mzhobro commited on
Commit
e437bfc
·
verified ·
1 Parent(s): f2a9411

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 sha256:44cbeba20fc616db993c753b7bcdec1ba4c1ea3cd6d63e9bcfdb9b84d094094c
3
+ size 12878
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9c45942700e40a47218ee96f40fbc129f91327a4adf8bb8fbafd189c3da6d5e
3
+ size 52428
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": 148,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 20,
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.head": {
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": 20,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.wrist": {
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": 20,
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
+ -0.5748146772384644,
5
+ 0.004903056193143129,
6
+ -1.2487047910690308,
7
+ 0.013333325274288654,
8
+ -0.5303884744644165,
9
+ 0.008041508495807648
10
+ ],
11
+ "max": [
12
+ 0.0924471914768219,
13
+ 1.0882424116134644,
14
+ -0.007985853590071201,
15
+ 1.6580626964569092,
16
+ 0.1431066393852234,
17
+ 1.0
18
+ ],
19
+ "mean": [
20
+ -0.3134819567203522,
21
+ 0.6233526468276978,
22
+ -0.8794069886207581,
23
+ 1.423659086227417,
24
+ -0.2734866142272949,
25
+ 0.4856085479259491
26
+ ],
27
+ "std": [
28
+ 0.2713610529899597,
29
+ 0.3275357782840729,
30
+ 0.3259660303592682,
31
+ 0.4536994695663452,
32
+ 0.27006858587265015,
33
+ 0.3534674346446991
34
+ ],
35
+ "count": [
36
+ 148
37
+ ],
38
+ "q01": [
39
+ -0.5748146772384644,
40
+ 0.01952380321919918,
41
+ -1.2487047910690308,
42
+ 0.053293669521808626,
43
+ -0.5303884744644165,
44
+ 0.03214213401079178
45
+ ],
46
+ "q10": [
47
+ -0.5748146772384644,
48
+ 0.21091086864471437,
49
+ -1.2487047910690308,
50
+ 0.5734623312950134,
51
+ -0.5280874897451961,
52
+ 0.09994672154768919
53
+ ],
54
+ "q50": [
55
+ -0.4160063564777374,
56
+ 0.529239296913147,
57
+ -0.875248372554779,
58
+ 1.6578330048974954,
59
+ -0.37615811824798584,
60
+ 0.42684638500213623
61
+ ],
62
+ "q90": [
63
+ 0.09238346334426634,
64
+ 1.0881480735891005,
65
+ -0.3434265971183777,
66
+ 1.6580167581450265,
67
+ 0.1423823329118582,
68
+ 0.9998665549538353
69
+ ],
70
+ "q99": [
71
+ 0.09244081866356635,
72
+ 1.088232977811028,
73
+ -0.03192673683166504,
74
+ 1.6580581026257208,
75
+ 0.14300695657730103,
76
+ 0.9999866554953836
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -32.943729400634766,
82
+ 0.4224523901939392,
83
+ -71.59146118164062,
84
+ 0.8678210973739624,
85
+ -30.388280868530273,
86
+ 0.5885260105133057
87
+ ],
88
+ "max": [
89
+ 5.294337749481201,
90
+ 62.62751007080078,
91
+ -0.5496448874473572,
92
+ 95.0075912475586,
93
+ 8.197806358337402,
94
+ 57.29608154296875
95
+ ],
96
+ "mean": [
97
+ -17.958559036254883,
98
+ 35.77266311645508,
99
+ -50.39061737060547,
100
+ 81.62635040283203,
101
+ -15.666251182556152,
102
+ 27.85466766357422
103
+ ],
104
+ "std": [
105
+ 15.55046558380127,
106
+ 18.759355545043945,
107
+ 18.643375396728516,
108
+ 25.923564910888672,
109
+ 15.480064392089844,
110
+ 20.25540542602539
111
+ ],
112
+ "count": [
113
+ 148
114
+ ],
115
+ "q01": [
116
+ -32.93599934895833,
117
+ 1.2122078227996826,
118
+ -71.53441661834717,
119
+ 3.192696952819824,
120
+ -30.388280868530273,
121
+ 1.9549511909484862
122
+ ],
123
+ "q10": [
124
+ -32.93373540242513,
125
+ 12.2016019821167,
126
+ -71.5285002231598,
127
+ 33.05985641479492,
128
+ -30.25645217895508,
129
+ 5.728856980173211
130
+ ],
131
+ "q50": [
132
+ -23.61363983154297,
133
+ 30.293323516845703,
134
+ -50.094207763671875,
135
+ 94.99444623263378,
136
+ -21.60608673095703,
137
+ 24.258256912231445
138
+ ],
139
+ "q90": [
140
+ 5.29056474049886,
141
+ 62.3963344227184,
142
+ -19.75650863647461,
143
+ 95.00496224457363,
144
+ 8.156194625854493,
145
+ 57.2880860828218
146
+ ],
147
+ "q99": [
148
+ 5.293960448582967,
149
+ 62.42248428344727,
150
+ -1.9346752929687498,
151
+ 95.0073283472601,
152
+ 8.192094974517822,
153
+ 57.29528199695405
154
+ ]
155
+ },
156
+ "observation.images.head": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
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
+ 0.9333333333333333
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.6595305514705883
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.6141389767156863
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5068611254084968
