qualiaadmin commited on
Commit
886636e
·
verified ·
1 Parent(s): 893aa12

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 sha256:116874fda94177c9586e35c3c810b295a1608448516a83a568c7783e390bcecc
3
+ size 1167045
file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d4623d8cf835b62c7fcfd1ff7f86c50315e63c253d17f6e390f6d8072d27e6f7
3
+ size 213108362
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6bd90eeca9a3b98496744087fe5cdae69ae80891115ab4ad23ec578f1cd24a40
3
+ size 237102
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "dk1_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 18988,
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": "0:50"
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_1.pos",
21
+ "joint_2.pos",
22
+ "joint_3.pos",
23
+ "joint_4.pos",
24
+ "joint_5.pos",
25
+ "joint_6.pos",
26
+ "gripper.pos"
27
+ ],
28
+ "shape": [
29
+ 7
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "names": [
35
+ "joint_1.pos",
36
+ "joint_2.pos",
37
+ "joint_3.pos",
38
+ "joint_4.pos",
39
+ "joint_5.pos",
40
+ "joint_6.pos",
41
+ "gripper.pos"
42
+ ],
43
+ "shape": [
44
+ 7
45
+ ]
46
+ },
47
+ "observation.images.wrist": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 360,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 360,
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.top": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 360,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 360,
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
+ "observation.images.wrist": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.5089961619600115
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.51302573277002
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.5300371983078884
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.00886499313447066
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.008151760735214359
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.007822601314615447
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 5017
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.022487633181651888
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.025193795392296995
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.0521596334801228
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.11258380052981694
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.11536868453033229
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.14576544634301175
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.6283146159420422
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.6233187351119934
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.6319431787262423
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.7693478260197514
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.7875332452525948
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.7987712801984239
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.884182083533769
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9084285238602153
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9160988365868856
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "episode_index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 49
166
+ ],
167
+ "mean": [
168
+ 24.930166420897407
169
+ ],
170
+ "std": [
171
+ 14.40829181436528
172
+ ],
173
+ "count": [
174
+ 18988
175
+ ],
176
+ "q01": [
177
+ 24.930166420897407
178
+ ],
179
+ "q10": [
180
+ 24.930166420897407
181
+ ],
182
+ "q50": [
183
+ 24.93016642089742
184
+ ],
185
+ "q90": [
186
+ 24.93016642089743
187
+ ],
188
+ "q99": [
189
+ 24.930166420897432
190
+ ]
191
+ },
192
+ "timestamp": {
193
+ "min": [
194
+ 0.0
195
+ ],
196
+ "max": [
197
+ 17.433333333333334
198
+ ],
199
+ "mean": [
200
+ 6.424738431289937
201
+ ],
202
+ "std": [
203
+ 3.8558106387325646
204
+ ],
205
+ "count": [
206
+ 18988
207
+ ],
208
+ "q01": [
209
+ 0.11301453885969556
210
+ ],
211
+ "q10": [
212
+ 1.2695484602104659
