rhecker commited on
Commit
2d0a474
·
verified ·
1 Parent(s): a4e91a8

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:c86c85dd3a81c228a45c4909780ea15299b5b07568863a24727a0a3f3d9a1033
3
+ size 450662
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:adc842b4ab00e01a4934021ec373feda9e520c8efb45f43361bc9bd6482f1e1c
3
+ size 423409
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b18b5f2c4850fd1c8f9db7bc2e5d8e6e8081c875519b3a037675864a558365c7
3
+ size 259974
meta/episodes/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:690cdd2581930c833ea5b865af69802b7842e494fc08741300be2f74faf10db2
3
+ size 232889
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "So101",
4
+ "total_episodes": 101,
5
+ "total_frames": 12056,
6
+ "total_tasks": 2,
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": "0:101"
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.overhead": {
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": "h264",
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.right": {
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": "h264",
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 100
8
+ ],
9
+ "mean": [
10
+ 48.95197412076976
11
+ ],
12
+ "std": [
13
+ 29.300891379813336
14
+ ],
15
+ "count": [
16
+ 12056
17
+ ],
18
+ "q01": [
19
+ 48.95197412076976
20
+ ],
21
+ "q10": [
22
+ 48.95197412076976
23
+ ],
24
+ "q50": [
25
+ 48.95197412076976
26
+ ],
27
+ "q90": [
28
+ 48.95197412076976
29
+ ],
30
+ "q99": [
31
+ 48.95197412076976
32
+ ]
33
+ },
34
+ "observation.images.overhead": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.423858575049822
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.3900187418375198
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.37016417433174037
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.003236257611827336
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.009017305209175026
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.01045446643106957
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 231475200
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.008577543643423455
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.0700530413054414
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.07648233501043374
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.06070372364749807
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.1271763057910378
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.14726990493868264
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.4789866370177947
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.39615089942387866
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.35236965253677244
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.610897148956627
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.5815171431166114
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.5787334840004695
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.706800016766929
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.7927438574069041
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.8239371742548578
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "observation.images.right": {
193
+ "min": [
194
+ [
195
+ [
196
+ 0.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 0.0
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.0
207
+ ]
208
+ ]
209
+ ],
210
+ "max": [
211
+ [
212
+ [
213
+ 1.0
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "mean": [
228
+ [
229
+ [
230
+ 0.3965175262242976
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.41164925501865496
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.43871711731757784
241
+ ]
242
+ ]
