sean1295 commited on
Commit
e2eaf96
·
verified ·
1 Parent(s): 97cc46c

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 sha256:983c0334aff4f30a5c5c17a1320ba5175942726b108b260636381b62b42a0996
3
+ size 5275407
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e299af50ef68ba56dc5f04dcbfda53d4c06f861bdd078c2d577e2a969ce3b0cf
3
+ size 708151
meta/info.json ADDED
@@ -0,0 +1,136 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 500,
5
+ "total_frames": 68739,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:500"
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
+ "observation.images.image": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "desc": "global RGB camera view",
30
+ "info": {
31
+ "video.height": 256,
32
+ "video.width": 256,
33
+ "video.codec": "av1",
34
+ "video.pix_fmt": "yuv420p",
35
+ "video.is_depth_map": false,
36
+ "video.fps": 20,
37
+ "video.channels": 3,
38
+ "has_audio": false
39
+ }
40
+ },
41
+ "observation.images.wrist_image": {
42
+ "dtype": "video",
43
+ "shape": [
44
+ 256,
45
+ 256,
46
+ 3
47
+ ],
48
+ "names": [
49
+ "height",
50
+ "width",
51
+ "channel"
52
+ ],
53
+ "desc": "gripper RGB camera view",
54
+ "info": {
55
+ "video.height": 256,
56
+ "video.width": 256,
57
+ "video.codec": "av1",
58
+ "video.pix_fmt": "yuv420p",
59
+ "video.is_depth_map": false,
60
+ "video.fps": 20,
61
+ "video.channels": 3,
62
+ "has_audio": false
63
+ }
64
+ },
65
+ "observation.state": {
66
+ "dtype": "float32",
67
+ "shape": [
68
+ 7
69
+ ],
70
+ "names": {
71
+ "motors": [
72
+ "joint_0",
73
+ "joint_1",
74
+ "joint_2",
75
+ "joint_3",
76
+ "joint_4",
77
+ "joint_5",
78
+ "joint_6"
79
+ ]
80
+ },
81
+ "desc": "robot joint positions"
82
+ },
83
+ "action": {
84
+ "dtype": "float32",
85
+ "shape": [
86
+ 6
87
+ ],
88
+ "names": {
89
+ "motors": [
90
+ "x",
91
+ "y",
92
+ "z",
93
+ "axis_angle1",
94
+ "axis_angle2",
95
+ "axis_angle3"
96
+ ]
97
+ },
98
+ "desc": "target action"
99
+ },
100
+ "timestamp": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "frame_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "episode_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "task_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ }
135
+ }
136
+ }
meta/stats.json ADDED
@@ -0,0 +1,641 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist_image": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.00392156862745098
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.00392156862745098
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.00392156862745098
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 0.9490196078431372
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.9529411764705882
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.9568627450980393
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.3576068954982381
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.3550260473142138
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.3551051258401313
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0016742943705286928
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0016833364667098642
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.001678493559726783
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 50000
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.1766337202581442
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.16998739359758158
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.1686815373915152
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.2676368415678007
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.2648313217626815
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.2650843368849224
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.3260924312155566
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.3269137415022889
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.32620234176638935
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.44043890407926295
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.3776149751857464
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.37961348732112443
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.8967476045720675
