khmin101 commited on
Commit
08032b7
·
verified ·
1 Parent(s): 234eb14

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 sha256:22efad6a0768fab0436d813f5dad543e4ebc6cfcb22ebe29c05c7c6fba5a2d3f
3
+ size 32978
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7709096a28ddde511afe573da9cb745a031a6fe7697dd5adcee5f1d40b13d8dc
3
+ size 44644
meta/info.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "lekiwi_client",
4
+ "total_episodes": 1,
5
+ "total_frames": 885,
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
+ "shape": [
20
+ 9
21
+ ],
22
+ "names": [
23
+ "arm_shoulder_pan.pos",
24
+ "arm_shoulder_lift.pos",
25
+ "arm_elbow_flex.pos",
26
+ "arm_wrist_flex.pos",
27
+ "arm_wrist_roll.pos",
28
+ "arm_gripper.pos",
29
+ "x.vel",
30
+ "y.vel",
31
+ "theta.vel"
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "dtype": "float32",
36
+ "shape": [
37
+ 9
38
+ ],
39
+ "names": [
40
+ "arm_shoulder_pan.pos",
41
+ "arm_shoulder_lift.pos",
42
+ "arm_elbow_flex.pos",
43
+ "arm_wrist_flex.pos",
44
+ "arm_wrist_roll.pos",
45
+ "arm_gripper.pos",
46
+ "x.vel",
47
+ "y.vel",
48
+ "theta.vel"
49
+ ]
50
+ },
51
+ "observation.images.front": {
52
+ "dtype": "video",
53
+ "shape": [
54
+ 480,
55
+ 640,
56
+ 3
57
+ ],
58
+ "names": [
59
+ "height",
60
+ "width",
61
+ "channels"
62
+ ],
63
+ "info": {
64
+ "video.height": 480,
65
+ "video.width": 640,
66
+ "video.codec": "av1",
67
+ "video.pix_fmt": "yuv420p",
68
+ "video.is_depth_map": false,
69
+ "video.fps": 30,
70
+ "video.channels": 3,
71
+ "has_audio": false
72
+ }
73
+ },
74
+ "timestamp": {
75
+ "dtype": "float32",
76
+ "shape": [
77
+ 1
78
+ ],
79
+ "names": null
80
+ },
81
+ "frame_index": {
82
+ "dtype": "int64",
83
+ "shape": [
84
+ 1
85
+ ],
86
+ "names": null
87
+ },
88
+ "episode_index": {
89
+ "dtype": "int64",
90
+ "shape": [
91
+ 1
92
+ ],
93
+ "names": null
94
+ },
95
+ "index": {
96
+ "dtype": "int64",
97
+ "shape": [
98
+ 1
99
+ ],
100
+ "names": null
101
+ },
102
+ "task_index": {
103
+ "dtype": "int64",
104
+ "shape": [
105
+ 1
106
+ ],
107
+ "names": null
108
+ }
109
+ }
110
+ }
meta/stats.json ADDED
@@ -0,0 +1,528 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ 1.068139910697937,
5
+ -98.99832916259766,
6
+ 59.20577621459961,
7
+ -40.25973892211914,
8
+ -0.9035409092903137,
9
+ 0.0,
10
+ -0.10000000149011612,
11
+ 0.0,
12
+ -30.0
13
+ ],
14
+ "max": [
15
+ 9.981583595275879,
16
+ -15.275459289550781,
17
+ 99.36823272705078,
18
+ 16.53679656982422,
19
+ -0.5616605877876282,
20
+ 38.167938232421875,
21
+ 0.10000000149011612,
22
+ 0.0,
23
+ 0.0
24
+ ],
25
+ "mean": [
26
+ 4.1353349685668945,
27
+ -80.75702667236328,
28
+ 89.7179183959961,
29
+ -8.319713592529297,
30
+ -0.6878688335418701,
31
+ 5.778413772583008,
32
+ 0.009830504655838013,
33
+ 0.0,
34
+ -6.94915246963501
35
+ ],
