qownscks commited on
Commit
304c3aa
·
verified ·
1 Parent(s): 4d31fda

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 sha256:2f13ec6f0ff0717d757388e66e5555ae279bf5a2ef92027fa2c1d94908e7d469
3
+ size 556455
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2c390c6797756704da170a1abdb71c3385ef74153d79821a353b0040d1ebc157
3
+ size 103554
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "widowxai_follower_robot",
4
+ "total_episodes": 15,
5
+ "total_frames": 9147,
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": "0:15"
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
+ "joint_0.pos",
21
+ "joint_1.pos",
22
+ "joint_2.pos",
23
+ "joint_3.pos",
24
+ "joint_4.pos",
25
+ "joint_5.pos",
26
+ "left_carriage_joint.pos"
27
+ ],
28
+ "shape": [
29
+ 7
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "names": [
35
+ "joint_0.pos",
36
+ "joint_1.pos",
37
+ "joint_2.pos",
38
+ "joint_3.pos",
39
+ "joint_4.pos",
40
+ "joint_5.pos",
41
+ "left_carriage_joint.pos"
42
+ ],
43
+ "shape": [
44
+ 7
45
+ ]
46
+ },
47
+ "observation.images.top": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 480,
61
+ "video.width": 640,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 30,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.cam_wrist": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 30,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/stats.json ADDED
@@ -0,0 +1,650 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 675
8
+ ],
9
+ "mean": [
10
+ 305.70132283808897
11
+ ],
12
+ "std": [
13
+ 178.27525601920348
14
+ ],
15
+ "count": [
16
+ 9147
17
+ ],
18
+ "q01": [
19
+ 5.572904191440033
20
+ ],
21
+ "q10": [
22
+ 60.73713729083493
23
+ ],
24
+ "q50": [
25
+ 305.4355777850661
26
+ ],
27
+ "q90": [
28
+ 550.6655083853432
29
+ ],
30
+ "q99": [
31
+ 605.829741484738
32
+ ]
33
+ },
34
+ "action": {
35
+ "min": [
36
+ -0.5209048390388489,
37
+ 0.7558938264846802,
38
+ 0.2805752754211426,
39
+ -0.7093538045883179,
40
+ -0.3763256371021271,
41
+ -0.17032882571220398,
42
+ -0.00030541978776454926
43
+ ],
44
+ "max": [
45
+ 1.041237473487854,
46
+ 1.8141069412231445,
47
+ 1.1324101686477661,
48
+ 0.6715877056121826,
49
+ 0.1348516047000885,
50
+ 0.6094071865081787,
51
+ 0.031084295362234116
52
+ ],
53
+ "mean": [
54
+ 0.22777361758937076,
55
+ 1.2425880577833492,
56
+ 0.7760265064432385,
57
+ -0.054365489780137194,
58
+ -0.0752256151215032,
59
+ 0.18522858310165438,
60
+ 0.00942659119415527
61
+ ],
62
+ "std": [
63
+ 0.4748086274116388,
64
+ 0.2519145504741701,
65
+ 0.19849674053253685,
66
+ 0.3940476790832671,
67
+ 0.09528585668034716,
68
+ 0.1863488272012705,
69
+ 0.009795667089026417
70
+ ],
71
+ "count": [
72
+ 9147
73
+ ],
74
+ "q01": [
75
+ -0.46117652621989524,
76
+ 0.9180271630395211,
77
+ 0.4446920459008391,
78
+ -0.5928108012542599,
79
+ -0.24481220438926063,
80
+ -0.03128455589692843,
81
+ 6.109467339518259e-05
82
+ ],
83
+ "q10": [
84
+ -0.4303988809917029,
