funzin-jskim commited on
Commit
a9ef60d
·
verified ·
1 Parent(s): 3eced07

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 sha256:44aa80bd548bf92c218d51483ebcab75e08b1dcebd52c1cc55d66fd64633f1b7
3
+ size 92720
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10354ba8042d569f5db5aaaeacc7b898df0b4c74b0fe8d2ff84dd93cfdb94a98
3
+ size 23046
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 1583,
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": "0:10"
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
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.left_wrist": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -60.34016418457031,
5
+ -100.0,
6
+ -59.529197692871094,
7
+ 14.724712371826172,
8
+ -29.5238094329834,
9
+ 1.5861027240753174
10
+ ],
11
+ "max": [
12
+ 35.3691520690918,
13
+ 21.884119033813477,
14
+ 83.52195739746094,
15
+ 100.0,
16
+ 53.11355209350586,
17
+ 70.8459243774414
18
+ ],
19
+ "mean": [
20
+ -8.564982025968222,
21
+ -19.91251224486495,
22
+ 20.92848293041776,
23
+ 70.6276877927991,
24
+ 11.613516149081088,
25
+ 38.33421731010239
26
+ ],
27
+ "std": [
28
+ 18.649780159474627,
29
+ 26.11046791683538,
30
+ 27.198892539213993,
31
+ 19.423433548064242,
32
+ 12.489856116965868,
33
+ 18.144149907722845
34
+ ],
35
+ "count": [
36
+ 1583
37
+ ],
38
+ "q01": [
39
+ -32.30575839294782,
40
+ -76.76066572023804,
41
+ -35.201644382256994,
42
+ 32.99633368518294,
43
+ -3.9451285720533456,
44
+ 11.758277388138968
45
+ ],
46
+ "q10": [
47
+ -24.415353866880515,
48
+ -53.804021165022405,
49
+ -12.81590039832776,
50
+ 44.75394288725564,
51
+ -0.09127216463618897,
52
+ 12.247364893680128
53
+ ],
54
+ "q50": [
55
+ -7.721175291296889,
56
+ -12.639929631146623,
57
+ 24.286606045050338,
58
+ 71.88618934268713,
59
+ 12.810570757750233,
60
+ 44.93461250206737
61
+ ],
62
+ "q90": [
63
+ 7.962587277499572,
64
+ 0.9589117375590592,
65
+ 48.01217990698274,
66
+ 92.56941593009189,
67
+ 23.35229231945803,
68
+ 53.5159867955624
69
+ ],
70
+ "q99": [
71
+ 16.004039522062666,
72
+ 4.777524601148061,
73
+ 50.60829899544846,
74
+ 99.68066112256491,
75
+ 27.296171296278292,
76
+ 57.110468421725805
77
+ ]
78
+ },
79
+ "index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 1582
85
+ ],
86
+ "mean": [
87
+ 791.0
88
+ ],
89
+ "std": [
90
+ 456.9726468838151
91
+ ],
92
+ "count": [
93
+ 1583
94
+ ],
95
+ "q01": [
96
+ 709.6101370131672
97
+ ],
98
+ "q10": [
99
+ 724.5208675425598
100
+ ],
101
+ "q50": [
102
+ 790.7406060644344
103
+ ],
104
+ "q90": [
105
+ 857.2568153380463
106
+ ],
107
+ "q99": [
108
+ 872.2691807379381
109
+ ]
110
+ },
111
+ "observation.images.left_wrist": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5370396402505446
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.5322297559912854
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.5298610040849674
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.0058092674125989775
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.006623724612791687
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.006418536260360877
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 1000
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.043595340703954696
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.04509205634808913
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.04743186674873576
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.0956353874152892
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.095246864626005
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.10630663251104022
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.6274387662165901
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.6297719221682675
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.6196489297140907
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.844666462213985
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.8533536517611824
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.8411662492887987
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9944323699355934