213
+ ],
214
+ "q50": [
215
+ 6.417218304543101
216
+ ],
217
+ "q90": [
218
+ 11.574674687742538
219
+ ],
220
+ "q99": [
221
+ 12.736462323720179
222
+ ]
223
+ },
224
+ "action": {
225
+ "min": [
226
+ -0.5798447132110596,
227
+ -0.004601942375302315,
228
+ -0.007669903803616762,
229
+ -1.1320778131484985,
230
+ -0.4264466464519501,
231
+ -1.1274758577346802,
232
+ 0.02950819581747055
233
+ ],
234
+ "max": [
235
+ 0.9863496422767639,
236
+ 2.046330451965332,
237
+ 1.7456700801849365,
238
+ 0.5246214270591736,
239
+ 0.48780590295791626,
240
+ 0.7685243487358093,
241
+ 0.6475409865379333
242
+ ],
243
+ "mean": [
244
+ 0.08004923462646531,
245
+ 0.795724829322593,
246
+ 0.5989395634174872,
247
+ -0.23163115350270186,
248
+ 0.014686821290126162,
249
+ -0.05868969837680537,
250
+ 0.17043285872469408
251
+ ],
252
+ "std": [
253
+ 0.28496989430474456,
254
+ 0.6525106013706444,
255
+ 0.47514547046603955,
256
+ 0.2933597680420161,
257
+ 0.11249592752569072,
258
+ 0.16494072388097347,
259
+ 0.18969354500394206
260
+ ],
261
+ "count": [
262
+ 18988
263
+ ],
264
+ "q01": [
265
+ -0.24070896172357642,
266
+ -0.004019030287372953,
267
+ -0.003491311798111811,
268
+ -0.7318978131864479,
269
+ -0.11837084763044799,
270
+ -0.23996815021064508,
271
+ 0.03200808994531261
272
+ ],
273
+ "q10": [
274
+ -0.2140148325070722,
275
+ -0.0032049806406854826,
276
+ -0.0006907091486779263,
277
+ -0.6251941358144348,
278
+ -0.08443942968256722,
279
+ -0.19063895751606397,
280
+ 0.032771467688329586
281
+ ],
282
+ "q50": [
283
+ 0.04497684939600764,
284
+ 0.9002446741333429,
285
+ 0.7454689847925964,
286
+ -0.1281378800440899,
287
+ 0.010140732070385586,
288
+ -0.06466951039779154,
289
+ 0.05175687207850959
290
+ ],
291
+ "q90": [
292
+ 0.44011185230683253,
293
+ 1.6128454779023884,
294
+ 1.1464175817491544,
295
+ 0.044993168273080426,
296
+ 0.13388470793600007,
297
+ 0.09489006226550183,
298
+ 0.49703053803163055
299
+ ],
300
+ "q99": [
301
+ 0.481169023702936,
302
+ 1.799168713564607,
303
+ 1.2211021113165028,
304
+ 0.14036777962284022,
305
+ 0.18656091816988934,
306
+ 0.14267359442719893,
307
+ 0.49942775769695935
308
+ ]
309
+ },
310
+ "index": {
311
+ "min": [
312
+ 0
313
+ ],
314
+ "max": [
315
+ 18987
316
+ ],
317
+ "mean": [
318
+ 9493.5
319
+ ],
320
+ "std": [
321
+ 5481.363448084792
322
+ ],
323
+ "count": [
324
+ 18988
325
+ ],
326
+ "q01": [
327
+ 9304.14828322994
328
+ ],
329
+ "q10": [
330
+ 9338.844300869943
331
+ ],
332
+ "q50": [
333
+ 9493.275985959554
334
+ ],
335
+ "q90": [
336
+ 9647.998087691252
337
+ ],
338
+ "q99": [
339
+ 9682.851716770061
340
+ ]
341
+ },
342
+ "observation.images.top": {
343
+ "min": [
344
+ [
345
+ [
346
+ 0.0
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.0
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.0
357
+ ]
358
+ ]
359
+ ],
360
+ "max": [
361
+ [
362
+ [
363
+ 1.0
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 1.0
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 1.0
374
+ ]
375
+ ]
376
+ ],
377
+ "mean": [
378
+ [
379
+ [
380
+ 0.4937809475018054
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.49946248750978695
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.5058861111871056
391
+ ]
392
+ ]
393
+ ],
394
+ "std": [
395
+ [
396
+ [
397
+ 0.004655257948224585
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 0.004747931593532222
403
+ ]
404
+ ],
405
+ [
406
+ [
407
+ 0.0047860875556689
408
+ ]
409
+ ]
410
+ ],
411
+ "count": [
412
+ 5017
413
+ ],
414
+ "q01": [
415
+ [
416
+ [
417
+ 0.0076926988162543015
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.002482711649429248
423
+ ]
424
+ ],
425
+ [
426
+ [
427
+ 0.03132275566305751
428
+ ]
429
+ ]
430
+ ],
431
+ "q10": [
432
+ [
433
+ [
434
+ 0.09785054130289436
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.0952655619083691
440
+ ]
441
+ ],
442
+ [
443
+ [
444
+ 0.11891907651131207
445
+ ]
446
+ ]
447
+ ],
448
+ "q50": [
449
+ [
450
+ [
451
+ 0.6225277401287427
