odo5do commited on
Commit
03bd64b
·
verified ·
1 Parent(s): 4180f48

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 sha256:2937c94753e32f6f87cb0194dc57c094b19ef8d960fa45bf3fe8a745af1d1593
3
+ size 567706
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fc1ccb523257785ec613b579d1c3be0208e3a60808ef1a248c9fd6b371f72068
3
+ size 99944
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 15,
5
+ "total_frames": 11929,
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": "0:15"
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.top": {
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.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": 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
+ 935
8
+ ],
9
+ "mean": [
10
+ 403.00494593008636
11
+ ],
12
+ "std": [
13
+ 238.92530476725653
14
+ ],
15
+ "count": [
16
+ 11929
17
+ ],
18
+ "q01": [
19
+ 7.528375868457485
20
+ ],
21
+ "q10": [
22
+ 80.11843746827432
23
+ ],
24
+ "q50": [
25
+ 402.70005898231204
26
+ ],
27
+ "q90": [
28
+ 725.7798210613593
29
+ ],
30
+ "q99": [
31
+ 798.4815159917154
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 14
40
+ ],
41
+ "mean": [
42
+ 6.989688993209825
43
+ ],
44
+ "std": [
45
+ 4.428469799911558
46
+ ],
47
+ "count": [
48
+ 11929
49
+ ],
50
+ "q01": [
51
+ 6.989688993209825
52
+ ],
53
+ "q10": [
54
+ 6.989688993209827
55
+ ],
56
+ "q50": [
57
+ 6.989688993209844
58
+ ],
59
+ "q90": [
60
+ 6.98968899320986
61
+ ],
62
+ "q99": [
63
+ 6.989688993209864
64
+ ]
65
+ },
66
+ "timestamp": {
67
+ "min": [
68
+ 0.0
69
+ ],
70
+ "max": [
71
+ 31.166666666666668
72
+ ],
73
+ "mean": [
74
+ 13.433498197669547
75
+ ],
76
+ "std": [
77
+ 7.964176825575217
78
+ ],
79
+ "count": [
80
+ 11929
81
+ ],
82
+ "q01": [
83
+ 0.2509458621870514
84
+ ],
85
+ "q10": [
86
+ 2.670614582198361
87
+ ],
88
+ "q50": [
89
+ 13.424561817419665
90
+ ],
91
+ "q90": [
92
+ 24.192660702122733
93
+ ],
94
+ "q99": [
95
+ 26.616050533152038
96
+ ]
97
+ },
98
+ "task_index": {
99
+ "min": [
100
+ 0
101
+ ],
102
+ "max": [
103
+ 0
104
+ ],
105
+ "mean": [
106
+ 0.0
107
+ ],
108
+ "std": [
109
+ 0.0
110
+ ],
111
+ "count": [
112
+ 11929
113
+ ],
114
+ "q01": [
115
+ 3.9999999999994186e-16
116
+ ],
117
+ "q10": [
118
+ 3.999999999999418e-15
119
+ ],
120
+ "q50": [
121
+ 1.9999999999997084e-14
122
+ ],
123
+ "q90": [
124
+ 3.599999999999476e-14
125
+ ],
126
+ "q99": [
127
+ 3.9599999999994235e-14
128
+ ]
129
+ },
130
+ "observation.images.top": {
131
+ "min": [
132
+ [
133
+ [
134
+ 0.043137254901960784
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.058823529411764705
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.07450980392156863
145
+ ]
146
+ ]
147
+ ],
148
+ "max": [
149
+ [
150
+ [
151
+ 1.0
152
+ ]
153
+ ],
154
+ [
155
+ [
156
+ 1.0
157
+ ]
158
+ ],
159
+ [
160
+ [
161
+ 1.0
162
+ ]
163
+ ]
164
+ ],
165
+ "mean": [
166
+ [
167
+ [
168
+ 0.8015690661695313
169
+ ]
170
+ ],
171
+ [
172
+ [
173
+ 0.7624437751818058
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.7343151845375312
179
+ ]
180
+ ]
181
+ ],
182
+ "std": [
183
+ [
184
+ [
185
+ 0.010453565205720076
186
+ ]
187
+ ],
188
+ [
189
+ [
190
+ 0.012265645909154504
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.009988013706142319
196
+ ]
197
+ ]
198
+ ],
199
+ "count": [
200
+ 2237
201
+ ],
202
+ "q01": [
203
+ [
204
+ [
205
+ 0.2549683143024051
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.19656470705798001