36
+ "std": [
37
+ 3.3246614933013916,
38
+ 30.999000549316406,
39
+ 15.007485389709473,
40
+ 15.736289978027344,
41
+ 0.1414768099784851,
42
+ 13.26073932647705,
43
+ 0.038976650685071945,
44
+ 0.0,
45
+ 12.656375885009766
46
+ ],
47
+ "count": [
48
+ 885
49
+ ],
50
+ "q01": [
51
+ 1.068139910697937,
52
+ -98.99832916259766,
53
+ 59.20577621459961,
54
+ -40.25973892211914,
55
+ -0.9035409092903137,
56
+ -1.000000013351432e-10,
57
+ -0.10000000149011612,
58
+ 3.9995784462121265e-16,
59
+ -30.0
60
+ ],
61
+ "q10": [
62
+ 1.1416613295093758,
63
+ -98.99832916259766,
64
+ 64.07748031616211,
65
+ -39.57628885904948,
66
+ -0.9035409092903137,
67
+ -1.000000013351432e-10,
68
+ 3.2541816526988768e-06,
69
+ 3.999578446212126e-15,
70
+ -30.0
71
+ ],
72
+ "q50": [
73
+ 1.5101873278617859,
74
+ -98.8392562866211,
75
+ 99.09538297929318,
76
+ 1.383742851718889,
77
+ -0.6105128886906998,
78
+ -1.000000013351432e-10,
79
+ 2.2338773563223066e-05,
80
+ 1.9997892231060632e-14,
81
+ -0.0039047493654138904
82
+ ],
83
+ "q90": [
84
+ 8.434380347912128,
85
+ -16.690372467041016,
86
+ 99.10172295517273,
87
+ 1.471204983104359,
88
+ -0.5616761416120211,
89
+ 37.7123834961339,
90
+ 0.0999692114798919,
91
+ 3.599620601590914e-14,
92
+ -0.0007809498730827783
93
+ ],
94
+ "q99": [
95
+ 9.979829947153727,
96
+ -15.281384857177734,
97
+ 99.10314944974564,
98
+ 16.017756162370954,
99
+ -0.5616621431700675,
100
+ 38.16396447349997,
101
+ 0.0999969224890937,
102
+ 3.959582661750005e-14,
103
+ -7.809498730827844e-05
104
+ ]
105
+ },
106
+ "observation.state": {
107
+ "min": [
108
+ 1.047120451927185,
109
+ -98.44290924072266,
110
+ 62.929473876953125,
111
+ -38.89369201660156,
112
+ -0.9523809552192688,
113
+ 1.295160174369812,
114
+ -0.10184908658266068,
115
+ -0.015339807607233524,
116
+ -33.3984375
117
+ ],
118
+ "max": [
119
+ 9.723260879516602,
120
+ -15.051902770996094,
121
+ 99.45750427246094,
122
+ 16.248920440673828,
123
+ -0.5616605877876282,
124
+ 37.695980072021484,
125
+ 0.1129196360707283,
126
+ 0.014061491005122662,
127
+ 4.6875
128
+ ],
129
+ "mean": [
130
+ 4.088829517364502,
131
+ -80.1637191772461,
132
+ 90.55951690673828,
133
+ -8.129172325134277,
134
+ -0.64350426197052,
135
+ 11.431884765625,
136
+ 0.009594482369720936,
137
+ -0.00011122084106318653,
138
+ -6.972987174987793
139
+ ],
140
+ "std": [
141
+ 3.243549346923828,
142
+ 31.07993507385254,
143
+ 14.315024375915527,
144
+ 15.309969902038574,
145
+ 0.10384747385978699,
146
+ 10.904271125793457,
147
+ 0.03699081763625145,
148
+ 0.0031810489017516375,
149
+ 12.405686378479004
150
+ ],
151
+ "count": [
152
+ 885
153
+ ],
154
+ "q01": [
155
+ 1.121912128662134,
156
+ -98.44290924072266,
157
+ 62.929473876953125,
158
+ -38.89369201660156,
159
+ -0.9523809552192688,
160
+ 1.295160174369812,
161
+ -0.09741602072285281,
