322
+ ],
323
+ "mean": [
324
+ [
325
+ [
326
+ 0.5084350458878647
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.5645837080659608
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.6481773678326146
337
+ ]
338
+ ]
339
+ ],
340
+ "std": [
341
+ [
342
+ [
343
+ 0.006793321783995045
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.005473435960774627
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.013317360863325568
354
+ ]
355
+ ]
356
+ ],
357
+ "count": [
358
+ 2087
359
+ ],
360
+ "q01": [
361
+ [
362
+ [
363
+ 0.09139906928439175
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.1057348404409987
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.11184734582545068
374
+ ]
375
+ ]
376
+ ],
377
+ "q10": [
378
+ [
379
+ [
380
+ 0.21970287062363084
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.2824069697168848
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.3120929388851727
391
+ ]
392
+ ]
393
+ ],
394
+ "q50": [
395
+ [
396
+ [
397
+ 0.4720819062584946
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 0.5676162805926045
403
+ ]
404
+ ],
405
+ [
406
+ [
407
+ 0.7227523124259294
408
+ ]
409
+ ]
410
+ ],
411
+ "q90": [
412
+ [
413
+ [
414
+ 0.8569324298138192
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.8481528772954011
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.8450178224331961
425
+ ]
426
+ ]
427
+ ],
428
+ "q99": [
429
+ [
430
+ [
431
+ 0.9219962449638289
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 0.923123034985744
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 0.9270925599683814
442
+ ]
443
+ ]
444
+ ]
445
+ },
446
+ "action": {
447
+ "min": [
448
+ -64.870849609375,
449
+ -18.872987747192383,
450
+ -100.0,
451
+ -80.87104797363281,
452
+ -81.01998138427734,
453
+ 0.0
454
+ ],
455
+ "max": [
456
+ 20.295202255249023,
457
+ 64.93738555908203,
458
+ 95.09759521484375,
459
+ 100.0,
460
+ -33.07045364379883,
461
+ 100.0
462
+ ],
463
+ "mean": [
464
+ -25.852033512218604,
465
+ 28.651142426571248,
466
+ -35.489965244616464,
467
+ 57.72689115543021,
468
+ -59.854624985116715,
469
+ 35.25245319162517
470
+ ],
471
+ "std": [
472
+ 17.02722613765124,
473
+ 17.44484977131432,
474
+ 42.508010076721575,
475
+ 39.70150873575421,
476
+ 9.308655990649315,
477
+ 39.421739673721014
478
+ ],
479
+ "count": [
480
+ 8249
481
+ ],
482
+ "q01": [
483
+ -45.85941963385253,
484
+ 11.67586860154539,
485
+ -89.20462166201914,
486
+ 1.7054054468272961,
487
+ -70.72407850580505,
488
+ 0.4224641326638026
489
+ ],
490
+ "q10": [
491
+ -43.00142295765794,
492
+ 14.147103131579799,
493
+ -77.85795083724078,
494
+ 17.842515919390937,
495
+ -68.22816728828131,
496
+ 0.8617026160429041
497
+ ],
498
+ "q50": [
499
+ -28.4718812091053,
500
+ 32.30762459880843,
501
+ -34.35337211619328,
502
+ 58.08665172813777,
503
+ -60.92804917874334,
504
+ 26.48527019579197
505
+ ],
506
+ "q90": [
507
+ -3.100708501229549,
508
+ 39.31119511007364,
509
+ 10.26702390070281,
510
+ 97.1218452029595,
511
+ -48.97453139393448,
512
+ 84.69367872028934
513
+ ],
514
+ "q99": [
515
+ 3.151438164599,
516
+ 39.72543671791594,
517
+ 18.017784778747497,
518
+ 98.32368880822692,
519
+ -43.68080764619795,
520
+ 92.90341231090582
521
+ ]
522
+ },
523
+ "observation.state": {
524
+ "min": [
525
+ -62.74961471557617,
526
+ -38.21800231933594,
527
+ -96.3768081665039,
528
+ -78.25526428222656,
529
+ -79.58322143554688,
530
+ 1.7426273822784424
531
+ ],
532
+ "max": [
533
+ 19.047618865966797,
534
+ 67.254638671875,
535
+ 91.93840789794922,
536
+ 99.31241607666016,
537
+ 20.86520767211914,
538
+ 98.39141845703125
539
+ ],
540
+ "mean": [
541
+ -26.112267888781663,
542
+ 31.40063922572012,
543
+ -33.86298169683928,
544
+ 57.61885546562758,
545
+ -59.8232905794482,
546
+ 43.77452380244754
547
+ ],
548
+ "std": [
549
+ 16.962363280959263,
550
+ 17.52201545796949,
551
+ 40.966034730973746,
552
+ 38.83524620112122,
553
+ 9.322338898785864,
554
+ 31.76953594573876
555
+ ],
556
+ "count": [
557
+ 8249
558
+ ],
559
+ "q01": [
560
+ -45.17531327453908,
561
+ 12.921995625639646,
562
+ -83.5823580242027,
563
+ 3.089558196348166,
564
+ -69.75559704736865,
565
+ 12.695583636941585
566
+ ],
567
+ "q10": [
568
+ -43.00335399834408,
569
+ 17.660745192742986,
570
+ -73.90154273076529,
571
+ 19.85301751221411,
572
+ -67.69018407893046,
573
+ 14.671724428687241
574
+ ],
575
+ "q50": [
576
+ -28.814218401799174,
577
+ 34.42334082542205,
578
+ -34.35291977769167,
579
+ 58.85480142051551,
580
+ -60.65357714721943,
581
+ 46.610047507046744
582
+ ],
583
+ "q90": [
584
+ -3.141914278074507,
585
+ 41.00360409155454,
586
+ 8.950779335516872,
587
+ 96.34964387251412,
588
+ -49.42486452925397,
589
+ 79.649749073231
590
+ ],
591
+ "q99": [
592
+ 2.259686073223801,
593
+ 41.24262524439672,
594
+ 16.822060395262522,
595
+ 97.53522858939033,
596
+ -40.79506444424083,
597
+ 89.88901167560854
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 707
606
+ ],
607
+ "mean": [
608
+ 222.60334586010424
609
+ ],
610
+ "std": [
611
+ 148.55931333257539
612
+ ],
613
+ "count": [
614
+ 8249
615
+ ],
616
+ "q01": [
617
+ 4.048952851883857
618
+ ],
619
+ "q10": [
620
+ 44.07050885675092
621
+ ],
622
+ "q50": [
623
+ 222.2781710025457
624
+ ],
625
+ "q90": [
626
+ 401.086984900068
627
+ ],
628
+ "q99": [
629
+ 441.1577388683247
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a0062bb8c49632b41e65a65e0968d24fb61f84c29b4c7b35893d6c72c0360385
3
+ size 2166
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9964013b90b29000191b8d7cea1cd4ec8fa35e62f3e8cc0c2a76c2f63a8d1a59
3
+ size 50991835
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 sha256:02149505cb44396bc44d5074f5b39385eb04d53a76f801de4976cfcf632ee46c
3
+ size 104583889