posky02 commited on
Commit
64c0ae3
·
verified ·
1 Parent(s): dd9ac9e

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:a5075bfcdfdf7c2d71f2102232243f643e852f99e966fbb8cc18abe239aed82a
3
+ size 178893
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b4c717e9e0f09347e973201bbc6376f13a96eb81e14666f31962e1b1139d7c1c
3
+ size 56219
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 3928,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 1000,
9
+ "video_files_size_in_mb": 20000,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:10"
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.reachy": {
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": "h264",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 15,
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 475
8
+ ],
9
+ "mean": [
10
+ 199.50941955193483
11
+ ],
12
+ "std": [
13
+ 119.37354263457826
14
+ ],
15
+ "count": [
16
+ 3928
17
+ ],
18
+ "q01": [
19
+ 3.5564847310626817
20
+ ],
21
+ "q10": [
22
+ 39.61051166998095
23
+ ],
24
+ "q50": [
25
+ 199.3194497963339
26
+ ],
27
+ "q90": [
28
+ 359.4083274338887
29
+ ],
30
+ "q99": [
31
+ 395.462354372807
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -34.769229888916016,
37
+ -103.64835357666016,
38
+ -12.395604133605957,
39
+ 24.0,
40
+ -20.96703338623047,
41
+ 1.6271185874938965
42
+ ],
43
+ "max": [
44
+ 18.681318283081055,
45
+ 33.93406677246094,
46
+ 94.76923370361328,
47
+ 76.92308044433594,
48
+ 82.4175796508789,
49
+ 46.169490814208984
50
+ ],
51
+ "mean": [
52
+ -4.23484316638191,
53
+ -24.295163869857788,
54
+ 39.174505329909,
55
+ 57.80865540475321,
56
+ 12.875321340354542,
57
+ 8.457996383825291
58
+ ],
59
+ "std": [
60
+ 10.968001017371925,
61
+ 45.765198643123625,
62
+ 33.84662755157723,
63
+ 10.968450482093045,
64
+ 31.550016038983358,
65
+ 9.893176401981455
66
+ ],
67
+ "count": [
68
+ 3928
69
+ ],
70
+ "q01": [
71
+ -24.236686068680438,
72
+ -103.64103491097507,
73
+ 4.286406785551779,
74
+ 39.780614895830325,
75
+ -9.942379701808854,
76
+ 1.6941319621434234
77
+ ],
78
+ "q10": [
79
+ -22.02240778159835,
80
+ -103.5692479752343,
81
+ 5.110782962255014,
82
+ 46.15072815490244,
83
+ -7.700828335115016,
84
+ 1.6941971814937604
85
+ ],
86
+ "q50": [
87
+ -3.9137758325363006,
88
+ -4.933191158651194,
89
+ 27.253041515733376,
90
+ 58.92695954893664,
91
+ 17.598265618152396,
92
+ 2.4802884579641296
93
+ ],
94
+ "q90": [
95
+ 6.782258406817941,
96
+ 18.7970391893148,
97
+ 91.93886540839394,
98
+ 70.20087104233762,
99
+ 28.14368694060363,
100
+ 24.98035425325124
101
+ ],
102
+ "q99": [
103
+ 8.00301442943715,
104
+ 20.517320153787356,
105
+ 93.37621265704011,
106
+ 73.76383693961417,
107
+ 30.112436790689042,
108
+ 31.283635984436845
109
+ ]
110
+ },
111
+ "episode_index": {
112
+ "min": [
113
+ 0
114
+ ],
115
+ "max": [
116
+ 9
117
+ ],
118
+ "mean": [
119
+ 4.7163951120162935
120
+ ],
121
+ "std": [
122
+ 2.8249175030213376
123
+ ],
124
+ "count": [
125
+ 3928
126
+ ],
127
+ "q01": [
128
+ 4.7163951120162935
129
+ ],
130
+ "q10": [
131
+ 4.716395112016298
132
+ ],
133
+ "q50": [
134
+ 4.716395112016314
135
+ ],
136
+ "q90": [
137
+ 4.716395112016329
138
+ ],
139
+ "q99": [
140
+ 4.716395112016333
141
+ ]
142
+ },
143
+ "observation.images.reachy": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.4867625995970775
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.42209645499089826
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.3569674207736812
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.0012694751773477677
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.0018520630657259804
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.003923767679349087
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 75417600
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ -3.9215686274509807e-13
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.09730896888553363
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.12584068679933846
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.17049400503297066
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.17245501654060139
