s3y commited on
Commit
0632aa0
·
verified ·
1 Parent(s): 02333dd

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 sha256:9db607503170e1d07c2851f672d5801198fbba50b3f48dffb8e7093bf28c9f6f
3
+ size 921937
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:00558445563e6d9613c564865794c8a5550bc4805522207a1044c884ac297a93
3
+ size 255807
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 51,
5
+ "total_frames": 18847,
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": "0:51"
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.gripper": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 360,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 360,
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.scene": {
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
+ 18847
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999418e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997097e-14
26
+ ],
27
+ "q90": [
28
+ 3.5999999999994785e-14
29
+ ],
30
+ "q99": [
31
+ 3.959999999999424e-14
32
+ ]
33
+ },
34
+ "observation.images.scene": {
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
+ 0.3907134632619043
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.38139905858055384
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.37279445070890566
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.006186170468699432
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.0066127027630782185
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.008286563758108769
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 5158
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ -3.921568627450982e-13
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ -3.921568627450982e-13
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ -3.921568627450982e-13
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.059629832408841586
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.04679668742023675
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.039586764832127246
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.4410461149788705
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.4270245216621284
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.40871801810040387
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.6110638289569452
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.6141778102308356
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.6309269118318472
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.7053414329101089
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.7130132770867337
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.7380143705122648
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "frame_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 703
198
+ ],
199
+ "mean": [
200
+ 194.01660741762615
201
+ ],
202
+ "std": [
203
+ 124.76842916762412
204
+ ],
205
+ "count": [
206
+ 18847
207
+ ],
208
+ "q01": [
209
+ 3.393983732060697
210
+ ],
211
+ "q10": [
212
+ 38.329103687509296
213
+ ],
214
+ "q50": [
215
+ 193.78561247943958
216
+ ],
217
+ "q90": [
218
+ 349.5707838277449
219
+ ],
220
+ "q99": [
221
+ 384.63923110319166
222
+ ]
223
+ },
224
+ "action": {
225
+ "min": [
226
+ -99.63436889648438,
227
+ -98.3016586303711,
228
+ -96.96428680419922,
229
+ -36.54391098022461,
230
+ -100.0,
231
+ 0.8577555418014526
232
+ ],
233
+ "max": [
234
+ 70.74954223632812,
235
+ 92.88314056396484,
236
+ 99.91071319580078,
237
+ 99.33899688720703,
238
+ 80.88189697265625,
239
+ 49.24946212768555
240
+ ],
241
+ "mean": [
242
+ -0.18059061382495753,
243
+ 5.683456375667598,
244
+ 24.61023627720557,
245
+ 38.08939585364668,
246
+ -61.39624972512199,
247
+ 2.3418717309196104
248
+ ],
249
+ "std": [
250
+ 26.0209843847638,
251
+ 48.17137192691122,
252
+ 46.798665680379926,
253
+ 24.434473134999593,
254
+ 32.507885094336736,
255
+ 5.38470387461408
256
+ ],
257
+ "count": [
258
+ 18847
259
+ ],
260
+ "q01": [
261
+ -29.165126146736185,
262
+ -93.18496479184735,
263
+ -27.27131831465712,
264
+ 14.227119331371657,
265
+ -80.12785680311411,
266
+ 1.2900611761978285
267
+ ],
268
+ "q10": [
269
+ -24.21586740371633,
270
+ -72.70290347453924,
271
+ -21.65508026379697,
272
+ 17.765495736465123,
273
+ -78.58841184712117,
274
+ 1.2982826967040013
275
+ ],
276
+ "q50": [
277
+ -0.43448719424877036,
278
+ 19.957793194804037,
279
+ 20.419807316159446,
280
+ 32.60480192906137,
281
+ -61.82709768275685,
282
+ 1.9092160033112424
283
+ ],
284
+ "q90": [
285
+ 23.7373925955762,
286
+ 46.86186709200022,
287
+ 86.17488606403853,
288
+ 66.92936036756898,
289
+ -43.68262455107678,
290
+ 4.208377895029247
291
+ ],
292
+ "q99": [
293
+ 28.45002541911498,
294
+ 49.6786116054942,
295
+ 97.64370364959913,
296
+ 76.85763606698242,
297
+ -38.11317715569411,
298
+ 4.430987246161175
299
+ ]
300
+ },
301
+ "observation.images.gripper": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.6011151372616599
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.5123018011025873