243
+ ],
244
+ "std": [
245
+ [
246
+ [
247
+ 0.01129774024979318
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.009978414865764838
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.010113645296132321
258
+ ]
259
+ ]
260
+ ],
261
+ "count": [
262
+ 231475200
263
+ ],
264
+ "q01": [
265
+ [
266
+ [
267
+ 0.056727951783173414
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.07865905906087721
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.1149789255474551
278
+ ]
279
+ ]
280
+ ],
281
+ "q10": [
282
+ [
283
+ [
284
+ 0.09988606979279556
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.13562210443322803
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.17350021960718776
295
+ ]
296
+ ]
297
+ ],
298
+ "q50": [
299
+ [
300
+ [
301
+ 0.4656090015089123
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.44804691150305276
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.46226985070044635
312
+ ]
313
+ ]
314
+ ],
315
+ "q90": [
316
+ [
317
+ [
318
+ 0.6177897759352055
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.6190074645304419
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.6327034659595122
329
+ ]
330
+ ]
331
+ ],
332
+ "q99": [
333
+ [
334
+ [
335
+ 0.672889395676535
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 0.7019951695114013
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 0.7630496361291167
346
+ ]
347
+ ]
348
+ ]
349
+ },
350
+ "timestamp": {
351
+ "min": [
352
+ 0.0
353
+ ],
354
+ "max": [
355
+ 5.433333333333334
356
+ ],
357
+ "mean": [
358
+ 1.9969254589692558
359
+ ],
360
+ "std": [
361
+ 1.191874997578691
362
+ ],
363
+ "count": [
364
+ 12056
365
+ ],
366
+ "q01": [
367
+ 0.03186712099206612
368
+ ],
369
+ "q10": [
370
+ 0.38381525450890164
371
+ ],
372
+ "q50": [
373
+ 1.9898849778806427
374
+ ],
375
+ "q90": [
376
+ 3.606877495988612
377
+ ],
378
+ "q99": [
379
+ 3.9616902292291045
380
+ ]
381
+ },
382
+ "observation.state": {
383
+ "min": [
384
+ -35.285057067871094,
385
+ -97.34553527832031,
386
+ -78.61634826660156,
387
+ 35.077674865722656,
388
+ -32.56611251831055,
389
+ 20.968902587890625
390
+ ],
391
+ "max": [
392
+ 16.795059204101562,
393
+ 69.7940444946289,
394
+ 96.94519805908203,
395
+ 97.87407684326172,
396
+ 20.029386520385742,
397
+ 40.70861053466797
398
+ ],
399
+ "mean": [
400
+ -7.635055113310648,
401
+ 1.0002518148861663,
402
+ 12.921535411616015,
403
+ 74.2534894361034,
404
+ -6.33488857711022,
405
+ 27.579764403803267
406
+ ],
407
+ "std": [
408
+ 10.27515205564136,
409
+ 42.388963322069586,
410
+ 42.754885668259504,
411
+ 15.977357496120046,
412
+ 8.558317156066197,
413
+ 4.411434982751652
414
+ ],
415
+ "count": [
416
+ 12056
417
+ ],
418
+ "q01": [
419
+ -20.175545910466763,
420
+ -85.0583302192476,
421
+ -40.627968892237085,
422
+ 49.587240281873164,
423
+ -14.719444782626327,
424
+ 22.268565694781117
425
+ ],
426
+ "q10": [
427
+ -19.28726623156293,
428
+ -69.38082194192249,
429
+ -35.08091501467519,
430
+ 52.14945903271569,
431
+ -13.9892936794454,
432
+ 22.270099024671826
433
+ ],
434
+ "q50": [
435
+ -4.795056841783544,
436
+ 16.09271373032569,
437
+ 9.031776551775707,
438
+ 75.52050590948538,
439
+ -6.038765803651491,
440
+ 28.889284875921593
441
+ ],
442
+ "q90": [
443
+ 2.253758021906753,
444
+ 44.4412214836501,
445
+ 71.72532089020316,
446
+ 94.15953215110923,
447
+ 0.5244173041777617,
448
+ 32.707700826377845
449
+ ],
450
+ "q99": [
451
+ 4.046933195050949,
452
+ 45.081742647666054,
453
+ 81.25716730213077,
454
+ 96.81946884484036,
455
+ 1.2964727774836635,
456
+ 32.76826897421222
457
+ ]
458
+ },
459
+ "task_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 1
465
+ ],
466
+ "mean": [
467
