qownscks commited on
Commit
6ee3def
·
verified ·
1 Parent(s): 6a22d49

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 sha256:72741fecc003041f2c55a3ada03b79d025394a154bae669b3e21c3b8952034cb
3
+ size 884441
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80cb15b8d99d900321ad513bb0093efcdd41c7b45330718525f5fbd718920ff7
3
+ size 269827
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 59,
5
+ "total_frames": 17252,
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": "0:59"
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.up": {
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.wrist": {
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
+ "action": {
3
+ "min": [
4
+ -52.915130615234375,
5
+ -99.5748291015625,
6
+ -39.49504089355469,
7
+ 31.358884811401367,
8
+ -29.328805923461914,
9
+ 0.47656869888305664
10
+ ],
11
+ "max": [
12
+ 69.88929748535156,
13
+ 47.193878173828125,
14
+ 99.3687973022461,
15
+ 99.56446075439453,
16
+ 39.56646728515625,
17
+ 49.96028518676758
18
+ ],
19
+ "mean": [
20
+ -2.036584378317527,
21
+ -37.46714484451157,
22
+ 38.28259091340774,
23
+ 65.39161496988287,
24
+ -0.714703062792375,
25
+ 8.133407359191771
26
+ ],
27
+ "std": [
28
+ 29.61911487007496,
29
+ 44.57434784828312,
30
+ 43.70649089149411,
31
+ 15.939539224645339,
32
+ 12.694802663650247,
33
+ 13.267387628112118
34
+ ],
35
+ "count": [
36
+ 17252
37
+ ],
38
+ "q01": [
39
+ -50.312053357260645,
40
+ -99.04440996456532,
41
+ -15.993902043832936,
42
+ 41.18756657873441,
43
+ -15.485636585820298,
44
+ 0.893353309033616
45
+ ],
46
+ "q10": [
47
+ -48.43903942149058,
48
+ -98.9115207741616,
49
+ -12.349161572341908,
50
+ 48.619473967567316,
51
+ -14.593217187243166,
52
+ 0.9186535604181605
53
+ ],
54
+ "q50": [
55
+ -4.434929170528518,
56
+ -23.70254925878929,
57
+ 22.999813355327202,
58
+ 64.74578864349469,
59
+ 0.4995034687652283,
60
+ 1.0758132075942346
61
+ ],
62
+ "q90": [
63
+ 30.42561739567775,
64
+ 16.265182437322775,
65
+ 99.04431038863338,
66
+ 86.4654327309295,
67
+ 10.105431236318287,
68
+ 35.86104586146745
69
+ ],
70
+ "q99": [
71
+ 34.233596393927854,
72
+ 18.883842956239832,
73
+ 99.10309794903296,
74
+ 88.16137938884735,
75
+ 11.03781562480561,
76
+ 37.70861754496496
77
+ ]
78
+ },
79
+ "observation.images.wrist": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.2527275726639527
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.2515297482206159
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.2534360355045973
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.01842382368863682
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.019345665516443164
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.02120998430504588
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 5900
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.0010583681661097734
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ -3.921568627450984e-13
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.921568627450984e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.03230660440289767
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.02188834069784887
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.0003943577542470576
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.21808645235167243
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.23968913043585383
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.24573216808190612
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.4880698448949673
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.4380293253060624
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.4781755344119112
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9889539630067202
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.944538921703848
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9084282794675488
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.state": {
238
+ "min": [
239
+ -52.377357482910156,
240
+ -98.733642578125,
241
+ -37.03703689575195,
242
+ 32.29302215576172,
243
+ -29.133089065551758,
244
+ 1.284521460533142
245
+ ],
246
+ "max": [
247
+ 69.73584747314453,
248
+ 47.4883918762207,
249
+ 99.1869888305664,
250
+ 98.6996078491211,
251
+ 39.19413757324219,
252
+ 49.13294982910156
253
+ ],
254
+ "mean": [
255
+ -1.9910709082962819,
256
+ -36.69856745235444,
257
+ 39.91169335575136,
258
+ 65.48503303262493,
259
+ -0.7199868905728777,
260
+ 9.04813769483909
261
+ ],
262
+ "std": [
263
+ 29.563090086740797,
264
+ 44.764103185014626,
265
+ 42.8811291228506,
266
+ 15.867949301986298,
267
+ 12.677329453188497,
268
+ 12.762501798290181
269
+ ],
270
+ "count": [
271
+ 17252
272
+ ],
273
+ "q01": [
274
+ -49.81404054483736,
275
+ -98.4745894105669,
276
+ -13.254929643403058,
277
+ 42.008360794522545,
278
+ -15.286719793698396,
279
+ 1.3206961056402817
280
+ ],
281
+ "q10": [
282
+ -48.17910578665366,
283
+ -98.38354603618171,
284
+ -9.830902415743067,
285
+ 48.6702693175338,
286
+ -14.576500075330715,
