home1017 commited on
Commit
b8248d9
·
verified ·
1 Parent(s): 82e0743

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 sha256:5c98342523fee51a260b93b983f243e9478375fae61cb1c9358cfce233e1c273
3
+ size 1502472
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c5ed6c1ecd4bf8c8b53037426fe9e185b0643295fcffe1989dec32d4af742efc
3
+ size 232865
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 31685,
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": "0:50"
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.wrist": {
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.front": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1302
8
+ ],
9
+ "mean": [
10
+ 348.82966703487455
11
+ ],
12
+ "std": [
13
+ 241.02675703770046
14
+ ],
15
+ "count": [
16
+ 31685
17
+ ],
18
+ "q01": [
19
+ 6.494905614546002
20
+ ],
21
+ "q10": [
22
+ 69.30583844713468
23
+ ],
24
+ "q50": [
25
+ 348.57823710904216
26
+ ],
27
+ "q90": [
28
+ 628.2109234906906
29
+ ],
30
+ "q99": [
31
+ 691.164428455203
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -24.807621002197266,
37
+ -98.81002807617188,
38
+ -96.75967407226562,
39
+ -67.27589416503906,
40
+ -19.00653648376465,
41
+ 2.207357883453369
42
+ ],
43
+ "max": [
44
+ 33.748626708984375,
45
+ 73.48065948486328,
46
+ 100.0,
47
+ 98.78154754638672,
48
+ 99.11111450195312,
49
+ 52.37458038330078
50
+ ],
51
+ "mean": [
52
+ 1.7077533770340247,
53
+ -16.48388234416036,
54
+ 17.700057097417762,
55
+ 71.31786759707458,
56
+ 27.762619780113365,
57
+ 10.253799519321417
58
+ ],
59
+ "std": [
60
+ 12.193204651259453,
61
+ 52.49833584197821,
62
+ 56.26949199645523,
63
+ 22.840380187786366,
64
+ 23.204334647925837,
65
+ 11.057448685273826
66
+ ],
67
+ "count": [
68
+ 31685
69
+ ],
70
+ "q01": [
71
+ -14.415472369401925,
72
+ -95.79177766232634,
73
+ -49.97068937398089,
74
+ 39.226685563725404,
75
+ 12.204696027955949,
76
+ 2.503010717957521
77
+ ],
78
+ "q10": [
79
+ -10.707166227544997,
80
+ -91.3318133832129,
81
+ -38.74911725440092,
82
+ 48.58189484743097,
83
+ 15.094705162013122,
84
+ 2.6643668711894537
85
+ ],
86
+ "q50": [
87
+ 1.3517427259011967,
88
+ 0.19078086104376296,
89
+ 6.468820824644191,
90
+ 72.00388906396861,
91
+ 27.33854092796544,
92
+ 6.692237612910051
93
+ ],
94
+ "q90": [
95
+ 14.41803788369304,
96
+ 38.54368892817695,
97
+ 96.87059224854865,
98
+ 92.95933546588954,
99
+ 41.58731820514821,
100
+ 25.20563712498491
101
+ ],
102
+ "q99": [
103
+ 16.075818321536254,
104
+ 43.02729760252716,
105
+ 98.76628795958352,
106
+ 96.41465498292817,
107
+ 43.700569727212404,
108
+ 30.08132876796099
109
+ ]
110
+ },
111
+ "timestamp": {
112
+ "min": [
113
+ 0.0
114
+ ],
115
+ "max": [
116
+ 43.4
117
+ ],
118
+ "mean": [
119
+ 11.627655567829152
120
+ ],
121
+ "std": [
122
+ 8.034225234590023
123
+ ],
124
+ "count": [
125
+ 31685
126
+ ],
127
+ "q01": [
128
+ 0.21649685372332186
129
+ ],
130
+ "q10": [
131
+ 2.3101946148270125
132
+ ],
133
+ "q50": [
134
+ 11.620356186207912
135
+ ],
136
+ "q90": [
137
+ 20.940364116433784
138
+ ],
139
+ "q99": [
140
+ 23.03881428193499
141
+ ]
142
+ },
143
+ "action": {
144
+ "min": [
145
+ -24.963180541992188,
146
+ -100.0,
147
+ -99.27764892578125,
148
+ -69.05172729492188,
149
+ -19.037656784057617,
150
+ 0.0
151
+ ],
152
+ "max": [
153
+ 36.52429962158203,
154
+ 73.3054428100586,
155
+ 100.0,
156
+ 100.0,
157
+ 99.52928924560547,
158
+ 55.709877014160156
159
+ ],
160
+ "mean": [
161
+ 1.813004461956058,
162
+ -17.613714335635205,
163
+ 16.33813502969512,
164
+ 71.24706011966744,
165
+ 27.851940350692807,
166
+ 8.588694291109539
167
+ ],
168
+ "std": [
169
+ 12.356499159108422,
170
+ 51.919374482900835,
171
+ 56.875404621673624,
172
+ 23.18193822397362,
173
+ 23.22409369255859,
174
+ 11.342760148926656
175
+ ],
176
+ "count": [
177
+ 31685
178
+ ],
179
+ "q01": [
180
+ -14.561203735201204,
181
+ -96.29193147851544,
182
+ -52.49692435916481,
183
+ 38.56289060434157,
184
+ 12.134724116295018,
185
+ 1.6329507459817125
186
+ ],
187
+ "q10": [
188
+ -10.690137069456155,
189
+ -91.62828691673865,
190
+ -40.639166068429006,
191
+ 48.068584488490536,
192
+ 15.117050101577254,
193
+ 1.7046260033574445
194
+ ],
195
+ "q50": [
196
+ 1.3872122628884525,
197
+ -1.63210810750247,
198
+ 4.995809724199492,
199
+ 71.81784758732198,
200
+ 27.444121781372345,
201
+ 2.9946227461266894
202
+ ],
203
+ "q90": [
204
+ 14.735629840412166,
205
+ 36.849075793435475,
206
+ 96.88674326177124,
207
+ 93.7744414674798,
208
+ 41.70712010192721,
209
+ 25.537574437765443
210
+ ],
211
+ "q99": [
212
+ 16.834436844998713,
213
+ 42.52495427640717,
214
+ 98.96359064814939,
215
+ 97.63904777945267,
216
+ 43.919278470354094,
217
+ 30.441663225647947
218
+ ]
219
+ },
220
+ "observation.images.front": {
221
+ "min": [
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.03137254901960784
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.0
235
+ ]
236
+ ]
237
+ ],
238
+ "max": [
239
+ [
240
+ [
241
