jo821 commited on
Commit
17318dc
·
verified ·
1 Parent(s): b38d844

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 sha256:74476df0d08a413c7cb281bf57f930a759faee6f646313e84d836431a7d69ae6
3
+ size 460067
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c605165972e12349e35922b66cb5068c20dfa3bbe511c63007a053162c45932
3
+ size 100740
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 15,
5
+ "total_frames": 6679,
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": "0:15"
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.camera2": {
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.camera1": {
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
+ "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
+ 6679
17
+ ],
18
+ "q01": [
19
+ 3.999999999999417e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997094e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.959999999999424e-14
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 14
40
+ ],
41
+ "mean": [
42
+ 6.358287168737835
43
+ ],
44
+ "std": [
45
+ 4.167470739897395
46
+ ],
47
+ "count": [
48
+ 6679
49
+ ],
50
+ "q01": [
51
+ 6.358287168737835
52
+ ],
53
+ "q10": [
54
+ 6.358287168737839
55
+ ],
56
+ "q50": [
57
+ 6.3582871687378555
58
+ ],
59
+ "q90": [
60
+ 6.358287168737871
61
+ ],
62
+ "q99": [
63
+ 6.358287168737875
64
+ ]
65
+ },
66
+ "timestamp": {
67
+ "min": [
68
+ 0.0
69
+ ],
70
+ "max": [
71
+ 21.666666666666668
72
+ ],
73
+ "mean": [
74
+ 8.08823177122324
75
+ ],
76
+ "std": [
77
+ 5.248038654545283
78
+ ],
79
+ "count": [
80
+ 6679
81
+ ],
82
+ "q01": [
83
+ 0.1492932843855412
84
+ ],
85
+ "q10": [
86
+ 1.6082928267901655
87
+ ],
88
+ "q50": [
89
+ 8.087046490991652
90
+ ],
91
+ "q90": [
92
+ 14.565970486080996
93
+ ],
94
+ "q99": [
95
+ 16.027170258060934
96
+ ]
97
+ },
98
+ "observation.images.camera2": {
99
+ "min": [
100
+ [
101
+ [
102
+ 0.0
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 0.0
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 0.0
113
+ ]
114
+ ]
115
+ ],
116
+ "max": [
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ],
122
+ [
123
+ [
124
+ 1.0
125
+ ]
126
+ ],
127
+ [
128
+ [
129
+ 1.0
130
+ ]
131
+ ]
132
+ ],
133
+ "mean": [
134
+ [
135
+ [
136
+ 0.49796048352215055
137
+ ]
138
+ ],
139
+ [
140
+ [
141
+ 0.5246814867678619
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.49232200095876555
147
+ ]
148
+ ]
149
+ ],
150
+ "std": [
151
+ [
152
+ [
153
+ 0.004379366914772769
154
+ ]
155
+ ],
156
+ [
157
+ [
158
+ 0.00485206164127289
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.004728001563417714
164
+ ]
165
+ ]
166
+ ],
167
+ "count": [
168
+ 128236800
169
+ ],
170
+ "q01": [
171
+ [
172
+ [
173
+ -3.588649234210827e-11
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.027303124455384933
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ -3.588649234210827e-11
184
+ ]
185
+ ]
186
+ ],
187
+ "q10": [
188
+ [
189
+ [
190
+ 0.03141343843661744
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.059536475527104046
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.019719878916587424
201
+ ]
202
+ ]
203
+ ],
204
+ "q50": [
205
+ [
206
+ [
207
+ 0.6063217678918777
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 0.6219921734771025
213
+ ]
214
+ ],
215
+ [
216
+ [
217
+ 0.5971476032936409
218
+ ]
219
+ ]
220
+ ],
221
+ "q90": [
222
+ [
223
+ [
224
+ 0.7069791465354737
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.7278626252520151
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.7102569423346409
235
+ ]
236
+ ]
237
+ ],
238
+ "q99": [
239
+ [
240
+ [
241
+ 0.9307464866111923
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.9841445810166561
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.9724408759757219
252
+ ]
253
+ ]
254
+ ]
255
+ },
256
+ "observation.state": {
257
+ "min": [
258
+ -32.879119873046875,
259
+ -103.07691955566406,
260
+ -49.4945068359375,
261
+ 25.846153259277344,
262
+ -29.846153259277344,
263
+ 0.27567195892333984
264
+ ],
265
+ "max": [
266
+ 15.560439109802246,
267
+ 52.70329666137695,
268
+ 92.74725341796875,
269
+ 84.74725341796875,
270
+ 24.21977996826172,
271
+ 54.514129638671875
272
+ ],
273
+ "mean": [
274
+ -3.7556330765198584,
275
+ -18.630553360095295,
276
+ 26.400714913819574,
277
+ 63.3765361567139,
278
+ 4.509716496681413,
279
+ 9.48674582014328
280
+ ],
281
+ "std": [
282
+ 8.85880265881833,
283
+ 49.6986631213071,
284
+ 41.61592625528466,
285
+ 12.893205966151799,
286
+ 7.770562593647686,
287
+ 13.408935769484286
288
+ ],
289
+ "count": [
290
+ 6679
291
+ ],
292
+ "q01": [
293
+ -13.32393589752639,
294
+ -102.92716927504422,
295
+ -25.539635208981995,
296
+ 43.38800508432194,
297
+ -4.601237741127543,
298
+ 0.3692411056338072
299
+ ],
300
+ "q10": [
301
+ -11.646285200992914,
302
+ -96.24351994052009,
303
+ -21.592832505882594,
304
+ 47.59908305118736,
305
+ -2.5538769479979195,
306
+ 0.39328869666544425
307
+ ],
308
+ "q50": [
309
+ -3.050658834108985,
310
+ 0.011116551409590591,
311
+ 17.911927279271474,
312
+ 66.41084117074902,
313
+ 5.1587787057566965,