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.20351976703461858
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.25879426763010377
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.2678389402812602
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.2957758895310086
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.9369273063523101
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.7609155704249564
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.5581506652051766
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.9812839115470657
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.8438891169727474
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.8275613666498406
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "action": {
302
+ "min": [
303
+ -35.16483688354492,
304
+ -104.43955993652344,
305
+ -14.769230842590332,
306
+ 23.120878219604492,
307
+ -21.230770111083984,
308
+ 0.0
309
+ ],
310
+ "max": [
311
+ 18.901098251342773,
312
+ 33.58241653442383,
313
+ 94.5934066772461,
314
+ 76.92308044433594,
315
+ 82.76923370361328,
316
+ 48.07987594604492
317
+ ],
318
+ "mean": [
319
+ -4.1697591530071865,
320
+ -25.282450781820263,
321
+ 37.82641249713004,
322
+ 57.48019328282467,
323
+ 12.969177276199558,
324
+ 7.316329265199222
325
+ ],
326
+ "std": [
327
+ 10.983688956177174,
328
+ 45.33415115860855,
329
+ 34.16048634734519,
330
+ 11.105168098228667,
331
+ 31.50905977732542,
332
+ 10.48837896450472
333
+ ],
334
+ "count": [
335
+ 3928
336
+ ],
337
+ "q01": [
338
+ -24.60695908083571,
339
+ -104.0527417259059,
340
+ 1.9297621068773594,
341
+ 39.083498924051355,
342
+ -10.241001460045293,
343
+ 0.8867297810200511
344
+ ],
345
+ "q10": [
346
+ -21.727296070208048,
347
+ -103.94567682644222,
348
+ 3.2673687427123226,
349
+ 45.52179827893059,
350
+ -7.722001764561444,
351
+ 1.2181408790935195
352
+ ],
353
+ "q50": [
354
+ -3.9743596592770114,
355
+ -6.131400915647713,
356
+ 25.650294944804834,
357
+ 58.68873758221548,
358
+ 17.744692085673886,
359
+ 1.530544052849314
360
+ ],
361
+ "q90": [
362
+ 6.778946872504045,
363
+ 17.74000075059862,
364
+ 91.41046699056896,
365
+ 69.87428435313646,
366
+ 28.377865211552518,
367
+ 25.362894565944963
368
+ ],
369
+ "q99": [
370
+ 8.33343173329078,
371
+ 20.281119837268772,
372
+ 93.16026019876672,
373
+ 73.92284297883891,
374
+ 30.351201273262422,
375
+ 31.701234143464767
376
+ ]
377
+ },
378
+ "task_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 0
384
+ ],
385
+ "mean": [
386
+ 0.0
387
+ ],
388
+ "std": [
389
+ 0.0
390
+ ],
391
+ "count": [
392
+ 3928
393
+ ],
394
+ "q01": [
395
+ 3.999999999999417e-16
396
+ ],
397
+ "q10": [
398
+ 3.999999999999417e-15
399
+ ],
400
+ "q50": [
401
+ 1.9999999999997088e-14
402
+ ],
403
+ "q90": [
404
+ 3.5999999999994766e-14
405
+ ],
406
+ "q99": [
407
+ 3.9599999999994235e-14
408
+ ]
409
+ },
410
+ "index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 3927
416
+ ],
417
+ "mean": [
418
+ 1963.5
419
+ ],
420
+ "std": [
421
+ 1133.915891942608
422
+ ],
423
+ "count": [
424
+ 3928
425
+ ],
426
+ "q01": [
427
+ 1767.5470651791277
428
+ ],
429
+ "q10": [
430
+ 1803.6010921180462
431
+ ],
432
+ "q50": [
433
+ 1963.3190332993888
434
+ ],
435
+ "q90": [
436
+ 2123.3989078819536
437
+ ],
438
+ "q99": [
439
+ 2159.4529348208725
440
+ ]
441
+ },
442
+ "timestamp": {
443
+ "min": [
444
+ 0.0
445
+ ],
446
+ "max": [
447
+ 31.666666666666668
448
+ ],
449
+ "mean": [
450
+ 13.30062797012899
451
+ ],
452
+ "std": [
453
+ 7.958236175638553
454
+ ],
455
+ "count": [
456
+ 3928
457
+ ],
458
+ "q01": [
459
+ 0.23709898197917859
460
+ ],
461
+ "q10": [
462
+ 2.6407007779239238
463
+ ],
464
+ "q50": [
465
+ 13.2885635234215
466
+ ],
467
+ "q90": [
468
+ 23.96055516233405
469
+ ],
470
+ "q99": [
471
+ 26.364156958278794
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c0b99adcf24937003e1f9ed10ad0ff2cb80daef9f78f9d1c9af66802046dbc6b
3
+ size 2195
videos/observation.images.reachy/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6589571bac3c9c323ad529aba192d7f9ce4e8e7019470c905f66afd450a56556
3
+ size 2087473