imstevenpmwork HF Staff commited on
Commit
3ea2067
·
verified ·
1 Parent(s): 0b68d91

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 sha256:5903e384ce0289696d8e1ca4c521ca4d703e6decbc467289b5b6bc7bcdd8b654
3
+ size 68654
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6bbca581301609863cf49e7002827ca03751469bce9aed6003c58b09d5a482f
3
+ size 55854
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 1917,
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": "0:3"
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
+ 1080,
49
+ 1920,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 1080,
59
+ "video.width": 1920,
60
+ "video.codec": "h264",
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
+ 1080,
72
+ 1920,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 1080,
82
+ "video.width": 1920,
83
+ "video.codec": "h264",
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
+ 1917
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999418e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "observation.images.wrist": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 0.9686274509803922
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.3705946482169057
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.37456010307386156
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.37203339743130776
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.015384450965687895
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.017497968631542037
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.01529593073762525
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 27604800
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.04431499286729437
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.0561442559220148
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.04051339779457211
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.06783236286529251
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.08733313539094098
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.06268942237782824
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.2949925025819493
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.2873497142199734
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.27548329268398647
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.8586705659347467
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.8638091130604315
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.8978530981062575
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.8824655564934362
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.8772159738386895
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9111222970906181
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -56.263736724853516,
195
+ -99.69230651855469,
196
+ 13.582417488098145,
197
+ -31.78022003173828,
198
+ -63.42856979370117,
199
+ 1.2024048566818237
200
+ ],
201
+ "max": [
202
+ 50.81318664550781,
203
+ -65.23076629638672,
204
+ 53.230770111083984,
205
+ 66.85713958740234,
206
+ 94.63735961914062,
207
+ 92.98596954345703
208
+ ],
209
+ "mean": [
210
+ -33.80134643411412,
211
+ -96.75930860158236,
212
+ 51.95153522441707,
213
+ 50.27496111734994,
214
+ -13.8444854624892,
215
+ 7.729168262964247
216
+ ],
217
+ "std": [
218
+ 20.862497293055405,
219
+ 6.259224423854699,
220
+ 4.742481062198492,
221
+ 23.526917813800257,
222
+ 42.50907198176218,
223
+ 14.741286054827675
224
+ ],
225
+ "count": [
226
+ 1917
227
+ ],
228
+ "q01": [
229
+ -47.54104068943753,
230
+ -99.04285725144307,
231
+ 32.39005948250283,
232
+ 21.083846756582407,
233
+ -44.58101682130657,
234
+ 1.2024048566818237
235
+ ],
236
+ "q10": [
237
+ -44.22302873940531,
238
+ -98.93049790819718,
239
+ 52.4375977747723,
240
+ 37.430940844158236,
241
+ -34.35182766654308,
242
+ 1.2024048566818237
243
+ ],
244
+ "q50": [
245
+ -36.014339897740804,
246
+ -98.87220608757326,
247
+ 52.90199836516714,
248
+ 49.22298721445475,
249
+ -20.715477588378246,
250
+ 4.590583713254371
251
+ ],
252
+ "q90": [
253
+ -19.583686083185217,
254
+ -91.07205053053897,
255
+ 52.93387959305804,
256
+ 66.0850143800826,
257
+ 17.556395490205595,
258
+ 21.3149367052127
259
+ ],
260
+ "q99": [
261
+ 6.322341141399768,
262
+ -88.20903986244225,
263
+ 52.963953944413454,
264
+ 66.25672159634733,
265
+ 30.992291673591627,
266
+ 50.32156067075118
267
+ ]
268
+ },
269
+ "observation.images.front": {
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ],
287
+ "max": [
288
+ [
289
+ [
290
+ 1.0
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.9725490196078431
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 1.0
301
+ ]
302
+ ]
303
+ ],
304
+ "mean": [
305
+ [
306
+ [
307
+ 0.41110449833015755
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.41138331221842
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.416181802957454
318
+ ]
319
+ ]
320
+ ],
321
+ "std": [
322
+ [
323
+ [
324
+ 0.007118820197650963
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.015981630820315628
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.012629994292225069
335
+ ]
336
+ ]
337
+ ],
338
+ "count": [
339
+ 27561600
340
+ ],
341
+ "q01": [
342
+ [
343
+ [
344
+ 0.04958844450815869
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.06135197248002734
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.04568287335904206
355
+ ]
356
