koenvanwijk commited on
Commit
854070f
·
verified ·
1 Parent(s): f06c5e5

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 sha256:0e8aa09437a0c2b3295dce1ca25895b3265a89a52b4ec73c8de46898a86b2ca3
3
+ size 73253
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d80d03e47218efe8eea56d274a4af98db092eb3f0e3bbe0178d624299063ee0
3
+ size 49416
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 1416,
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": "0:5"
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
+ 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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -25.478519439697266,
5
+ -97.70020294189453,
6
+ -69.53404998779297,
7
+ 8.213552474975586,
8
+ -35.01423263549805,
9
+ 2.1259841918945312
10
+ ],
11
+ "max": [
12
+ 6.507868766784668,
13
+ 51.375770568847656,
14
+ 97.67024993896484,
15
+ 95.99589538574219,
16
+ -12.484749794006348,
17
+ 39.76377868652344
18
+ ],
19
+ "mean": [
20
+ -11.9966327281995,
21
+ -23.27371503202255,
22
+ 36.086851847373836,
23
+ 52.39265294802391,
24
+ -23.620588737692536,
25
+ 23.368032281681643
26
+ ],
27
+ "std": [
28
+ 8.674017912790474,
29
+ 42.626310009312576,
30
+ 42.20066671369076,
31
+ 13.703505087156811,
32
+ 5.9791226104736745,
33
+ 9.635854456935276
34
+ ],
35
+ "count": [
36
+ 1416
37
+ ],
38
+ "q01": [
39
+ -22.985725053057156,
40
+ -95.99415749382838,
41
+ -10.353555592103195,
42
+ 24.760002439655157,
43
+ -32.166426147498655,
44
+ 9.439129870490166
45
+ ],
46
+ "q10": [
47
+ -18.418451546712884,
48
+ -83.33350653890837,
49
+ -1.4253246408397868,
50
+ 38.40664896015597,
51
+ -29.402208353886277,
52
+ 10.32464505060357
53
+ ],
54
+ "q50": [
55
+ -12.20167170576409,
56
+ -4.074757382021112,
57
+ 23.553153133241526,
58
+ 50.20103918060174,
59
+ -22.11416709467965,
60
+ 26.006696030394064
61
+ ],
62
+ "q90": [
63
+ -4.661486998929939,
64
+ 14.748558752752194,
65
+ 88.77692439124456,
66
+ 67.25321502761749,
67
+ -19.072075897265886,
68
+ 32.958688375525455
69
+ ],
70
+ "q99": [
71
+ -2.220722910802894,
72
+ 15.97809134705192,
73
+ 97.57654702385652,
74
+ 78.22558794749601,
75
+ -18.32617084884889,
76
+ 34.349495386833546
77
+ ]
78
+ },
79
+ "timestamp": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 13.3
85
+ ],
86
+ "mean": [
87
+ 5.106379472693032
88
+ ],
89
+ "std": [
90
+ 3.3757807140175635
91
+ ],
92
+ "count": [
93
+ 1416
94
+ ],
95
+ "q01": [
96
+ 0.08461295056083008
97
+ ],
98
+ "q10": [
99
+ 0.99969037280092
100
+ ],
101
+ "q50": [
102
+ 5.097229491525224
103
+ ],
104
+ "q90": [
105
+ 9.204051623432468
106
+ ],
107
+ "q99": [
108
+ 10.119129045672556
109
+ ]
110
+ },
111
+ "index": {
112
+ "min": [
113
+ 0
114
+ ],
115
+ "max": [
116
+ 1415
117
+ ],
118
+ "mean": [
119
+ 707.5
120
+ ],
121
+ "std": [
122
+ 408.7638886529321
123
+ ],
124
+ "count": [
125
+ 1416
126
+ ],
127
+ "q01": [
128
+ 556.8470043388847
129
+ ],
130
+ "q10": [
131
+ 584.2993270055692
132
+ ],
133
+ "q50": [
134
+ 707.2255005649716
135
+ ],
136
+ "q90": [
137
+ 830.4301645198543
138
+ ],
139
+ "q99": [
140
+ 857.8824871865388
141
+ ]
142
+ },
143
+ "task_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 0
149
+ ],
150
+ "mean": [
151
+ 0.0
152
+ ],
153
+ "std": [
154
+ 0.0
155
+ ],
156
+ "count": [
157
+ 1416
158
+ ],
159
+ "q01": [
160
+ 3.999999999999417e-16
161
+ ],
162
+ "q10": [
163
+ 3.999999999999417e-15
164
+ ],
165
+ "q50": [
166
+ 1.9999999999997088e-14
167
+ ],
168
+ "q90": [
169
+ 3.599999999999476e-14
170
+ ],
171
+ "q99": [
172
+ 3.959999999999424e-14
173
+ ]
174
+ },
175
+ "observation.images.front": {
176
+ "min": [
177
+ [
178
+ [
179
+ 0.0
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.0
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.0
190
+ ]
191
+ ]
192
+ ],
193
+ "max": [
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 1.0
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 1.0
207
+ ]
208
+ ]
209
+ ],
210
+ "mean": [
211
+ [
212
+ [
213
+ 0.4122589971405229
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.4440365445261438
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.3316898745915033
224
+ ]
225
+ ]
226
+ ],
227
+ "std": [
228