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.4863601242142628
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.04853428607594662
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.020267948503110814
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.022762739130737435
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 5158
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.09695650013720035
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.06709508764779422
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.07605061204642503
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.36939654085817036
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.1944751547040136
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.19657805856064767
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.6117734101029176
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5470786239969447
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5135221646847659
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.8296082277785145
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.7710654537581281
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.7302760718386896
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.9519170160389718
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.9292519067402183
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.8714203244171912
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "timestamp": {
460
+ "min": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 23.433333333333334
465
+ ],
466
+ "mean": [
467
+ 6.4672202472542075
468
+ ],
469
+ "std": [
470
+ 4.158947638920807
471
+ ],
472
+ "count": [
473
+ 18847
474
+ ],
475
+ "q01": [
476
+ 0.11313279097369831
477
+ ],
478
+ "q10": [
479
+ 1.2776367895060705
480
+ ],
481
+ "q50": [
482
+ 6.459665537574385
483
+ ],
484
+ "q90": [
485
+ 11.652359461002348
486
+ ],
487
+ "q99": [
488
+ 12.821307703534707
489
+ ]
490
+ },
491
+ "episode_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 50
497
+ ],
498
+ "mean": [
499
+ 23.863585716559673
500
+ ],
501
+ "std": [
502
+ 14.700963778444468
503
+ ],
504
+ "count": [
505
+ 18847
506
+ ],
507
+ "q01": [
508
+ 23.863585716559673
509
+ ],
510
+ "q10": [
511
+ 23.863585716559673
512
+ ],
513
+ "q50": [
514
+ 23.863585716559683
515
+ ],
516
+ "q90": [
517
+ 23.86358571655969
518
+ ],
519
+ "q99": [
520
+ 23.863585716559697
521
+ ]
522
+ },
523
+ "index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 18846
529
+ ],
530
+ "mean": [
531
+ 9423.0
532
+ ],
533
+ "std": [
534
+ 5440.660254050055
535
+ ],
536
+ "count": [
537
+ 18847
538
+ ],
539
+ "q01": [
540
+ 9232.377376314433
541
+ ],
542
+ "q10": [
543
+ 9267.312496269886
544
+ ],
545
+ "q50": [
546
+ 9422.771638499495
547
+ ],
548
+ "q90": [
549
+ 9578.554176410116
550
+ ],
551
+ "q99": [
552
+ 9613.622623685567
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -96.35327911376953,
558
+ -98.10699462890625,
559
+ -94.09431457519531,
560
+ -35.80879211425781,
561
+ -100.0,
562
+ 0.853374719619751
563
+ ],
564
+ "max": [
565
+ 69.45868682861328,
566
+ 93.1687240600586,
567
+ 99.47113037109375,
568
+ 97.95134735107422,
569
+ 100.0,
570
+ 49.80604934692383
571
+ ],
572
+ "mean": [
573
+ -0.5165520916916418,
574
+ 5.255577519913153,
575
+ 26.946208734831625,
576
+ 38.55483770393254,
577
+ -56.15070976990632,
578
+ 2.849161504035654
579
+ ],
580
+ "std": [
581
+ 25.570816887537877,
582
+ 49.71090100501243,
583
+ 46.791970717841856,
584
+ 24.147296969425035,
585
+ 40.80533576203494,
586
+ 5.273520946937738
587
+ ],
588
+ "count": [
589
+ 18847
590
+ ],
591
+ "q01": [
592
+ -27.758180040541927,
593
+ -96.1327201053601,
594
+ -24.699229010670106,
595
+ 15.214061865241698,
596
+ -80.89515979949927,
597
+ 1.8468637722192753
598
+ ],
599
+ "q10": [
600
+ -23.960214961270278,
601
+ -75.56651649433682,
602
+ -19.938091959342653,
603
+ 18.38348860573121,
604
+ -78.21254393554842,
605
+ 1.868877282459865
606
+ ],
607
+ "q50": [
608
+ -0.8709419599716055,
609
+ 20.43851588045861,
610
+ 22.537937613498876,
611
+ 33.05904080381947,
612
+ -60.52353633808979,
613
+ 2.4338347377465106
614
+ ],
615
+ "q90": [
616
+ 23.022323911272963,
617
+ 47.77977160615902,
618
+ 88.22990610213462,
619
+ 66.39356273582317,
620
+ -23.637860957278306,
621
+ 4.556511746012715
622
+ ],
623
+ "q99": [
624
+ 26.76503399688968,
625
+ 50.32635394090035,
626
+ 98.60203477200665,
627
+ 77.05036847892497,
628
+ -2.8091607937156224,
629
+ 4.998034206005626
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f3eec92d6e490583a991923adf1395adac9bc3b973512084cdaa16757a480187
3
+ size 2221
videos/observation.images.gripper/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:14003d55002a45a157fc0a90047643a432eed17ee94dfd41089a20978f3654c3
3
+ size 48102868
videos/observation.images.scene/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a32bd13673edee125d970cff57b2018b26a2dbe6a913417fc6019b7cf7184d9b
3
+ size 161330949