lanhe1124 commited on
Commit
073c5f4
·
verified ·
1 Parent(s): 31f9f62

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 sha256:3fb18b712086c3d7be46d873c69632192eacfd70f77e71d0812d6a602828e20d
3
+ size 164838
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8238f113512b08d50e3b5e615c2d62967ef90ec72c505263a4f4110662be1de6
3
+ size 50091
meta/info.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "lekiwi_client",
4
+ "total_episodes": 5,
5
+ "total_frames": 4486,
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
+ "arm_shoulder_pan.pos",
21
+ "arm_shoulder_lift.pos",
22
+ "arm_elbow_flex.pos",
23
+ "arm_wrist_flex.pos",
24
+ "arm_wrist_roll.pos",
25
+ "arm_gripper.pos",
26
+ "x.vel",
27
+ "y.vel",
28
+ "theta.vel"
29
+ ],
30
+ "shape": [
31
+ 9
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "dtype": "float32",
36
+ "names": [
37
+ "arm_shoulder_pan.pos",
38
+ "arm_shoulder_lift.pos",
39
+ "arm_elbow_flex.pos",
40
+ "arm_wrist_flex.pos",
41
+ "arm_wrist_roll.pos",
42
+ "arm_gripper.pos",
43
+ "x.vel",
44
+ "y.vel",
45
+ "theta.vel"
46
+ ],
47
+ "shape": [
48
+ 9
49
+ ]
50
+ },
51
+ "observation.images.wrist": {
52
+ "dtype": "video",
53
+ "shape": [
54
+ 640,
55
+ 480,
56
+ 3
57
+ ],
58
+ "names": [
59
+ "height",
60
+ "width",
61
+ "channels"
62
+ ],
63
+ "info": {
64
+ "video.height": 640,
65
+ "video.width": 480,
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 29.9
8
+ ],
9
+ "mean": [
10
+ 14.9366770694011
11
+ ],
12
+ "std": [
13
+ 8.633323677369297
14
+ ],
15
+ "count": [
16
+ 4486
17
+ ],
18
+ "q01": [
19
+ 0.2686929709821971
20
+ ],
21
+ "q10": [
22
+ 2.9689309768852503
23
+ ],
24
+ "q50": [
25
+ 14.930699729528863
26
+ ],
27
+ "q90": [
28
+ 26.904423161916945
29
+ ],
30
+ "q99": [
31
+ 29.604661167819998
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -21.184738159179688,
37
+ -100.0,
38
+ -98.38492584228516,
39
+ 19.037569046020508,
40
+ -2.07570219039917,
41
+ 36.24250411987305,
42
+ -0.02214110642671585,
43
+ -0.006391586735844612,
44
+ -5.2734375
45
+ ],
46
+ "max": [
47
+ 3.7148594856262207,
48
+ 73.00922393798828,
49
+ 98.83355712890625,
50
+ 98.22709655761719,
51
+ 2.9548230171203613,
52
+ 91.80546569824219,
53
+ 0.02214110642671585,
54
+ 0.01022653840482235,
55
+ 3.515625
56
+ ],
57
+ "mean": [
58
+ -2.2373243292101885,
59
+ 9.29694408972881,
60
+ -7.23777582514674,
61
+ 49.55136841065215,
62
+ 1.7029876098853904,
63
+ 68.34505812653038,
64
+ 4.93552531824557e-07,
65
+ 1.1113324325676143e-05,
66
+ 0.0019592203285397295
67
+ ],
68
+ "std": [
69
+ 2.8455383216649093,
70
+ 64.28556799182319,
71
+ 58.525978720122296,
72
+ 16.39888725067463,
73
+ 1.6745805377292284,
74
+ 22.322992949681304,
75
+ 0.0013251871676679347,
76
+ 0.001048615683587042,
77
+ 0.39171789579318655
78
+ ],
79
+ "count": [
80
+ 4486
81
+ ],
82
+ "q01": [
83
+ -7.694108889902242,
84
+ -98.7704790128741,
85
+ -76.42628249579543,
86
+ 26.417029957135657,
87
+ 1.4409585634683106,
88
+ 37.38847918346743,
89
+ -0.0035426303947603266,
90
+ -0.0025575656731288664,
91
+ -1.0545600691098744
92
+ ],
93
+ "q10": [
94
+ -4.136750962151052,
95
+ -98.35423291714508,
96
+ -56.043548931746166,
97
+ 31.665100303691226,
98
+ 1.4800312157385482,
99
+ 47.8710033120723,
100
+ -0.0013287541136619743,
101
+ -0.0012782529855327508,
102
+ -0.5858588044925236
103
+ ],
104
+ "q50": [
105
+ -2.088799473350693,
106
+ 35.29396640587142,
107
+ -33.704615209566846,
108
+ 48.60574240742738,
109
+ 1.6559182098268597,
110
