mddoai commited on
Commit
b58ce9e
·
verified ·
1 Parent(s): d659f6b

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:e41892c4ded4014eabd78f0aab5cdbf9ee8374fa37393c0665689c9d41dd1c1a
3
+ size 17291
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ee01e747d695541a4cf83eb85b86eba01053e6d217eca6d6b5b48ba58bb571e4
3
+ size 52697
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 286,
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": "0:1"
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
+ "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.table": {
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
+ "action": {
3
+ "min": [
4
+ -35.29411697387695,
5
+ -98.48420715332031,
6
+ 16.50045394897461,
7
+ 27.280662536621094,
8
+ -12.607674598693848,
9
+ 1.471861481666565
10
+ ],
11
+ "max": [
12
+ 25.06393814086914,
13
+ 14.27368450164795,
14
+ 94.832275390625,
15
+ 74.3343505859375,
16
+ 64.39572143554688,
17
+ 28.658008575439453
18
+ ],
19
+ "mean": [
20
+ 8.497139930725098,
21
+ -39.307830810546875,
22
+ 51.57518005371094,
23
+ 60.89166259765625,
24
+ 24.2767333984375,
25
+ 5.400353908538818
26
+ ],
27
+ "std": [
28
+ 19.167634963989258,
29
+ 41.70118713378906,
30
+ 28.14862632751465,
31
+ 15.347631454467773,
32
+ 27.056575775146484,
33
+ 6.124246120452881
34
+ ],
35
+ "count": [
36
+ 286
37
+ ],
38
+ "q01": [
39
+ -35.199233856201175,
40
+ -98.41510321255387,
41
+ 17.046583251953123,
42
+ 27.280662536621094,
43
+ -12.607674598693848,
44
+ 1.988531914642879
45
+ ],
46
+ "q10": [
47
+ -31.287549781799317,
48
+ -98.39508593329067,
49
+ 20.39511184692383,
50
+ 27.543953620062933,
51
+ -9.46644999186198,
52
+ 1.9925306272506713
53
+ ],
54
+ "q50": [
55
+ 17.556067784627277,
56
+ -46.859136962890624,
57
+ 41.801631927490234,
58
+ 66.13760375976562,
59
+ 7.387540499369304,
60
+ 2.2520376182183988
61
+ ],
62
+ "q90": [
63
+ 22.847591400146484,
64
+ 13.856024780273438,
65
+ 93.29576819924748,
66
+ 73.98539533615113,
67
+ 61.06763534545898,
68
+ 13.680798943837484
69
+ ],
70
+ "q99": [
71
+ 24.974247169494628,
72
+ 14.26078284072876,
73
+ 94.28614471435547,
74
+ 74.24615725708007,
75
+ 64.3894279044015,
76
+ 28.486927576065064
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -34.99577331542969,
82
+ -97.8031234741211,
83
+ 19.25522232055664,
84
+ 28.320140838623047,
85
+ -12.283272743225098,
86
+ 2.2448978424072266
87
+ ],
88
+ "max": [
89
+ 24.767539978027344,
90
+ 14.237431526184082,
91
+ 96.63941955566406,
92
+ 73.9665756225586,
93
+ 64.15140533447266,
94
+ 28.231292724609375
95
+ ],
96
+ "mean": [
97
+ 8.331911087036133,
98
+ -38.613365173339844,
99
+ 52.84394073486328,
100
+ 61.031986236572266,
101
+ 24.1478214263916,
102
+ 5.612472057342529
103
+ ],
104
+ "std": [
105
+ 19.116592407226562,
106
+ 41.80305862426758,
107
+ 28.81239891052246,
108
+ 14.855456352233887,
109
+ 27.069799423217773,
110
+ 5.906955242156982
111
+ ],
112
+ "count": [
113
+ 286
114
+ ],
115
+ "q01": [
116
+ -34.73962711334229,
117
+ -97.8031234741211,
118
+ 19.53163890838623,
119
+ 28.320140838623047,
120
+ -12.283272743225098,
121
+ 2.2448978424072266
122
+ ],
123
+ "q10": [
124
+ -31.10398635864258,
125
+ -97.64468853924726,
126
+ 20.15926365852356,
127
+ 28.939107131958007,
128
+ -9.55302619934082,
129
+ 2.2448978424072266
130
+ ],
131
+ "q50": [
132
+ 17.08197784423828,
133
+ -46.85128164291382,
134
+ 43.60029220581055,
135
+ 66.57489522298177,
136
+ 7.204512596130371,
137
+ 2.7854974307711164
138
+ ],
139
+ "q90": [
140
+ 22.907705688476565,
141
+ 14.161988067626954,
142
+ 96.62677638462611,
143
+ 73.70888768246299,
144
+ 61.176568603515626,
145
+ 13.40201668372521
146
+ ],
147
+ "q99": [
148
+ 24.758994693756105,
149
+ 14.234518918991089,
150
+ 96.63815523856027,
151
+ 73.96520095825196,
152
+ 64.14867237091065,
153
+ 28.091694831848145
154
+ ]
155
+ },
156
+ "observation.images.wrist": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.00784313725490196
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.537394170751634
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5263920567810457
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5258985661764706
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 100
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.07847656183924605
