qoowater commited on
Commit
54ed992
·
verified ·
1 Parent(s): 214afda

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:ca4d8b930e2be31593437f552fac9eea5895b74c3664809c00506a281b44b2b4
3
+ size 88725
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0755f2fb11750108d7796abeec2b75607539ff17484759123624380a37a18518
3
+ size 64658
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 1937,
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": "0:10"
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.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.top": {
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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 1937
17
+ ],
18
+ "q01": [
19
+ 3.999999999999417e-16
20
+ ],
21
+ "q10": [
22
+ 3.9999999999994166e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.5999999999994766e-14
29
+ ],
30
+ "q99": [
31
+ 3.959999999999424e-14
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -5.812220573425293,
37
+ -99.84101867675781,
38
+ -15.813321113586426,
39
+ -32.559139251708984,
40
+ 0.13092432916164398,
41
+ 1.451612949371338
42
+ ],
43
+ "max": [
44
+ 10.953800201416016,
45
+ 31.319555282592773,
46
+ 99.90937805175781,
47
+ 13.54838752746582,
48
+ 0.6022518873214722,
49
+ 1.9354838132858276
50
+ ],
51
+ "mean": [
52
+ 2.144026435800108,
53
+ -19.629859494498298,
54
+ 36.741321562736005,
55
+ -6.940405990822634,
56
+ 0.2414763811004488,
57
+ 1.5318825036271921
58
+ ],
59
+ "std": [
60
+ 3.516271284736229,
61
+ 51.67838195935638,
62
+ 44.671262067704006,
63
+ 13.220704823166482,
64
+ 0.10989297669210765,
65
+ 0.01544918267279513
66
+ ],
67
+ "count": [
68
+ 1937
69
+ ],
70
+ "q01": [
71
+ -3.994608085796768,
72
+ -97.01618419483758,
73
+ -7.77665938082342,
74
+ -15.76851467681288,
75
+ 0.18637622050483263,
76
+ 1.5226822106199407
77
+ ],
78
+ "q10": [
79
+ -3.623478250117048,
80
+ -96.94898554808893,
81
+ -7.676739571143536,
82
+ -15.463769914996826,
83
+ 0.18637622050483263,
84
+ 1.532254378493241
85
+ ],
86
+ "q50": [
87
+ 1.9026108798763979,
88
+ 5.146703228731407,
89
+ 20.45056728142466,
90
+ -14.724636412838459,
91
+ 0.19351396029069556,
92
+ 1.5322594868571293
93
+ ],
94
+ "q90": [
95
+ 7.531394018574993,
96
+ 28.207997217306627,
97
+ 99.62112458130531,
98
+ 9.058196193741406,
99
+ 0.3806577248724216,
100
+ 1.532264595221018
101
+ ],
102
+ "q99": [
103
+ 8.35440534187005,
104
+ 28.697309299254986,
105
+ 99.67691560547998,
106
+ 9.060491863219129,
107
+ 0.5021203470567056,
108
+ 1.5418342588854994
109
+ ]
110
+ },
111
+ "timestamp": {
112
+ "min": [
113
+ 0.0
114
+ ],
115
+ "max": [
116
+ 8.766666666666667
117
+ ],
118
+ "mean": [
119
+ 3.290758905524006
120
+ ],
121
+ "std": [
122
+ 2.0088261231734403
123
+ ],
124
+ "count": [
125
+ 1937
126
+ ],
127
+ "q01": [
128
+ 0.042260008574464325
129
+ ],
130
+ "q10": [
131
+ 0.6394412637294398
132
+ ],
133
+ "q50": [
134
+ 3.282174889003372
135
+ ],
136
+ "q90": [
137
+ 5.935179903023073
138
+ ],
139
+ "q99": [
140
+ 6.539257802473549
141
+ ]
142
+ },
143
+ "episode_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 9
149
+ ],
150
+ "mean": [
151
+ 4.2700051626226125
152
+ ],
153
+ "std": [
154
+ 2.833149453977724
155
+ ],
156
+ "count": [
157
+ 1937
158
+ ],
159
+ "q01": [
160
+ 4.270005162622613
161
+ ],
162
+ "q10": [
163
+ 4.270005162622616
164
+ ],
165
+ "q50": [
166
+ 4.270005162622632
167
+ ],
168
+ "q90": [
169
+ 4.270005162622648
170
+ ],
171
+ "q99": [
172
+ 4.2700051626226525
173
+ ]
174
+ },
175
+ "index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 1936
181
+ ],
182
+ "mean": [
183
+ 968.0
184
+ ],
185
+ "std": [
186
+ 559.1636611941087
187
+ ],
188
+ "count": [
189
+ 1937
190
+ ],
191
+ "q01": [
192
+ 870.5450330943772
193
+ ],
194
+ "q10": [
195
+ 888.4604707484996
196
+ ],
197
+ "q50": [
198
+ 967.7461482705212
199
+ ],
200
+ "q90": [
201
+ 1047.3326299226412
202
+ ],
203
+ "q99": [
204
+ 1065.4549669056228
205
+ ]
206
+ },
207
+ "frame_index": {
208
+ "min": [
209
+ 0
210
+ ],
211
+ "max": [
212
+ 263
213
+ ],
214
+ "mean": [
215
+ 98.72276716572019
216
+ ],
217
+ "std": [
218
+ 60.26478369520321
219
+ ],
220
+ "count": [
221
+ 1937
222
+ ],
223
+ "q01": [
224
+ 1.2678002600974383
225
+ ],
226
+ "q10": [
227
+ 19.18323791421989
228
+ ],
229
+ "q50": [
230
+ 98.46891543624136
231
+ ],
232
+ "q90": [
233
+ 178.05539708836122
234
+ ],
235
+ "q99": [
236
+ 196.1777340713429
237
+ ]
238
+ },
239
+ "observation.state": {
240
+ "min": [
241
+ -6.171932220458984,
242
+ -98.16590118408203,
243
+ -8.602150917053223,
244
+ -31.35341453552246,
245
+ 0.0,
246
+ 2.5165562629699707
247
+ ],
248
+ "max": [
249
+ 11.168258666992188,
250
+ 31.5548152923584,
251
+ 100.0,
252
+ 60.6279182434082,
253
+ 0.5216484069824219,
254
+ 2.5827815532684326
255
+ ],
256
+ "mean": [
257
+ 2.2445077280993306,
258
+ -20.818201201935683,
259
+ 42.49361805480106,
260
+ -5.410899644914704,
261
+ 0.3364455553755418,
262