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.6150420780123118
457
+ ]
458
+ ],
459
+ [
460
+ [
461
+ 0.6128555963108506
462
+ ]
463
+ ]
464
+ ],
465
+ "q90": [
466
+ [
467
+ [
468
+ 0.7871227684558432
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 0.8167811376021911
474
+ ]
475
+ ],
476
+ [
477
+ [
478
+ 0.8048746833401949
479
+ ]
480
+ ]
481
+ ],
482
+ "q99": [
483
+ [
484
+ [
485
+ 0.930204348477801
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.9555284296745036
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.9517585628183032
496
+ ]
497
+ ]
498
+ ]
499
+ },
500
+ "frame_index": {
501
+ "min": [
502
+ 0
503
+ ],
504
+ "max": [
505
+ 523
506
+ ],
507
+ "mean": [
508
+ 192.74215293869813
509
+ ],
510
+ "std": [
511
+ 115.67431916197688
512
+ ],
513
+ "count": [
514
+ 18988
515
+ ],
516
+ "q01": [
517
+ 3.3904361686399076
518
+ ],
519
+ "q10": [
520
+ 38.08645380864107
521
+ ],
522
+ "q50": [
523
+ 192.5151398251527
524
+ ],
525
+ "q90": [
526
+ 347.2402406299516
527
+ ],
528
+ "q99": [
529
+ 382.0938697087564
530
+ ]
531
+ },
532
+ "observation.state": {
533
+ "min": [
534
+ -0.5586709380149841,
535
+ -0.005149920005351305,
536
+ -0.006294346414506435,
537
+ -1.1263065338134766,
538
+ -0.42668038606643677,
539
+ -1.1190584897994995,
540
+ 0.002150872955098748
541
+ ],
542
+ "max": [
543
+ 0.9809643626213074,
544
+ 2.0441367626190186,
545
+ 1.7439154386520386,
546
+ 0.5243381261825562,
547
+ 0.47550925612449646,
548
+ 0.763523280620575,
549
+ 0.6393773555755615
550
+ ],
551
+ "mean": [
552
+ 0.07982003811903005,
553
+ 0.7955327485237772,
554
+ 0.598731402482752,
555
+ -0.23181364446845473,
556
+ 0.014502638620017386,
557
+ -0.05892567899333082,
558
+ 0.17048874427569347
559
+ ],
560
+ "std": [
561
+ 0.2821688610905561,
562
+ 0.6459143776918062,
563
+ 0.47122761765199284,
564
+ 0.28964206261762093,
565
+ 0.11108514190886619,
566
+ 0.1635483317583975,
567
+ 0.18849855392576928
568
+ ],
569
+ "count": [
570
+ 18988
571
+ ],
572
+ "q01": [
573
+ -0.23692890581677292,
574
+ -0.003891367085406146,
575
+ -0.002331583235143719,
576
+ -0.7165025410403608,
577
+ -0.11499873002168315,
578
+ -0.2329480755010536,
579
+ 0.03178875986006107
580
+ ],
581
+ "q10": [
582
+ -0.21157144533722155,
583
+ -0.002931695373713646,
584
+ -0.00023117960978641307,
585
+ -0.6194198369822905,
586
+ -0.08486366630554085,
587
+ -0.18937522577215565,
588
+ 0.03281595017118201
589
+ ],
590
+ "q50": [
591
+ 0.046652757921999986,
592
+ 0.9072159236508506,
593
+ 0.7417183584004502,
594
+ -0.12892754945468962,
595
+ 0.010396248091707916,
596
+ -0.0646857205554972,
597
+ 0.05176432668763448
598
+ ],
599
+ "q90": [
600
+ 0.4368035955100496,
601
+ 1.5996531139355292,
602
+ 1.1395783775449408,
603
+ 0.04039767561179267,
604
+ 0.1322011501899323,
605
+ 0.09384509134686408,
606
+ 0.49679546767206634
607
+ ],
608
+ "q99": [
609
+ 0.47210851269838605,
610
+ 1.7758183460191186,
611
+ 1.2116569109225763,
612
+ 0.12736044673230018,
613
+ 0.1824876329427695,
614
+ 0.13609778708897505,
615
+ 0.49839018012552727
616
+ ]
617
+ },
618
+ "task_index": {
619
+ "min": [
620
+ 0
621
+ ],
622
+ "max": [
623
+ 0
624
+ ],
625
+ "mean": [
626
+ 0.0
627
+ ],
628
+ "std": [
629
+ 0.0
630
+ ],
631
+ "count": [
632
+ 18988
633
+ ],
634
+ "q01": [
635
+ 3.999999999999416e-16
636
+ ],
637
+ "q10": [
638
+ 3.999999999999416e-15
639
+ ],
640
+ "q50": [
641
+ 1.9999999999997088e-14
642
+ ],
643
+ "q90": [
644
+ 3.599999999999476e-14
645
+ ],
646
+ "q99": [
647
+ 3.959999999999422e-14
648
+ ]
649
+ }
650
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6de65cd747ecd037f1de5c668c60400f42941f80ad9aa84770022f01c60e8ae9
3
+ size 2171
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 sha256:454710504d949e8f5584470e7d58396e3eabf28428f48017d9c561177a455170
3
+ size 218572479
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 sha256:6c2c8783fd02cb2829705d88659300cccfa52cfaceabedd0a6e4e2dccc24d8bc
3
+ size 114604789