hafeezjimoh commited on
Commit
92775bf
·
verified ·
1 Parent(s): f87a250

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 sha256:939e9d01d2d425d026115443cf3371cbe29184a6f94dc146b9e836e30a58c3bb
3
+ size 1076919
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ff466f6dde5d989930ffbdd2b20ef9e2eba7775260b32b03a45e63834a663eb0
3
+ size 201333
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 79,
5
+ "total_frames": 43362,
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": "0:79"
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_camera": {
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.wrist_camera": {
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
+ 43362
17
+ ],
18
+ "q01": [
19
+ 3.999999999999418e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.999999999999709e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 1037
40
+ ],
41
+ "mean": [
42
+ 306.03625294036254
43
+ ],
44
+ "std": [
45
+ 210.65641439388673
46
+ ],
47
+ "count": [
48
+ 43362
49
+ ],
50
+ "q01": [
51
+ 5.618942428295342
52
+ ],
53
+ "q10": [
54
+ 60.799529731020826
55
+ ],
56
+ "q50": [
57
+ 305.8395731977307
58
+ ],
59
+ "q90": [
60
+ 551.196058479855
61
+ ],
62
+ "q99": [
63
+ 606.4377657493718
64
+ ]
65
+ },
66
+ "observation.images.front_camera": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.0
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 1.0
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 1.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.49105458272945707
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.5051916739422306
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.510900916523004
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.020280458106700403
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.022168803914408584
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.02124014075790169
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 9281
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.10853708299897318
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.09784551975598166
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.11999985103274854
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.24152619665746056
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.24978591184459498
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.2891416516418519
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.4678902632396709
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.4874863154587889
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.4915794973798982
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.9348808445199152
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.9173479895874556
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.8577094421306584
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.9993245435112263
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.9999767292509917
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.9884309216351888
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "timestamp": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 34.56666666666667
230
+ ],
231
+ "mean": [
232
+ 10.201208431345417
233
+ ],
234
+ "std": [
235
+ 7.0218804797962235
236
+ ],
237
+ "count": [
238
+ 43362
239
+ ],
240
+ "q01": [
241
+ 0.1872980808482676
242
+ ],
243
+ "q10": [
244
+ 2.0266509909565524
245
+ ],
246
+ "q50": [
247
+ 10.196237561766772
248
+ ],
249
+ "q90": [
250
+ 18.37320194940595
251
+ ],
252
+ "q99": [
253
+ 20.214592191740632
254
+ ]
255
+ },
256
+ "action": {
257
+ "min": [
258
+ -39.88990783691406,
259
+ -100.0,
260
+ -34.6865119934082,
261
+ -100.0,
262
+ -100.0,
263
+ 0.16406890749931335
264
+ ],
265
+ "max": [
266
+ 42.75229263305664,
267
+ 36.66384506225586,
268
+ 100.0,
269
+ 100.0,
270
+ 17.364017486572266,
271
+ 48.81050109863281
272
+ ],
273
+ "mean": [
274
+ 0.32585391397584157,
275
+ -42.91734511843137,
276
+ 46.57694790536069,
277
+ 19.112124257961174,
278
+ -24.455796253834585,
279
+ 14.52233066858387
280
+ ],
281
+ "std": [
282
+ 13.249623597151617,
283
+ 47.409724164245894,
284
+ 44.06362561512306,
285
+ 84.12639496951151,
286
+ 21.427342286328116,
287
+ 14.492636643273961
288
+ ],
289
+ "count": [
290
+ 43362
291
+ ],
292
+ "q01": [
293
+ -23.24775495568625,
294
+ -99.58551493851927,
295
+ -16.960236469727565,
296
+ -97.15218170848951,
297
+ -55.181708644102734,
298
+ 1.310508391803549
299
+ ],
300
+ "q10": [
301
+ -17.12507376287779,
302
+ -99.41442918224229,
303
+ -4.739359902953724,
304
+ -91.52368982252054,
305
+ -50.10953675764672,
306
+ 1.4689912520903745
307
+ ],
308
+ "q50": [
309
+ 0.5384834568710744,
310
+ -38.20215369705052,
311
+ 45.98114554446755,
312
+ 36.56596488567386,
313
+ -22.13498513380746,
314
+ 10.252730314202948
315
+ ],
316
+ "q90": [
317
+ 18.47629770935496,
318
+ 11.32063256949125,
319
+ 99.12881503429485,
