sw107 commited on
Commit
52bff21
·
verified ·
1 Parent(s): 8f3a085

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:c64669dbd74588283d68ab15c6fa203bfd2eaed128770534e88d4375a3da873d
3
+ size 1579523
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60cf00506fcff9978359f6755b616456437b513ad062b2e3fd411798c82aeed7
3
+ size 202887
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 80,
5
+ "total_frames": 62894,
6
+ "total_tasks": 2,
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": "0:80"
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
+ 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
+ 62894
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994167e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999416e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997094e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999474e-14
29
+ ],
30
+ "q99": [
31
+ 3.959999999999423e-14
32
+ ]
33
+ },
34
+ "observation.images.wrist": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5186093393418036
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5247552652956093
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5312320360845522
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.01102185796029766
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.011735376028330715
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.013286510868989
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 11917
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.024412162683361712
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.041950017061991404
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.047810379847211086
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.1317566930670706
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.16109040897646065
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.2158940327036338
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.5756127469354607
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.5776543309791042
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5738374448528413
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.6417616536477883
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.6464291385841962
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.645367985418061
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.7300350617088479
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.7933128885476054
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.8866177762073235
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "episode_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 59
198
+ ],
199
+ "mean": [
200
+ 26.271663433713865
201
+ ],
202
+ "std": [
203
+ 17.348972323841373
204
+ ],
205
+ "count": [
206
+ 62894
207
+ ],
208
+ "q01": [
209
+ 26.271663433713865
210
+ ],
211
+ "q10": [
212
+ 26.271663433713865
213
+ ],
214
+ "q50": [
215
+ 26.27166343371388
216
+ ],
217
+ "q90": [
218
+ 26.271663433713893
219
+ ],
220
+ "q99": [
221
+ 26.2716634337139
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 925
230
+ ],
231
+ "mean": [
232
+ 410.5591630362197
233
+ ],
234
+ "std": [
235
+ 248.2573439662664
236
+ ],
237
+ "count": [
238
+ 62894
239
+ ],
240
+ "q01": [
241
+ 7.682144085760611
242
+ ],
243
+ "q10": [
244
+ 81.65875629718195
245
+ ],
246
+ "q50": [
247
+ 410.3228005215123
248
+ ],
249
+ "q90": [
250
+ 739.3613100048501
251
+ ],
252
+ "q99": [
253
+ 813.4233174845006
254
+ ]
255
+ },
256
+ "index": {
257
+ "min": [
258
+ 0
259
+ ],
260
+ "max": [
261
+ 51912
262
+ ],
263
+ "mean": [
264
+ 22382.731548319396
265
+ ],
266
+ "std": [
267
+ 15731.688965407353
268
+ ],
269
+ "count": [
270
+ 62894
271
+ ],
272
+ "q01": [
273
+ 21979.854529368935
274
+ ],
275
+ "q10": [
276
+ 22053.83114158036
277
+ ],
278
+ "q50": [
279
+ 22382.57679634305
280
+ ],
281
+ "q90": [
282
+ 22711.533695288017
283
+ ],
284
+ "q99": [
285
+ 22785.595702767674
286
+ ]
287
+ },
288
+ "timestamp": {
289
+ "min": [
290
+ 0.0
291
+ ],
292
+ "max": [
293
+ 30.833333333333332
294
+ ],
295
+ "mean": [
296
+ 13.68530543454066
297
+ ],
298
+ "std": [
299
+ 8.275244798875542
300
+ ],
301
+ "count": [
302
+ 62894
303
+ ],
304
+ "q01": [
305
+ 0.2560714694304908
306
+ ],
307
+ "q10": [
308
+ 2.721958543161953
309
+ ],
310
+ "q50": [
311
+ 13.680147035329238
312
+ ],
313
+ "q90": [
314
+ 24.645377000239097
315
+ ],
316
+ "q99": [
317
+ 27.11411058291154
318
+ ]
319
+ },
320
+ "action": {
321
+ "min": [
322
+ -21.40505027770996,
323
+ -99.49685668945312,
324
+ -26.95259666442871,
325
+ 31.094635009765625,
326
+ -23.5908145904541,
327
+ 0.0
328
+ ],
329
+ "max": [
330
+ 41.67581558227539,
331
+ 10.020964622497559,
332
+ 99.54853057861328,
333
+ 100.0,
334
+ 32.254695892333984,
335
+ 40.90189743041992
336
+ ],
337
+ "mean": [
338
+ 5.444986792923987,
339
+ -34.882948366610904,
340
+ 25.154950146667982,
341
+ 82.86749336237092,
342
+ 0.31985313675916915,
343
+ 4.0145810356685105
344
+ ],
345
+ "std": [
346
+ 21.70881065013728,
347
+ 38.41263274867699,
348
+ 40.57929730621705,
349
+ 10.58091477836343,
350
+ 13.843545170611408,
351
+ 7.587452037473263
352
+ ],
353
+ "count": [
354
+ 62894
355
+ ],
356