162
+ -0.011502105292553704,
163
+ -32.230838222503664
164
+ ],
165
+ "q10": [
166
+ 1.1966754496097565,
167
+ -98.44290924072266,
168
+ 65.46086502075195,
169
+ -38.80960130691528,
170
+ -0.7081769831564234,
171
+ 1.295160174369812,
172
+ -0.0022388506040442735,
173
+ -0.0038324783269602517,
174
+ -29.88405728340149
175
+ ],
176
+ "q50": [
177
+ 1.5698913244100718,
178
+ -98.34428935405637,
179
+ 99.3697776568712,
180
+ 1.207413960809577,
181
+ -0.6104484350681305,
182
+ 8.040334775502926,
183
+ 2.0438330822272208e-05,
184
+ -1.207353650695748e-06,
185
+ -0.0034986403063580096
186
+ ],
187
+ "q90": [
188
+ 8.82513102889061,
189
+ -15.910831451416016,
190
+ 99.45603750838714,
191
+ 1.216327236123281,
192
+ -0.5616778335220499,
193
+ 37.420937401907786,
194
+ 0.0907903928309679,
195
+ 0.0025590737350285053,
196
+ 0.5858837366104126
197
+ ],
198
+ "q99": [
199
+ 9.57382487654686,
200
+ -15.053681072556829,
201
+ 99.45735759605355,
202
+ 16.24485375881195,
203
+ -0.5616623123610703,
204
+ 37.69291272844587,
205
+ 0.10403437810018659,
206
+ 0.008947355928830803,
207
+ 2.342867883046468
208
+ ]
209
+ },
210
+ "observation.images.front": {
211
+ "min": [
212
+ [
213
+ [
214
+ 0.0
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.0
220
+ ]
221
+ ],
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ]
227
+ ],
228
+ "max": [
229
+ [
230
+ [
231
+ 1.0
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 1.0
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 1.0
242
+ ]
243
+ ]
244
+ ],
245
+ "mean": [
246
+ [
247
+ [
248
+ 0.5416803765230371
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.5913292143246187
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.5913790660554344
259
+ ]
260
+ ]
261
+ ],
262
+ "std": [
263
+ [
264
+ [
265
+ 0.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.0
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.0
276
+ ]
277
+ ]
278
+ ],
279
+ "count": [
280
+ 162
281
+ ],
282
+ "q01": [
283
+ [
284
+ [
285
+ 0.04309414786241911
286
+ ]
287
+ ],
288
+ [
289
+ [
290
+ 0.08633254182374463
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.06264905973417025
296
+ ]
297
+ ]
298
+ ],
299
+ "q10": [
300
+ [
301
+ [
302
+ 0.16060258048633982
303
+ ]
304
+ ],
305
+ [
306
+ [
307
+ 0.2234975108356964
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.19609238124276843
313
+ ]
314
+ ]
315
+ ],
316
+ "q50": [
317
+ [
318
+ [
319
+ 0.5843483087924639
320
+ ]
321
+ ],
322
+ [
323
+ [
324
+ 0.639339316278126
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.650889137507061
330
+ ]
331
+ ]
332
+ ],
333
+ "q90": [
334
+ [
335
+ [
336
+ 0.7606637407133578
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.8039895157549699
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.8430072141828358
347
+ ]
348
+ ]
349