+ 2.516664366409467
263
+ ],
264
+ "std": [
265
+ 3.5975684464034874,
266
+ 52.44412166589285,
267
+ 42.70486909292218,
268
+ 13.55892675686638,
269
+ 0.09499452741295238,
270
+ 0.0017546425426033991
271
+ ],
272
+ "count": [
273
+ 1937
274
+ ],
275
+ "q01": [
276
+ -4.072744009601867,
277
+ -95.57288419283353,
278
+ -0.8281476244091925,
279
+ -14.43311130509711,
280
+ 0.24496059385354021,
281
+ 2.5165562629699707
282
+ ],
283
+ "q10": [
284
+ -4.072744009601867,
285
+ -95.5343789397871,
286
+ -0.8281476244091925,
287
+ -14.329416260190287,
288
+ 0.30598629780237807,
289
+ 2.5165562629699707
290
+ ],
291
+ "q50": [
292
+ 2.0403160203869217,
293
+ 2.8029261103104735,
294
+ 28.999677692052934,
295
+ -13.602901266774758,
296
+ 0.3582146289025751,
297
+ 2.5165562629699707
298
+ ],
299
+ "q90": [
300
+ 7.532327786432702,
301
+ 29.24646519085622,
302
+ 99.43818777100793,
303
+ 9.15287714438185,
304
+ 0.363049343542487,
305
+ 2.5165562629699707
306
+ ],
307
+ "q99": [
308
+ 8.33336386243249,
309
+ 29.254673617635472,
310
+ 99.52779456828743,
311
+ 14.574427838920819,
312
+ 0.36305289981767386,
313
+ 2.5244186596992684
314
+ ]
315
+ },
316
+ "observation.images.wrist": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.0
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.0
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.4884407499999999
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.5026050349264705
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.4630996823937908
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.0019928650787530864
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.00231046684861074
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.0035254548671643745
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 1000
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.020816748862701857
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.04312497376519087
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.03134006455874262
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.1251182006068822
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.17059770490776918
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.17019090786805366
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.5184972753306094
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.5407716806962038
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.495318253123176
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.6791627766487407
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.6854669161182882
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.6329295132861721
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.7690240149128384
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.7804049849605225
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.752154993780357
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.top": {
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
+ 0.49269127982026145
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5017828029003267
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.4871178964460784
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.008380452386372549
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.008971760764599554
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.007452768238529571
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 1000
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ -3.9215686274509807e-13
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.010912246969248647
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ -3.9215686274509807e-13
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.05098643288484515
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.06153947488678722
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.06626568740025743
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.5901769588137306
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.6015604745085286
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.5855012985352501
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.657650850775534
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.6670176760058234
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.653768853553198
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.6850835992672543
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.7051309536813273
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.6905778487643648
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:f05fdd4effbdf67cc1a026616097070a61c35159a03681ca42c31248680845d5
3
+ size 2226
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 sha256:5855138d314a01e8c1a0d6f2139c085222f149a6c22eec37ce54c58b5bdfdb02
3
+ size 12596027
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 sha256:23442b0f8542bd1c79eed364137295d0b05429961c57bd8b9734618f84be83d1
3
+ size 10989848