misawa-t commited on
Commit
90d11c9
·
verified ·
1 Parent(s): 756b657

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:b502343e2351bbf10bd2c4c00964d2e3d2ef7883270acf4328f427eff8a9f528
3
+ size 301086
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:070752b5cc7d33e559b88e9cfa4fd908040edfd2f8d1b451d2ebd4a5bd79e17a
3
+ size 89759
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 5331,
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": "0:20"
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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -45.967742919921875,
5
+ -99.17864227294922,
6
+ -99.63980102539062,
7
+ -12.34723949432373,
8
+ -26.60264778137207,
9
+ 2.3125996589660645
10
+ ],
11
+ "max": [
12
+ 14.442814826965332,
13
+ 58.9322395324707,
14
+ 99.54975128173828,
15
+ 100.0,
16
+ 9.42123031616211,
17
+ 2.7113237380981445
18
+ ],
19
+ "mean": [
20
+ -13.420696504163912,
21
+ 8.268659742011337,
22
+ 0.2911542504438869,
23
+ 45.559827758411245,
24
+ -3.9545257911183915,
25
+ 2.5134606239742463
26
+ ],
27
+ "std": [
28
+ 15.463332347421456,
29
+ 24.171877104834333,
30
+ 33.88217546890751,
31
+ 30.8775241185594,
32
+ 7.0450970898334,
33
+ 0.060602709628223415
34
+ ],
35
+ "count": [
36
+ 5331
37
+ ],
38
+ "q01": [
39
+ -38.46429674977189,
40
+ -21.890923963719292,
41
+ -62.4504585648382,
42
+ -0.3188944871099461,
43
+ -14.644954614885616,
44
+ 2.3948108971875914
45
+ ],
46
+ "q10": [
47
+ -35.23471123444208,
48
+ -17.303662661869954,
49
+ -47.532118176697864,
50
+ 1.9135687892424043,
51
+ -13.049212136990937,
52
+ 2.450616601100456
53
+ ],
54
+ "q50": [
55
+ -9.159023942667492,
56
+ 5.885843601618522,
57
+ 9.577730114946343,
58
+ 51.40792927267643,
59
+ -2.3447033088125075,
60
+ 2.519063273330398
61
+ ],
62
+ "q90": [
63
+ 2.7833171034464046,
64
+ 39.19761915062336,
65
+ 33.29161068682339,
66
+ 84.60011848790317,
67
+ 2.586525855204955,
68
+ 2.5716285930516753
69
+ ],
70
+ "q99": [
71
+ 7.806599308305929,
72
+ 44.61526482461679,
73
+ 38.6860933202472,
74
+ 94.21671853933857,
75
+ 4.192752427458017,
76
+ 2.604633245330033
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -45.7006950378418,
82
+ -98.5967788696289,
83
+ -96.3162612915039,
84
+ -10.5285062789917,
85
+ -26.543052673339844,
86
+ 2.5308241844177246
87
+ ],
88
+ "max": [
89
+ 13.794364929199219,
90
+ 60.1320686340332,
91
+ 98.83198547363281,
92
+ 98.6683349609375,
93
+ 8.813817977905273,
94
+ 2.5308241844177246
95
+ ],
96
+ "mean": [
97
+ -13.429768349077392,
98
+ 11.112271270479031,
99
+ 3.2585767908383434,
100
+ 46.1522123407991,
101
+ -4.03916073607428,
102
+ 2.5308231228714115
103
+ ],
104
+ "std": [
105
+ 15.362605143826558,
106
+ 24.442101625119026,
107
+ 33.51696573800997,
108
+ 30.17950605432509,
109
+ 7.007513194319563,
110
+ 0.0005427211097617532
111
+ ],
112
+ "count": [
113
+ 5331
114
+ ],
115
+ "q01": [
116
+ -38.1396316202476,
117
+ -18.060836826304172,
118
+ -58.13535967288556,
119
+ 0.5227011699286359,
120
+ -14.506422106004123,
121
+ 2.5308241844177246
122
+ ],
123
+ "q10": [
124
+ -35.222563687841756,
125
+ -13.879945987270611,
126
+ -43.756309450089375,
127
+ 3.3286046437135717,
128
+ -13.125491918897998,
129
+ 2.5308241844177246
130
+ ],
131
+ "q50": [
132
+ -9.14714947742675,
133
+ 7.977963006687291,
134
+ 12.99082329227387,
135
+ 51.85485165679551,
136
+ -2.5027411296296096,
137
+ 2.5308241844177246
138
+ ],
139
+ "q90": [
140
+ 2.696765044410021,
141
+ 42.885075116322646,
142
+ 35.33067861146104,
143
+ 84.34317356164001,
144
+ 2.4296292986274346,
145
+ 2.5308241844177246
146
+ ],
147
+ "q99": [
148
+ 7.323685478803188,
149
+ 46.356813359997986,
150
+ 39.59450980861442,
151
+ 93.35153229868516,
152
+ 4.256320633882311,
153
+ 2.5308241844177246
154
+ ]
155
+ },
156
+ "episode_index": {
157
+ "min": [
158
+ 0
159
+ ],
160
+ "max": [
161
+ 19
162
+ ],
163
+ "mean": [
164
+ 8.702682423560308
165
+ ],
166
+ "std": [
167
+ 5.776714290580733
168
+ ],
169
+ "count": [
170
+ 5331
171
+ ],
172
+ "q01": [
173
+ 8.702682423560308
174
+ ],
175
+ "q10": [
176
+ 8.70268242356031
177
+ ],
178
+ "q50": [
179
+ 8.702682423560331
180
+ ],
181
+ "q90": [
182