+ ]
357
+ ],
358
+ "q10": [
359
+ [
360
+ [
361
+ 0.08616433948270825
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.10583586969098188
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.09802148359010654
372
+ ]
373
+ ]
374
+ ],
375
+ "q50": [
376
+ [
377
+ [
378
+ 0.3984301672550508
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.3933669767978486
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.38263861410291233
389
+ ]
390
+ ]
391
+ ],
392
+ "q90": [
393
+ [
394
+ [
395
+ 0.8365530151537651
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.8260239737115856
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.8636658123961197
406
+ ]
407
+ ]
408
+ ],
409
+ "q99": [
410
+ [
411
+ [
412
+ 0.8892256079793177
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.875875601170451
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.9099152394307265
423
+ ]
424
+ ]
425
+ ]
426
+ },
427
+ "frame_index": {
428
+ "min": [
429
+ 0
430
+ ],
431
+ "max": [
432
+ 656
433
+ ],
434
+ "mean": [
435
+ 319.3354199269692
436
+ ],
437
+ "std": [
438
+ 185.03484047148598
439
+ ],
440
+ "count": [
441
+ 1917
442
+ ],
443
+ "q01": [
444
+ 5.998590447476216
445
+ ],
446
+ "q10": [
447
+ 63.1383624829662
448
+ ],
449
+ "q50": [
450
+ 319.02587313510685
451
+ ],
452
+ "q90": [
453
+ 574.9971064789532
454
+ ],
455
+ "q99": [
456
+ 632.6722494064622
457
+ ]
458
+ },
459
+ "index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 1916
465
+ ],
466
+ "mean": [
467
+ 958.0
468
+ ],
469
+ "std": [
470
+ 553.3901577247889
471
+ ],
472
+ "count": [
473
+ 1917
474
+ ],
475
+ "q01": [
476
+ 644.6631705205069
477
+ ],
478
+ "q10": [
479
+ 701.802942555997
480
+ ],
481
+ "q50": [
482
+ 957.7354184663536
483
+ ],
484
+ "q90": [
485
+ 1213.661686551984
486
+ ],
487
+ "q99": [
488
+ 1271.336829479493
489
+ ]
490
+ },
491
+ "episode_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 2
497
+ ],
498
+ "mean": [
499
+ 1.020865936358894
500
+ ],
501
+ "std": [
502
+ 0.8104576534310913
503
+ ],
504
+ "count": [
505
+ 1917
506
+ ],
507
+ "q01": [
508
+ 1.0208659363588946
509
+ ],
510
+ "q10": [
511
+ 1.020865936358898
512
+ ],
513
+ "q50": [
514
+ 1.020865936358914
515
+ ],
516
+ "q90": [
517
+ 1.02086593635893
518
+ ],
519
+ "q99": [
520
+ 1.0208659363589336
521
+ ]
522
+ },
523
+ "timestamp": {
524
+ "min": [
525
+ 0.0
526
+ ],
527
+ "max": [
528
+ 21.866666666666667
529
+ ],
530
+ "mean": [
531
+ 10.64451399756564
532
+ ],
533
+ "std": [
534
+ 6.167828015716202
535
+ ],
536
+ "count": [
537
+ 1917
538
+ ],
539
+ "q01": [
540
+ 0.1999530148210248
541
+ ],
542
+ "q10": [
543
+ 2.104612082687985
544
+ ],
545
+ "q50": [
546
+ 10.635694613110676
547
+ ],
548
+ "q90": [
549
+ 19.1665702160425
550
+ ],
551
+ "q99": [
552
+ 21.089074980310254
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -57.098899841308594,
558
+ -102.63735961914062,
559
+ 7.4285712242126465,
560
+ -37.05494689941406,
561
+ -66.5934066772461,
562
+ 0.09980040043592453
563
+ ],
564
+ "max": [
565
+ 50.769229888916016,
566
+ -64.57142639160156,
567
+ 96.83516693115234,
568
+ 85.4945068359375,
569
+ 95.25274658203125,
570
+ 96.40718841552734
571
+ ],
572
+ "mean": [
573
+ -33.48730834996756,
574
+ -98.17499429606247,
575
+ 88.47462002510943,
576
+ 56.51395782009039,
577
+ -13.940008860425397,
578
+ 6.951161268886701
579
+ ],
580
+ "std": [
581
+ 20.97184642036894,
582
+ 6.796700844763473,
583
+ 17.757461083511508,
584
+ 28.59832952315136,
585
+ 42.81896152927937,
586
+ 16.605476649056403
587
+ ],
588
+ "count": [
589
+ 1917
590
+ ],
591
+ "q01": [
592
+ -47.70407095461882,
593
+ -101.65924308605722,
594
+ 43.32683341889936,
595
+ 25.03816404923711,
596
+ -45.02403860539566,
597
+ 0.13363986850235696
598
+ ],
599
+ "q10": [
600
+ -44.183663264338875,
601
+ -100.92980919783729,
602
+ 76.81760990001538,
603
+ 41.33968083934356,
604
+ -36.03098911542943,
605
+ 0.13363986850235696
606
+ ],
607
+ "q50": [
608
+ -35.677350968739155,
609
+ -100.08681919823566,
610
+ 91.31815901827744,
611
+ 55.84360573244651,
612
+ -20.621312211643758,
613
+ 3.8922292196212736
614
+ ],
615
+ "q90": [
616
+ -19.276109279152763,
617
+ -91.80399490413838,
618
+ 96.83141396011173,
619
+ 76.32891934325457,
620
+ 17.50906436902257,
621
+ 18.036153610801453
622
+ ],
623
+ "q99": [
624
+ 6.945427804289225,
625
+ -88.61084098496444,
626
+ 96.83479163404829,
627
+ 77.83698745954392,
628
+ 31.19190281771967,
629
+ 57.836333837003416
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a1035edfc88ecf556f4ec5c291381e1ada352f3e18bb28c8bf0e0abcaf2bb04
3
+ size 2161
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 sha256:21e87d7cdedf494b63579c6920dfdb67f0897f3355c73daf43eba6cadf12c81d
3
+ size 123080459
videos/observation.images.front/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e60108ae1605dab09be40011f05e1926c4fde37e398c80099cce445523cafc4
3
+ size 129334454
videos/observation.images.front/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:be30b300144a6febbc3c96aa4000ccffeaf55eb9ce7c371afed261e8f9c1320d
3
+ size 118049996
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 sha256:7a12ccd4833ffc9ded5317c19b170fba4869f5632aa3aac86a69175649e1316f
3
+ size 111222145
videos/observation.images.wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d1c72cf851065a90924ed6243415373e96a83b3679c4a487b89145ba3b5066e
3
+ size 208458470