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.2530461111963894
216
+ ]
217
+ ]
218
+ ],
219
+ "q10": [
220
+ [
221
+ [
222
+ 0.36295325159020425
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.3431571065573646
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.3546702271318081
233
+ ]
234
+ ]
235
+ ],
236
+ "q50": [
237
+ [
238
+ [
239
+ 0.9393354248824413
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.9146174379606111
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.8773693801863599
250
+ ]
251
+ ]
252
+ ],
253
+ "q90": [
254
+ [
255
+ [
256
+ 0.9999356116630049
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.9999465324087624
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.9838347255182197
267
+ ]
268
+ ]
269
+ ],
270
+ "q99": [
271
+ [
272
+ [
273
+ 0.9999935611666534
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.9999946532412292
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.9999798946685814
284
+ ]
285
+ ]
286
+ ]
287
+ },
288
+ "index": {
289
+ "min": [
290
+ 0
291
+ ],
292
+ "max": [
293
+ 11928
294
+ ],
295
+ "mean": [
296
+ 5964.0
297
+ ],
298
+ "std": [
299
+ 3443.605668481803
300
+ ],
301
+ "count": [
302
+ 11929
303
+ ],
304
+ "q01": [
305
+ 5568.523429938371
306
+ ],
307
+ "q10": [
308
+ 5641.113491538188
309
+ ],
310
+ "q50": [
311
+ 5963.731908592505
312
+ ],
313
+ "q90": [
314
+ 6286.774875131273
315
+ ],
316
+ "q99": [
317
+ 6359.476570061628
318
+ ]
319
+ },
320
+ "observation.state": {
321
+ "min": [
322
+ -42.81557083129883,
323
+ -99.23793029785156,
324
+ -57.52132797241211,
325
+ -57.379913330078125,
326
+ -38.700565338134766,
327
+ 0.6673021912574768
328
+ ],
329
+ "max": [
330
+ 29.865406036376953,
331
+ 14.055885314941406,
332
+ 98.02424621582031,
333
+ 99.91266632080078,
334
+ 58.09792709350586,
335
+ 92.4690170288086
336
+ ],
337
+ "mean": [
338
+ -4.7103038272270865,
339
+ -44.40919932284592,
340
+ 32.6352546605393,
341
+ 51.18849379531255,
342
+ 9.329970694775453,
343
+ 11.907870057063088
344
+ ],
345
+ "std": [
346
+ 12.885149668714444,
347
+ 36.833896466175375,
348
+ 27.73386391246441,
349
+ 42.23035862890964,
350
+ 15.67755915240063,
351
+ 20.99104938008481
352
+ ],
353
+ "count": [
354
+ 11929
355
+ ],
356
+ "q01": [
357
+ -17.5474058916668,
358
+ -99.11364521861566,
359
+ 9.182008635483015,
360
+ -7.557250755895903,
361
+ -8.029278180064802,
362
+ 0.9036545208298118
363
+ ],
364
+ "q10": [
365
+ -14.062468764474303,
366
+ -99.04808882548512,
367
+ 10.784837166424596,
368
+ -0.06220845990612927,
369
+ -3.7895871890984947,
370
+ 0.9106708578914948
371
+ ],
372
+ "q50": [
373
+ -6.781123750405374,
374
+ -31.957905385962803,
375
+ 35.052112732842275,
376
+ 57.83822609159464,
377
+ 10.879489436913635,
378
+ 4.245674617459623
379
+ ],
380
+ "q90": [
381
+ 5.596444112218305,
382
+ -3.6165503197317714,
383
+ 58.15490048012519,
384
+ 99.45460563097542,
385
+ 21.826887681083953,
386
+ 53.822564590718855
387
+ ],
388
+ "q99": [
389
+ 9.264901184358848,
390
+ -0.5665124211192221,
391
+ 65.40557718083839,
392
+ 99.73798413508077,
393
+ 25.34070276525026,
394
+ 70.64835165403942
395
+ ]
396
+ },
397
+ "action": {
398
+ "min": [
399
+ -43.320194244384766,
400
+ -99.9160385131836,
401
+ -59.170799255371094,
402
+ -61.265499114990234,
403
+ -39.39393997192383,
404
+ 0.0
405
+ ],
406
+ "max": [
407
+ 30.354795455932617,
408
+ 13.769941329956055,