+ "q01": [
357
+ -18.347496247541766,
358
+ -98.87631542481486,
359
+ -16.68658747411272,
360
+ 48.47628174067432,
361
+ -15.85300401230005,
362
+ 0.7160065302512924
363
+ ],
364
+ "q10": [
365
+ -17.76702114721139,
366
+ -98.82381905040609,
367
+ -10.29347208004075,
368
+ 73.39570124595951,
369
+ -15.744786463474108,
370
+ 0.7373860898373845
371
+ ],
372
+ "q50": [
373
+ -1.701868889679868,
374
+ -13.41502686403851,
375
+ 6.6825591622748215,
376
+ 82.86469398278683,
377
+ -0.8321850705703172,
378
+ 0.7779061313913619
379
+ ],
380
+ "q90": [
381
+ 37.25822387654043,
382
+ -5.211604994359715,
383
+ 92.05533961755636,
384
+ 95.30795179690514,
385
+ 20.02811004315862,
386
+ 18.70509212455027
387
+ ],
388
+ "q99": [
389
+ 38.68149214507144,
390
+ -3.320371202846976,
391
+ 92.91374723180557,
392
+ 98.80270410578899,
393
+ 22.45108491614232,
394
+ 25.144799609437662
395
+ ]
396
+ },
397
+ "observation.images.top": {
398
+ "min": [
399
+ [
400
+ [
401
+ 0.0
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 0.0
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.0
412
+ ]
413
+ ]
414
+ ],
415
+ "max": [
416
+ [
417
+ [
418
+ 1.0
419
+ ]
420
+ ],
421
+ [
422
+ [
423
+ 1.0
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 1.0
429
+ ]
430
+ ]
431
+ ],
432
+ "mean": [
433
+ [
434
+ [
435
+ 0.5878321861009236
436
+ ]
437
+ ],
438
+ [
439
+ [
440
+ 0.5787755035886832
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.5173565278545617
446
+ ]
447
+ ]
448
+ ],
449
+ "std": [
450
+ [
451
+ [
452
+ 0.0038744805602231973
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 0.0029093773662742964
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.003380360829774496
463
+ ]
464
+ ]
465
+ ],
466
+ "count": [
467
+ 11917
468
+ ],
469
+ "q01": [
470
+ [
471
+ [
472
+ 0.020193186849034518
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.020844038819439446
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ 0.01267669069830663
483
+ ]
484
+ ]
485
+ ],
486
+ "q10": [
487
+ [
488
+ [
489
+ 0.34950208200216937
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.30719918874673297
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.23329834329821314
500
+ ]
501
+ ]
502
+ ],
503
+ "q50": [
504
+ [
505
+ [
506
+ 0.6292717216124115
507
+ ]
508
+ ],
509
+ [
510
+ [
511
+ 0.6054676953386002
512
+ ]
513
+ ],
514
+ [
515
+ [
516
+ 0.5545461944963417
517
+ ]
518
+ ]
519
+ ],
520
+ "q90": [
521
+ [
522
+ [
523
+ 0.7503043745422878
524
+ ]
525
+ ],
526
+ [
527
+ [
528
+ 0.8095925771942267
529
+ ]
530
+ ],
531
+ [
532
+ [
533
+ 0.8002686569388808
534
+ ]
535
+ ]
536
+ ],
537
+ "q99": [
538
+ [
539
+ [
540
+ 0.7873492895416786
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.8483969874263954
546
+ ]
547
+ ],
548
+ [
549
+ [
550
+ 0.8648289558278136
551
+ ]
552
+ ]
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -20.97701072692871,
558
+ -98.89783477783203,
559
+ -24.07574462890625,
560
+ 32.90870666503906,
561
+ -23.418804168701172,
562
+ 1.2599469423294067
563
+ ],
564
+ "max": [
565
+ 41.379310607910156,
566
+ 10.216193199157715,
567
+ 100.0,
568
+ 98.81104278564453,
569
+ 31.672771453857422,
570
+ 40.318302154541016
571
+ ],
572
+ "mean": [
573
+ 5.389908667242675,
574
+ -34.242345044043276,
575
+ 26.852540579062637,
576
+ 82.95512903987246,
577
+ 0.2848317946530397,
578
+ 6.453475634369459
579
+ ],
580
+ "std": [
581
+ 21.633780203733977,
582
+ 38.77768353446277,
583
+ 40.51077200425486,
584
+ 10.393313874464473,
585
+ 13.801247137960399,
586
+ 6.6706930713150365
587
+ ],
588
+ "count": [
589
+ 62894
590
+ ],
591
+ "q01": [
592
+ -18.08806292035155,
593
+ -98.63554968674298,
594
+ -13.668671742008883,
595
+ 49.542984409090884,
596
+ -15.745486344819987,
597
+ 1.3188783840052432
598
+ ],
599
+ "q10": [
600
+ -17.697109580031224,
601
+ -98.59661254675687,
602
+ -7.761299261692577,
603
+ 73.74254901981747,
604
+ -15.66000688436762,
605
+ 1.3197858189283642
606
+ ],
607
+ "q50": [
608
+ -1.788610733493205,
609
+ -12.498357218820141,
610
+ 7.935332118593257,
611
+ 83.01235370784661,
612
+ -0.8986966993395135,
613
+ 5.028156015058734
614
+ ],
615
+ "q90": [
616
+ 37.17524207941949,
617
+ -4.495734200527772,
618
+ 93.69470730246172,
619
+ 95.2014250197449,
620
+ 20.048390794373752,
621
+ 18.700444349691
622
+ ],
623
+ "q99": [
624
+ 38.40243922994085,
625
+ -3.035230374175607,
626
+ 94.36439035016541,
627
+ 98.1485955655917,
628
+ 22.226585924695843,
629
+ 24.857412200095542
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8cffc89f9171b66f3367408b98d9efb54a54f771262f7d20d1e7bf0dd5a5b300
3
+ size 2838
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 sha256:1256e8d7cdf5d5169f229de0e1c112836c2f9698d68130bac959d9e7602ed981
3
+ size 206391054
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d2eb20d4de5bbcd70c93ebf84d9f547be95f132841f3e395e5a788cbeb1e53c9
3
+ size 176968189
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 sha256:27a407f13b2dc10fecee031694ed198f00ac1b5a320b4112f640e0b9911655e1
3
+ size 205606258
videos/observation.images.wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:227a5eedecf7cdf4a8e54965b6f45655f063d0a0569262bb97ce2e78107ae706
3
+ size 165026928