k1000dai commited on
Commit
99c341a
·
verified ·
1 Parent(s): 8e12637

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 sha256:669237e67880a8c30c8d3b3059e68f53c15ecdb1f4a6cbb92305dbb8b842c255
3
+ size 198166
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb2d94579cad0884429d9c1b38a8ec6444c7510a60ee8a2a8924efcf9798b1ce
3
+ size 54107
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 2,
5
+ "total_frames": 2973,
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": "0:2"
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.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 848,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 848,
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.state": {
3
+ "min": [
4
+ -2.2857143878936768,
5
+ -104.21977996826172,
6
+ -22.41758155822754,
7
+ -101.4065933227539,
8
+ -7.252747058868408,
9
+ 3.6177475452423096
10
+ ],
11
+ "max": [
12
+ 50.373626708984375,
13
+ 35.82417678833008,
14
+ 95.56044006347656,
15
+ 102.54945373535156,
16
+ 27.47252655029297,
17
+ 39.38566589355469
18
+ ],
19
+ "mean": [
20
+ 23.64696601870242,
21
+ -14.894849666873895,
22
+ 21.546083876952714,
23
+ 57.80709290336047,
24
+ 6.783254856298237,
25
+ 24.18453322858711
26
+ ],
27
+ "std": [
28
+ 16.177662024393108,
29
+ 44.669210718868584,
30
+ 34.87353643387412,
31
+ 60.80907142300873,
32
+ 8.958780583559692,
33
+ 9.219439595069622
34
+ ],
35
+ "count": [
36
+ 2973
37
+ ],
38
+ "q01": [
39
+ -1.6260941236399258,
40
+ -104.21977996826172,
41
+ -20.59820517220162,
42
+ -101.3213324683926,
43
+ -3.5389513888215727,
44
+ 5.352953965830039
45
+ ],
46
+ "q10": [
47
+ 0.40042292799245544,
48
+ -104.17466982873462,
49
+ -9.740086795797474,
50
+ -79.59406229834583,
51
+ -3.1830821319152762,
52
+ 7.888367515984826
53
+ ],
54
+ "q50": [
55
+ 29.47011656140463,
56
+ 1.348138993715863,
57
+ 9.699154962123623,
58
+ 81.59892146793473,
59
+ 5.228928273482525,
60
+ 27.60947091150318
61
+ ],
62
+ "q90": [
63
+ 41.367991334624534,
64
+ 23.659632625894197,
65
+ 95.46595878469948,
66
+ 94.0685368268128,
67
+ 17.383330764542837,
68
+ 34.28212399131933
69
+ ],
70
+ "q99": [
71
+ 46.71030996129523,
72
+ 33.45586086719289,
73
+ 95.5149780111414,
74
+ 102.3148329045871,
75
+ 22.404511775763993,
76
+ 37.36688827118006
77
+ ]
78
+ },
79
+ "action": {
80
+ "min": [
81
+ -2.0281543731689453,
82
+ -112.20442199707031,
83
+ -24.654151916503906,
84
+ -104.69642639160156,
85
+ -7.167695999145508,
86
+ 3.5196266174316406
87
+ ],
88
+ "max": [
89
+ 50.201961517333984,
90
+ 35.544097900390625,
91
+ 97.2793197631836,
92
+ 107.46818542480469,
93
+ 27.804061889648438,
94
+ 39.30176544189453
95
+ ],
96
+ "mean": [
97
+ 23.864127463537397,
98
+ -16.349685575919562,
99
+ 20.313638512630316,
100
+ 58.019736898494735,
101
+ 6.904346166457386,
102
+ 23.97522966620339
103
+ ],
104
+ "std": [
105
+ 16.233402656868055,
106
+ 45.547273846864506,
107
+ 35.39536257427905,
108
+ 61.023545901002315,
109
+ 9.014402301905205,
110
+ 9.703809593505321
111
+ ],
112
+ "count": [
113
+ 2973
114
+ ],
115
+ "q01": [
116
+ -1.2999429890728944,
117
+ -110.14937114119955,
118
+ -22.188419915458148,
119
+ -104.23101832688347,
120
+ -3.511430213383859,
121
+ 5.246716128727462
122
+ ],
123
+ "q10": [
124
+ 0.3598118912680479,
125
+ -109.22122397336715,
126
+ -11.377549843799374,
127
+ -77.69750193144552,
128
+ -2.9857323078979188,
129
+ 6.492718488986428