314
+ 1.6425753313508284
315
+ ],
316
+ "q90": [
317
+ 3.1622366530798818,
318
+ 31.651087865318907,
319
+ 86.55428746351174,
320
+ 75.65981193587076,
321
+ 11.123717601565124,
322
+ 30.94844593258565
323
+ ],
324
+ "q99": [
325
+ 4.354009938477155,
326
+ 35.397841036378715,
327
+ 92.26616551995981,
328
+ 77.97775078238189,
329
+ 13.571513569971808,
330
+ 38.52039644510463
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -33.41152572631836,
336
+ -109.47663116455078,
337
+ -52.62628936767578,
338
+ 24.651714324951172,
339
+ -30.269678115844727,
340
+ -0.6197671890258789
341
+ ],
342
+ "max": [
343
+ 16.366588592529297,
344
+ 51.89495849609375,
345
+ 97.5229263305664,
346
+ 85.49392700195312,
347
+ 24.83358383178711,
348
+ 55.533729553222656
349
+ ],
350
+ "mean": [
351
+ -3.6344693110613506,
352
+ -19.542381697557587,
353
+ 24.368761736219703,
354
+ 63.20022756636794,
355
+ 4.655823121252558,
356
+ 9.038321068765587
357
+ ],
358
+ "std": [
359
+ 8.895411604673903,
360
+ 49.369254298934614,
361
+ 41.6989317118859,
362
+ 13.02989315406561,
363
+ 7.770007084513116,
364
+ 13.784597976083223
365
+ ],
366
+ "count": [
367
+ 6679
368
+ ],
369
+ "q01": [
370
+ -13.387736964100116,
371
+ -106.86920230923164,
372
+ -28.122921854892446,
373
+ 42.749010521205776,
374
+ -4.4902611015196925,
375
+ -0.19735067269920875
376
+ ],
377
+ "q10": [
378
+ -11.516490219352953,
379
+ -96.45899520213777,
380
+ -23.54674302352107,
381
+ 47.23513576566397,
382
+ -2.36467415065372,
383
+ 0.009929102122517425
384
+ ],
385
+ "q50": [
386
+ -3.012367960007039,
387
+ -0.9575875847676485,
388
+ 16.5959456718366,
389
+ 66.22014947158166,
390
+ 5.196194116325683,
391
+ 1.0248611496868063
392
+ ],
393
+ "q90": [
394
+ 3.324120445946838,
395
+ 29.582360365562483,
396
+ 84.22524026251128,
397
+ 75.5571149647566,
398
+ 11.2231263801605,
399
+ 31.079211167893668
400
+ ],
401
+ "q99": [
402
+ 4.6711347477813385,
403
+ 33.971564894461686,
404
+ 92.2778032539826,
405
+ 78.36730215601803,
406
+ 13.789533716352567,
407
+ 38.71227479481485
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 650
416
+ ],
417
+ "mean": [
418
+ 242.6469531366971
419
+ ],
420
+ "std": [
421
+ 157.4411596363585
422
+ ],
423
+ "count": [
424
+ 6679
425
+ ],
426
+ "q01": [
427
+ 4.4787985344129915
428
+ ],
429
+ "q10": [
430
+ 48.24878480602857
431
+ ],
432
+ "q50": [
433
+ 242.56057574487198
434
+ ],
435
+ "q90": [
436
+ 436.9791145801072
437
+ ],
438
+ "q99": [
439
+ 480.8151077389812
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 6678
448
+ ],
449
+ "mean": [
450
+ 3339.0
451
+ ],
452
+ "std": [
453
+ 1928.0612023480999
454
+ ],
455
+ "count": [
456
+ 6679
457
+ ],
458
+ "q01": [
459
+ 3100.8318453977167
460
+ ],
461
+ "q10": [
462
+ 3144.6018316693317
463
+ ],
464
+ "q50": [
465
+ 3338.9624972900137
466
+ ],
467
+ "q90": [
468
+ 3533.33216144341
469
+ ],
470
+ "q99": [
471
+ 3577.1681546022833
472
+ ]
473
+ },
474
+ "observation.images.camera1": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 0.9803921568627451
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.515726668255639
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5355701216841979
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5070780407043538
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.004490090354878391
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.004492443091829797
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.004341702961766711
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 128236800
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.0018151002546604102
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.06224403902380813
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.03765641417836445
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.3436277087820796
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.3664538847758521
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.3222111896176288
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.5288322941965232
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5327199580476073
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.5000950903835627
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.6922313422626267
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7175663303009102
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7071648766744432
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8010148811518922
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.8435551537770769
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.8428194484050576
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfb556c71786a7d210f711c71025a7a845622041753fee77c188266a6de387e5
3
+ size 2286
videos/observation.images.camera1/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:792e539e59fab61fb0293cf7c3fa6cc90ade78d2437fa6e249348c3b5f9643b9
3
+ size 136445248
videos/observation.images.camera2/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c7aabe9f1aa8fc2ce99acfe9a0d74ca429e348015688792f9f71044443387716
3
+ size 91990036