+ 8.702682423560345
183
+ ],
184
+ "q99": [
185
+ 8.702682423560347
186
+ ]
187
+ },
188
+ "timestamp": {
189
+ "min": [
190
+ 0.0
191
+ ],
192
+ "max": [
193
+ 13.866666666666667
194
+ ],
195
+ "mean": [
196
+ 4.605108484962171
197
+ ],
198
+ "std": [
199
+ 2.8931219842695777
200
+ ],
201
+ "count": [
202
+ 5331
203
+ ],
204
+ "q01": [
205
+ 0.07682269152924172
206
+ ],
207
+ "q10": [
208
+ 0.9096196155015489
209
+ ],
210
+ "q50": [
211
+ 4.600550008128447
212
+ ],
213
+ "q90": [
214
+ 8.297611047913627
215
+ ],
216
+ "q99": [
217
+ 9.1333942783951
218
+ ]
219
+ },
220
+ "index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 5330
226
+ ],
227
+ "mean": [
228
+ 2665.0
229
+ ],
230
+ "std": [
231
+ 1538.9271154498083
232
+ ],
233
+ "count": [
234
+ 5331
235
+ ],
236
+ "q01": [
237
+ 2529.151426199865
238
+ ],
239
+ "q10": [
240
+ 2554.1353339185093
241
+ ],
242
+ "q50": [
243
+ 2664.8632456949913
244
+ ],
245
+ "q90": [
246
+ 2775.775076886217
247
+ ],
248
+ "q99": [
249
+ 2800.848573800135
250
+ ]
251
+ },
252
+ "frame_index": {
253
+ "min": [
254
+ 0
255
+ ],
256
+ "max": [
257
+ 416
258
+ ],
259
+ "mean": [
260
+ 138.15325454886514
261
+ ],
262
+ "std": [
263
+ 86.79365952808732
264
+ ],
265
+ "count": [
266
+ 5331
267
+ ],
268
+ "q01": [
269
+ 2.3046807487292655
270
+ ],
271
+ "q10": [
272
+ 27.28858846737424
273
+ ],
274
+ "q50": [
275
+ 138.01650024385663
276
+ ],
277
+ "q90": [
278
+ 248.92833143508307
279
+ ],
280
+ "q99": [
281
+ 274.00182834900096
282
+ ]
283
+ },
284
+ "observation.images.wrist": {
285
+ "min": [
286
+ [
287
+ [
288
+ 0.023529411764705882
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.01568627450980392
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.0196078431372549
299
+ ]
300
+ ]
301
+ ],
302
+ "max": [
303
+ [
304
+ [
305
+ 1.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 1.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ]
318
+ ],
319
+ "mean": [
320
+ [
321
+ [
322
+ 0.7324285700571895
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.729130593239379
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.7402231480800654
333
+ ]
334
+ ]
335
+ ],
336
+ "std": [
337
+ [
338
+ [
339
+ 0.029555392129268925
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.029821306602012033
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.02910155511700029
350
+ ]
351
+ ]
352
+ ],
353
+ "count": [
354
+ 2000
355
+ ],
356
+ "q01": [
357
+ [
358
+ [
359
+ 0.09566101588219388
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.08805395343678904
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.11001003617625979
370
+ ]
371
+ ]
372
+ ],
373
+ "q10": [
374
+ [
375
+ [
376
+ 0.22236947714870373
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.24002333401658307
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.27255624257571776
387
+ ]
388
+ ]
389
+ ],
390
+ "q50": [
391
+ [
392
+ [
393
+ 0.8663078610854977
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.842760872143416
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.8493878439611425
404
+ ]
405
+ ]
406
+ ],
407
+ "q90": [
408
+ [
409
+ [
410
+ 0.9703635750304803
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.9740980173642719
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.9796136131693881
421
+ ]
422
+ ]
423
+ ],
424
+ "q99": [
425
+ [
426
+ [
427
+ 0.9851756163287971
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.9844065707892578
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.9886684845769153
438
+ ]
439
+ ]
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
+ 5331
457
+ ],
458
+ "q01": [
459
+ 3.9999999999994176e-16
460
+ ],
461
+ "q10": [
462
+ 3.999999999999417e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997088e-14
466
+ ],
467
+ "q90": [
468
+ 3.5999999999994766e-14
469
+ ],
470
+ "q99": [
471
+ 3.959999999999423e-14
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe7ab9c46239a514467aab68624c0b3a7a4dfeb30022c4e96a96ebb20f62fcdc
3
+ size 2111
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 sha256:7c25b47beaf40c09217fd28be56dc2a9be11424bdbe9a266de3d84d118fa1b43
3
+ size 16160425