mermelada23 commited on
Commit
61545a1
·
verified ·
1 Parent(s): a78cb44

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 sha256:04a01566b78d615f28c0a422ec884abff0522c04e01cc6f4a755ea7d2238029e
3
+ size 74016
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8629a6f3c5ebd08f03198e4462e700476870f4838c3d6ccbf04f84d33d8b869e
3
+ size 56868
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": 3846,
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
+ "observation.images.tripod": {
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 896
8
+ ],
9
+ "mean": [
10
+ 426.2355694227769
11
+ ],
12
+ "std": [
13
+ 263.08413232214133
14
+ ],
15
+ "count": [
16
+ 3846
17
+ ],
18
+ "q01": [
19
+ 7.643984798653732
20
+ ],
21
+ "q10": [
22
+ 84.71157071234835
23
+ ],
24
+ "q50": [
25
+ 425.9954523140926
26
+ ],
27
+ "q90": [
28
+ 767.696535371895
29
+ ],
30
+ "q99": [
31
+ 844.8271540469002
32
+ ]
33
+ },
34
+ "observation.images.front": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.07058823529411765
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
+ 0.45347781107678004
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.4210744860111598
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.39288516352906405
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.01588586397169955
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.009383098775427522
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.014574586791096801
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 752
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.13269261313420286
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.11008697348172608
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.04355617201981334
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.16059485837032156
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.13955018199276442
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.08090944545042651
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.27694785482866685
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.27399973501278374
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.2479339177765407
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.9500227998961436
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.9108210221512658
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.9231608451931752
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.9974081843700998
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9991173052932475
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.999936289980595
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "episode_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 4
198
+ ],
199
+ "mean": [
200
+ 2.3304732189287574
201
+ ],
202
+ "std": [
203
+ 1.2487090097538516
204
+ ],
205
+ "count": [
206
+ 3846
207
+ ],
208
+ "q01": [
209
+ 2.330473218928758
210
+ ],
211
+ "q10": [
212
+ 2.330473218928761
213
+ ],
214
+ "q50": [
215
+ 2.330473218928777
216
+ ],
217
+ "q90": [
218
+ 2.330473218928793
219
+ ],
220
+ "q99": [
221
+ 2.330473218928797
222
+ ]
223
+ },
224
+ "timestamp": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 29.866666666666667
230
+ ],
231
+ "mean": [
232
+ 14.207852314092564
233
+ ],
234
+ "std": [
235
+ 8.76947107740471
236
+ ],
237
+ "count": [
238
+ 3846
239
+ ],
240
+ "q01": [
241
+ 0.25479949319351297
242
+ ],
243
+ "q10": [
244
+ 2.8237190236674636
245
+ ],
246
+ "q50": [
247
+ 14.202634723522218
248
+ ],
249
+ "q90": [
250
+ 25.58988451247393
251
+ ],
252
+ "q99": [
253
+ 28.160905134991612
254
+ ]
255
+ },
256
+ "index": {
257
+ "min": [
258
+ 0
259
+ ],
260
+ "max": [
261
+ 3845
262
+ ],
263
+ "mean": [
264
+ 1922.5
265
+ ],
266
+ "std": [
267
+ 1110.244530122381
268
+ ],
269
+ "count": [
270
+ 3846
271
+ ],
272
+ "q01": [
273
+ 1503.9084153758768
274
+ ],
275
+ "q10": [
276
+ 1580.9760012895713
277
+ ],
278
+ "q50": [
279
+ 1922.343472282891
280
+ ],
281
+ "q90": [
282
+ 2263.9609659491184
283
+ ],
284
+ "q99": [
285
+ 2341.0915846241237
286
+ ]
287
+ },
288
+ "observation.images.tripod": {
289
+ "min": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "max": [
307
+ [
308
+ [
309
+ 1.0
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 1.0
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 1.0
320
+ ]
321
+ ]
322
+ ],
323
+ "mean": [
324
+ [
325
+ [
326
+ 0.5008557973943123
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.547423777877729
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.5791479008048255
337
+ ]
338
+ ]
339
+ ],
340
+ "std": [
341
+ [
342
+ [
343
+ 0.008647478652412853
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.016447137794589894
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.018812525617860665
354
+ ]
355
+ ]
356
+ ],
357
+ "count": [
358
+ 752
359
+ ],
360
+ "q01": [
361
+ [
362
+ [
363
+ 0.0025363297061023874
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.039859777938179186
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.051156637497090846
374
+ ]
375
+ ]
376
+ ],
377
+ "q10": [
378