+ [
229
+ [
230
+ 0.00826078749927028
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.007591017499451132
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.007317119128139796
241
+ ]
242
+ ]
243
+ ],
244
+ "count": [
245
+ 500
246
+ ],
247
+ "q01": [
248
+ [
249
+ [
250
+ -3.9215686274509807e-13
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.0197128756327972
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ -3.9215686274509807e-13
261
+ ]
262
+ ]
263
+ ],
264
+ "q10": [
265
+ [
266
+ [
267
+ 0.07290310665568757
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.12306480994687052
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.04231280523932245
278
+ ]
279
+ ]
280
+ ],
281
+ "q50": [
282
+ [
283
+ [
284
+ 0.4352783616242129
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.44237611901533563
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.29259223389536826
295
+ ]
296
+ ]
297
+ ],
298
+ "q90": [
299
+ [
300
+ [
301
+ 0.7191649306982687
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.7560294530072021
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.6471100711250288
312
+ ]
313
+ ]
314
+ ],
315
+ "q99": [
316
+ [
317
+ [
318
+ 0.8094141528379127
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.8956005437635035
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.8612373113199091
329
+ ]
330
+ ]
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -26.921348571777344,
336
+ -100.0,
337
+ -74.78536224365234,
338
+ 8.983551025390625,
339
+ -34.89775466918945,
340
+ 0.0
341
+ ],
342
+ "max": [
343
+ 7.775280952453613,
344
+ 50.52631759643555,
345
+ 100.0,
346
+ 97.97554016113281,
347
+ -12.236003875732422,
348
+ 40.120967864990234
349
+ ],
350
+ "mean": [
351
+ -11.785183823714823,
352
+ -25.074337043331166,
353
+ 34.30264706800213,
354
+ 52.42932586077243,
355
+ -23.60711518115243,
356
+ 21.754607351486293
357
+ ],
358
+ "std": [
359
+ 8.860088909234486,
360
+ 42.53714543934821,
361
+ 43.82752723450202,
362
+ 13.7709968455484,
363
+ 6.1314345459060045,
364
+ 12.419058322010775
365
+ ],
366
+ "count": [
367
+ 1416
368
+ ],
369
+ "q01": [
370
+ -23.895220755884203,
371
+ -98.80404840156856,
372
+ -14.788659202577785,
373
+ 23.524324402970784,
374
+ -32.44043934008496,
375
+ 0.7817588226624691
376
+ ],
377
+ "q10": [
378
+ -18.620638138370104,
379
+ -84.6486273738107,
380
+ -4.662569780044412,
381
+ 39.61962801921849,
382
+ -29.922124226340244,
383
+ 0.8936437653174447
384
+ ],
385
+ "q50": [
386
+ -11.641038835187338,
387
+ -6.075909679218874,
388
+ 20.750026552915127,
389
+ 50.05655062939488,
390
+ -22.097841678077508,
391
+ 25.5217072367716
392
+ ],
393
+ "q90": [
394
+ -4.338071255412663,
395
+ 13.615886324543064,
396
+ 89.58154106772791,
397
+ 66.9811525082633,
398
+ -18.874701992628722,
399
+ 33.32317731508598
400
+ ],
401
+ "q99": [
402
+ -1.4056279588823268,
403
+ 15.524608362382223,
404
+ 99.56777550632624,
405
+ 79.18278034397886,
406
+ -18.040504260233792,
407
+ 34.650404136676585
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 399
416
+ ],
417
+ "mean": [
418
+ 153.19138418079095
419
+ ],
420
+ "std": [
421
+ 101.2734214205269
422
+ ],
423
+ "count": [
424
+ 1416
425
+ ],
426
+ "q01": [
427
+ 2.5383885196757072
428
+ ],
429
+ "q10": [
430
+ 29.990711186360247
431
+ ],
432
+ "q50": [
433
+ 152.9168847457625
434
+ ],
435
+ "q90": [
436
+ 276.1215487006453
437
+ ],
438
+ "q99": [
439
+ 303.57387136732984
440
+ ]
441
+ },
442
+ "episode_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 4
448
+ ],
449
+ "mean": [
450
+ 1.9583333333333333
451
+ ],
452
+ "std": [
453
+ 1.569604844894051
454
+ ],
455
+ "count": [
456
+ 1416
457
+ ],
458
+ "q01": [
459
+ 1.9583333333333337
460
+ ],
461
+ "q10": [
462
+ 1.9583333333333373
463
+ ],
464
+ "q50": [
465
+ 1.9583333333333532
466
+ ],
467
+ "q90": [
468
+ 1.9583333333333692
469
+ ],
470
+ "q99": [
471
+ 1.9583333333333732
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9c7ab4c40964542f1fddfe96c1db51a6e274ab76e8d4702d8071ad13db3a2609
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 sha256:88cee6479d265ac011ef315d05b23757b4d5916c9363c98a6a22191fd0c999da
3
+ size 23672940