jackvial commited on
Commit
0a618ad
·
verified ·
1 Parent(s): 5d2e10c

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:ac3651c24044484e536aadebb4cea7c3e1d9c0f4ec1b7ef7e9899a6ef89973ec
3
+ size 16796
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c66133701b2cbcd28799c1ac11a582bf8107f65bcb3ee04a7f07b81c7e904a96
3
+ size 52353
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": 360,
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
+ 600,
49
+ 800,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 600,
59
+ "video.width": 800,
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.side": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 600,
72
+ 800,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 600,
82
+ "video.width": 800,
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
+ "observation.images.side": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.2852909681372549
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.29668914624183007
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.29823071691176467
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 100
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.007863163814187803
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.015651380332725295
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.09402534546058766
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.07448209870501037
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.08231751892924402
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.13330482996521262
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.16463241069008044
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.17659104129637154
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.18834970908849835
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.8353004422607051
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.8431359359362051
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.772508361204227
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9490890604326415
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9491651781063468
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9491341649643268
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.images.top": {
161
+ "min": [
162
+ [
163
+ [
164
+ 0.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.0
175
+ ]
176
+ ]
177
+ ],
178
+ "max": [
179
+ [
180
+ [
181
+ 1.0
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 1.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 1.0
192
+ ]
193
+ ]
194
+ ],
195
+ "mean": [
196
+ [
197
+ [
198
+ 0.32824346609477134
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.34465474877450986
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.3501268525326797
209
+ ]
210
+ ]
211
+ ],
212
+ "std": [
213
+ [
214
+ [
215
+ 5.551115123125783e-17
216
+ ]
217
+ ],
218
+ [
219
+ [
220
+ 0.0
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.0
226
+ ]
227
+ ]
228
+ ],
229
+ "count": [
230
+ 100
231
+ ],
232
+ "q01": [
233
+ [
234
+ [
235
+ 0.007887899034506382
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.02343189772235894
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.11366909586211824
246
+ ]
247
+ ]
248
+ ],
249
+ "q10": [
250
+ [
251
+ [
252
+ 0.05485627493979452
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.07042759130697905
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.14512281037649744
263
+ ]
264
+ ]
265
+ ],
266
+ "q50": [
267
+ [
268
+ [
269
+ 0.22359844769382145
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.250914415675102
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.2589745098037325
280
+ ]
281
+ ]
282
+ ],
283
+ "q90": [
284
+ [
285
+ [
286
+ 0.8157658854169143
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.8312076712331362
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.7529066907777751
297
+ ]
298
+ ]
299
+ ],
300
+ "q99": [
301
+ [
302
+ [
303
+ 0.9411758624141044
304
+ ]
305
+ ],
306
+ [
307
+ [
308
+ 0.9450192030728405
309
+ ]
310
+ ],
311
+ [
312
+ [
313
+ 0.9411309381389303
314
+ ]
315
+ ]
316
+ ]
317
+ },
318
+ "episode_index": {
319
+ "min": [
320
+ 0
321
+ ],
322
+ "max": [
323
+ 0
324
+ ],
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "count": [
332
+ 360
333
+ ],
334
+ "q01": [
335
+ 3.9999999999994176e-16
336
+ ],
337
+ "q10": [
338
+ 3.999999999999417e-15
339
+ ],
340
+ "q50": [
341
+ 1.9999999999997088e-14
342
+ ],
343
+ "q90": [
344
+ 3.599999999999476e-14
345
+ ],
346
+ "q99": [
347
+ 3.9599999999994235e-14
348
+ ]
349
+ },
350
+ "task_index": {
351
+ "min": [
352
+ 0
353
+ ],
354
+ "max": [
355
+ 0
356
+ ],
357
+ "mean": [
358
+ 0.0
359
+ ],
360
+ "std": [
361
+ 0.0
362
+ ],
363
+ "count": [
364
+ 360
365
+ ],
366
+ "q01": [
367
+ 3.9999999999994176e-16
368
+ ],
369
+ "q10": [
370
+ 3.999999999999417e-15
371
+ ],
372
+ "q50": [
373
+ 1.9999999999997088e-14
374
+ ],
375
+ "q90": [
376
+ 3.599999999999476e-14
377
+ ],
378
+ "q99": [
379
+ 3.9599999999994235e-14
380
+ ]
381
+ },
382
+ "index": {