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.8963957299540403
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.896612769553795
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "timestamp": {
161
+ "min": [
162
+ 0.0
163
+ ],
164
+ "max": [
165
+ 9.6
166
+ ],
167
+ "mean": [
168
+ 3.4485444943918133
169
+ ],
170
+ "std": [
171
+ 2.0475952227290577
172
+ ],
173
+ "count": [
174
+ 68739
175
+ ],
176
+ "q01": [
177
+ 0.04988744466498741
178
+ ],
179
+ "q10": [
180
+ 0.6671171889386704
181
+ ],
182
+ "q50": [
183
+ 3.437085102488784
184
+ ],
185
+ "q90": [
186
+ 6.224304824765181
187
+ ],
188
+ "q99": [
189
+ 6.847201544118666
190
+ ]
191
+ },
192
+ "task_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 0
198
+ ],
199
+ "mean": [
200
+ 0.0
201
+ ],
202
+ "std": [
203
+ 0.0
204
+ ],
205
+ "count": [
206
+ 68739
207
+ ],
208
+ "q01": [
209
+ 3.9999999999994226e-16
210
+ ],
211
+ "q10": [
212
+ 3.999999999999412e-15
213
+ ],
214
+ "q50": [
215
+ 1.9999999999997106e-14
216
+ ],
217
+ "q90": [
218
+ 3.5999999999994716e-14
219
+ ],
220
+ "q99": [
221
+ 3.959999999999422e-14
222
+ ]
223
+ },
224
+ "action": {
225
+ "min": [
226
+ -1.0,
227
+ -1.0,
228
+ -1.0,
229
+ -1.0,
230
+ -1.0,
231
+ -1.0
232
+ ],
233
+ "max": [
234
+ 1.0,
235
+ 1.0,
236
+ 1.0,
237
+ 1.0,
238
+ 1.0,
239
+ 1.0
240
+ ],
241
+ "mean": [
242
+ -0.014610410216654492,
243
+ -0.5535616706812615,
244
+ 0.22112549519335606,
245
+ 0.5355528813752889,
246
+ -0.32303516556012,
247
+ -0.02312002332564644
248
+ ],
249
+ "std": [
250
+ 0.6916551266488636,
251
+ 0.6111349776652695,
252
+ 0.8534207903086004,
253
+ 0.7016016646539601,
254
+ 0.6263108043625568,
255
+ 0.7787853846148193
256
+ ],
257
+ "count": [
258
+ 68739
259
+ ],
260
+ "q01": [
261
+ -1.0,
262
+ -1.0,
263
+ -1.0,
264
+ -0.9565342533889558,
265
+ -1.0,
266
+ -0.977038360454197
267
+ ],
268
+ "q10": [
269
+ -0.9743779723775086,
270
+ -1.0,
271
+ -0.9997332254449864,
272
+ -0.541451891727059,
273
+ -0.988924856605831,
274
+ -0.8884230441903094
275
+ ],
276
+ "q50": [
277
+ 0.04451726429275739,
278
+ -0.8523931956222783,
279
+ 0.6570963568660831,
280
+ 0.923687833725865,
281
+ -0.46965185459674785,
282
+ -0.02667614161917765
283
+ ],
284
+ "q90": [
285
+ 0.874913630094431,
286
+ 0.37706517436549264,
287
+ 0.9999014341537034,
288
+ 0.9999272049886975,
289
+ 0.6452289877484031,
290
+ 0.8476167652919819
291
+ ],
292
+ "q99": [
293
+ 0.9978920052437582,
294
+ 0.9074614357308701,
295
+ 0.9999901434153704,
296
+ 0.9999927204988703,
297
+ 0.9783684138080825,
298
+ 0.9845732869789159
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 68738
307
+ ],
308
+ "mean": [
309
+ 34369.0
310
+ ],
311
+ "std": [
312
+ 19843.240074813046
313
+ ],
314
+ "count": [
315
+ 68739
316
+ ],
317
+ "q01": [
318
+ 34301.02685900736
319
+ ],
320
+ "q10": [
321
+ 34313.3714538925
322
+ ],
323
+ "q50": [
324
+ 34368.77171298977
325
+ ],
326
+ "q90": [
327
+ 34424.51520660591
328
+ ],
329
+ "q99": [
330
+ 34436.97314099265
331
+ ]
332
+ },
333
+ "observation.images.image": {
334
+ "min": [
335
+ [
336
+ [
337
+ 0.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 0.0
348
+ ]
349
+ ]
350
+ ],
351
+ "max": [
352
+ [
353
+ [
354
+ 0.9568627450980393
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.9568627450980393
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.9568627450980393
365
+ ]
366
+ ]
367
+ ],
368
+ "mean": [
369
+ [
370
+ [
371
+ 0.42900681044514966
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.4284685411771887
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.4287074396709364
382
+ ]
383
+ ]
384
+ ],
385
+ "std": [
386
+ [
387
+ [
388
+ 0.0021931772123143212
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.002220194126521602
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.0022254088557851423
399
+ ]
400
+ ]
401
+ ],
402
+ "count": [
403
+ 50000
404
+ ],
405
+ "q01": [
406
+ [
407
+ [
408
+ 0.17955307734172232
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.17767236124071698
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.1776515163619475
419
+ ]
420
+ ]
421
+ ],
422
+ "q10": [
423
+ [
424
+ [
425
+ 0.27736352953024046