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.0508844268201236
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.0312349719097447
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.3216660725315234
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.30183071173757164
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.2785413695902756
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.5371719387708354
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.5255911107734588
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.5294578061291826
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.788177879554454
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.7842670844941876
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.8079556643359058
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.9999105388419883
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.999910439407053
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.9999316859693305
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.table": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.37322620098039216
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.37650101307189543
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.36716762050653595
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 100
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.031310136156969766
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.039269326500370696
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.03924234126947988
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.1490642410152799
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.13733072912918778
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.11777749261973756
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.35289694907001945
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.3607345283730887
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.3411516411063681
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.5882960248264325
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.596110894376502
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.6234597433704988
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.992009404506322
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.9998457645503378
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.9920296136392655
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 9.5
478
+ ],
479
+ "mean": [
480
+ 4.75
481
+ ],
482
+ "std": [
483
+ 2.752019460525508
484
+ ],
485
+ "count": [
486
+ 286
487
+ ],
488
+ "q01": [
489
+ 0.06813399990143441
490
+ ],
491
+ "q10": [
492
+ 0.9340399999196639
493
+ ],
494
+ "q50": [
495
+ 4.73479999999968
496
+ ],
497
+ "q90": [
498
+ 8.565960000080334
499
+ ],
500
+ "q99": [
501
+ 9.431866000098564
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 285
510
+ ],
511
+ "mean": [
512
+ 142.5
513
+ ],
514
+ "std": [
515
+ 82.56058381576526
516
+ ],
517
+ "count": [
518
+ 286
519
+ ],
520
+ "q01": [
521
+ 2.044019999901434
522
+ ],
523
+ "q10": [
524
+ 28.021199999919663
525
+ ],
526
+ "q50": [
527
+ 142.0439999999997
528
+ ],
529
+ "q90": [
530
+ 256.97880000008035
531
+ ],
532
+ "q99": [
533
+ 282.9559800000986
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 286
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 285
574
+ ],
575
+ "mean": [
576
+ 142.5
577
+ ],
578
+ "std": [
579
+ 82.56058381576526
580
+ ],
581
+ "count": [
582
+ 286
583
+ ],
584
+ "q01": [
585
+ 2.044019999901434
586
+ ],
587
+ "q10": [
588
+ 28.021199999919663
589
+ ],
590
+ "q50": [
591
+ 142.0439999999997
592
+ ],
593
+ "q90": [
594
+ 256.97880000008035
595
+ ],
596
+ "q99": [
597
+ 282.9559800000986
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
+ 286
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8a80b62464c4076a47c3d8a6cbe9b1313fa4926812221027d3dd70eaa2df254
3
+ size 2301
videos/observation.images.table/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c72426565d2eb93131bf121abc46891d4ce68aa7a4b829ca50afb1ccf2dc87d
3
+ size 1821900
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 sha256:7b2e10a69307d0c0622d781baeef8d87a8bf1833cdae132626a60fb130170471
3
+ size 1124007