shenmaa commited on
Commit
d4005fa
·
verified ·
1 Parent(s): 46f41a3

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 sha256:4c6bdd7deec80038f31f020a26d7478224949984c70683eee48e72250a5dd1f8
3
+ size 417358
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9d6a52ca43f6061d996515ea75f8b1b8ac68b9851d8d156005b64ec836474510
3
+ size 64647
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 9002,
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": "0:10"
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.top": {
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
+ "action": {
3
+ "min": [
4
+ -42.613216400146484,
5
+ -38.194149017333984,
6
+ -99.63833618164062,
7
+ -27.25694465637207,
8
+ -28.805620193481445,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 43.94951629638672,
13
+ 73.9720230102539,
14
+ 75.04520416259766,
15
+ 99.91319274902344,
16
+ 57.949520111083984,
17
+ 47.468353271484375
18
+ ],
19
+ "mean": [
20
+ -2.6285695371244304,
21
+ 16.12349229853727,
22
+ 0.6721950355462831,
23
+ 64.97995942477463,
24
+ 9.072221736382495,
25
+ 23.191671069106427
26
+ ],
27
+ "std": [
28
+ 13.37029529752227,
29
+ 22.242407729596167,
30
+ 44.46958799081965,
31
+ 26.720389993991603,
32
+ 12.031014587128057,
33
+ 11.680331232260011
34
+ ],
35
+ "count": [
36
+ 9002
37
+ ],
38
+ "q01": [
39
+ -31.60099719757346,
40
+ -16.360608478211347,
41
+ -93.48350861186427,
42
+ 30.94978204428874,
43
+ -7.893566921465992,
44
+ 1.2990762756659846
45
+ ],
46
+ "q10": [
47
+ -18.868095103324027,
48
+ -2.6073921753350042,
49
+ -71.53231734941336,
50
+ 42.27744109863655,
51
+ 0.6143704279992268,
52
+ 1.5754688817491138
53
+ ],
54
+ "q50": [
55
+ -3.1977981676576,
56
+ 5.67865300166532,
57
+ 22.75811330138822,
58
+ 63.2002314455906,
59
+ 4.322656624877783,
60
+ 25.120948202479973
61
+ ],
62
+ "q90": [
63
+ 14.094911906557295,
64
+ 51.33087592125646,
65
+ 36.98748497302383,
66
+ 94.91789047853122,
67
+ 24.165719279440196,
68
+ 32.92039967534526
69
+ ],
70
+ "q99": [
71
+ 31.39755001630273,
72
+ 61.4641223479811,
73
+ 48.41397365035237,
74
+ 99.44559838889953,
75
+ 41.52174003164389,
76
+ 37.71359549377399
77
+ ]
78
+ },
79
+ "timestamp": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 30.0
85
+ ],
86
+ "mean": [
87
+ 14.98666962897134
88
+ ],
89
+ "std": [
90
+ 8.66217832723513
91
+ ],
92
+ "count": [
93
+ 9002
94
+ ],
95
+ "q01": [
96
+ 0.2757773960360324
97
+ ],
98
+ "q10": [
99
+ 2.9734860252475457
100
+ ],
101
+ "q50": [
102
+ 14.977682959342305
103
+ ],
104
+ "q90": [
105
+ 26.975885225585444
106
+ ],
107
+ "q99": [
108
+ 29.673593854796948
109
+ ]
110
+ },
111
+ "observation.images.top": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5358242594751316
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.5331231173033237
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.47504513104276264
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.0072629035415013535
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.008837708274564803
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.0071605870786185
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 1640
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.08860638832729814
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.10706007789867245
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.08113593462725646
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.1525412065758584
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.23887911053468058
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.18661544358822774
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.35058612238750486
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.43529476979598025
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.3607475550560341
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.9983104213463666
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.9266694621476129
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.9970879287412884
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9999819336799879
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9999604226027929
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.9999810695912754
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 9001
275
+ ],
276
+ "mean": [
277
+ 4500.5
278
+ ],
279
+ "std": [
280
+ 2598.653545588561
281
+ ],
282
+ "count": [
283
+ 9002
284
+ ],
285
+ "q01": [
286
+ 4059.173233014788
287
+ ],
288
+ "q10": [
289
+ 4140.104491890611
290
+ ],
291
+ "q50": [
292
+ 4500.230399911131
293
+ ],
294
+ "q90": [
295
+ 4860.1764678961035
296
+ ],
297
+ "q99": [
298
+ 4941.1077267719265
299
+ ]
300
+ },
301
+ "observation.images.front": {
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
+ 0.4774366994460386
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.4886489584578751
