fengheyun commited on
Commit
9b6de03
·
verified ·
1 Parent(s): f89186c

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:ef40822465e4e99fdbf0e1c486cd59f64388ea3d136364f5af11f93815201312
3
+ size 451815
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d2df4fe2b11b76a0d5afa8ea4487a0ad7a9372515ce567c37f5b75d12540525
3
+ size 107974
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": 10199,
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
+ "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
+ 10199
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999418e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997084e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999477e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 831
40
+ ],
41
+ "mean": [
42
+ 272.0071575644671
43
+ ],
44
+ "std": [
45
+ 179.1442340176555
46
+ ],
47
+ "count": [
48
+ 10199
49
+ ],
50
+ "q01": [
51
+ 5.011686361309814
52
+ ],
53
+ "q10": [
54
+ 54.068558172289706
55
+ ],
56
+ "q50": [
57
+ 271.83583072850263
58
+ ],
59
+ "q90": [
60
+ 489.8326562604978
61
+ ],
62
+ "q99": [
63
+ 539.0026287676244
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 10198
72
+ ],
73
+ "mean": [
74
+ 5099.0
75
+ ],
76
+ "std": [
77
+ 2944.1976835803675
78
+ ],
79
+ "count": [
80
+ 10199
81
+ ],
82
+ "q01": [
83
+ 4832.004528796843
84
+ ],
85
+ "q10": [
86
+ 4881.061400607823
87
+ ],
88
+ "q50": [
89
+ 5098.857230199039
90
+ ],
91
+ "q90": [
92
+ 5316.825498696031
93
+ ],
94
+ "q99": [
95
+ 5365.995471203158
96
+ ]
97
+ },
98
+ "observation.state": {
99
+ "min": [
100
+ -64.82334899902344,
101
+ -91.49706268310547,
102
+ -99.18478393554688,
103
+ -43.44649887084961,
104
+ -98.62833404541016,
105
+ 2.546916961669922
106
+ ],
107
+ "max": [
108
+ 13.67127513885498,
109
+ 60.56083297729492,
110
+ 97.64492797851562,
111
+ 99.05457305908203,
112
+ 42.7064094543457,
113
+ 97.18498992919922
114
+ ],
115
+ "mean": [
116
+ -22.60652108229379,
117
+ 9.161439896167545,
118
+ -36.42080872146998,
119
+ 59.6147614726016,
120
+ -54.619165432734846,
121
+ 40.31043433787741
122
+ ],
123
+ "std": [
124
+ 19.338507195943947,
125
+ 25.08697080532878,
126
+ 46.3750877618386,
127
+ 31.557159843832327,
128
+ 25.21261524094994,
129
+ 28.92315035724255
130
+ ],
131
+ "count": [
132
+ 10199
133
+ ],
134
+ "q01": [
135
+ -48.13396198135438,
136
+ -10.69791739751539,
137
+ -92.19343143556142,
138
+ 17.609244618232093,
139
+ -77.15941687975065,
140
+ 5.275966717035282
141
+ ],
142
+ "q10": [
143
+ -43.27479963283748,
144
+ -10.410029688833065,
145
+ -88.2690327432408,
146
+ 19.402598059637164,
147
+ -73.10368505986888,
148
+ 5.290570668593469
149
+ ],
150
+ "q50": [
151
+ -18.387885648213143,
152
+ 13.149799194141229,
153
+ -30.207185763101826,
154
+ 63.53568994966708,
155
+ -52.49527750632215,
156
+ 53.61237612871749
157
+ ],
158
+ "q90": [
159
+ -3.1761281576658877,
160
+ 28.335660033563805,
161
+ 6.049239812836468,
162
+ 96.7368355201125,
163
+ -35.87907334033896,
164
+ 67.25944187051343
165
+ ],
166
+ "q99": [
167
+ -1.3341689915389296,
168
+ 28.745964589426038,
169
+ 13.864295482164152,
170
+ 98.56340596006837,
171
+ -32.68497923581831,
172
+ 72.90404782492972
173
+ ]
174
+ },
175
+ "timestamp": {
176
+ "min": [
177
+ 0.0
178
+ ],
179
+ "max": [
180
+ 27.7
181
+ ],
182
+ "mean": [
183
+ 9.066905252148905
184
+ ],
185
+ "std": [
186
+ 5.971474467255182
187
+ ],
188
+ "count": [
189
+ 10199
190
+ ],
191
+ "q01": [
192
+ 0.16705621194876372
193
+ ],
194
+ "q10": [
195
+ 1.802285272332191
196
+ ],
197
+ "q50": [
198
+ 9.062375729646647
199
+ ],
200
+ "q90": [
201
+ 16.32775520876067
202
+ ],
203
+ "q99": [
204
+ 17.966754292349034
205
+ ]
206
+ },
207
+ "action": {
208
+ "min": [
209
+ -65.75645446777344,
210
+ -92.03935241699219,
211
+ -100.0,
212
+ -44.064903259277344,
213
+ -100.0,
214
+ 0.0
215
+ ],
216
+ "max": [
217
+ 15.055350303649902,
218
+ 59.03398895263672,
219
+ 98.81979370117188,
220
+ 100.0,
221
+ 44.90010452270508,
222
+ 99.01800537109375
223
+ ],
224
+ "mean": [
225
+ -22.42619061046914,
226
+ 6.718317267476653,
227
+ -38.14201202003591,
228
+ 59.329058798543024,
229
+ -54.70822622953928,
230
+ 39.171306972352184
231
+ ],
232
+ "std": [
233
+ 19.39227548652944,
234
+ 24.719529896450627,
235
+ 46.25898057008365,
236
+ 32.04884448988706,
237
+ 25.59931945649481,
238
+ 31.574562600589157
239
+ ],
240
+ "count": [
241
+ 10199
242
+ ],
243
+ "q01": [
244
+ -49.03336524523149,
245
+ -13.901461357022756,
246
+ -94.67519291703546,
247
+ 16.219777513613682,
248
+ -78.28526124210146,
249
+ 0.8329817583497993
250
+ ],
251
+ "q10": [
252
+ -43.35468103034073,
253
+ -13.412290992659058,
254
+ -90.79326992955053,
255
+ 18.28465784821787,
256
+ -73.37601852919668,
257
+ 0.8674251283193523
258
+ ],
259
+ "q50": [
260
+ -18.54459237081027,
261
+ 9.568504277177619,
262
+ -32.30243484977263,
263
+ 62.7482429437702,
264
+ -52.34887533833466,
