piuslim373 commited on
Commit
1d77a6f
·
verified ·
1 Parent(s): 471efef

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:a657eb9a6b41e8911b28c043654beea93f8b99530c69678b98e4ed906b6cdbb2
3
+ size 687904
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:82bdde25c5f182ab91199735cb5125936452ec3f8c946a900e94ae6e442e5478
3
+ size 230188
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 11507,
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": "0:50"
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
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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.front": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 848,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 848,
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 11.466666666666667
8
+ ],
9
+ "mean": [
10
+ 3.8869470756930564
11
+ ],
12
+ "std": [
13
+ 2.340883502469545
14
+ ],
15
+ "count": [
16
+ 11507
17
+ ],
18
+ "q01": [
19
+ 0.06426044554343835
20
+ ],
21
+ "q10": [
22
+ 0.7624625508306466
23
+ ],
24
+ "q50": [
25
+ 3.8794880727670997
26
+ ],
27
+ "q90": [
28
+ 7.008283864394786
29
+ ],
30
+ "q99": [
31
+ 7.709633705842678
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -65.81071472167969,
37
+ -96.6445541381836,
38
+ -49.203460693359375,
39
+ 39.860748291015625,
40
+ -24.625492095947266,
41
+ 0.0
42
+ ],
43
+ "max": [
44
+ 58.987525939941406,
45
+ 50.52672576904297,
46
+ 99.54483032226562,
47
+ 99.91297149658203,
48
+ 96.4257583618164,
49
+ 51.636661529541016
50
+ ],
51
+ "mean": [
52
+ 1.5441619139794367,
53
+ -34.042923682154736,
54
+ 34.42921937640166,
55
+ 74.26752273746541,
56
+ 19.87576356216549,
57
+ 12.158763973928611
58
+ ],
59
+ "std": [
60
+ 24.16305130197441,
61
+ 45.15011798223807,
62
+ 45.92610104996515,
63
+ 12.157029932743226,
64
+ 23.429057972898814,
65
+ 12.279445554392987
66
+ ],
67
+ "count": [
68
+ 11507
69
+ ],
70
+ "q01": [
71
+ -28.775529655553477,
72
+ -95.75238504262154,
73
+ -21.50061047096831,
74
+ 54.662330933559325,
75
+ -0.2585862634909541,
76
+ 1.0976262065753661
77
+ ],
78
+ "q10": [
79
+ -26.973269348480816,
80
+ -95.65191626708986,
81
+ -16.45827698808134,
82
+ 60.269703112956485,
83
+ 1.3117601521023832,
84
+ 1.529629154940819
85
+ ],
86
+ "q50": [
87
+ 1.0626650213499036,
88
+ -22.40367333847978,
89
+ 17.883313843275804,
90
+ 72.05879314454913,
91
+ 17.087482946851946,
92
+ 8.965126258540533
93
+ ],
94
+ "q90": [
95
+ 31.562419350878365,
96
+ 20.520063284753544,
97
+ 98.72901641815272,
98
+ 90.56482997786945,
99
+ 41.55643601240338,
100
+ 33.54743705145244
101
+ ],
102
+ "q99": [
103
+ 33.215850044819895,
104
+ 24.622798503896544,
105
+ 99.09737350446792,
106
+ 94.59608670730113,
107
+ 42.64143279897493,
108
+ 34.57808888939033
109
+ ]
110
+ },
111
+ "task_index": {
112
+ "min": [
113
+ 0
114
+ ],
115
+ "max": [
116
+ 0
117
+ ],
118
+ "mean": [
119
+ 0.0
120
+ ],
121
+ "std": [
122
+ 0.0
123
+ ],
124
+ "count": [
125
+ 11507
126
+ ],
127
+ "q01": [
128
+ 3.9999999999994157e-16
129
+ ],
130
+ "q10": [
131
+ 3.999999999999416e-15
132
+ ],
133
+ "q50": [
134
+ 1.9999999999997094e-14
135
+ ],
136
+ "q90": [
137
+ 3.599999999999478e-14
138
+ ],
139
+ "q99": [
140
+ 3.959999999999425e-14
141
+ ]
142
+ },
143
+ "episode_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 49
149
+ ],
150
+ "mean": [
151
+ 23.774745806900142
152
+ ],
153
+ "std": [
154
+ 14.665904024805977
155
+ ],
156
+ "count": [
157
+ 11507
158
+ ],
159
+ "q01": [
160
+ 23.774745806900142
161
+ ],
162
+ "q10": [
163
