seriintan commited on
Commit
9583d9f
·
verified ·
1 Parent(s): 9c2bcc3

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:d096051af1beaee289a1536a5921b53acbb6be846fa1ce8e66f6bb8ed26213ed
3
+ size 353706
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:79e42fdd38c794d4c219b9b4a5ef15e4db80cf410fa0dc2f502bdda1eeefff8a
3
+ size 140775
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 24,
5
+ "total_frames": 4832,
6
+ "total_tasks": 1,
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": "0:24"
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.front": {
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.side": {
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
+ "observation.images.front": {
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
+ 0.48384064654076314
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.4902276509510398
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4846110224710401
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0030933888217426187
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.002980274021251078
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.003603179704288126
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 92774400
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.09670321878459347
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.09269996625985458
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.07990103320888962
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.14235700818449193
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.12639186040470635
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.11814213554408677
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.4285490275264789
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.5491906914968162
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.5170488122708995
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.9184181272331072
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.8641050045041992
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.8673076776791604
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9999326252871965
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.999833234728648
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9998581468704119
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.images.side": {
161
+ "min": [
162
+ [
163
+ [
164
+ 0.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.0
175
+ ]
176
+ ]
177
+ ],
178
+ "max": [
179
+ [
180
+ [
181
+ 1.0
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 1.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 1.0
192
+ ]
193
+ ]
194
+ ],
195
+ "mean": [
196
+ [
197
+ [
198
+ 0.4207459114820046
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.40908813739692906
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.4179405350664687
209
+ ]
210
+ ]
211
+ ],
212
+ "std": [
213
+ [
214
+ [
215
+ 0.01589845445160193
216
+ ]
217
+ ],
218
+ [
219
+ [
220
+ 0.015687274864997786
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.015593701188799347
226
+ ]
227
+ ]
228
+ ],
229
+ "count": [
230
+ 92774400
231
+ ],
232
+ "q01": [
233
+ [
234
+ [
235
+ 0.08628620714774118
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.07172666571636953
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.08781438120593081
246
+ ]
247
+ ]
248
+ ],
249
+ "q10": [
250
+ [
251
+ [
252
+ 0.1613552665748055
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.14772587289616232
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.17018155507183114
263
+ ]
264
+ ]
265
+ ],
266
+ "q50": [
267
+ [
268
+ [
269
+ 0.31136060116473313
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.2988670758935963
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.32107712290962714
280
+ ]
281
+ ]
282
+ ],
283
+ "q90": [
284
+ [
285
+ [
286
+ 0.8034680279684138
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.7794511283564071
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.773069433785246
297
+ ]
298
+ ]
299
+ ],
300
+ "q99": [
301
+ [
302
+ [
303
+ 0.9820523120849692
304
+ ]
305
+ ],
306
+ [
307
+ [
308
+ 0.9791969488596841
309
+ ]
310
+ ],
311
+ [
312
+ [
313
+ 0.9819430895048159
314
+ ]
315
+ ]
316
+ ]
317
+ },
318
+ "index": {
319
+ "min": [
320
+ 0
321
+ ],
322
+ "max": [
323
+ 4831
324
+ ],
325
+ "mean": [
326
+ 2415.5
327
+ ],
328
+ "std": [
329
+ 1394.8782204909503
330
+ ],
331
+ "count": [
332
+ 4832
333
+ ],
334
+ "q01": [
335
+ 2294.647265124902
336
+ ],
337
+ "q10": [
338
+ 2316.9133962830324
339
+ ],
340
+ "q50": [
341
+ 2415.2894741307946
342
+ ],
343
+ "q90": [
344
+ 2514.0094348427965
345
+ ],
346
+ "q99": [
347
+ 2536.3527348750986
348
+ ]
349
+ },
350
+ "timestamp": {
351
+ "min": [
352
+ 0.0
353
+ ],
354
+ "max": [
355
+ 19.7
356
+ ],
357
+ "mean": [
358
+ 4.08994895143488
359
+ ],
360
+ "std": [
361
+ 3.6230496919365778
362
+ ],
363
+ "count": [
364
+ 4832
365
+ ],
366
+ "q01": [
367
+ 0.06152445550296135
368
+ ],
369
+ "q10": [
370
+ 0.8037288274581896
371
+ ],
372
+ "q50": [
373
+ 4.08293142246118
374
+ ],
375
+ "q90": [
376
+ 7.373596779605748
377
+ ],
378
+ "q99": [