265
+ 54.89288681553727
266
+ ],
267
+ "q90": [
268
+ -2.903581574154762,
269
+ 27.299262625015807,
270
+ 4.155477160937699,
271
+ 97.45479433904333,
272
+ -35.235016222157014,
273
+ 70.12889672763197
274
+ ],
275
+ "q99": [
276
+ -0.5049576007792398,
277
+ 27.74508086928338,
278
+ 13.805086385339127,
279
+ 99.35124668074366,
280
+ -31.817435592959534,
281
+ 73.56407489007297
282
+ ]
283
+ },
284
+ "observation.images.front": {
285
+ "min": [
286
+ [
287
+ [
288
+ 0.0
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.00392156862745098
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ]
301
+ ],
302
+ "max": [
303
+ [
304
+ [
305
+ 1.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 1.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ]
318
+ ],
319
+ "mean": [
320
+ [
321
+ [
322
+ 0.4942319842419569
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.5364802912786594
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.6562198716585596
333
+ ]
334
+ ]
335
+ ],
336
+ "std": [
337
+ [
338
+ [
339
+ 0.03231381125598747
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.014268989014950594
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.06354151078083138
350
+ ]
351
+ ]
352
+ ],
353
+ "count": [
354
+ 2213
355
+ ],
356
+ "q01": [
357
+ [
358
+ [
359
+ 0.2653510986424578
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.27360273419148057
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.22834441599647182
370
+ ]
371
+ ]
372
+ ],
373
+ "q10": [
374
+ [
375
+ [
376
+ 0.3348009290100713
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.3824643154764026
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.5191288580595442
387
+ ]
388
+ ]
389
+ ],
390
+ "q50": [
391
+ [
392
+ [
393
+ 0.4322883147113224
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.4731311436824395
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.6745291884869696
404
+ ]
405
+ ]
406
+ ],
407
+ "q90": [
408
+ [
409
+ [
410
+ 0.6957456379181144
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.8598913883568631
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.7437531073988869
421
+ ]
422
+ ]
423
+ ],
424
+ "q99": [
425
+ [
426
+ [
427
+ 0.9994855677188211
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.9927699817925382
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.9752769830164797
438
+ ]
439
+ ]
440
+ ]
441
+ },
442
+ "observation.images.side": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.0
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.5134071082492343
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.5697605977490408
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.6550051902897024
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.0032332091293421576
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.0033075650295095334
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.009009077706323055
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 2213
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ 0.10159193944480759
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.13205946201455657
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.12446918319230825
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.22595171290858654
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.30599544826688335
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.3543234814359654
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.4689634576306125
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.559972188379172
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.7164603169629702
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.8528709031756245
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.8428229432127449
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.8389617482447217
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9219284012622508
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.9239330927818835
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.9269726219768423
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 19
606
+ ],
607
+ "mean": [
608
+ 8.501421708010591
609
+ ],
610
+ "std": [
611
+ 5.9356430945187215
612
+ ],
613
+ "count": [
614
+ 10199
615
+ ],
616
+ "q01": [
617
+ 8.501421708010591
618
+ ],
619
+ "q10": [
620
+ 8.501421708010593
621
+ ],
622
+ "q50": [
623
+ 8.50142170801061
624
+ ],
625
+ "q90": [
626
+ 8.501421708010623
627
+ ],
628
+ "q99": [
629
+ 8.501421708010628
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:09517aace0501abf231a687bf9435dbcd8c230d79aba01fd7b93d16c7fe10496
3
+ size 2191
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 sha256:8d59c467c791395553f88fb0d5513c2edcec15ebe4939ec2b1512bc8fd22124c
3
+ size 82827055
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:cae959f400108050d7017caf10ee9482a2a92c89e66d256f299d27a66d1a79eb
3
+ size 125285062