+ 0.47918049104180493
468
+ ],
469
+ "std": [
470
+ 0.49956636000309257
471
+ ],
472
+ "count": [
473
+ 12056
474
+ ],
475
+ "q01": [
476
+ 0.47918049104180516
477
+ ],
478
+ "q10": [
479
+ 0.4791804910418087
480
+ ],
481
+ "q50": [
482
+ 0.4791804910418248
483
+ ],
484
+ "q90": [
485
+ 0.4791804910418408
486
+ ],
487
+ "q99": [
488
+ 0.4791804910418445
489
+ ]
490
+ },
491
+ "action": {
492
+ "min": [
493
+ -35.30917739868164,
494
+ -99.50186920166016,
495
+ -81.46684265136719,
496
+ 34.0489501953125,
497
+ -32.88277053833008,
498
+ 9.20863151550293
499
+ ],
500
+ "max": [
501
+ 17.306987762451172,
502
+ 68.86675262451172,
503
+ 96.22308349609375,
504
+ 99.05538940429688,
505
+ 20.405513763427734,
506
+ 42.80575942993164
507
+ ],
508
+ "mean": [
509
+ -7.389864850564357,
510
+ -0.32591804812458974,
511
+ 11.403467724204814,
512
+ 74.06438361340665,
513
+ -6.36078531800954,
514
+ 25.750426452841754
515
+ ],
516
+ "std": [
517
+ 10.387882697767514,
518
+ 41.7958126510005,
519
+ 43.24165642979368,
520
+ 16.480875509620393,
521
+ 8.625618713902972,
522
+ 6.939388782253132
523
+ ],
524
+ "count": [
525
+ 12056
526
+ ],
527
+ "q01": [
528
+ -20.227355051413763,
529
+ -86.37234864679591,
530
+ -43.89716209352732,
531
+ 48.843704934777264,
532
+ -14.92342625936558,
533
+ 15.870470185728065
534
+ ],
535
+ "q10": [
536
+ -19.216108340262686,
537
+ -69.07487310010231,
538
+ -37.11560568585406,
539
+ 51.62629377145434,
540
+ -14.186527252820973,
541
+ 16.339572155853226
542
+ ],
543
+ "q50": [
544
+ -4.582155812070248,
545
+ 14.068131155478325,
546
+ 8.221149052959277,
547
+ 75.35844778325317,
548
+ -6.087884010932445,
549
+ 28.810978841759447
550
+ ],
551
+ "q90": [
552
+ 2.7178315649194933,
553
+ 43.157458444762796,
554
+ 70.23712293374909,
555
+ 94.78830553155596,
556
+ 0.5836751376032541,
557
+ 32.86372250198081
558
+ ],
559
+ "q99": [
560
+ 4.2605969870983085,
561
+ 44.48217659392045,
562
+ 80.85330029086396,
563
+ 97.67426980748905,
564
+ 1.5305642161075865,
565
+ 33.12103917367176
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 12055
574
+ ],
575
+ "mean": [
576
+ 6027.5
577
+ ],
578
+ "std": [
579
+ 3480.2674107028056
580
+ ],
581
+ "count": [
582
+ 12056
583
+ ],
584
+ "q01": [
585
+ 5968.5482498635365
586
+ ],
587
+ "q10": [
588
+ 5979.106693868532
589
+ ],
590
+ "q50": [
591
+ 6027.289798341074
592
+ ],
593
+ "q90": [
594
+ 6075.798561108244
595
+ ],
596
+ "q99": [
597
+ 6086.442943104941
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 163
606
+ ],
607
+ "mean": [
608
+ 59.90776376907764
609
+ ],
610
+ "std": [
611
+ 35.75624992736072
612
+ ],
613
+ "count": [
614
+ 12056
615
+ ],
616
+ "q01": [
617
+ 0.9560136326156004
618
+ ],
619
+ "q10": [
620
+ 11.514457637609977
621
+ ],
622
+ "q50": [
623
+ 59.69686327139978
624
+ ],
625
+ "q90": [
626
+ 108.20632487732007
627
+ ],
628
+ "q99": [
629
+ 118.85070687402008
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c6cab5fbf4d52d512f17402f726786caf14b1d86f0ad9dc735b845e09308e28a
3
+ size 2178
videos/observation.images.overhead/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:36cad0827b42381ead564bc2d57f7c7a7dd680369d80566442f47839642d0ded
3
+ size 7188156
videos/observation.images.overhead/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:77dcffe2ac7433dd9c988fed4058e44a59944041ded5af984b8fdf3d433e5f59
3
+ size 6746502
videos/observation.images.right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a20d8bebe1752c01a6e030641405ab96ce42b56544653f459a6e4a4ea82ab080
3
+ size 8583241
videos/observation.images.right/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7d4cf2067a54417e0f989121ffc4b922d907b80857f3947f7ecf1560d704ef0e
3
+ size 7795473