85
+ 0.9949643329976156,
86
+ 0.5364717484800214,
87
+ -0.4950168227953553,
88
+ -0.19291627883496124,
89
+ 0.012245947994340988,
90
+ 0.0008730969909547039
91
+ ],
92
+ "q50": [
93
+ 0.03706940826457726,
94
+ 1.1667217834471102,
95
+ 0.7981498952167637,
96
+ -0.26110985573354945,
97
+ -0.06925720949717003,
98
+ 0.0967779497158411,
99
+ 0.005630510115721707
100
+ ],
101
+ "q90": [
102
+ 0.9652889568841488,
103
+ 1.6653175711737038,
104
+ 1.0021886910672084,
105
+ 0.45298571764579587,
106
+ 0.029689822927741367,
107
+ 0.5034378422513642,
108
+ 0.029009009702691727
109
+ ],
110
+ "q99": [
111
+ 0.9864824176104763,
112
+ 1.7562130308458204,
113
+ 1.029395628221732,
114
+ 0.48277486033574024,
115
+ 0.052007133353898574,
116
+ 0.5389387727182144,
117
+ 0.029324322551194885
118
+ ]
119
+ },
120
+ "observation.state": {
121
+ "min": [
122
+ -0.5216678380966187,
123
+ 0.7555122971534729,
124
+ 0.2817196846008301,
125
+ -0.7097352743148804,
126
+ -0.3728923499584198,
127
+ -0.17185473442077637,
128
+ -5.516037344932556e-05
129
+ ],
130
+ "max": [
131
+ 1.0435264110565186,
132
+ 1.8141069412231445,
133
+ 1.1308842897415161,
134
+ 0.6708247661590576,
135
+ 0.135233074426651,
136
+ 0.6101701259613037,
137
+ 0.031074196100234985
138
+ ],
139
+ "mean": [
140
+ 0.22754766429833823,
141
+ 1.2423806314039871,
142
+ 0.7758535157334835,
143
+ -0.05459231833956962,
144
+ -0.07543000207674905,
145
+ 0.18502502022342654,
146
+ 0.011097332547685839
147
+ ],
148
+ "std": [
149
+ 0.47481215965330215,
150
+ 0.25203511024301495,
151
+ 0.19862655483691305,
152
+ 0.39405667795333715,
153
+ 0.09555715809233375,
154
+ 0.18651100816585228,
155
+ 0.009787808514272937
156
+ ],
157
+ "count": [
158
+ 9147
159
+ ],
160
+ "q01": [
161
+ -0.46177042088365017,
162
+ 0.9173262945442262,
163
+ 0.44286891965341135,
164
+ -0.5934474602525412,
165
+ -0.24771656461887354,
166
+ -0.03207199041342446,
167
+ 7.722396691445478e-05
168
+ ],
169
+ "q10": [
170
+ -0.4299465930317963,
171
+ 0.9945986441744352,
172
+ 0.53637078081463,
173
+ -0.49572243266900634,
174
+ -0.19336076696733684,
175
+ 0.012569126277800192,
176
+ 0.00088964156209754
177
+ ],
178
+ "q50": [
179
+ 0.0368494944123767,
180
+ 1.1665054627335032,
181
+ 0.7981043585404651,
182
+ -0.2586316618453272,
183
+ -0.06931550639970634,
184
+ 0.09631197519097727,
185
+ 0.00726088156025895
186
+ ],
187
+ "q90": [
188
+ 0.9651831048578078,
189
+ 1.6660567344924913,
190
+ 1.0023154084015213,
191
+ 0.4509410650393895,
192
+ 0.0294741855529948,
193
+ 0.503114705776,
194
+ 0.029007053914595383
195
+ ],
196
+ "q99": [
197
+ 0.9871017219970359,
198
+ 1.7547668653175936,
199
+ 1.0293875477144936,
200
+ 0.48273487460857695,
201
+ 0.05279122621552287,
202
+ 0.5394587665927346,
203
+ 0.029346361483968037
204
+ ]
205
+ },
206
+ "task_index": {
207
+ "min": [
208
+ 0
209
+ ],
210
+ "max": [
211
+ 0
212
+ ],
213
+ "mean": [
214
+ 0.0
215
+ ],
216
+ "std": [
217
+ 0.0
218
+ ],
219
+ "count": [
220