287
+ 1.3216939492647461
288
+ ],
289
+ "q50": [
290
+ -4.410523829687562,
291
+ -22.512550690236267,
292
+ 24.71127743189654,
293
+ 64.84256352400352,
294
+ 0.5048905034746672,
295
+ 3.558364371048901
296
+ ],
297
+ "q90": [
298
+ 30.519659936491408,
299
+ 17.186832551275412,
300
+ 98.99195569970257,
301
+ 86.53570411071527,
302
+ 10.055790057294287,
303
+ 35.660471700556315
304
+ ],
305
+ "q99": [
306
+ 34.02844055105716,
307
+ 19.205801823352772,
308
+ 99.0378712031037,
309
+ 87.90496172572878,
310
+ 10.900138486793512,
311
+ 37.46756541053513
312
+ ]
313
+ },
314
+ "timestamp": {
315
+ "min": [
316
+ 0.0
317
+ ],
318
+ "max": [
319
+ 11.766666666666667
320
+ ],
321
+ "mean": [
322
+ 4.87966805780972
323
+ ],
324
+ "std": [
325
+ 2.8543551286998015
326
+ ],
327
+ "count": [
328
+ 17252
329
+ ],
330
+ "q01": [
331
+ 0.07673584502096957
332
+ ],
333
+ "q10": [
334
+ 0.9612813408270311
335
+ ],
336
+ "q50": [
337
+ 4.871249480639755
338
+ ],
339
+ "q90": [
340
+ 8.795481573617616
341
+ ],
342
+ "q99": [
343
+ 9.682600270598472
344
+ ]
345
+ },
346
+ "index": {
347
+ "min": [
348
+ 0
349
+ ],
350
+ "max": [
351
+ 17251
352
+ ],
353
+ "mean": [
354
+ 8625.5
355
+ ],
356
+ "std": [
357
+ 4980.223413663286
358
+ ],
359
+ "count": [
360
+ 17252
361
+ ],
362
+ "q01": [
363
+ 8481.412033619192
364
+ ],
365
+ "q10": [
366
+ 8507.948398492847
367
+ ],
368
+ "q50": [
369
+ 8625.24959246464
370
+ ],
371
+ "q90": [
372
+ 8742.974405471912
373
+ ],
374
+ "q99": [
375
+ 8769.587966380808
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
+ 17252
393
+ ],
394
+ "q01": [
395
+ 3.999999999999418e-16
396
+ ],
397
+ "q10": [
398
+ 3.999999999999417e-15
399
+ ],
400
+ "q50": [
401
+ 1.999999999999708e-14
402
+ ],
403
+ "q90": [
404
+ 3.599999999999475e-14
405
+ ],
406
+ "q99": [
407
+ 3.959999999999423e-14
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 58
416
+ ],
417
+ "mean": [
418
+ 28.888708555529792
419
+ ],
420
+ "std": [
421
+ 17.05218038965757
422
+ ],
423
+ "count": [
424
+ 17252
425
+ ],
426
+ "q01": [
427
+ 28.888708555529792
428
+ ],
429
+ "q10": [
430
+ 28.888708555529792
431
+ ],
432
+ "q50": [
433
+ 28.888708555529803
434
+ ],
435
+ "q90": [
436
+ 28.888708555529814
437
+ ],
438
+ "q99": [
439
+ 28.888708555529817
440
+ ]
441
+ },
442
+ "observation.images.up": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.0
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.3695694455522322
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.3533060915863522
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.33502125557355705
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.00538349075512065
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.00494231517950357
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.005093700983461653
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 5900
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ 0.05150584070231994
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.04109515795407978
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.022134458325004717
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.09251385880719874
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.07930053356876143
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.061037454300308984
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.36563165365524053
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.34403130184688896
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.32190709686820024
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.6637493800024341
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.6477253594982505
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.6431888912018924
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9524011611840248
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.868909567530299
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.8689133636349219
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 353
606
+ ],
607
+ "mean": [
608
+ 146.3900417342916
609
+ ],
610
+ "std": [
611
+ 85.63065386099402
612
+ ],
613
+ "count": [
614
+ 17252
615
+ ],
616
+ "q01": [
617
+ 2.302075353483758
618
+ ],
619
+ "q10": [
620
+ 28.838440227139724
621
+ ],
622
+ "q50": [
623
+ 146.13963419893324
624
+ ],
625
+ "q90": [
626
+ 263.86444720620136
627
+ ],
628
+ "q99": [
629
+ 290.4780081150996
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38b146f8f0f9f8347956498cab41dec0836aec7e66f3bcb4ae4357421104c4dd
3
+ size 2497
videos/observation.images.up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b9d6b2f44cb16190aac3f4ea9aa5b95d5c120ef3d472ad17807776240b14917
3
+ size 522971526
videos/observation.images.up/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:397171c6a7e78a6fdc6ada035fd144f1d04daa85aaf555bcb9a2e5a84f8dcbd1
3
+ size 60070029
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:acfcf3bfdc38a59f661fd4b65d0dba61179443aab2aaec82147dcf255edd465b
3
+ size 141752331