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
+ 0.09015999999967855
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.09015954545422401
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.058917253731000624
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.5176033801747194
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.4900085907619809
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.3960242345167306
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.6745910256411625
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.6156884149255935
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.5138415917073189
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.7883887025794697
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.7372714580857054
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.631369223567049
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.999959651998879
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.9998162591515475
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.8823652173916535
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.wrist": {
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
+ 0.9333333333333333
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.6183494689542484
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5558300531045752
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.4181587704248366
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
+ -3.9215686274509807e-13
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ -3.9215686274509807e-13
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.9215686274509807e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.40010600472201974
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.3294312107916165
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.06677868108874084
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6626790802955768
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.5920944528113172
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.4707665968180088
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.8156612128492419
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.7528562055162125
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.6078868486433998
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9451120987657812
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.8234990572393108
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.6863582266011696
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 7.35
478
+ ],
479
+ "mean": [
480
+ 3.675
481
+ ],
482
+ "std": [
483
+ 2.1361472327533986
484
+ ],
485
+ "count": [
486
+ 148
487
+ ],
488
+ "q01": [
489
+ 0.05068559990137919
490
+ ],
491
+ "q10": [
492
+ 0.7008959999190719
493
+ ],
494
+ "q50": [
495
+ 3.6500099999993196
496
+ ],
497
+ "q90": [
498
+ 6.649104000080928
499
+ ],
500
+ "q99": [
501
+ 7.29931440009862
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 147
510
+ ],
511
+ "mean": [
512
+ 73.5
513
+ ],
514
+ "std": [
515
+ 42.72294465506796
516
+ ],
517
+ "count": [
518
+ 148
519
+ ],
520
+ "q01": [
521
+ 1.013711999901379
522
+ ],
523
+ "q10": [
524
+ 14.01791999991907
525
+ ],
526
+ "q50": [
527
+ 73.00019999999931
528
+ ],
529
+ "q90": [
530
+ 132.98208000008094
531
+ ],
532
+ "q99": [
533
+ 145.98628800009863
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
+ 148
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
+ 147
574
+ ],
575
+ "mean": [
576
+ 73.5
577
+ ],
578
+ "std": [
579
+ 42.72294465506796
580
+ ],
581
+ "count": [
582
+ 148
583
+ ],
584
+ "q01": [
585
+ 1.013711999901379
586
+ ],
587
+ "q10": [
588
+ 14.01791999991907
589
+ ],
590
+ "q50": [
591
+ 73.00019999999931
592
+ ],
593
+ "q90": [
594
+ 132.98208000008094
595
+ ],
596
+ "q99": [
597
+ 145.98628800009863
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
+ 148
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 sha256:4f7fcbec3a2bc4d3941921997b28041838f181f85066bb816ff5dead8455fc6c
3
+ size 2094
videos/observation.images.head/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96b8ca5f319f7ca45458171d60297231b96f1c8046e958f07ea295114c7120b3
3
+ size 3118782
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 sha256:0bac66bfed703fbec0d6d7da67cb156230d1cc6cebe9d65cce6303db3286025a
3
+ size 2131895