+ 23.774745806900153
164
+ ],
165
+ "q50": [
166
+ 23.774745806900157
167
+ ],
168
+ "q90": [
169
+ 23.774745806900174
170
+ ],
171
+ "q99": [
172
+ 23.774745806900178
173
+ ]
174
+ },
175
+ "observation.images.front": {
176
+ "min": [
177
+ [
178
+ [
179
+ 0.0
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.0
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.0
190
+ ]
191
+ ]
192
+ ],
193
+ "max": [
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 1.0
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 1.0
207
+ ]
208
+ ]
209
+ ],
210
+ "mean": [
211
+ [
212
+ [
213
+ 0.43663674990388307
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.4347999720780468
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.4186465024509804
224
+ ]
225
+ ]
226
+ ],
227
+ "std": [
228
+ [
229
+ [
230
+ 0.00360706899605574
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.003528517951212285
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.003507283048517677
241
+ ]
242
+ ]
243
+ ],
244
+ "count": [
245
+ 5000
246
+ ],
247
+ "q01": [
248
+ [
249
+ [
250
+ 0.04874748397667488
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.05988816350164986
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ 0.050465168460861375
261
+ ]
262
+ ]
263
+ ],
264
+ "q10": [
265
+ [
266
+ [
267
+ 0.15441241844340245
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.16290086892090672
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.13536165527474922
278
+ ]
279
+ ]
280
+ ],
281
+ "q50": [
282
+ [
283
+ [
284
+ 0.3952896494911299
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.38007746770339007
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.35754991657526747
295
+ ]
296
+ ]
297
+ ],
298
+ "q90": [
299
+ [
300
+ [
301
+ 0.7625602124564544
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.7609363861737983
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.7547675561677795
312
+ ]
313
+ ]
314
+ ],
315
+ "q99": [
316
+ [
317
+ [
318
+ 0.8625858856954659
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.8570877028849953
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.8673013428529229
329
+ ]
330
+ ]
331
+ ]
332
+ },
333
+ "observation.images.top": {
334
+ "min": [
335
+ [
336
+ [
337
+ 0.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 0.0
348
+ ]
349
+ ]
350
+ ],
351
+ "max": [
352
+ [
353
+ [
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 1.0
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 1.0
365
+ ]
366
+ ]
367
+ ],
368
+ "mean": [
369
+ [
370
+ [
371
+ 0.3532532142156864
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.3526600908496732
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.3384406047930284
382
+ ]
383
+ ]
384
+ ],
385
+ "std": [
386
+ [
387
+ [
388
+ 0.004665938027601149
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.0051001430049462644
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.005906360371289042
399
+ ]
400
+ ]
401
+ ],
402
+ "count": [
403
+ 5000
404
+ ],
405
+ "q01": [
406
+ [
407
+ [
408
+ 0.07172704610695875
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.07787638653620273
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.0578871081018274
419
+ ]
420
+ ]
421
+ ],
422
+ "q10": [
423
+ [
424
+ [
425
+ 0.11081952050307832
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.11765705246778226
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.0951158437127324
436
+ ]
437
+ ]
438
+ ],
439
+ "q50": [
440
+ [
441
+ [
442
+ 0.18771149351371585
