hangyufeng commited on
Commit
9d0acc5
·
verified ·
1 Parent(s): 1a2fbe4

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:f4910c642df30934e6b6de1bc88fcff6fca344f4ce768ed59ca690461316a4b8
3
+ size 1064331
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c487e2d3313260e6c798d1ea5947bee2178345986eb64fac05b5b3a1fb9ed53
3
+ size 194637
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 21774,
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": "0:50"
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
+ "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
+ "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
+ 21774
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994167e-16
20
+ ],
21
+ "q10": [
22
+ 3.9999999999994205e-15
23
+ ],
24
+ "q50": [
25
+ 1.999999999999709e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999478e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -44.89645004272461,
37
+ -99.32030487060547,
38
+ -55.74506378173828,
39
+ -95.00423431396484,
40
+ -69.47496795654297,
41
+ 1.0688042640686035
42
+ ],
43
+ "max": [
44
+ 20.118343353271484,
45
+ 56.24468994140625,
46
+ 99.37163543701172,
47
+ 75.44454193115234,
48
+ 9.69474983215332,
49
+ 35.07014083862305
50
+ ],
51
+ "mean": [
52
+ -6.207486758459761,
53
+ -34.64886269289522,
54
+ 55.34584166732736,
55
+ 27.832398766250204,
56
+ -52.38312057613549,
57
+ 10.08163985915231
58
+ ],
59
+ "std": [
60
+ 14.262793751426113,
61
+ 51.41612491716973,
62
+ 40.52513135400833,
63
+ 41.18390868413597,
64
+ 6.835103172291602,
65
+ 7.437495540634489
66
+ ],
67
+ "count": [
68
+ 21774
69
+ ],
70
+ "q01": [
71
+ -27.82743258007622,
72
+ -98.8225508519733,
73
+ -5.976840285795708,
74
+ -35.070382666109985,
75
+ -61.805040076632956,
76
+ 1.596585947926552
77
+ ],
78
+ "q10": [
79
+ -25.717482773550763,
80
+ -98.7510126148861,
81
+ -1.330832811667292,
82
+ -31.907975560581672,
83
+ -60.43198160237624,
84
+ 1.874727414926411
85
+ ],
86
+ "q50": [
87
+ -6.8442319319930744,
88
+ -24.864905275136618,
89
+ 56.12980120553552,
90
+ 39.54300306755651,
91
+ -51.18552189865384,
92
+ 8.201858072791016
93
+ ],
94
+ "q90": [
95
+ 13.579662936125299,
96
+ 27.372050276893773,
97
+ 99.07863787394736,
98
+ 73.97156505327185,
99
+ -45.633288915863716,
100
+ 21.211639776248152
101
+ ],
102
+ "q99": [
103
+ 15.191294564874854,
104
+ 32.63323013338295,
105
+ 99.1144969895912,
106
+ 74.17400303024093,
107
+ -43.83809763446035,
108
+ 22.68233192773394
109
+ ]
110
+ },
111
+ "action": {
112
+ "min": [
113
+ -44.98886489868164,
114
+ -100.0,
115
+ -60.07242965698242,
116
+ -70.89324951171875,
117
+ -69.86569213867188,
118
+ 0.32786884903907776
119
+ ],
120
+ "max": [
121
+ 20.48997688293457,
122
+ 55.771671295166016,
123
+ 100.0,
124
+ 77.16775512695312,
125
+ 12.380952835083008,
126
+ 35.16393280029297
127
+ ],
128
+ "mean": [
129
+ -6.1435697505578535,
130
+ -35.734537225239556,
131
+ 54.39055967125079,
132
+ 27.50358453515619,
133
+ -52.368806426930476,
134
+ 8.934298950701452
135
+ ],
136
+ "std": [
137
+ 14.243731119680058,
138
+ 50.76558785366682,
139
+ 41.71562909047191,
140
+ 41.627031692498505,
141
+ 6.918569368061218,
142
+ 8.499704517778827
143
+ ],
144
+ "count": [
145
+ 21774
146
+ ],
147
+ "q01": [
148
+ -27.94993079459272,
149
+ -98.99134179601248,
150
+ -9.215987906837073,
151
+ -35.49557256551925,
152
+ -62.10591175140577,
153
+ 1.0369394837135872
154
+ ],
155
+ "q10": [
156
+ -25.51308065080849,
157
+ -98.91337895946494,
158
+ -3.6642056417406517,
159
+ -32.89578578831338,
160
+ -60.602466488429776,
161
+ 1.106361780720965
162
+ ],
163
+ "q50": [
164
+ -6.767716268541521,
165
+ -26.466066385470757,
166
+ 54.712140991902004,
167
+ 38.756601370344725,
168
+ -51.05836458745245,
169
+ 6.256867241262071
170
+ ],
171
+ "q90": [
172
+ 13.60282291528324,
173
+ 25.487347251029902,
174
+ 99.92702005659355,
175
+ 74.98326466673882,
176
+ -45.43382538541309,
177
+ 21.476936532219174
178
+ ],
179
+ "q99": [
180
+ 15.64813298143946,
181
+ 32.33871691623298,
182
+ 99.96337034864032,
183
+ 75.25787681524129,
184
+ -43.54819875240035,
185
