hahahataeyun commited on
Commit
7f3cf3f
·
verified ·
1 Parent(s): 57fac71

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 sha256:1c5673b0330e3dcfef0ccd350e41a125817f99e9b4ea0bc6095a498b114583a5
3
+ size 23548
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2981d5ad0318fa75169b87d0de50aa943d8daf52af58e77bfe74900be22ac32b
3
+ size 91112
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 233,
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": "0:1"
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.top": {
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": {
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
+ "action": {
3
+ "min": [
4
+ -5.727079391479492,
5
+ -73.22285461425781,
6
+ 9.44810676574707,
7
+ 55.543521881103516,
8
+ -37.45800018310547,
9
+ 9.067997932434082
10
+ ],
11
+ "max": [
12
+ 10.534656524658203,
13
+ -6.318428039550781,
14
+ 74.6114501953125,
15
+ 67.66436004638672,
16
+ 10.3665771484375,
17
+ 18.555938720703125
18
+ ],
19
+ "mean": [
20
+ 0.46007999777793884,
21
+ -21.823095321655273,
22
+ 23.852508544921875,
23
+ 65.095947265625,
24
+ -1.9356436729431152,
25
+ 11.227737426757812
26
+ ],
27
+ "std": [
28
+ 3.169558525085449,
29
+ 23.782487869262695,
30
+ 22.05690574645996,
31
+ 3.0988752841949463,
32
+ 17.00093650817871,
33
+ 3.316541910171509
34
+ ],
35
+ "count": [
36
+ 233
37
+ ],
38
+ "q01": [
39
+ -4.919424090385437,
40
+ -71.05073684692383,
41
+ 9.673963022232055,
42
+ 55.92249252319336,
43
+ -37.13920093536377,
44
+ 9.129346561431884
45
+ ],
46
+ "q10": [
47
+ -2.3469149351119993,
48
+ -64.73535766601563,
49
+ 10.053256924947103,
50
+ 59.982900619506836,
51
+ -34.643045806884764,
52
+ 9.179512659708658
53
+ ],
54
+ "q50": [
55
+ -0.38184666633605957,
56
+ -7.596305847167969,
57
+ 10.83608627319336,
58
+ 66.77105331420898,
59
+ 7.243633270263672,
60
+ 9.294759750366211
61
+ ],
62
+ "q90": [
63
+ 5.463271808624268,
64
+ -6.82378184000651,
65
+ 64.76788024902343,
66
+ 67.2684928894043,
67
+ 9.203005981445312,
68
+ 17.437689781188965
69
+ ],
70
+ "q99": [
71
+ 10.211600971221923,
72
+ -6.376369400024414,
73
+ 72.70438407897949,
74
+ 67.5714421081543,
75
+ 9.741701850891113,
76
+ 18.547721824645997
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -5.268542289733887,
82
+ -98.89596557617188,
83
+ 11.663652420043945,
84
+ 56.64739990234375,
85
+ -37.111228942871094,
86
+ 8.457374572753906
87
+ ],
88
+ "max": [
89
+ 9.872122764587402,
90
+ -5.732483863830566,
91
+ 100.0,
92
+ 67.21717834472656,
93
+ 9.963099479675293,
94
+ 18.132612228393555
95
+ ],
96
+ "mean": [
97
+ 0.6250073313713074,
98
+ -23.016862869262695,
99
+ 27.46166229248047,
100
+ 65.08399963378906,
101
+ -1.0321251153945923,
102
+ 11.333578109741211
103
+ ],
104
+ "std": [
105
+ 2.9992942810058594,
106
+ 26.856996536254883,
107
+ 24.914159774780273,
108
+ 2.9831886291503906,
109
+ 16.209875106811523,
110
+ 3.1934447288513184
111
+ ],
112
+ "count": [
113
+ 233
114
+ ],
115
+ "q01": [
116
+ -4.449947118759155,
117
+ -98.81528579711915,
118
+ 11.663652420043945,
119
+ 56.73124851226807,
120
+ -36.590303649902346,
121
+ 8.523805208206177
122
+ ],
123
+ "q10": [
124
+ -1.3827915469805399,
125
+ -65.3515251159668,
126
+ 11.755733978271484,
127
+ 60.361938858032225,
128
+ -32.78698196411133,
129
+ 9.403957657228437
130
+ ],
131
+ "q50": [
132
+ -0.4605552716688676,
133
+ -6.082038402557373,
134
+ 11.9399749187001,
135
+ 66.9679650016453,
136
+ 7.96322504679362,
137
+ 9.405539608838266
138
+ ],
139
+ "q90": [
140
+ 5.677250099182129,
141
+ -5.825052642822266,
142
+ 67.44540596008301,
143
+ 67.13354341718886,
144
+ 9.018507232666016,
145
+ 17.38935966491699
146
+ ],
147
+ "q99": [
148
+ 9.771694302558899,
149
+ -5.807293930053711,
150
+ 99.98970741271972,
151
+ 67.21553698221842,
152
+ 9.650855178833007,
153
+ 18.13171007156372
154
+ ]
155
+ },
156
+ "observation.images.top": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.5701842912581699
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5808692279411765
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5669775408496732
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 100
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ -3.9215686274509807e-13