320
+ 95.31841919758696,
321
+ -3.445384243270004,
322
+ 34.60494692594114
323
+ ],
324
+ "q99": [
325
+ 29.674858896700513,
326
+ 17.81564666684361,
327
+ 99.70762691375987,
328
+ 98.66204643069175,
329
+ -1.5082580982345954,
330
+ 38.54222042455127
331
+ ]
332
+ },
333
+ "observation.state": {
334
+ "min": [
335
+ -39.621238708496094,
336
+ -99.40978240966797,
337
+ -31.604827880859375,
338
+ -98.373291015625,
339
+ -98.14672088623047,
340
+ 2.034120798110962
341
+ ],
342
+ "max": [
343
+ 41.92350387573242,
344
+ 37.09949493408203,
345
+ 99.10594177246094,
346
+ 98.45890045166016,
347
+ 16.962677001953125,
348
+ 48.490814208984375
349
+ ],
350
+ "mean": [
351
+ 0.32066571775215663,
352
+ -42.365434158442724,
353
+ 47.10600336941454,
354
+ 19.1768236828023,
355
+ -24.548854349152275,
356
+ 16.60808065998659
357
+ ],
358
+ "std": [
359
+ 13.156516688963942,
360
+ 47.683711324901935,
361
+ 43.185207848279646,
362
+ 83.8803281245706,
363
+ 21.32447599958296,
364
+ 13.309521226910755
365
+ ],
366
+ "count": [
367
+ 43362
368
+ ],
369
+ "q01": [
370
+ -23.00138580208907,
371
+ -99.25707506810951,
372
+ -15.05866249948694,
373
+ -96.59287557591108,
374
+ -54.97371260350621,
375
+ 2.067662708773764
376
+ ],
377
+ "q10": [
378
+ -17.042376810761173,
379
+ -99.15461214419655,
380
+ -3.2663432321139263,
381
+ -91.20604291877494,
382
+ -50.053514392170676,
383
+ 2.095926557466146
384
+ ],
385
+ "q50": [
386
+ 0.513439098785951,
387
+ -37.47516953733782,
388
+ 46.67816698176501,
389
+ 36.760253239057455,
390
+ -22.327153209682084,
391
+ 14.65122830112539
392
+ ],
393
+ "q90": [
394
+ 18.228113625239793,
395
+ 11.9578094392297,
396
+ 98.4500367459359,
397
+ 95.02318228888672,
398
+ -3.4757533821743545,
399
+ 34.31410376083933
400
+ ],
401
+ "q99": [
402
+ 29.43469733195925,
403
+ 18.14715858715327,
404
+ 98.95198585805315,
405
+ 97.8654343224634,
406
+ -1.734417046542563,
407
+ 38.20774458251321
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 19
416
+ ],
417
+ "mean": [
418
+ 6.5035745583690785
419
+ ],
420
+ "std": [
421
+ 4.6263004071712075
422
+ ],
423
+ "count": [
424
+ 43362
425
+ ],
426
+ "q01": [
427
+ 6.5035745583690785
428
+ ],
429
+ "q10": [
430
+ 6.503574558369081
431
+ ],
432
+ "q50": [
433
+ 6.503574558369098
434
+ ],
435
+ "q90": [
436
+ 6.503574558369117
437
+ ],
438
+ "q99": [
439
+ 6.503574558369118
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 10177
448
+ ],
449
+ "mean": [
450
+ 4075.9338822010054
451
+ ],
452
+ "std": [
453
+ 2663.7493342106336
454
+ ],
455
+ "count": [
456
+ 43362
457
+ ],
458
+ "q01": [
459
+ 3775.5165716889387
460
+ ],
461
+ "q10": [
462
+ 3830.697158991664
463
+ ],
464
+ "q50": [
465
+ 4075.787803122549
466
+ ],
467
+ "q90": [
468
+ 4321.093687740497
469
+ ],
470
+ "q99": [
471
+ 4376.3353950100145
472
+ ]
473
+ },
474
+ "observation.images.wrist_camera": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.4181532888938537
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.4115859121532641
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.41075745258955504
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.033324630062992765
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.03224693250907673
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.03429065436822485
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 9281
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.02966662895750987
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.024246984355500132
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.00012928219084671721
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.13654023474146443
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.13583717831202807
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.11485876431667973
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.3855793658997607
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.379894555114049
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.36822966749067154
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.756343692325214
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7391407881134671
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.8471401724106414
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9999541601604554
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9999478718310192
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9999611392085277
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:417c477a0c26f162db1e688e6888a456e5d3ca31bb4c240f65a8efa6237fc8e3
3
+ size 2246
videos/observation.images.front_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f07936116b19a243d645e41885947cdac0b6e04c41ada7fda2d3ca94a30190fb
3
+ size 277564616
videos/observation.images.wrist_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a9251092a1e16b969e3e2e419d8afa4a87433161b97bd159054244dbb70da3c
3
+ size 93392356