409
+ 97.3862075805664,
410
+ 100.0,
411
+ 58.754207611083984,
412
+ 93.25153350830078
413
+ ],
414
+ "mean": [
415
+ -4.676945888173681,
416
+ -45.305054595138856,
417
+ 30.604078305118367,
418
+ 50.281299878869596,
419
+ 9.336040597078297,
420
+ 10.813413154710137
421
+ ],
422
+ "std": [
423
+ 12.826473277793292,
424
+ 36.55919689928711,
425
+ 28.045474293128244,
426
+ 42.693810566708414,
427
+ 15.453931700605779,
428
+ 22.035782490084447
429
+ ],
430
+ "count": [
431
+ 11929
432
+ ],
433
+ "q01": [
434
+ -17.845902706668557,
435
+ -99.81903266576852,
436
+ 6.17478564683529,
437
+ -9.944482176446995,
438
+ -8.348693572324036,
439
+ 0.1958414790817147
440
+ ],
441
+ "q10": [
442
+ -14.103090349359672,
443
+ -99.75834581710023,
444
+ 8.042272654652953,
445
+ -2.056304174643814,
446
+ -3.759020781840463,
447
+ 0.30069838317767117
448
+ ],
449
+ "q50": [
450
+ -6.6814141954052,
451
+ -33.17530705300095,
452
+ 32.82987138572055,
453
+ 56.6283758978131,
454
+ 10.784194940142106,
455
+ 2.003146420945605
456
+ ],
457
+ "q90": [
458
+ 5.789013082269327,
459
+ -4.746207725817246,
460
+ 56.915657426725254,
461
+ 99.51166564892826,
462
+ 21.840419209841148,
463
+ 55.80000211834324
464
+ ],
465
+ "q99": [
466
+ 9.539852671108475,
467
+ -0.8855536860255088,
468
+ 65.14725923369588,
469
+ 99.91296998807753,
470
+ 25.53230825860687,
471
+ 71.41441608920589
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
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
+ 0.5453462527500942
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5840714276714262
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.5343385673689084
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.006523890172864937
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.006436630147715851
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.005621792121675776
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 2237
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ -3.921568627450981e-13
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.020385265980349548
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ -3.921568627450981e-13
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.018194511269335547
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.08179981591968469
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.018432839285193018
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.6628226755907625
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.6963630381837165
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.6577235237810831
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7464300621082602
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.798341845199749
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7687067580731092
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9953371413628309
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9869354015087621
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9898794962097784
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:e4b2af914a52e5539f81ae6d619a515e5aba92ea8f594e97ed05cd70557fb4ba
3
+ size 2146
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c5b3134214248817c6a637489e8390c62de0142fb58704464f83bebae1de607
3
+ size 59337703
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:b86bab37ec3ed4d0cbc83445a4f83fa488d5f955d38555c14890a77b4e89401b
3
+ size 85243928