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9971813975412653
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.992493340700953
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "observation.state": {
270
+ "min": [
271
+ -59.92047882080078,
272
+ -99.07015991210938,
273
+ -58.14997863769531,
274
+ 15.64102554321289,
275
+ -29.08424949645996,
276
+ 6.1977715492248535
277
+ ],
278
+ "max": [
279
+ 34.87077713012695,
280
+ 18.512256622314453,
281
+ 68.29815673828125,
282
+ 99.57264709472656,
283
+ 52.57631301879883,
284
+ 70.54317474365234
285
+ ],
286
+ "mean": [
287
+ -8.598738664324646,
288
+ -19.459984836891643,
289
+ 21.626645630398507,
290
+ 70.68213284866613,
291
+ 11.655390358995351,
292
+ 42.541137371195774
293
+ ],
294
+ "std": [
295
+ 18.524912656512004,
296
+ 26.05752989901368,
297
+ 26.154675457651376,
298
+ 19.137112271461646,
299
+ 12.41896403820479,
300
+ 13.64658383107198
301
+ ],
302
+ "count": [
303
+ 1583
304
+ ],
305
+ "q01": [
306
+ -32.325701768131324,
307
+ -79.27948693978992,
308
+ -33.071605468393855,
309
+ 32.875740027688906,
310
+ -3.505693046152382,
311
+ 27.87902592435016
312
+ ],
313
+ "q10": [
314
+ -24.33851481422657,
315
+ -55.93293545013294,
316
+ -12.656305064396497,
317
+ 45.3883801108285,
318
+ -0.18222010156301838,
319
+ 28.41641020915868
320
+ ],
321
+ "q50": [
322
+ -7.643171278047677,
323
+ -12.253863005037637,
324
+ 25.244577533409124,
325
+ 71.92861817362311,
326
+ 12.768686024592004,
327
+ 46.21732977205025
328
+ ],
329
+ "q90": [
330
+ 7.641473253107297,
331
+ 1.101694543470793,
332
+ 46.52715005619418,
333
+ 92.00461688903418,
334
+ 23.030940325786585,
335
+ 53.47242895055329
336
+ ],
337
+ "q99": [
338
+ 15.25320021869944,
339
+ 4.514461954979993,
340
+ 48.32395028759545,
341
+ 99.27317987659644,
342
+ 26.78919691805644,
343
+ 56.79967364988387
344
+ ]
345
+ },
346
+ "episode_index": {
347
+ "min": [
348
+ 0
349
+ ],
350
+ "max": [
351
+ 9
352
+ ],
353
+ "mean": [
354
+ 4.211623499684144
355
+ ],
356
+ "std": [
357
+ 2.9031651239567515
358
+ ],
359
+ "count": [
360
+ 1583
361
+ ],
362
+ "q01": [
363
+ 4.211623499684144
364
+ ],
365
+ "q10": [
366
+ 4.211623499684148
367
+ ],
368
+ "q50": [
369
+ 4.211623499684164
370
+ ],
371
+ "q90": [
372
+ 4.211623499684181
373
+ ],
374
+ "q99": [
375
+ 4.211623499684183
376
+ ]
377
+ },
378
+ "timestamp": {
379
+ "min": [
380
+ 0.0
381
+ ],
382
+ "max": [
383
+ 6.633333333333334
384
+ ],
385
+ "mean": [
386
+ 2.7466624552537375
387
+ ],
388
+ "std": [
389
+ 1.7180154510061691
390
+ ],
391
+ "count": [
392
+ 1583
393
+ ],
394
+ "q01": [
395
+ 0.03366702226388319
396
+ ],
397
+ "q10": [
398
+ 0.5306913732610926
399
+ ],
400
+ "q50": [
401
+ 2.7378663508103958
402
+ ],
403
+ "q90": [
404
+ 4.955222966599689
405
+ ],
406
+ "q99": [
407
+ 5.455635146613655
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 199
416
+ ],
417
+ "mean": [
418
+ 82.39987365761213
419
+ ],
420
+ "std": [
421
+ 51.540463530185065
422
+ ],
423
+ "count": [
424
+ 1583
425
+ ],
426
+ "q01": [
427
+ 1.0100106707793597
428
+ ],
429
+ "q10": [
430
+ 15.92074120017202
431
+ ],
432
+ "q50": [
433
+ 82.14047972204642
434
+ ],
435
+ "q90": [
436
+ 148.65668899565844
437
+ ],
438
+ "q99": [
439
+ 163.66905439555026
440
+ ]
441
+ },
442
+ "task_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 0
448
+ ],
449
+ "mean": [
450
+ 0.0
451
+ ],
452
+ "std": [
453
+ 0.0
454
+ ],
455
+ "count": [
456
+ 1583
457
+ ],
458
+ "q01": [
459
+ 3.999999999999418e-16
460
+ ],
461
+ "q10": [
462
+ 3.999999999999418e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997088e-14
466
+ ],
467
+ "q90": [
468
+ 3.5999999999994754e-14
469
+ ],
470
+ "q99": [
471
+ 3.959999999999423e-14
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ed64c8497b8abaaedaf693d43eca6af7473eee7c1b16bbcf0215bc0e8ab5a11
3
+ size 2281
videos/observation.images.left_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8b58eea8cd4e48bed853806913216bc999330ce7b97322c04067204fbb7406a6
3
+ size 23232489