+ ],
350
+ "q99": [
351
+ [
352
+ [
353
+ 0.8196736502822813
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.8588030633863005
359
+ ]
360
+ ],
361
+ [
362
+ [
363
+ 0.8863709841204283
364
+ ]
365
+ ]
366
+ ]
367
+ },
368
+ "timestamp": {
369
+ "min": [
370
+ 0.0
371
+ ],
372
+ "max": [
373
+ 29.466666666666665
374
+ ],
375
+ "mean": [
376
+ 14.733333333333333
377
+ ],
378
+ "std": [
379
+ 8.51591103410203
380
+ ],
381
+ "count": [
382
+ 885
383
+ ],
384
+ "q01": [
385
+ 0.27020933323516727
386
+ ],
387
+ "q10": [
388
+ 2.931933333253233
389
+ ],
390
+ "q50": [
391
+ 14.736280000000018
392
+ ],
393
+ "q90": [
394
+ 26.534733333413428
395
+ ],
396
+ "q99": [
397
+ 29.196457333431496
398
+ ]
399
+ },
400
+ "frame_index": {
401
+ "min": [
402
+ 0
403
+ ],
404
+ "max": [
405
+ 884
406
+ ],
407
+ "mean": [
408
+ 442.0
409
+ ],
410
+ "std": [
411
+ 255.47733102306094
412
+ ],
413
+ "count": [
414
+ 885
415
+ ],
416
+ "q01": [
417
+ 8.106279999901833
418
+ ],
419
+ "q10": [
420
+ 87.9579999999199
421
+ ],
422
+ "q50": [
423
+ 441.9116
424
+ ],
425
+ "q90": [
426
+ 796.0420000000802
427
+ ],
428
+ "q99": [
429
+ 875.8937200000981
430
+ ]
431
+ },
432
+ "episode_index": {
433
+ "min": [
434
+ 0
435
+ ],
436
+ "max": [
437
+ 0
438
+ ],
439
+ "mean": [
440
+ 0.0
441
+ ],
442
+ "std": [
443
+ 0.0
444
+ ],
445
+ "count": [
446
+ 885
447
+ ],
448
+ "q01": [
449
+ 3.9999999999994176e-16
450
+ ],
451
+ "q10": [
452
+ 3.999999999999417e-15
453
+ ],
454
+ "q50": [
455
+ 1.9999999999997088e-14
456
+ ],
457
+ "q90": [
458
+ 3.599999999999476e-14
459
+ ],
460
+ "q99": [
461
+ 3.9599999999994235e-14
462
+ ]
463
+ },
464
+ "index": {
465
+ "min": [
466
+ 0
467
+ ],
468
+ "max": [
469
+ 884
470
+ ],
471
+ "mean": [
472
+ 442.0
473
+ ],
474
+ "std": [
475
+ 255.47733102306094
476
+ ],
477
+ "count": [
478
+ 885
479
+ ],
480
+ "q01": [
481
+ 8.106279999901833
482
+ ],
483
+ "q10": [
484
+ 87.9579999999199
485
+ ],
486
+ "q50": [
487
+ 441.9116
488
+ ],
489
+ "q90": [
490
+ 796.0420000000802
491
+ ],
492
+ "q99": [
493
+ 875.8937200000981
494
+ ]
495
+ },
496
+ "task_index": {
497
+ "min": [
498
+ 0
499
+ ],
500
+ "max": [
501
+ 0
502
+ ],
503
+ "mean": [
504
+ 0.0
505
+ ],
506
+ "std": [
507
+ 0.0
508
+ ],
509
+ "count": [
510
+ 885
511
+ ],
512
+ "q01": [
513
+ 3.9999999999994176e-16
514
+ ],
515
+ "q10": [
516
+ 3.999999999999417e-15
517
+ ],
518
+ "q50": [
519
+ 1.9999999999997088e-14
520
+ ],
521
+ "q90": [
522
+ 3.599999999999476e-14
523
+ ],
524
+ "q99": [
525
+ 3.9599999999994235e-14
526
+ ]
527
+ }
528
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a611981cd849ad679a87ac36df49fbdd0ee38341129e3b41aa00070869da34d5
3
+ size 2321
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:c4922f4a5c278a1bd9447f5bc6f7acd81693290074828e9a6644c8f0be6ad235
3
+ size 5907583