mercu7 commited on
Commit
a7b38df
·
verified ·
1 Parent(s): 1d0032c

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:cd47f756e5ed70e5e4c1f50f92c75e6ffd9fbbcaf2656f00f8bdda79d9e8f150
3
+ size 34012
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ddcea1be6098cd4fe9ef4188b7b544b68362e60aa7ac665d6998756ca83e23f8
3
+ size 58892
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 520,
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": "0:5"
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.base": {
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.overhead": {
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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 519
8
+ ],
9
+ "mean": [
10
+ 259.5
11
+ ],
12
+ "std": [
13
+ 150.11079241680127
14
+ ],
15
+ "count": [
16
+ 520
17
+ ],
18
+ "q01": [
19
+ 207.1753964537469
20
+ ],
21
+ "q10": [
22
+ 216.98445023068868
23
+ ],
24
+ "q50": [
25
+ 259.22400807692253
26
+ ],
27
+ "q90": [
28
+ 302.01554976931135
29
+ ],
30
+ "q99": [
31
+ 311.8157491308684
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 130
40
+ ],
41
+ "mean": [
42
+ 52.79423076923077
43
+ ],
44
+ "std": [
45
+ 32.28571316245444
46
+ ],
47
+ "count": [
48
+ 520
49
+ ],
50
+ "q01": [
51
+ 0.4696272229776961
52
+ ],
53
+ "q10": [
54
+ 10.278680999919413
55
+ ],
56
+ "q50": [
57
+ 52.52182038461482
58
+ ],
59
+ "q90": [
60
+ 95.3097805385421
61
+ ],
62
+ "q99": [
63
+ 105.1099799000992
64
+ ]
65
+ },
66
+ "action": {
67
+ "min": [
68
+ -33.98130798339844,
69
+ -98.93095397949219,
70
+ -22.36248779296875,
71
+ 8.925750732421875,
72
+ -4.517176151275635,
73
+ 0.0
74
+ ],
75
+ "max": [
76
+ 4.299065589904785,
77
+ 22.405345916748047,
78
+ 99.81965637207031,
79
+ 68.87835693359375,
80
+ 7.8171491622924805,
81
+ 27.613292694091797
82
+ ],
83
+ "mean": [
84
+ -9.880519240636092,
85
+ -47.53486055961022,
86
+ 52.60143763468816,
87
+ 49.192185453268195,
88
+ -0.32125822191055003,
89
+ 8.126892654712384
90
+ ],
91
+ "std": [
92
+ 7.34339858131834,
93
+ 43.53899247253643,
94
+ 41.052567091598675,
95
+ 11.020373728840719,
96
+ 2.989483413979986,
97
+ 9.10091230907512
98
+ ],
99
+ "count": [
100
+ 520
101
+ ],
102
+ "q01": [
103
+ -20.247303907687847,
104
+ -98.67068037150457,
105
+ -8.001935054866166,
106
+ 30.977184592760526,
107
+ -3.6718961270955894,
108
+ 0.5812623367909545
109
+ ],
110
+ "q10": [
111
+ -17.54047884119098,
112
+ -98.61892916284638,
113
+ -3.6279105165218697,
114
+ 31.791728119771562,
115
+ -3.499633888737972,
116
+ 0.7072835733142884
117
+ ],
118
+ "q50": [
119
+ -8.174694737812857,
120
+ -37.371394227101256,
121
+ 54.6112917973445,
122
+ 50.559557986294394,
123
+ -0.6388851698103187,
124
+ 2.95908323569627
125
+ ],
126
+ "q90": [
127
+ -2.1234088093468126,
128
+ 9.676103825202354,
129
+ 97.47954341522019,
130
+ 58.239068495432534,
131
+ 2.5302696460481093,
132
+ 21.120324857367223
133
+ ],
134
+ "q99": [
135
+ -1.6700102291809116,
136
+ 14.499639683540051,
137
+ 97.67079137343949,
138
+ 60.62443672220523,
139
+ 2.7764140006916196,
140
+ 23.141568020414997
141
+ ]
142
+ },
143
+ "timestamp": {
144
+ "min": [
145
+ 0.0
146
+ ],
147
+ "max": [
148
+ 4.333333333333333
149
+ ],
150
+ "mean": [
151
+ 1.7598076923076922
152
+ ],
153
+ "std": [
154
+ 1.0761904387484815
155
+ ],
156
+ "count": [
157
+ 520
158
+ ],
159
+ "q01": [
160
+ 0.015654240670003886
161
+ ],
162
+ "q10": [
163
+ 0.34262269991941263
164
+ ],
165
+ "q50": [
166
+ 1.750727346153279
167
+ ],
168
+ "q90": [
169
+ 3.1769926846959726
170
+ ],
171
+ "q99": [
172
+ 3.503665996765874
173
+ ]
174
+ },
175
+ "observation.state": {
176
+ "min": [
177
+ -33.35980987548828,
178
+ -99.82230377197266,
179
+ -17.95316505432129,
180
+ 10.410849571228027,
181
+ -4.273504257202148,
182
+ 0.7601935267448425
183
+ ],
184
+ "max": [
185
+ 3.733121633529663,
186
+ 23.944913864135742,
187
+ 100.0,
188
+ 68.64778900146484,
189
+ 7.496947288513184,
190
+ 27.15964126586914
191
+ ],
192
+ "mean": [
193
+ -9.63157337812277,
194
+ -46.06893018575815,
195
+ 54.648233149601865,
196
+ 49.57903106396015,
197
+ -0.3247864107672985,
198
+ 8.682286869562589
199
+ ],
200
+ "std": [
201
+ 6.6340200191909195,
202
+ 44.576683013862926,
203
+ 40.164009326871316,
204
+ 10.755424677628001,
205
+ 2.9892933107040753,
206
+ 8.333697363819331
207
+ ],
208
+ "count": [
209
+ 520
210
+ ],
211
+ "q01": [
212
+ -19.236237547801093,
213
+ -98.75176045989991,
214
+ -3.7380501143382143,
215
+ 31.738517333911016,
216
+ -3.4924392149998593,
217
+ 0.8989421178515141
218
+ ],
219
+ "q10": [
220
+ -16.17301553286039,
221
+ -98.45453088455014,
222
+ -0.1506969281159915,
223
+ 32.247947717263145,
224
+ -2.9679693876223245,
225
+ 1.1000045729731613
226
+ ],
227
+ "q50": [
228
+ -8.540255791603672,
229
+ -35.82513723373413,
230
+ 56.16472269938542,
231
+ 50.87862227757772,
232
+ -0.7371174944580621,
233
+ 4.7173466297070865
234
+ ],
235
+ "q90": [
236
+ -2.6222615411744075,
237
+ 12.522655042501597,
238
+ 97.85959928820068,
239
+ 58.41118657615857,
240
+ 2.3859300326467094,
241
+ 20.857044691194147
242
+ ],
243
