posky02 commited on
Commit
6dce452
·
verified ·
1 Parent(s): 873c545

Upload 6 files

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:b15c8cc34dbe58f74787df248b3456c7ce4e1da690a309631c5cea7c14c36ca8
3
+ size 981792
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d49449f1883d6c10b8a57c377bfa5a810fbe72a1fe952ec1a3c2d345779eaa9
3
+ size 173674
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 79,
5
+ "total_frames": 39280,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:79"
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": 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
+ -41.05494689941406,
5
+ -105.23076629638672,
6
+ -63.03296661376953,
7
+ -102.5934066772461,
8
+ -47.516483306884766,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 52.21977996826172,
13
+ 63.47252655029297,
14
+ 96.70330047607422,
15
+ 88.0879135131836,
16
+ 138.76922607421875,
17
+ 41.858680725097656
18
+ ],
19
+ "mean": [
20
+ 4.071109427438096,
21
+ -21.1456394192481,
22
+ 41.66900815356773,
23
+ 44.55814549597606,
24
+ 39.60159414568423,
25
+ 8.245648955351951
26
+ ],
27
+ "std": [
28
+ 15.333185659853454,
29
+ 46.84296581253608,
30
+ 36.68840572565228,
31
+ 38.76847623059986,
32
+ 38.52008534209554,
33
+ 10.264289667611084
34
+ ],
35
+ "count": [
36
+ 39280
37
+ ],
38
+ "q01": [
39
+ -24.857788320211846,
40
+ -104.23031375705307,
41
+ 13.55624855861796,
42
+ 26.046064212676153,
43
+ -0.6097947634573947,
44
+ 0.26355770603987505
45
+ ],
46
+ "q10": [
47
+ -15.274657079969037,
48
+ -103.298310268289,
49
+ 15.997644699465502,
50
+ 31.79241382288248,
51
+ 1.472735622204606,
52
+ 1.40542905579703
53
+ ],
54
+ "q50": [
55
+ 7.2446726274420365,
56
+ -1.8878810848943426,
57
+ 28.72690076731191,
58
+ 42.06698833690269,
59
+ 50.559352342848165,
60
+ 3.3562502816227346
61
+ ],
62
+ "q90": [
63
+ 16.627978620869204,
64
+ 15.368516501032838,
65
+ 94.11575812105383,
66
+ 63.99683472738635,
67
+ 58.942631011995935,
68
+ 25.324140636151135
69
+ ],
70
+ "q99": [
71
+ 18.537535796990426,
72
+ 18.18474107491763,
73
+ 95.27370188820468,
74
+ 66.4927764378186,
75
+ 59.6337503592592,
76
+ 26.023509850943267
77
+ ]
78
+ },
79
+ "task_index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 0
85
+ ],
86
+ "mean": [
87
+ 0.0
88
+ ],
89
+ "std": [
90
+ 0.0
91
+ ],
92
+ "count": [
93
+ 39280
94
+ ],
95
+ "q01": [
96
+ 3.9999999999994176e-16
97
+ ],
98
+ "q10": [
99
+ 3.999999999999417e-15
100
+ ],
101
+ "q50": [
102
+ 1.9999999999997088e-14
103
+ ],
104
+ "q90": [
105
+ 3.599999999999476e-14
106
+ ],
107
+ "q99": [
108
+ 3.9599999999994235e-14
109
+ ]
110
+ },
111
+ "observation.state": {
112
+ "min": [
113
+ -39.9560432434082,
114
+ -103.73626708984375,
115
+ -60.57143020629883,
116
+ -101.45054626464844,
117
+ -47.16483688354492,
118
+ 1.4237288236618042
119
+ ],
120
+ "max": [
121
+ 51.912086486816406,
122
+ 63.47252655029297,
123
+ 96.35164642333984,
124
+ 88.0879135131836,
125
+ 138.3296661376953,
126
+ 40.74576187133789
127
+ ],
128
+ "mean": [
129
+ 3.941620972691874,
130
+ -20.226654701352558,
131
+ 42.905140821195666,
132
+ 44.95880294069496,
133
+ 39.5117549912545,
134
+ 9.392626549197312
135
+ ],
136
+ "std": [
137
+ 15.23223821106836,
138
+ 47.00286024415293,
139
+ 36.222132589403955,
140
+ 38.67531505399919,
141
+ 38.475210437413445,
142
+ 9.623641879542571
143
+ ],
144
+ "count": [
145
+ 39280
146
+ ],
147
+ "q01": [
148
+ -24.55718865665741,
149
+ -103.65283132937678,
150
+ 15.668377491951656,
151
+ 26.779745229278223,
152
+ -0.3363367952922991,
153
+ 1.6283899203399395
154
+ ],
155
+ "q10": [
156
+ -15.244838794922329,
157
+ -102.75955949827322,
158
+ 17.804963088256294,
159
+ 32.34598490946241,
160
+ 1.4495300363477739,
161
+ 1.9278852439945207
162
+ ],
163
+ "q50": [
164
+ 7.101580828384633,
165
+ -0.8959929387448978,
166
+ 30.00900909894489,
167
+ 42.46405167076637,
168
+ 50.48372756383867,
169
+ 5.504172070160753
170
+ ],
171
+ "q90": [
172
+ 16.404113184000824,
173
+ 15.918832977837939,
174
+ 94.30801937490438,
175
+ 64.34323837305752,
176
+ 58.648518134343476,
177
+ 25.02612443877309
178
+ ],
179
+ "q99": [
180
+ 18.104240849803258,
181
+ 18.387662096151438,
182
+ 95.26609338376463,
183
+ 66.77302915661991,
184