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.18746006648101146
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.16886172827210547
453
+ ]
454
+ ]
455
+ ],
456
+ "q90": [
457
+ [
458
+ [
459
+ 0.7920569601189825
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.7932435713837843
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.7968498767717298
470
+ ]
471
+ ]
472
+ ],
473
+ "q99": [
474
+ [
475
+ [
476
+ 0.9890942791340898
477
+ ]
478
+ ],
479
+ [
480
+ [
481
+ 0.9999174044445756
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 0.9851993628521916
487
+ ]
488
+ ]
489
+ ]
490
+ },
491
+ "index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 11506
497
+ ],
498
+ "mean": [
499
+ 5753.0
500
+ ],
501
+ "std": [
502
+ 3321.784761239053
503
+ ],
504
+ "count": [
505
+ 11507
506
+ ],
507
+ "q01": [
508
+ 5638.319401098365
509
+ ],
510
+ "q10": [
511
+ 5659.2654642564585
512
+ ],
513
+ "q50": [
514
+ 5752.7804345528775
515
+ ],
516
+ "q90": [
517
+ 5846.640103658722
518
+ ],
519
+ "q99": [
520
+ 5867.680598901635
521
+ ]
522
+ },
523
+ "observation.state": {
524
+ "min": [
525
+ -65.88579559326172,
526
+ -96.01695251464844,
527
+ -46.17127227783203,
528
+ 40.25640869140625,
529
+ -24.43391227722168,
530
+ 1.5415549278259277
531
+ ],
532
+ "max": [
533
+ 58.63835906982422,
534
+ 50.6779670715332,
535
+ 99.18441009521484,
536
+ 99.74359130859375,
537
+ 95.99789428710938,
538
+ 51.00536346435547
539
+ ],
540
+ "mean": [
541
+ 1.4951688316502172,
542
+ -33.36425646250426,
543
+ 35.43021953726474,
544
+ 74.20213353475378,
545
+ 19.795346016959257,
546
+ 14.303385819756437
547
+ ],
548
+ "std": [
549
+ 24.10835444854427,
550
+ 45.555166956449746,
551
+ 45.19041716370151,
552
+ 11.979978082502976,
553
+ 23.365121955915015,
554
+ 11.501308180018288
555
+ ],
556
+ "count": [
557
+ 11507
558
+ ],
559
+ "q01": [
560
+ -28.668716232863865,
561
+ -95.72728038391806,
562
+ -19.103255114448576,
563
+ 55.47106158821662,
564
+ -0.1377430907652679,
565
+ 2.2423170626691618
566
+ ],
567
+ "q10": [
568
+ -26.962825160304575,
569
+ -95.595456671232,
570
+ -14.608262646110138,
571
+ 60.60745346302021,
572
+ 1.0401582256289201,
573
+ 2.3941815526490258
574
+ ],
575
+ "q50": [
576
+ 1.0280540236368012,
577
+ -21.27180702923303,
578
+ 18.790540569578493,
579
+ 71.74507998151005,
580
+ 17.010026654586063,
581
+ 15.61833632128169
582
+ ],
583
+ "q90": [
584
+ 31.55112257664375,
585
+ 21.638679666381865,
586
+ 98.24591618061,
587
+ 90.30408419893946,
588
+ 41.4077385185195,
589
+ 32.67085119985781
590
+ ],
591
+ "q99": [
592
+ 32.963254144067626,
593
+ 24.8016700255735,
594
+ 98.87201256744459,
595
+ 94.04798376301216,
596
+ 42.35595878467287,
597
+ 33.91555326858288
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 344
606
+ ],
607
+ "mean": [
608
+ 116.60841227079169
609
+ ],
610
+ "std": [
611
+ 70.22650507408636
612
+ ],
613
+ "count": [
614
+ 11507
615
+ ],
616
+ "q01": [
617
+ 1.9278133691551524
618
+ ],
619
+ "q10": [
620
+ 22.87387652725079
621
+ ],
622
+ "q50": [
623
+ 116.38884682367234
624
+ ],
625
+ "q90": [
626
+ 210.24851592951453
627
+ ],
628
+ "q99": [
629
+ 231.28901117242825
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:32f2b4dd83bab35d0930b9d29939c11c761f96689cd0c7c17a67c3728c965a1e
3
+ size 2206
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:d41c411cb02ab60ea579fda67982058a55edcf2c633eb87b6e7d22af40466679
3
+ size 139571813
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:e016095a383d392229bbb15a8b12febd0825f3de61ee0aaa1b50f4838ae356a9
3
+ size 294680211