379
+ 8.118373447366796
380
+ ]
381
+ },
382
+ "observation.state": {
383
+ "min": [
384
+ -30.769229888916016,
385
+ -103.86813354492188,
386
+ -82.28571319580078,
387
+ 56.52747344970703,
388
+ -39.9560432434082,
389
+ 1.8134715557098389
390
+ ],
391
+ "max": [
392
+ 56.96703338623047,
393
+ 64.57142639160156,
394
+ 96.26373291015625,
395
+ 101.71428680419922,
396
+ 49.18681335449219,
397
+ 21.632123947143555
398
+ ],
399
+ "mean": [
400
+ 4.902188112404173,
401
+ -38.8273440992694,
402
+ 31.322148842330023,
403
+ 76.23024089131134,
404
+ 2.485354686162083,
405
+ 5.702428244597074
406
+ ],
407
+ "std": [
408
+ 18.092401599903294,
409
+ 61.34200033378661,
410
+ 62.216405269255766,
411
+ 14.406646806327284,
412
+ 15.761690008801565,
413
+ 5.49130390891681
414
+ ],
415
+ "count": [
416
+ 4832
417
+ ],
418
+ "q01": [
419
+ -10.8633266772389,
420
+ -103.17462016151477,
421
+ -69.21494682186488,
422
+ 62.077031493139586,
423
+ -16.802253826943453,
424
+ 1.9510206223175621
425
+ ],
426
+ "q10": [
427
+ -7.422543763986108,
428
+ -102.4656088846102,
429
+ -53.85655905316208,
430
+ 63.83893456089335,
431
+ -13.130942523409495,
432
+ 1.9961524090714176
433
+ ],
434
+ "q50": [
435
+ -2.5731882195162443,
436
+ -46.327751387034034,
437
+ 42.14616227150745,
438
+ 68.63285848388931,
439
+ 3.2588822691254924,
440
+ 2.915589051611523
441
+ ],
442
+ "q90": [
443
+ 37.38334969520306,
444
+ 41.651973710681176,
445
+ 94.92190882505957,
446
+ 99.52455088760881,
447
+ 15.863586393678228,
448
+ 16.234029193303886
449
+ ],
450
+ "q99": [
451
+ 51.015366086703274,
452
+ 53.2557467616032,
453
+ 95.604644142008,
454
+ 101.40541953602836,
455
+ 18.98034843192866,
456
+ 17.662239378223592
457
+ ]
458
+ },
459
+ "action": {
460
+ "min": [
461
+ -32.56389617919922,
462
+ -109.24354553222656,
463
+ -90.46240997314453,
464
+ 52.74324035644531,
465
+ -40.24534606933594,
466
+ 0.5898053646087646
467
+ ],
468
+ "max": [
469
+ 57.83995819091797,
470
+ 67.55708312988281,
471
+ 97.01853942871094,
472
+ 104.35272216796875,
473
+ 50.02335739135742,
474
+ 26.561668395996094
475
+ ],
476
+ "mean": [
477
+ 4.913415622632235,
478
+ -41.55293558093886,
479
+ 29.245463997717724,
480
+ 75.74229437941747,
481
+ 2.6312862146670457,
482
+ 4.867068353472956
483
+ ],
484
+ "std": [
485
+ 18.542767584177515,
486
+ 60.316350764776395,
487
+ 63.732714110670486,
488
+ 15.317381040865833,
489
+ 15.922795279384303,
490
+ 6.364474531261936
491
+ ],
492
+ "count": [
493
+ 4832
494
+ ],
495
+ "q01": [
496
+ -12.255990059582997,
497
+ -105.90684926290388,
498
+ -76.70043426938406,
499
+ 60.58843173484007,
500
+ -17.156063029989724,
501
+ 0.904397302823795
502
+ ],
503
+ "q10": [
504
+ -7.898106387967332,
505
+ -103.56132854683679,
506
+ -58.23305330600171,
507
+ 62.32181995004217,
508
+ -13.180371396494472,
509
+ 1.1469884037983833
510
+ ],
511
+ "q50": [
512
+ -2.522227063818922,
513
+ -50.30054926579687,
514
+ 39.772569063314315,
515
+ 67.85252970071116,
516
+ 3.3682439076049957,
517
+ 1.363422978589352
518
+ ],
519
+ "q90": [
520
+ 37.94746696818742,
521
+ 38.447437674162394,
522
+ 95.23676777997322,
523
+ 100.7673686802782,
524
+ 16.127247108647364,
525
+ 16.61243983550577
526
+ ],
527
+ "q99": [
528
+ 51.91487967771804,
529
+ 51.76499598819295,
530
+ 96.01876396749896,
531
+ 103.39568690890508,
532
+ 19.748079540405836,
533
+ 20.991727261566957
534
+ ]
535
+ },
536
+ "frame_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 591
542
+ ],
543
+ "mean": [
544
+ 122.69846854304636
545
+ ],
546
+ "std": [
547
+ 108.69149075809734
548
+ ],
549
+ "count": [
550
+ 4832
551
+ ],
552
+ "q01": [
553
+ 1.8457336679477738
554
+ ],
555
+ "q10": [
556
+ 24.111864826078506
557
+ ],
558
+ "q50": [
559
+ 122.48794267384088
560
+ ],
561
+ "q90": [
562
+ 221.20790338584195
563
+ ],
564
+ "q99": [
565
+ 243.55120341814487
566
+ ]
567
+ },
568
+ "task_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 0
574
+ ],
575
+ "mean": [
576
+ 0.0
577
+ ],
578
+ "std": [
579
+ 0.0
580
+ ],
581
+ "count": [
582
+ 4832
583
+ ],
584
+ "q01": [
585
+ 3.9999999999994167e-16
586
+ ],
587
+ "q10": [
588
+ 3.9999999999994166e-15
589
+ ],
590
+ "q50": [
591
+ 1.999999999999708e-14
592
+ ],
593
+ "q90": [
594
+ 3.599999999999477e-14
595
+ ],
596
+ "q99": [
597
+ 3.959999999999423e-14
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 23
606
+ ],
607
+ "mean": [
608
+ 10.930670529801324
609
+ ],
610
+ "std": [
611
+ 6.698753445917959
612
+ ],
613
+ "count": [
614
+ 4832
615
+ ],
616
+ "q01": [
617
+ 10.930670529801324
618
+ ],
619
+ "q10": [
620
+ 10.930670529801326
621
+ ],
622
+ "q50": [
623
+ 10.930670529801343
624
+ ],
625
+ "q90": [
626
+ 10.930670529801363
627
+ ],
628
+ "q99": [
629
+ 10.930670529801365
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0121d186a1fc69a8ca38df77c11120d44170921ef7eef306bc80261430fdc1ff
3
+ size 2243
videos/observation.images.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22b46bd31a1ecb44903482287c383313c7893adead159d371a9dbae43ce699c9
3
+ size 67636933
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f1ffaeff80d514ca47f89adf08fad1ee20dae980ecd281f8df87ee6854006b0
3
+ size 91082481