+ 9147
221
+ ],
222
+ "q01": [
223
+ 3.9999999999994167e-16
224
+ ],
225
+ "q10": [
226
+ 3.999999999999418e-15
227
+ ],
228
+ "q50": [
229
+ 1.9999999999997088e-14
230
+ ],
231
+ "q90": [
232
+ 3.5999999999994754e-14
233
+ ],
234
+ "q99": [
235
+ 3.9599999999994235e-14
236
+ ]
237
+ },
238
+ "timestamp": {
239
+ "min": [
240
+ 0.0
241
+ ],
242
+ "max": [
243
+ 22.5
244
+ ],
245
+ "mean": [
246
+ 10.190044094602966
247
+ ],
248
+ "std": [
249
+ 5.94250853397345
250
+ ],
251
+ "count": [
252
+ 9147
253
+ ],
254
+ "q01": [
255
+ 0.18576347295309506
256
+ ],
257
+ "q10": [
258
+ 2.0245712429503695
259
+ ],
260
+ "q50": [
261
+ 10.183037642942972
262
+ ],
263
+ "q90": [
264
+ 18.355516946255563
265
+ ],
266
+ "q99": [
267
+ 20.194324716252837
268
+ ]
269
+ },
270
+ "episode_index": {
271
+ "min": [
272
+ 0
273
+ ],
274
+ "max": [
275
+ 14
276
+ ],
277
+ "mean": [
278
+ 6.944462665354761
279
+ ],
280
+ "std": [
281
+ 4.302818110282105
282
+ ],
283
+ "count": [
284
+ 9147
285
+ ],
286
+ "q01": [
287
+ 6.944462665354761
288
+ ],
289
+ "q10": [
290
+ 6.944462665354764
291
+ ],
292
+ "q50": [
293
+ 6.9444626653547825
294
+ ],
295
+ "q90": [
296
+ 6.944462665354798
297
+ ],
298
+ "q99": [
299
+ 6.9444626653548
300
+ ]
301
+ },
302
+ "observation.images.cam_wrist": {
303
+ "min": [
304
+ [
305
+ [
306
+ 0.0
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.0
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.0
317
+ ]
318
+ ]
319
+ ],
320
+ "max": [
321
+ [
322
+ [
323
+ 1.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 1.0
329
+ ]
330
+ ],
331
+ [
332
+ [
333
+ 1.0
334
+ ]
335
+ ]
336
+ ],
337
+ "mean": [
338
+ [
339
+ [
340
+ 0.3942282134704419
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 0.4122859374498024
346
+ ]
347
+ ],
348
+ [
349
+ [
350
+ 0.39942665933112736
351
+ ]
352
+ ]
353
+ ],
354
+ "std": [
355
+ [
356
+ [
357
+ 0.013649430395913782
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.006162293044494413
363
+ ]
364
+ ],
365
+ [
366
+ [
367
+ 0.00478224096439405
368
+ ]
369
+ ]
370
+ ],
371
+ "count": [
372
+ 1831
373
+ ],
374
+ "q01": [
375
+ [
376
+ [
377
+ -3.9215686274509807e-13
378
+ ]
379
+ ],
380
+ [
381
+ [
382
+ 0.022749913496924876
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.0010941951830536081
388
+ ]
389
+ ]
390
+ ],
391
+ "q10": [
392
+ [
393
+ [
394
+ 0.03634940868107663
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ 0.07635279414897747
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.055193120993501724
405
+ ]
406
+ ]
407
+ ],
408
+ "q50": [
409
+ [
410
+ [
411
+ 0.36958854643218136
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.40470201620178337
417
+ ]
418
+ ],
419
+ [
420
+ [
421
+ 0.4208660387254648
422
+ ]
423
+ ]
424
+ ],
425
+ "q90": [
426
+ [
427
+ [
428
+ 0.8349361577392216
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.7801384272430475
434
+ ]
435
+ ],
436
+ [
437
+ [
438
+ 0.7376510982696595
439
+ ]