+ "q99": [
244
+ -1.5264466424141612,
245
+ 15.82107770551954,
246
+ 97.98874128907481,
247
+ 60.51157722238883,
248
+ 2.583084181082701,
249
+ 22.921560715247075
250
+ ]
251
+ },
252
+ "observation.images.overhead": {
253
+ "min": [
254
+ [
255
+ [
256
+ 0.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ]
269
+ ],
270
+ "max": [
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 1.0
284
+ ]
285
+ ]
286
+ ],
287
+ "mean": [
288
+ [
289
+ [
290
+ 0.5270950343997247
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.5361900034399726
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.5360315234778121
301
+ ]
302
+ ]
303
+ ],
304
+ "std": [
305
+ [
306
+ [
307
+ 0.020239614708242565
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.016339976234338298
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.022630872052708924
318
+ ]
319
+ ]
320
+ ],
321
+ "count": [
322
+ 475
323
+ ],
324
+ "q01": [
325
+ [
326
+ [
327
+ 0.17922141364961622
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.17999337637587254
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.17255771849742924
338
+ ]
339
+ ]
340
+ ],
341
+ "q10": [
342
+ [
343
+ [
344
+ 0.31231110292927405
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.31225048233579883
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.3240350353229149
355
+ ]
356
+ ]
357
+ ],
358
+ "q50": [
359
+ [
360
+ [
361
+ 0.5178298023249764
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.5317587203202241
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.5480995856551277
372
+ ]
373
+ ]
374
+ ],
375
+ "q90": [
376
+ [
377
+ [
378
+ 0.898243034829113
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.8735184304963074
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.6785685399762396
389
+ ]
390
+ ]
391
+ ],
392
+ "q99": [
393
+ [
394
+ [
395
+ 0.9999782277696727
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.9999772996965339
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.9999481691193932
406
+ ]
407
+ ]
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 4
416
+ ],
417
+ "mean": [
418
+ 1.8807692307692307
419
+ ],
420
+ "std": [
421
+ 1.4428921892582567
422
+ ],
423
+ "count": [
424
+ 520
425
+ ],
426
+ "q01": [
427
+ 1.8807692307692312
428
+ ],
429
+ "q10": [
430
+ 1.8807692307692345
431
+ ],
432
+ "q50": [
433
+ 1.8807692307692505
434
+ ],
435
+ "q90": [
436
+ 1.8807692307692667
437
+ ],
438
+ "q99": [
439
+ 1.8807692307692703
440
+ ]
441
+ },
442
+ "task_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 0
448
+ ],
449
+ "mean": [
450
+ 0.0
451
+ ],
452
+ "std": [
453
+ 0.0
454
+ ],
455
+ "count": [
456
+ 520
457
+ ],
458
+ "q01": [
459
+ 3.999999999999418e-16
460
+ ],
461
+ "q10": [
462
+ 3.9999999999994166e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997088e-14
466
+ ],
467
+ "q90": [
468
+ 3.5999999999994766e-14
469
+ ],
470
+ "q99": [
471
+ 3.9599999999994235e-14
472
+ ]
473
+ },
474
+ "observation.images.base": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0196078431372549
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.44745964869281046
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.4527024299105607
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.3582664606983144
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.010585015074782149
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.007854992940131271
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.021460698955645334
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 475
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.049158649746604235
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.0667201605474557
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.02208420824846393
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.12133658520065714
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.1496153737004019
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.06700622983429172
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.4652899311358143
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.48313701344259485
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.399719560056379
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7075846085206484
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.6724957786514133
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.5883798833079701
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9903225118417004
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9810706094329087
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9059326501776226
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:359fbd5b53076703a93e584788dc38dff7ac47d3ab07bad26f5bf92110623951
3
+ size 2196
videos/observation.images.base/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30d25f0921264d79519ef73d333e0c7189ed50801295e22135b405d93115f98e
3
+ size 3844962
videos/observation.images.overhead/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eaf8cae0fe7926a4fb5ca3d731a5842b1cbe963bd5e6f251d6a3577862b107da
3
+ size 6743891