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5168258876086003
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.007612274172084001
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.012025257763790098
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.010418921525565894
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 1640
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ -3.9215686274509797e-13
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.10391670718482349
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.029004537512561438
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.20081681178395822
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.2552689849455041
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.21763473004268016
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.4341088654336957
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.4505931502891148
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5212012472642547
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.9023292626743522
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.8568964456485937
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.8059039241720956
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.9999628432860624
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.9999483621616903
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.9999520973531341
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "observation.state": {
460
+ "min": [
461
+ -42.296295166015625,
462
+ -36.589473724365234,
463
+ -95.31531524658203,
464
+ -26.17914390563965,
465
+ -28.46790885925293,
466
+ 2.3521504402160645
467
+ ],
468
+ "max": [
469
+ 43.55555725097656,
470
+ 73.64210510253906,
471
+ 74.77477264404297,
472
+ 98.70185852050781,
473
+ 57.55693435668945,
474
+ 46.505374908447266
475
+ ],
476
+ "mean": [
477
+ -2.706406816485934,
478
+ 17.62111180984982,
479
+ 1.207099438057929,
480
+ 64.81201549022363,
481
+ 9.071022981433067,
482
+ 24.430796931516166
483
+ ],
484
+ "std": [
485
+ 13.312538735400484,
486
+ 22.258217896787105,
487
+ 43.34201888285994,
488
+ 26.325849433527367,
489
+ 11.94077473064209,
490
+ 8.575419959541968
491
+ ],
492
+ "count": [
493
+ 9002
494
+ ],
495
+ "q01": [
496
+ -31.43874614001221,
497
+ -14.896005967581733,
498
+ -89.48569145328918,
499
+ 31.02527977699151,
500
+ -7.834861846351952,
501
+ 8.744148100588522
502
+ ],
503
+ "q10": [
504
+ -19.040897935047546,
505
+ -1.213310352627131,
506
+ -69.10115315433714,
507
+ 42.39148702055379,
508
+ 0.6255848106244178,
509
+ 11.694006627366628
510
+ ],
511
+ "q50": [
512
+ -3.3105818830868965,
513
+ 6.708333931665949,
514
+ 23.771009179369823,
515
+ 62.98531621199611,
516
+ 4.354272023312003,
517
+ 25.686738963748706
518
+ ],
519
+ "q90": [
520
+ 14.007659793413897,
521
+ 52.84626770439324,
522
+ 36.16065828836037,
523
+ 94.24663642937541,
524
+ 23.987904231706537,
525
+ 32.10425698290692
526
+ ],
527
+ "q99": [
528
+ 31.259415018605146,
529
+ 62.910833572026654,
530
+ 48.288709168635094,
531
+ 98.54304330945173,
532
+ 41.178343475798954,
533
+ 36.9073374946094
534
+ ]
535
+ },
536
+ "frame_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 900
542
+ ],
543
+ "mean": [
544
+ 449.60008886914017
545
+ ],
546
+ "std": [
547
+ 259.86534981705387
548
+ ],
549
+ "count": [
550
+ 9002
551
+ ],
552
+ "q01": [
553
+ 8.273321883927613
554
+ ],
555
+ "q10": [
556
+ 89.20458075975101
557
+ ],
558
+ "q50": [
559
+ 449.29445678738057
560
+ ],
561
+ "q90": [
562
+ 809.2765567652433
563
+ ],
564
+ "q99": [
565
+ 890.2078156410669
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
+ 9002
583
+ ],
584
+ "q01": [
585
+ 3.999999999999417e-16
586
+ ],
587
+ "q10": [
588
+ 3.999999999999417e-15
589
+ ],
590
+ "q50": [
591
+ 1.9999999999997088e-14
592
+ ],
593
+ "q90": [
594
+ 3.5999999999994754e-14
595
+ ],
596
+ "q99": [
597
+ 3.959999999999424e-14
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 9
606
+ ],
607
+ "mean": [
608
+ 4.500555432126194
609
+ ],
610
+ "std": [
611
+ 2.8722425939750758
612
+ ],
613
+ "count": [
614
+ 9002
615
+ ],
616
+ "q01": [
617
+ 4.500555432126194
618
+ ],
619
+ "q10": [
620
+ 4.500555432126199
621
+ ],
622
+ "q50": [
623
+ 4.500555432126214
624
+ ],
625
+ "q90": [
626
+ 4.500555432126229
627
+ ],
628
+ "q99": [
629
+ 4.500555432126235
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f7897d1119a92604ef07d6bc1e8c2440c1e385f7ddf4e9e18d648497000bd5fb
3
+ size 2166
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 sha256:75ffe12b8cbe8c200e151a6c1a58c0ad3358630fb5c57f60e9b87d78412b91d3
3
+ size 51768027
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:eddc499bd8873e888fa10b53030f3bb42afe3464081102482777c96e1432a424
3
+ size 101899319