+ [
379
+ [
380
+ 0.07300538154952216
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.13203451426177
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.1556792517509229
391
+ ]
392
+ ]
393
+ ],
394
+ "q50": [
395
+ [
396
+ [
397
+ 0.39782408699301536
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 0.4844892596029629
403
+ ]
404
+ ],
405
+ [
406
+ [
407
+ 0.5484736379063759
408
+ ]
409
+ ]
410
+ ],
411
+ "q90": [
412
+ [
413
+ [
414
+ 0.9765156615631562
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.9843266236857368
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.9803180225014136
425
+ ]
426
+ ]
427
+ ],
428
+ "q99": [
429
+ [
430
+ [
431
+ 0.9982220541532997
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 0.9980229079699364
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 0.9988151684302012
442
+ ]
443
+ ]
444
+ ]
445
+ },
446
+ "action": {
447
+ "min": [
448
+ -19.7908878326416,
449
+ -99.66087341308594,
450
+ 64.0886459350586,
451
+ 74.98918151855469,
452
+ -55.22309875488281,
453
+ 27.463651657104492
454
+ ],
455
+ "max": [
456
+ 5.003734111785889,
457
+ -99.15218353271484,
458
+ 99.72863006591797,
459
+ 86.41281127929688,
460
+ -55.17060470581055,
461
+ 27.463651657104492
462
+ ],
463
+ "mean": [
464
+ -17.622170871827855,
465
+ -99.3708487405048,
466
+ 89.22327869234765,
467
+ 83.41488326891474,
468
+ -55.171158942839035,
469
+ 27.46351644959353
470
+ ],
471
+ "std": [
472
+ 6.092769272411882,
473
+ 0.28076153356206124,
474
+ 3.360118422397694,
475
+ 2.304855707341377,
476
+ 0.0006023498720657108,
477
+ 0.07766826435743861
478
+ ],
479
+ "count": [
480
+ 3846
481
+ ],
482
+ "q01": [
483
+ -17.731796350444412,
484
+ -99.4289014660562,
485
+ 84.75635019749699,
486
+ 83.38116265831053,
487
+ -55.18284785766126,
488
+ 27.463651657104492
489
+ ],
490
+ "q10": [
491
+ -17.62730302107109,
492
+ -99.3695920503794,
493
+ 89.43782767738703,
494
+ 83.38116265831053,
495
+ -55.17060717403815,
496
+ 27.463651657104492
497
+ ],
498
+ "q50": [
499
+ -17.609887641479247,
500
+ -99.36958663980137,
501
+ 89.43832501928694,
502
+ 83.38116265831053,
503
+ -55.170606077048106,
504
+ 27.463651657104492
505
+ ],
506
+ "q90": [
507
+ -17.609872961441056,
508
+ -99.349834057543,
509
+ 89.43882236118684,
510
+ 83.38116265831053,
511
+ -55.17060498005806,
512
+ 27.463651657104492
513
+ ],
514
+ "q99": [
515
+ -17.592471494428647,
516
+ -99.34982972427744,
517
+ 89.43893426311432,
518
+ 83.92614646018947,
519
+ -55.1706047332353,
520
+ 27.463651657104492
521
+ ]
522
+ },
523
+ "task_index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 0
529
+ ],
530
+ "mean": [
531
+ 0.0
532
+ ],
533
+ "std": [
534
+ 0.0
535
+ ],
536
+ "count": [
537
+ 3846
538
+ ],
539
+ "q01": [
540
+ 3.9999999999994176e-16
541
+ ],
542
+ "q10": [
543
+ 3.999999999999417e-15
544
+ ],
545
+ "q50": [
546
+ 1.9999999999997088e-14
547
+ ],
548
+ "q90": [
549
+ 3.5999999999994766e-14
550
+ ],
551
+ "q99": [
552
+ 3.9599999999994235e-14
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -19.660642623901367,
558
+ -99.48914337158203,
559
+ 68.9250259399414,
560
+ 73.04048156738281,
561
+ -55.4569206237793,
562
+ 27.12215232849121
563
+ ],
564
+ "max": [
565
+ 4.758391857147217,
566
+ -96.5091552734375,
567
+ 99.27732849121094,
568
+ 92.33419799804688,
569
+ -48.563968658447266,
570
+ 27.191165924072266
571
+ ],
572
+ "mean": [
573
+ -18.000717570740793,
574
+ -99.39392807157598,
575
+ 88.6933091908027,
576
+ 83.64496416358729,
577
+ -54.97980534081898,
578
+ 27.18668176231444
579
+ ],
580
+ "std": [
581
+ 6.033769645765594,
582
+ 0.14005035988204165,
583
+ 3.294068411706161,
584
+ 2.5197790634193673,
585
+ 0.19963856712467348,
586
+ 0.02003592356210111
587
+ ],
588
+ "count": [
589
+ 3846
590
+ ],
591
+ "q01": [
592
+ -18.848274677294466,
593
+ -99.41490057650486,
594
+ 84.79105464913482,
595
+ 83.49244124977402,
596
+ -54.999128844754956,
597
+ 27.18650041839076
598
+ ],
599
+ "q10": [
600
+ -17.98546527864402,
601
+ -99.41489795274511,
602
+ 88.89539367640043,
603
+ 83.59399412305645,
604
+ -54.98696662750652,
605
+ 27.18650041839076
606
+ ],
607
+ "q50": [
608
+ -17.98538918811151,
609
+ -99.39505232024266,
610
+ 88.89579084075312,
611
+ 83.6140898719846,
612
+ -54.98695750681786,
613
+ 27.18650041839076
614
+ ],
615
+ "q90": [
616
+ -17.985313097579,
617
+ -99.39503907641621,
618
+ 88.89618800510583,
619
+ 83.61410109715739,
620
+ -54.9869483861292,
621
+ 27.18650041839076
622
+ ],
623
+ "q99": [
624
+ -17.950922675006172,
625
+ -99.2312951723154,
626
+ 88.89627736708519,
627
+ 84.29677219685243,
628
+ -54.570416774232285,
629
+ 27.18650041839076
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f3df6b48ec1263e13556b9c1a8baa134c0cca1f09ce38f2699e0915f5ee669ff
3
+ size 2221
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:aac2d7c6cb0ce3089576afc10d7b31b9f128a23de2df9e9961855172843e5c5d
3
+ size 28596630
videos/observation.images.tripod/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e5ee3f4d0595e42977b4527789fdbf1c750a5a0cb090b066cdc7cf001622df30
3
+ size 79655389