+ 22.947702012988252
186
+ ]
187
+ },
188
+ "observation.images.front": {
189
+ "min": [
190
+ [
191
+ [
192
+ 0.0
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.0
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.0
203
+ ]
204
+ ]
205
+ ],
206
+ "max": [
207
+ [
208
+ [
209
+ 1.0
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 1.0
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 1.0
220
+ ]
221
+ ]
222
+ ],
223
+ "mean": [
224
+ [
225
+ [
226
+ 0.5667939639297389
227
+ ]
228
+ ],
229
+ [
230
+ [
231
+ 0.5346636433006533
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.5421060250000004
237
+ ]
238
+ ]
239
+ ],
240
+ "std": [
241
+ [
242
+ [
243
+ 0.008353801056148571
244
+ ]
245
+ ],
246
+ [
247
+ [
248
+ 0.009557514510994609
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.009358046289778182
254
+ ]
255
+ ]
256
+ ],
257
+ "count": [
258
+ 5000
259
+ ],
260
+ "q01": [
261
+ [
262
+ [
263
+ 0.005973602347194943
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.005448036517272132
269
+ ]
270
+ ],
271
+ [
272
+ [
273
+ -3.921568627450983e-13
274
+ ]
275
+ ]
276
+ ],
277
+ "q10": [
278
+ [
279
+ [
280
+ 0.32321358434250647
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.24312975423787844
286
+ ]
287
+ ],
288
+ [
289
+ [
290
+ 0.1793625872489315
291
+ ]
292
+ ]
293
+ ],
294
+ "q50": [
295
+ [
296
+ [
297
+ 0.5867523534781988
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.5814827555998904
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.5883773647794458
308
+ ]
309
+ ]
310
+ ],
311
+ "q90": [
312
+ [
313
+ [
314
+ 0.7703502705929133
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 0.7332779772387308
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.7751315939490018
325
+ ]
326
+ ]
327
+ ],
328
+ "q99": [
329
+ [
330
+ [
331
+ 0.9894917929479321
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.8617234128760636
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.9262102479354729
342
+ ]
343
+ ]
344
+ ]
345
+ },
346
+ "timestamp": {
347
+ "min": [
348
+ 0.0
349
+ ],
350
+ "max": [
351
+ 14.566666666666666
352
+ ],
353
+ "mean": [
354
+ 7.241428615167939
355
+ ],
356
+ "std": [
357
+ 4.190561884021572
358
+ ],
359
+ "count": [
360
+ 21774
361
+ ],
362
+ "q01": [
363
+ 0.13269791048632162
364
+ ],
365
+ "q10": [
366
+ 1.4339077148091188
367
+ ],
368
+ "q50": [
369
+ 7.235229265484747
370
+ ],
371
+ "q90": [
372
+ 13.04894951552676
373
+ ],
374
+ "q99": [
375
+ 14.350159319849551
376
+ ]
377
+ },
378
+ "frame_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 437
384
+ ],
385
+ "mean": [
386
+ 217.24285845503812
387
+ ],
388
+ "std": [
389
+ 125.71685652064716
390
+ ],
391
+ "count": [
392
+ 21774
393
+ ],
394
+ "q01": [
395
+ 3.9809373174365046
396
+ ],
397
+ "q10": [
398
+ 43.01723144659931
399
+ ],
400
+ "q50": [
401
+ 217.05687796454473
402
+ ],
403
+ "q90": [
404
+ 391.4684854634769
405
+ ],
406
+ "q99": [
407
+ 430.5047795926396
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 49
416
+ ],
417
+ "mean": [
418
+ 24.49880591531184
419
+ ],
420
+ "std": [
421
+ 14.42169474035779
422
+ ],
423
+ "count": [
424
+ 21774
425
+ ],
426
+ "q01": [
427
+ 24.49880591531184
428
+ ],
429
+ "q10": [
430
+ 24.498805915311845
431
+ ],
432
+ "q50": [
433
+ 24.498805915311852
434
+ ],
435
+ "q90": [
436
+ 24.498805915311873
437
+ ],
438
+ "q99": [
439
+ 24.498805915311873
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 21773
448
+ ],
449
+ "mean": [
450
+ 10886.5
451
+ ],
452
+ "std": [
453
+ 6285.612374038561
454
+ ],
455
+ "count": [
456
+ 21774
457
+ ],
458
+ "q01": [
459
+ 10673.238078862403
460
+ ],
461
+ "q10": [
462
+ 10712.274372991566
463
+ ],
464
+ "q50": [
465
+ 10886.314019509515
466
+ ],
467
+ "q90": [
468
+ 11060.725627008434
469
+ ],
470
+ "q99": [
471
+ 11099.761921137597
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d65ea13989473c7e0e2c040b895bc511d531f90afc865a483bd8986e9a1839c
3
+ size 2302
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 sha256:823422df2c0be8e67943b091722455cfe23cdedbb6c479903bcde5d2c2c1a9de
3
+ size 140817170