+ 1.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 1.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 1.0
252
+ ]
253
+ ]
254
+ ],
255
+ "mean": [
256
+ [
257
+ [
258
+ 0.8196417939122375
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.8092777454567323
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.814772249975743
269
+ ]
270
+ ]
271
+ ],
272
+ "std": [
273
+ [
274
+ [
275
+ 0.023016184071656086
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.023379631533573222
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.02191428874301008
286
+ ]
287
+ ]
288
+ ],
289
+ "count": [
290
+ 6332
291
+ ],
292
+ "q01": [
293
+ [
294
+ [
295
+ 0.327188421559719
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.31216410859765703
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.3397514541102966
306
+ ]
307
+ ]
308
+ ],
309
+ "q10": [
310
+ [
311
+ [
312
+ 0.45010491378558376
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.43481029334964083
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.4573752625293263
323
+ ]
324
+ ]
325
+ ],
326
+ "q50": [
327
+ [
328
+ [
329
+ 0.9020480686614102
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.8904266337481244
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.8990472771612461
340
+ ]
341
+ ]
342
+ ],
343
+ "q90": [
344
+ [
345
+ [
346
+ 0.9983712907346949
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.9950832529007444
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.9930424434158568
357
+ ]
358
+ ]
359
+ ],
360
+ "q99": [
361
+ [
362
+ [
363
+ 0.999868240288744
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.99973430791081
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9999781409021051
374
+ ]
375
+ ]
376
+ ]
377
+ },
378
+ "episode_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 49
384
+ ],
385
+ "mean": [
386
+ 24.38311503866183
387
+ ],
388
+ "std": [
389
+ 14.428025310538832
390
+ ],
391
+ "count": [
392
+ 31685
393
+ ],
394
+ "q01": [
395
+ 24.38311503866183
396
+ ],
397
+ "q10": [
398
+ 24.38311503866183
399
+ ],
400
+ "q50": [
401
+ 24.383115038661845
402
+ ],
403
+ "q90": [
404
+ 24.38311503866185
405
+ ],
406
+ "q99": [
407
+ 24.38311503866185
408
+ ]
409
+ },
410
+ "observation.images.wrist": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.027450980392156862
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.8749495768458992
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.867250590294551
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.8715563357120593
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.020831167143456213
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.02239135728830006
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.02229317803738969
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 6332
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.3733088615950005
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.36386033583333605
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.3951220336019651
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.6117672610582007
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.584344674334774
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.5976760384631695
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.9353481603118444
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.9275740721302194
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.9312470364539699
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.9896844785666599
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.9929469708797966
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.9975907112110431
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.9999672605295277
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.999978333242506
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.9999846585545681
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 31684
574
+ ],
575
+ "mean": [
576
+ 15842.0
577
+ ],
578
+ "std": [
579
+ 9146.671635081255
580
+ ],
581
+ "count": [
582
+ 31685
583
+ ],
584
+ "q01": [
585
+ 15499.665238579677
586
+ ],
587
+ "q10": [
588
+ 15562.476171412261
589
+ ],
590
+ "q50": [
591
+ 15841.801409323023
592
+ ],
593
+ "q90": [
594
+ 16121.381256455816
595
+ ],
596
+ "q99": [
597
+ 16184.334761420327
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
+ 31685
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997084e-14
624
+ ],
625
+ "q90": [
626
+ 3.5999999999994766e-14
627
+ ],
628
+ "q99": [
629
+ 3.959999999999424e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:900b008a6cbad333fdd11eb6982db1711318bac6cacf434929064fe562850e1c
3
+ size 2306
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:fa7f106d71244b14c0b7abb9445ce887b3cf9056783d844a509fbcb72bd81063
3
+ size 276794141
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 sha256:2b2e6fd6f25161bca724ac6aa07e4514255fee73ba81910c525b55e11b0331f6
3
+ size 144302496