440
+ ]
441
+ ],
442
+ "q99": [
443
+ [
444
+ [
445
+ 0.9966551196059338
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.9999530239730162
451
+ ]
452
+ ],
453
+ [
454
+ [
455
+ 0.9949690681222949
456
+ ]
457
+ ]
458
+ ]
459
+ },
460
+ "observation.images.top": {
461
+ "min": [
462
+ [
463
+ [
464
+ 0.0
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.0
470
+ ]
471
+ ],
472
+ [
473
+ [
474
+ 0.0
475
+ ]
476
+ ]
477
+ ],
478
+ "max": [
479
+ [
480
+ [
481
+ 1.0
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 1.0
487
+ ]
488
+ ],
489
+ [
490
+ [
491
+ 1.0
492
+ ]
493
+ ]
494
+ ],
495
+ "mean": [
496
+ [
497
+ [
498
+ 0.552709871498663
499
+ ]
500
+ ],
501
+ [
502
+ [
503
+ 0.5364250329296107
504
+ ]
505
+ ],
506
+ [
507
+ [
508
+ 0.522604014958432
509
+ ]
510
+ ]
511
+ ],
512
+ "std": [
513
+ [
514
+ [
515
+ 0.004178484284366364
516
+ ]
517
+ ],
518
+ [
519
+ [
520
+ 0.003073222041829255
521
+ ]
522
+ ],
523
+ [
524
+ [
525
+ 0.004413009332978649
526
+ ]
527
+ ]
528
+ ],
529
+ "count": [
530
+ 1831
531
+ ],
532
+ "q01": [
533
+ [
534
+ [
535
+ 0.03821182568372801
536
+ ]
537
+ ],
538
+ [
539
+ [
540
+ 0.04005929726848651
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.01676625661971388
546
+ ]
547
+ ]
548
+ ],
549
+ "q10": [
550
+ [
551
+ [
552
+ 0.0875702310199366
553
+ ]
554
+ ],
555
+ [
556
+ [
557
+ 0.09172102652996762
558
+ ]
559
+ ],
560
+ [
561
+ [
562
+ 0.07581857559859487
563
+ ]
564
+ ]
565
+ ],
566
+ "q50": [
567
+ [
568
+ [
569
+ 0.6538172297448976
570
+ ]
571
+ ],
572
+ [
573
+ [
574
+ 0.657746145315546
575
+ ]
576
+ ],
577
+ [
578
+ [
579
+ 0.6308128456228443
580
+ ]
581
+ ]
582
+ ],
583
+ "q90": [
584
+ [
585
+ [
586
+ 0.7625931277242101
587
+ ]
588
+ ],
589
+ [
590
+ [
591
+ 0.7596233009312588
592
+ ]
593
+ ],
594
+ [
595
+ [
596
+ 0.7887967303379096
597
+ ]
598
+ ]
599
+ ],
600
+ "q99": [
601
+ [
602
+ [
603
+ 0.8224358250298194
604
+ ]
605
+ ],
606
+ [
607
+ [
608
+ 0.8903026635317379
609
+ ]
610
+ ],
611
+ [
612
+ [
613
+ 0.9035055226301637
614
+ ]
615
+ ]
616
+ ]
617
+ },
618
+ "index": {
619
+ "min": [
620
+ 0
621
+ ],
622
+ "max": [
623
+ 9146
624
+ ],
625
+ "mean": [
626
+ 4573.0
627
+ ],
628
+ "std": [
629
+ 2640.511440358982
630
+ ],
631
+ "count": [
632
+ 9147
633
+ ],
634
+ "q01": [
635
+ 4272.871581353351
636
+ ],
637
+ "q10": [
638
+ 4328.035814452745
639
+ ],
640
+ "q50": [
641
+ 4572.780611041871
642
+ ],
643
+ "q90": [
644
+ 4817.964185547255
645
+ ],
646
+ "q99": [
647
+ 4873.128418646649
648
+ ]
649
+ }
650
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8fa5b634ed3aa00c407126a4ca634dd1c1653d8d27e7f55a1cc019ad3d4a65ec
3
+ size 2331
videos/observation.images.cam_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c40b839df886b075c320cb6c74dbf82aa0faa70cbe4fb9f3c21c901b163828f
3
+ size 100351257
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:e851cdd55f8ae2c3dcbcea2bd0604c56212deaae46c26607077a8974c866cb5d
3
+ size 94379044