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.27721521250421144
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.27690060327315913
436
+ ]
437
+ ]
438
+ ],
439
+ "q50": [
440
+ [
441
+ [
442
+ 0.3376520899148559
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.3376182476322024
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.3377745337619469
453
+ ]
454
+ ]
455
+ ],
456
+ "q90": [
457
+ [
458
+ [
459
+ 0.8834413086857533
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.884145280697705
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.8843831420670534
470
+ ]
471
+ ]
472
+ ],
473
+ "q99": [
474
+ [
475
+ [
476
+ 0.910821084779155
477
+ ]
478
+ ],
479
+ [
480
+ [
481
+ 0.911267273373135
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 0.9114867685553246
487
+ ]
488
+ ]
489
+ ]
490
+ },
491
+ "observation.state": {
492
+ "min": [
493
+ -0.568463146686554,
494
+ 0.3675338625907898,
495
+ 0.23595888912677765,
496
+ -2.2105722427368164,
497
+ -0.3683321475982666,
498
+ 2.335200071334839,
499
+ 0.2589409053325653
500
+ ],
501
+ "max": [
502
+ -0.22630026936531067,
503
+ 0.562980592250824,
504
+ 0.5079787373542786,
505
+ -1.9273746013641357,
506
+ 0.2715713679790497,
507
+ 2.657233953475952,
508
+ 1.1973233222961426
509
+ ],
510
+ "mean": [
511
+ -0.4878995581804734,
512
+ 0.48535651113359907,
513
+ 0.4363759850296008,
514
+ -2.0619748143311507,
515
+ -0.13826972658347925,
516
+ 2.5173161219054916,
517
+ 0.8095503837552179
518
+ ],
519
+ "std": [
520
+ 0.08135857603891836,
521
+ 0.0370194251518515,
522
+ 0.05321228618576303,
523
+ 0.04119719393587976,
524
+ 0.13397125409198749,
525
+ 0.05184473137004234,
526
+ 0.18276307382314844
527
+ ],
528
+ "count": [
529
+ 68739
530
+ ],
531
+ "q01": [
532
+ -0.5465740640645737,
533
+ 0.4265179920118923,
534
+ 0.2548774812202719,
535
+ -2.1013259524636974,
536
+ -0.2874733430580251,
537
+ 2.478928093441872,
538
+ 0.6050132651798259
539
+ ],
540
+ "q10": [
541
+ -0.5455212261481178,
542
+ 0.43424898594672867,
543
+ 0.35888625661335233,
544
+ -2.090663394098403,
545
+ -0.2820948296426934,
546
+ 2.4864444887344113,
547
+ 0.6159788362158304
548
+ ],
549
+ "q50": [
550
+ -0.5306377648742112,
551
+ 0.4954815155875867,
552
+ 0.45063432628661537,
553
+ -2.0627136589280224,
554
+ -0.16353358494470907,
555
+ 2.5165235400590102,
556
+ 0.8174279307452497
557
+ ],
558
+ "q90": [
559
+ -0.351049129702032,
560
+ 0.5198865133911588,
561
+ 0.48033252765269785,
562
+ -2.032891101869519,
563
+ 0.032239716545209754,
564
+ 2.5482449129537326,
565
+ 0.9938723356368447
566
+ ],
567
+ "q99": [
568
+ -0.24299760546651608,
569
+ 0.5210900004810111,
570
+ 0.4817738801393249,
571
+ -2.0290562444639755,
572
+ 0.04090521001669835,
573
+ 2.563066792578619,
574
+ 1.0007726422084577
575
+ ]
576
+ },
577
+ "frame_index": {
578
+ "min": [
579
+ 0
580
+ ],
581
+ "max": [
582
+ 192
583
+ ],
584
+ "mean": [
585
+ 68.97088988783659
586
+ ],
587
+ "std": [
588
+ 40.951904454581125
589
+ ],
590
+ "count": [
591
+ 68739
592
+ ],
593
+ "q01": [
594
+ 0.9977488951719795
595
+ ],
596
+ "q10": [
597
+ 13.342343780306011
598
+ ],
599
+ "q50": [
600
+ 68.74223517362739
601
+ ],
602
+ "q90": [
603
+ 124.48609649377401
604
+ ],
605
+ "q99": [
606
+ 136.94403088050123
607
+ ]
608
+ },
609
+ "episode_index": {
610
+ "min": [
611
+ 0
612
+ ],
613
+ "max": [
614
+ 499
615
+ ],
616
+ "mean": [
617
+ 257.5342236576033
618
+ ],
619
+ "std": [
620
+ 144.38541094041136
621
+ ],
622
+ "count": [
623
+ 68739
624
+ ],
625
+ "q01": [
626
+ 257.5342236576033
627
+ ],
628
+ "q10": [
629
+ 257.5342236576033
630
+ ],
631
+ "q50": [
632
+ 257.5342236576033
633
+ ],
634
+ "q90": [
635
+ 257.53422365760343
636
+ ],
637
+ "q99": [
638
+ 257.53422365760343
639
+ ]
640
+ }
641
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:825a74f62f9b4b3829a0ca75b1d7d0a7888df1a93acffc5308a9e9dc5e408b27
3
+ size 2086
videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:298cf6f46c8d5c7a629b1f06589c9851468dee43d8655a11053d38add33c9137
3
+ size 78043058
videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fe4561903d10f492ac333e1d8005365c64d1a9ebcab9341ffd670f0ed45823e9
3
+ size 60699451