+ 77.91707426645247,
111
+ -3.6026625447507436e-07,
112
+ 7.683174322355349e-07,
113
+ 0.00013848640369222987
114
+ ],
115
+ "q90": [
116
+ -0.08064638254328028,
117
+ 66.34070588527429,
118
+ 98.51236666599941,
119
+ 67.571316354385,
120
+ 1.870752508759663,
121
+ 77.92181234900414,
122
+ 0.0008858523950189715,
123
+ 0.0012780207071073381,
124
+ 0.5859167203104386
125
+ ],
126
+ "q99": [
127
+ 1.2256601581369848,
128
+ 66.63205123756465,
129
+ 98.66938199664041,
130
+ 87.9581516132963,
131
+ 2.368699158789493,
132
+ 77.92287841757827,
133
+ 0.0035412339082975274,
134
+ 0.002557147216763358,
135
+ 1.1718045827733665
136
+ ]
137
+ },
138
+ "episode_index": {
139
+ "min": [
140
+ 0
141
+ ],
142
+ "max": [
143
+ 4
144
+ ],
145
+ "mean": [
146
+ 1.999777084262149
147
+ ],
148
+ "std": [
149
+ 1.4144499628909206
150
+ ],
151
+ "count": [
152
+ 4486
153
+ ],
154
+ "q01": [
155
+ 1.9997770842621494
156
+ ],
157
+ "q10": [
158
+ 1.999777084262153
159
+ ],
160
+ "q50": [
161
+ 1.9997770842621687
162
+ ],
163
+ "q90": [
164
+ 1.9997770842621847
165
+ ],
166
+ "q99": [
167
+ 1.9997770842621887
168
+ ]
169
+ },
170
+ "frame_index": {
171
+ "min": [
172
+ 0
173
+ ],
174
+ "max": [
175
+ 897
176
+ ],
177
+ "mean": [
178
+ 448.100312082033
179
+ ],
180
+ "std": [
181
+ 258.99971032107896
182
+ ],
183
+ "count": [
184
+ 4486
185
+ ],
186
+ "q01": [
187
+ 8.060789132313749
188
+ ],
189
+ "q10": [
190
+ 89.0679293088811
191
+ ],
192
+ "q50": [
193
+ 447.8493278644673
194
+ ],
195
+ "q90": [
196
+ 807.1326948551849
197
+ ],
198
+ "q99": [
199
+ 888.1398350317523
200
+ ]
201
+ },
202
+ "task_index": {
203
+ "min": [
204
+ 0
205
+ ],
206
+ "max": [
207
+ 0
208
+ ],
209
+ "mean": [
210
+ 0.0
211
+ ],
212
+ "std": [
213
+ 0.0
214
+ ],
215
+ "count": [
216
+ 4486
217
+ ],
218
+ "q01": [
219
+ 3.999999999999417e-16
220
+ ],
221
+ "q10": [
222
+ 3.999999999999417e-15
223
+ ],
224
+ "q50": [
225
+ 1.9999999999997084e-14
226
+ ],
227
+ "q90": [
228
+ 3.599999999999476e-14
229
+ ],
230
+ "q99": [
231
+ 3.959999999999423e-14
232
+ ]
233
+ },
234
+ "index": {
235
+ "min": [
236
+ 0
237
+ ],
238
+ "max": [
239
+ 4485
240
+ ],
241
+ "mean": [
242
+ 2242.5
243
+ ],
244
+ "std": [
245
+ 1294.9966216172147
246
+ ],
247
+ "count": [
248
+ 4486
249
+ ],
250
+ "q01": [
251
+ 1802.4604770502808
252
+ ],
253
+ "q10": [
254
+ 1883.467617226848
255
+ ],
256
+ "q50": [
257
+ 2242.3206798038345
258
+ ],
259
+ "q90": [
260
+ 2601.5323827731518
261
+ ],
262
+ "q99": [
263
+ 2682.5395229497194
264
+ ]
265
+ },
266
+ "observation.images.wrist": {
267
+ "min": [
268
+ [
269
+ [
270
+ 0.0
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.0
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.0
281
+ ]
282
+ ]
283
+ ],
284
+ "max": [
285
+ [
286
+ [
287
+ 1.0
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 1.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 1.0
298
+ ]
299
+ ]
300
+ ],
301
+ "mean": [
302
+ [
303
+ [
304
+ 0.5476939016987864
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.5777869989540084
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.4329510941412469
315
+ ]
316
+ ]
317
+ ],
318
+ "std": [
319
+ [
320
+ [
321
+ 0.006767869275090395
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 0.010142251165124145
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.013016323892022428
332
+ ]
333
+ ]
334
+ ],
335
+ "count": [
336
+ 817
337
+ ],
338
+ "q01": [
339
+ [
340
+ [
341
+ 0.16313270522098727
342
+ ]
343
+ ],
344
+ [
