pr0tos commited on
Commit
e41ec03
·
verified ·
1 Parent(s): 1631ad9

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 sha256:23a7c83341880c8e9cd349c512a128f80b72db4db023eb8eb4aaf878ce1ad434
3
+ size 126924
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f11d1996ce39141442ffece2856d9abed9a55bbdf2620482e26148d1a324429
3
+ size 58630
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2559,
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": "0:5"
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.wrist": {
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.front": {
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 18.466666666666665
8
+ ],
9
+ "mean": [
10
+ 8.542164908167253
11
+ ],
12
+ "std": [
13
+ 4.974798472835351
14
+ ],
15
+ "count": [
16
+ 2559
17
+ ],
18
+ "q01": [
19
+ 0.1539785759080521
20
+ ],
21
+ "q10": [
22
+ 1.698520854420341
23
+ ],
24
+ "q50": [
25
+ 8.537050191480985
26
+ ],
27
+ "q90": [
28
+ 15.385808961914163
29
+ ],
30
+ "q99": [
31
+ 16.93035124042645
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 554
40
+ ],
41
+ "mean": [
42
+ 256.2649472450176
43
+ ],
44
+ "std": [
45
+ 149.24395418506055
46
+ ],
47
+ "count": [
48
+ 2559
49
+ ],
50
+ "q01": [
51
+ 4.619357280089373
52
+ ],
53
+ "q10": [
54
+ 50.95562563493356
55
+ ],
56
+ "q50": [
57
+ 256.0874752637748
58
+ ],
59
+ "q90": [
60
+ 461.57426885510154
61
+ ],
62
+ "q99": [
63
+ 507.91053720994574
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -22.745527267456055,
69
+ -98.58979797363281,
70
+ -87.94963836669922,
71
+ 48.511531829833984,
72
+ -77.82437896728516,
73
+ 2.0066890716552734
74
+ ],
75
+ "max": [
76
+ 19.094560623168945,
77
+ 67.23351287841797,
78
+ 99.28057861328125,
79
+ 98.57442474365234,
80
+ -38.55832290649414,
81
+ 62.541805267333984
82
+ ],
83
+ "mean": [
84
+ -2.209626185050836,
85
+ -18.03555408014176,
86
+ 13.495386629376666,
87
+ 77.46300941577597,
88
+ -54.58538219993028,
89
+ 21.208101012456133
90
+ ],
91
+ "std": [
92
+ 10.055125986461828,
93
+ 49.956993937473705,
94
+ 54.63275099521218,
95
+ 11.591197997136002,
96
+ 9.774153009570899,
97
+ 17.565617432117367
98
+ ],
99
+ "count": [
100
+ 2559
101
+ ],
102
+ "q01": [
103
+ -15.338616561235295,
104
+ -98.53874162716436,
105
+ -46.84213246548628,
106
+ 59.745778427347624,
107
+ -64.10204835737436,
108
+ 2.393205970747017
109
+ ],
110
+ "q10": [
111
+ -11.916606981018786,
112
+ -98.38419534067151,
113
+ -41.15659454562103,
114
+ 64.53148155767086,
115
+ -62.46983299707405,
116
+ 2.512261191709581
117
+ ],
118
+ "q50": [
119
+ -2.905608534647294,
120
+ -1.3685860289126088,
121
+ -1.4624599331875074,
122
+ 75.93575526732539,
123
+ -54.52969981289395,
124
+ 20.271548592185656
125
+ ],
126
+ "q90": [
127
+ 8.266946996837202,
128
+ 36.24313786706035,
129
+ 98.98386360129261,
130
+ 91.39903452210334,
131
+ -46.76391372952417,
132
+ 51.206422478315346
133
+ ],
134
+ "q99": [
135
+ 9.22856023345193,
136
+ 39.90719339768537,
137
+ 99.1690591764731,
138
+ 93.94115179323518,
139
+ -45.73458579184025,
140
+ 54.30664850105321
141
+ ]
142
+ },
143
+ "observation.images.wrist": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.09019607843137255
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.06274509803921569
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.03529411764705882
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 0.8549019607843137
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.8549019607843137
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.803921568627451
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.6799658771857623
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.644440605261072
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.5789048690371671
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.012099656347477516
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.011124945903142395
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.011906634932349752
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 536
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ 0.2817054903727728
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.13975784225069215
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.09806388109994478
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.5751769795315684
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.30809512822448304
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.24608107733293738
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.703883175474281
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.7078993427800571
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.6350639367642283
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.7711593768691064
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.7789775371256531
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.7178018015332004