+ 59.31722931999186,
185
+ 25.520570836257388
186
+ ]
187
+ },
188
+ "episode_index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 9
194
+ ],
195
+ "mean": [
196
+ 4.380117107942974
197
+ ],
198
+ "std": [
199
+ 2.8881273904301628
200
+ ],
201
+ "count": [
202
+ 39280
203
+ ],
204
+ "q01": [
205
+ 4.380117107942974
206
+ ],
207
+ "q10": [
208
+ 4.3801171079429775
209
+ ],
210
+ "q50": [
211
+ 4.3801171079429935
212
+ ],
213
+ "q90": [
214
+ 4.3801171079430095
215
+ ],
216
+ "q99": [
217
+ 4.380117107943014
218
+ ]
219
+ },
220
+ "observation.images.reachy": {
221
+ "min": [
222
+ [
223
+ [
224
+ 0.0
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.0
230
+ ]
231
+ ],
232
+ [
233
+ [
234
+ 0.0
235
+ ]
236
+ ]
237
+ ],
238
+ "max": [
239
+ [
240
+ [
241
+ 1.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 1.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 1.0
252
+ ]
253
+ ]
254
+ ],
255
+ "mean": [
256
+ [
257
+ [
258
+ 0.48733088494764415
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.4138902475461076
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 0.33806396414047635
269
+ ]
270
+ ]
271
+ ],
272
+ "std": [
273
+ [
274
+ [
275
+ 0.0035289292106413473
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.003239183477432578
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.005871917011659944
286
+ ]
287
+ ]
288
+ ],
289
+ "count": [
290
+ 754176000
291
+ ],
292
+ "q01": [
293
+ [
294
+ [
295
+ -3.92156862745098e-13
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.0807179497527019
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.10988823451434797
306
+ ]
307
+ ]
308
+ ],
309
+ "q10": [
310
+ [
311
+ [
312
+ 0.15659169478687335
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.1531694036575172
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.17982512310662188
323
+ ]
324
+ ]
325
+ ],
326
+ "q50": [
327
+ [
328
+ [
329
+ 0.2509670720759595
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.28181325895097614
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.27414492804234897
340
+ ]
341
+ ]
342
+ ],
343
+ "q90": [
344
+ [
345
+ [
346
+ 0.9271699000161022
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.7524684887723108
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.5469328126691144
357
+ ]
358
+ ]
359
+ ],
360
+ "q99": [
361
+ [
362
+ [
363
+ 0.9752279070920331
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.846331881943187
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.8328007210692867
374
+ ]
375
+ ]
376
+ ]
377
+ },
378
+ "frame_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 865
384
+ ],
385
+ "mean": [
386
+ 263.60188391038696
387
+ ],
388
+ "std": [
389
+ 171.1418081280041
390
+ ],
391
+ "count": [
392
+ 39280
393
+ ],
394
+ "q01": [
395
+ 4.789294280248037
396
+ ],
397
+ "q10": [
398
+ 52.28490048158989
399
+ ],
400
+ "q50": [
401
+ 263.3789033757637
402
+ ],
403
+ "q90": [
404
+ 474.85195954896
405
+ ],
406
+ "q99": [
407
+ 522.4030402411369
408
+ ]
409
+ },
410
+ "timestamp": {
411
+ "min": [
412
+ 0.0
413
+ ],
414
+ "max": [
415
+ 28.833333333333332
416
+ ],
417
+ "mean": [
418
+ 8.786729463679563
419
+ ],
420
+ "std": [
421
+ 5.704726937600137
422
+ ],
423
+ "count": [
424
+ 39280
425
+ ],
426
+ "q01": [
427
+ 0.15964314258001214
428
+ ],
429
+ "q10": [
430
+ 1.7428300159754944
431
+ ],
432
+ "q50": [
433
+ 8.780272502885188
434
+ ],
435
+ "q90": [
436
+ 15.828398651709472
437
+ ],
438
+ "q99": [
439
+ 17.41343467479948
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 6863
448
+ ],
449
+ "mean": [
450
+ 2518.745773930754
451
+ ],
452
+ "std": [
453
+ 1541.1144608524494
454
+ ],
455
+ "count": [
456
+ 39280
457
+ ],
458
+ "q01": [
459
+ 2259.9331843006144
460
+ ],
461
+ "q10": [
462
+ 2307.4287905019564
463
+ ],
464
+ "q50": [
465
+ 2518.55309845723
466
+ ],
467
+ "q90": [
468
+ 2729.9958495693263
469
+ ],
470
+ "q99": [
471
+ 2777.546930261504
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f41da880dfd468b0b41cf7202886d5ed616d2245d4c91d7aa75e54da44cb8579
3
+ size 2200
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 sha256:59cfd870a5ab74c13598bc8901c5924afb9eb7a4b9070a47c10df77dd9930400
3
+ size 15913922