130
+ ],
131
+ "q50": [
132
+ 29.713573576423244,
133
+ 0.3568869589796942,
134
+ 8.092080353327244,
135
+ 81.5943466171126,
136
+ 5.353510629677668,
137
+ 27.70680496892877
138
+ ],
139
+ "q90": [
140
+ 41.61563582601589,
141
+ 22.853740555529825,
142
+ 95.86536601849609,
143
+ 94.30281171134693,
144
+ 17.52279878777364,
145
+ 34.15456594113665
146
+ ],
147
+ "q99": [
148
+ 47.1408318432533,
149
+ 32.13107852464888,
150
+ 96.73430929610595,
151
+ 104.95788096782378,
152
+ 22.57109423021816,
153
+ 37.48180021860204
154
+ ]
155
+ },
156
+ "frame_index": {
157
+ "min": [
158
+ 0
159
+ ],
160
+ "max": [
161
+ 1515
162
+ ],
163
+ "mean": [
164
+ 743.0427177934746
165
+ ],
166
+ "std": [
167
+ 429.6220938021694
168
+ ],
169
+ "count": [
170
+ 2973
171
+ ],
172
+ "q01": [
173
+ 14.526992791022035
174
+ ],
175
+ "q10": [
176
+ 148.064000161373
177
+ ],
178
+ "q50": [
179
+ 742.9595664984863
180
+ ],
181
+ "q90": [
182
+ 1338.0214354255763
183
+ ],
184
+ "q99": [
185
+ 1471.5584427959272
186
+ ]
187
+ },
188
+ "index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 2972
194
+ ],
195
+ "mean": [
196
+ 1486.0
197
+ ],
198
+ "std": [
199
+ 858.2311266009096
200
+ ],
201
+ "count": [
202
+ 2973
203
+ ],
204
+ "q01": [
205
+ 757.4842749975475
206
+ ],
207
+ "q10": [
208
+ 891.0212823678984
209
+ ],
210
+ "q50": [
211
+ 1485.9168487050117
212
+ ],
213
+ "q90": [
214
+ 2080.9787176321015
215
+ ],
216
+ "q99": [
217
+ 2214.5157250024527
218
+ ]
219
+ },
220
+ "observation.images.wrist": {
221
+ "min": [
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.0
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
+ 0.4466349081411355
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.4241302678628354
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.43939189160780334
269
+ ]
270
+ ]
271
+ ],
272
+ "std": [
273
+ [
274
+ [
275
+ 0.004564162609128242
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.005089501533221226
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.007450150399863425
286
+ ]
287
+ ]
288
+ ],
289
+ "count": [
290
+ 57081600
291
+ ],
292
+ "q01": [
293
+ [
294
+ [
295
+ -3.9215686274509807e-13
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ -3.9215686274509807e-13
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ -3.9215686274509807e-13
306
+ ]
307
+ ]
308
+ ],
309
+ "q10": [
310
+ [
311
+ [
312
+ 0.07451058639137295
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ -3.9215686274509807e-13
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.013591139906580757
323
+ ]
324
+ ]
325
+ ],
326
+ "q50": [
327
+ [
328
+ [
329
+ 0.45475894990369753
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.4527015235563545
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.4899209630247792
340
+ ]
341
+ ]
342
+ ],
343
+ "q90": [
344
+ [
345
+ [
346
+ 0.7666636001608088
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.8059133865092428
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.782208921905127
357
+ ]
358
+ ]
359
+ ],
360
+ "q99": [
361
+ [
362
+ [
363
+ 0.8472936487221856
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.8805274183493357
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.8531341192525042
374
+ ]
375
+ ]
376
+ ]
377
+ },
378
+ "observation.images.top": {
379
+ "min": [
380
+ [
381
+ [
382
+ 0.0
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.0