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.019621577824783146
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.05499960618811792
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.2509269116184739
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.2001863648756852
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.3018935540345413
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.623518108562316
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.6353767487685791
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.6352496194101916
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.7333783413725184
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.8117480325563915
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.7883588871959437
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.792195277320383
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.854970021956029
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.8392308987375773
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.wrist": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 0.9803921568627451
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.5604498161764705
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5825759865196078
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.5704068218954249
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 100
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.10591602110252564
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.054874725274376146
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.25086003521107214
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.20799077746969133
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.145148808096672
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.3882281200631034
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6351859164562059
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.6471572255445496
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.5490428456137904
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.7058066061819213
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.8196552051975253
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8196984328802035
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.788068761751514
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.9410560099136048
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.9686172642765959
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 7.733333333333333
478
+ ],
479
+ "mean": [
480
+ 3.866666666666667
481
+ ],
482
+ "std": [
483
+ 2.2420228961066977
484
+ ],
485
+ "count": [
486
+ 233
487
+ ],
488
+ "q01": [
489
+ 0.06701706656839987
490
+ ],
491
+ "q10": [
492
+ 0.766063999919812
493
+ ],
494
+ "q50": [
495
+ 3.8674400000000198
496
+ ],
497
+ "q90": [
498
+ 6.967269333413521
499
+ ],
500
+ "q99": [
501
+ 7.666316266764933
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 232
510
+ ],
511
+ "mean": [
512
+ 116.0
513
+ ],
514
+ "std": [
515
+ 67.26068688320095
516
+ ],
517
+ "count": [
518
+ 233
519
+ ],
520
+ "q01": [
521
+ 2.0105119999017327
522
+ ],
523
+ "q10": [
524
+ 22.98191999991981
525
+ ],
526
+ "q50": [
527
+ 116.0232
528
+ ],
529
+ "q90": [
530
+ 209.01808000008018
531
+ ],
532
+ "q99": [
533
+ 229.98948800009822
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 233
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 232
574
+ ],
575
+ "mean": [
576
+ 116.0
577
+ ],
578
+ "std": [
579
+ 67.26068688320095
580
+ ],
581
+ "count": [
582
+ 233
583
+ ],
584
+ "q01": [
585
+ 2.0105119999017327
586
+ ],
587
+ "q10": [
588
+ 22.98191999991981
589
+ ],
590
+ "q50": [
591
+ 116.0232
592
+ ],
593
+ "q90": [
594
+ 209.01808000008018
595
+ ],
596
+ "q99": [
597
+ 229.98948800009822
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 233
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8b2766705ab74ed2b4450521911100b1b003f23047c53426b3e2df798bb4b5ec
3
+ size 2146
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 sha256:34f793b63b2bfb7a256c500c81cedf80a743ed1791be596c7c9ff98a765dbe4b
3
+ size 4343740
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 sha256:7df4beeeb3b1c6685c7544cea81e18594e900af5d3c287045699c5643c754d84
3
+ size 2326397