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.7983163478144863
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.807729024446165
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.7496433027922283
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "observation.images.front": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5471204089844893
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.5511348645101697
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5590998724971954
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.0014828022008810241
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.0015308848802929303
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.0016603701235457739
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 536
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.038424296055443716
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.0548366938627469
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.0471090938953103
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.07369858938661474
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.08458805371453826
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.10585641562617795
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.854292984889534
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.8247130347655068
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.8315582231540607
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.9559663709722893
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.9583947216053581
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.9607607824475709
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.9826177601749078
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.975704484932189
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.9779728382275888
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "action": {
460
+ "min": [
461
+ -22.67057991027832,
462
+ -99.66471099853516,
463
+ -90.50203704833984,
464
+ 47.511695861816406,
465
+ -78.09298706054688,
466
+ 0.9397024512290955
467
+ ],
468
+ "max": [
469
+ 19.295671463012695,
470
+ 66.8063735961914,
471
+ 99.72863006591797,
472
+ 99.74478912353516,
473
+ -38.2716064453125,
474
+ 63.19498825073242
475
+ ],
476
+ "mean": [
477
+ -2.2239086624233457,
478
+ -18.953036580341035,
479
+ 12.460618634576116,
480
+ 77.43365918569799,
481
+ -54.56299208402168,
482
+ 15.411582363541585
483
+ ],
484
+ "std": [
485
+ 10.05371523594524,
486
+ 49.60814496271866,
487
+ 55.24444800425168,
488
+ 11.735891282409312,
489
+ 9.792683320182531,
490
+ 19.667464316952785
491
+ ],
492
+ "count": [
493
+ 2559
494
+ ],
495
+ "q01": [
496
+ -15.521385188479123,
497
+ -98.9053920714048,
498
+ -49.18509321513144,
499
+ 59.29991069151911,
500
+ -64.17412893384612,
501
+ 2.2066166585178175
502
+ ],
503
+ "q10": [
504
+ -12.09157293468891,
505
+ -98.56814114438423,
506
+ -43.38772211530252,
507
+ 64.30488982537479,
508
+ -62.545951580374336,
509
+ 2.2876663184792485
510
+ ],
511
+ "q50": [
512
+ -2.9075387111898836,
513
+ -2.366802389615213,
514
+ -2.4853941669922097,
515
+ 75.9750094126828,
516
+ -54.479439324537914,
517
+ 4.03880699219291
518
+ ],
519
+ "q90": [
520
+ 8.15366724180554,
521
+ 35.059078800714005,
522
+ 99.51275116051315,
523
+ 91.71153413400181,
524
+ -46.683872490702235,
525
+ 51.840997504126975
526
+ ],
527
+ "q99": [
528
+ 9.449870788124773,
529
+ 39.45682492603273,
530
+ 99.60177567330462,
531
+ 94.79632612878736,
532
+ -45.578383940011705,
533
+ 54.74816555285777
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 4
542
+ ],
543
+ "mean": [
544
+ 1.930441578741696
545
+ ],
546
+ "std": [
547
+ 1.409178115956818
548
+ ],
549
+ "count": [
550
+ 2559
551
+ ],
552
+ "q01": [
553
+ 1.9304415787416964
554
+ ],
555
+ "q10": [
556
+ 1.9304415787417
557
+ ],
558
+ "q50": [
559
+ 1.930441578741716
560
+ ],
561
+ "q90": [
562
+ 1.9304415787417322
563
+ ],
564
+ "q99": [
565
+ 1.9304415787417357
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 2558
574
+ ],
575
+ "mean": [
576
+ 1279.0
577
+ ],
578
+ "std": [
579
+ 738.719613024229
580
+ ],
581
+ "count": [
582
+ 2559
583
+ ],
584
+ "q01": [
585
+ 1027.3544100350716
586
+ ],
587
+ "q10": [
588
+ 1073.690678389916
589
+ ],
590
+ "q50": [
591
+ 1278.8465584994137
592
+ ],
593
+ "q90": [
594
+ 1484.3093216100842
595
+ ],
596
+ "q99": [
597
+ 1530.6455899649281
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
+ 2559
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
+ 3.959999999999424e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ac22d8b9cacb2c2fe815402bfa317cb8432068b73bab236be13e7324615561df
3
+ size 2171
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 sha256:88df70c4ddafd6a0f8e5b9b17f51a0718612dc3d091a91ab7686218acf20a663
3
+ size 14404017
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 sha256:475ce53e973e7326c5f932ee48c4eb599aaea59ec9c737d00db6f528d2e6bea3
3
+ size 2783656