345
+ [
346
+ 0.15611797652280618
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.09879457366862748
352
+ ]
353
+ ]
354
+ ],
355
+ "q10": [
356
+ [
357
+ [
358
+ 0.36314191399969686
359
+ ]
360
+ ],
361
+ [
362
+ [
363
+ 0.36701240148843634
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.21026784343074492
369
+ ]
370
+ ]
371
+ ],
372
+ "q50": [
373
+ [
374
+ [
375
+ 0.541125595181639
376
+ ]
377
+ ],
378
+ [
379
+ [
380
+ 0.5795660401264795
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.43606341769316564
386
+ ]
387
+ ]
388
+ ],
389
+ "q90": [
390
+ [
391
+ [
392
+ 0.733328179955733
393
+ ]
394
+ ],
395
+ [
396
+ [
397
+ 0.7913533252066124
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 0.6416207070527746
403
+ ]
404
+ ]
405
+ ],
406
+ "q99": [
407
+ [
408
+ [
409
+ 0.9630747473976837
410
+ ]
411
+ ],
412
+ [
413
+ [
414
+ 0.9998963327052963
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.9403277986475702
420
+ ]
421
+ ]
422
+ ]
423
+ },
424
+ "action": {
425
+ "min": [
426
+ -21.8161678314209,
427
+ -99.2574234008789,
428
+ -99.81884002685547,
429
+ 17.01947593688965,
430
+ -2.2974607944488525,
431
+ 5.599999904632568,
432
+ 0.0,
433
+ 0.0,
434
+ 0.0
435
+ ],
436
+ "max": [
437
+ 3.9497969150543213,
438
+ 69.8019790649414,
439
+ 100.0,
440
+ 98.56053924560547,
441
+ 3.1035871505737305,
442
+ 92.19999694824219,
443
+ 0.0,
444
+ 0.0,
445
+ 0.0
446
+ ],
447
+ "mean": [
448
+ -2.1056460763161278,
449
+ 6.7285327089720415,
450
+ -10.67307661688333,
451
+ 48.907467798308716,
452
+ 1.776670205263596,
453
+ 63.33472602834034,
454
+ 0.0,
455
+ 0.0,
456
+ 0.0
457
+ ],
458
+ "std": [
459
+ 2.956767786963593,
460
+ 63.40549215472248,
461
+ 61.25343509069834,
462
+ 16.383703374766224,
463
+ 1.7033351493840345,
464
+ 31.36213519168377,
465
+ 0.0,
466
+ 0.0,
467
+ 0.0
468
+ ],
469
+ "count": [
470
+ 4486
471
+ ],
472
+ "q01": [
473
+ -8.102127056714487,
474
+ -99.17780868426618,
475
+ -78.3323818805778,
476
+ 25.000019826127115,
477
+ 1.2819224441280015,
478
+ 11.064098388586714,
479
+ 3.999578446212126e-16,
480
+ 3.999578446212126e-16,
481
+ 3.999578446212126e-16
482
+ ],
483
+ "q10": [
484
+ -4.142012948534379,
485
+ -99.10676924842946,
486
+ -60.57139031018538,
487
+ 30.397171857632213,
488
+ 1.3625407950075656,
489
+ 28.405387699930756,
490
+ 3.999578446212126e-15,
491
+ 3.999578446212126e-15,
492
+ 3.999578446212126e-15
493
+ ],
494
+ "q50": [
495
+ -2.03043739980995,
496
+ 33.18022297527262,
497
+ -38.122719643301814,
498
+ 48.197248351289744,
499
+ 1.8139683802399262,
500
+ 78.26079889189461,
501
+ 1.9997892231060632e-14,
502
+ 1.9997892231060632e-14,
503
+ 1.9997892231060632e-14
504
+ ],
505
+ "q90": [
506
+ 0.4355989046319312,
507
+ 63.6462415592674,
508
+ 99.90216140710068,
509
+ 65.76286810524797,
510
+ 2.104183952297431,
511
+ 78.32197436969749,
512
+ 3.599620601590914e-14,
513
+ 3.599620601590914e-14,
514
+ 3.599620601590914e-14
515
+ ],
516
+ "q99": [
517
+ 1.4841099459812375,
518
+ 63.78205176966528,
519
+ 99.9250158343751,
520
+ 83.70336719355906,
521
+ 2.184771215661415,
522
+ 78.4555227789342,
523
+ 3.9595826617500056e-14,
524
+ 3.9595826617500056e-14,
525
+ 3.9595826617500056e-14
526
+ ]
527
+ }
528
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:762d1b5ab3baaa7d2578e1dc84593b313e6c725c5b02b91525bdaa6a4ffff8a4
3
+ size 2146
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 sha256:47637c38b946d4fa78cc2a0b313f2a6a48502015f33394e8000f77934cbdcf5c
3
+ size 15606488