383
+ "min": [
384
+ 0
385
+ ],
386
+ "max": [
387
+ 359
388
+ ],
389
+ "mean": [
390
+ 179.5
391
+ ],
392
+ "std": [
393
+ 103.92264751567227
394
+ ],
395
+ "count": [
396
+ 360
397
+ ],
398
+ "q01": [
399
+ 2.986879999901664
400
+ ],
401
+ "q10": [
402
+ 35.03839999991952
403
+ ],
404
+ "q50": [
405
+ 179.06919999999977
406
+ ],
407
+ "q90": [
408
+ 323.02820000007995
409
+ ],
410
+ "q99": [
411
+ 356.01312000009835
412
+ ]
413
+ },
414
+ "observation.state": {
415
+ "min": [
416
+ -40.425533294677734,
417
+ -98.33333587646484,
418
+ 16.525211334228516,
419
+ 31.75591468811035,
420
+ -37.27130126953125,
421
+ 16.05902862548828
422
+ ],
423
+ "max": [
424
+ 46.90101623535156,
425
+ 25.185184478759766,
426
+ 97.60359191894531,
427
+ 87.2976303100586,
428
+ -22.530057907104492,
429
+ 52.95138931274414
430
+ ],
431
+ "mean": [
432
+ 33.31376647949219,
433
+ -69.46076202392578,
434
+ 79.86260986328125,
435
+ 71.05525970458984,
436
+ -26.411067962646484,
437
+ 38.68099594116211
438
+ ],
439
+ "std": [
440
+ 24.21732521057129,
441
+ 43.30655288696289,
442
+ 26.414791107177734,
443
+ 19.580625534057617,
444
+ 2.623988389968872,
445
+ 12.445290565490723
446
+ ],
447
+ "count": [
448
+ 360
449
+ ],
450
+ "q01": [
451
+ -40.05410461425781,
452
+ -98.33333587646484,
453
+ 16.525211334228516,
454
+ 32.384648132324216,
455
+ -37.06237004597982,
456
+ 16.05902862548828
457
+ ],
458
+ "q10": [
459
+ -12.481037139892578,
460
+ -98.33333587646484,
461
+ 36.0975341796875,
462
+ 40.1056874593099,
463
+ -28.174970626831055,
464
+ 16.05902862548828
465
+ ],
466
+ "q50": [
467
+ 44.67306002448587,
468
+ -98.2457258873379,
469
+ 97.20991092258029,
470
+ 85.05521071584602,
471
+ -26.39815902709961,
472
+ 34.89529761432731
473
+ ],
474
+ "q90": [
475
+ 46.895775985717776,
476
+ -1.2724761962890625,
477
+ 97.50328049005246,
478
+ 87.2925033569336,
479
+ -22.94576072692871,
480
+ 52.948679164964325
481
+ ],
482
+ "q99": [
483
+ 46.90049221038819,
484
+ 25.172485460553848,
485
+ 97.60015707576976,
486
+ 87.2971176147461,
487
+ -22.63383674621582,
488
+ 52.95111829796616
489
+ ]
490
+ },
491
+ "action": {
492
+ "min": [
493
+ -41.17647171020508,
494
+ -100.0,
495
+ 14.051182746887207,
496
+ 31.825525283813477,
497
+ -37.68421173095703,
498
+ 0.16116034984588623
499
+ ],
500
+ "max": [
501
+ 47.963802337646484,
502
+ 25.230918884277344,
503
+ 100.0,
504
+ 89.87614440917969,
505
+ -22.210525512695312,
506
+ 53.42465591430664
507
+ ],
508
+ "mean": [
509
+ 33.608890533447266,
510
+ -70.13309478759766,
511
+ 80.86241912841797,
512
+ 71.57290649414062,
513
+ -26.40731430053711,
514
+ 37.08030700683594
515
+ ],
516
+ "std": [
517
+ 24.38060760498047,
518
+ 43.345794677734375,
519
+ 28.164936065673828,
520
+ 20.293596267700195,
521
+ 2.7141664028167725,
522
+ 16.65737533569336
523
+ ],
524
+ "count": [
525
+ 360
526
+ ],
527
+ "q01": [
528
+ -41.02314987182617,
529
+ -99.80964813232421,
530
+ 14.336532592773438,
531
+ 31.940077590942384,
532
+ -37.577134704589845,
533
+ 1.2061901330947875
534
+ ],
535
+ "q10": [
536
+ -13.418190002441406,
537
+ -99.71787085414918,
538
+ 33.853790283203125,
539
+ 39.79504612513951,
540
+ -28.31334686279297,
541
+ 1.2876833379268646
542
+ ],
543
+ "q50": [
544
+ 44.799671371261795,
545
+ -98.16192502975464,
546
+ 99.90207890995212,
547
+ 85.24500802298573,
548
+ -26.104737599690754,
549
+ 34.89872487386068
550
+ ],
551
+ "q90": [
552
+ 47.67215902908988,
553
+ -1.2011515299479167,
554
+ 99.99348626387747,
555
+ 89.87092247009278,
556
+ -23.157516479492188,
557
+ 53.26238898343818
558
+ ],
559
+ "q99": [
560
+ 47.678438252988066,
561
+ 25.14075622558594,
562
+ 99.99934862638773,
563
+ 89.875622215271,
564
+ -22.211321040562222,
565
+ 53.41986312866211
566
+ ]
567
+ },
568
+ "timestamp": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 11.966666666666667
574
+ ],
575
+ "mean": [
576
+ 5.983333333333333
577
+ ],
578
+ "std": [
579
+ 3.4640882505224093
580
+ ],
581
+ "count": [
582
+ 360
583
+ ],
584
+ "q01": [
585
+ 0.09956266656833067
586
+ ],
587
+ "q10": [
588
+ 1.1679466665861866
589
+ ],
590
+ "q50": [
591
+ 5.9689733333330945
592
+ ],
593
+ "q90": [
594
+ 10.767606666746627
595
+ ],
596
+ "q99": [
597
+ 11.867104000098337
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 359
606
+ ],
607
+ "mean": [
608
+ 179.5
609
+ ],
610
+ "std": [
611
+ 103.92264751567227
612
+ ],
613
+ "count": [
614
+ 360
615
+ ],
616
+ "q01": [
617
+ 2.986879999901664
618
+ ],
619
+ "q10": [
620
+ 35.03839999991952
621
+ ],
622
+ "q50": [
623
+ 179.06919999999977
624
+ ],
625
+ "q90": [
626
+ 323.02820000007995
627
+ ],
628
+ "q99": [
629
+ 356.01312000009835
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d77066c7049dfb15a9d782e8a3e82a86e9ee40e820e67abb98a27fcbcc5843ba
3
+ size 2465
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4c216cc8ace857f5fa438d3026622c0a2ff06b744eb1700cf9d7c85c1a4d00e0
3
+ size 4468246
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 sha256:12ac462d25c26b99c217d4d0f94d21ccfbebb1f2291b3e185807ca2c58141c08
3
+ size 5276303