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.0
393
+ ]
394
+ ]
395
+ ],
396
+ "max": [
397
+ [
398
+ [
399
+ 1.0
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 1.0
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 1.0
410
+ ]
411
+ ]
412
+ ],
413
+ "mean": [
414
+ [
415
+ [
416
+ 0.49291926631623567
417
+ ]
418
+ ],
419
+ [
420
+ [
421
+ 0.4704831202694039
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ 0.46374536615131473
427
+ ]
428
+ ]
429
+ ],
430
+ "std": [
431
+ [
432
+ [
433
+ 0.0007948356935028125
434
+ ]
435
+ ],
436
+ [
437
+ [
438
+ 0.0006876177445563512
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.0009333206170979585
444
+ ]
445
+ ]
446
+ ],
447
+ "count": [
448
+ 48519360
449
+ ],
450
+ "q01": [
451
+ [
452
+ [
453
+ 0.05095853443358759
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.035378791632836075
459
+ ]
460
+ ],
461
+ [
462
+ [
463
+ 0.007913715289321221
464
+ ]
465
+ ]
466
+ ],
467
+ "q10": [
468
+ [
469
+ [
470
+ 0.2783314124808776
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.10584762643364767
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.09007232251025908
481
+ ]
482
+ ]
483
+ ],
484
+ "q50": [
485
+ [
486
+ [
487
+ 0.5333084587355117
488
+ ]
489
+ ],
490
+ [
491
+ [
492
+ 0.5353022956352984
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.5276608509275165
498
+ ]
499
+ ]
500
+ ],
501
+ "q90": [
502
+ [
503
+ [
504
+ 0.6293961873931939
505
+ ]
506
+ ],
507
+ [
508
+ [
509
+ 0.6295276365272828
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.6412353580219561
515
+ ]
516
+ ]
517
+ ],
518
+ "q99": [
519
+ [
520
+ [
521
+ 0.6980856210367172
522
+ ]
523
+ ],
524
+ [
525
+ [
526
+ 0.6882291660466057
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.6923288301129055
532
+ ]
533
+ ]
534
+ ]
535
+ },
536
+ "timestamp": {
537
+ "min": [
538
+ 0.0
539
+ ],
540
+ "max": [
541
+ 50.5
542
+ ],
543
+ "mean": [
544
+ 24.76809059311582
545
+ ],
546
+ "std": [
547
+ 14.320736460072316
548
+ ],
549
+ "count": [
550
+ 2973
551
+ ],
552
+ "q01": [
553
+ 0.4842330929392909
554
+ ],
555
+ "q10": [
556
+ 4.935466671968363
557
+ ],
558
+ "q50": [
559
+ 24.76056186567998
560
+ ],
561
+ "q90": [
562
+ 44.60071451426328
563
+ ],
564
+ "q99": [
565
+ 49.051948093292346
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 1
574
+ ],
575
+ "mean": [
576
+ 0.49007736293306425
577
+ ],
578
+ "std": [
579
+ 0.49990153157760764
580
+ ],
581
+ "count": [
582
+ 2973
583
+ ],
584
+ "q01": [
585
+ 0.4900773629330647
586
+ ],
587
+ "q10": [
588
+ 0.4900773629330683
589
+ ],
590
+ "q50": [
591
+ 0.4900773629330842
592
+ ],
593
+ "q90": [
594
+ 0.4900773629331003
595
+ ],
596
+ "q99": [
597
+ 0.4900773629331038
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
+ 2973
615
+ ],
616
+ "q01": [
617
+ 3.999999999999418e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997084e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.959999999999423e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3c59eb7931db288efdd8740e19552b462a7a37559ac62fea9dc313243ff93c3
3
+ size 2095
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 sha256:360bedbfc0071892c6a178611d9d3b4cd8095fa45260c36db594f71bbd622b3e
3
+ size 15976004
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:bc77f1480bed20541869560bfcbba28ddfc363c063bed6b0ac35362c23b20392
3
+ size 20984977