shuhei25 commited on
Commit
d25b754
·
verified ·
1 Parent(s): c9ff53c

Upload folder using huggingface_hub

Browse files
TestFolding/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b175246b4cea88517a91561840a6ec144b1b6f0ae039b6f63153d84944af1c5f
3
+ size 64406
TestFolding/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a5c0245d3f33032af5f7fc6cb656d6572ebb8d40c59c05d70f1cecdf7c3f10c
3
+ size 48621
TestFolding/meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 1500,
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": "0:5"
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
+ 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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
TestFolding/meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 1500
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 4
40
+ ],
41
+ "mean": [
42
+ 2.0
43
+ ],
44
+ "std": [
45
+ 1.4142135623730951
46
+ ],
47
+ "count": [
48
+ 1500
49
+ ],
50
+ "q01": [
51
+ 2.0000000000000004
52
+ ],
53
+ "q10": [
54
+ 2.0000000000000044
55
+ ],
56
+ "q50": [
57
+ 2.00000000000002
58
+ ],
59
+ "q90": [
60
+ 2.000000000000036
61
+ ],
62
+ "q99": [
63
+ 2.0000000000000395
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 1499
72
+ ],
73
+ "mean": [
74
+ 749.5
75
+ ],
76
+ "std": [
77
+ 433.0126056671638
78
+ ],
79
+ "count": [
80
+ 1500
81
+ ],
82
+ "q01": [
83
+ 602.0331999999013
84
+ ],
85
+ "q10": [
86
+ 629.0029999999193
87
+ ],
88
+ "q50": [
89
+ 749.0215999999996
90
+ ],
91
+ "q90": [
92
+ 869.04020000008
93
+ ],
94
+ "q99": [
95
+ 896.010000000098
96
+ ]
97
+ },
98
+ "action": {
99
+ "min": [
100
+ -56.324405670166016,
101
+ -98.97111511230469,
102
+ 11.751462936401367,
103
+ 43.13725662231445,
104
+ -5.860805988311768,
105
+ 1.0325654745101929
106
+ ],
107
+ "max": [
108
+ 5.729166507720947,
109
+ -8.349822044372559,
110
+ 98.01891326904297,
111
+ 99.91474914550781,
112
+ 22.919937133789062,
113
+ 42.8117561340332
114
+ ],
115
+ "mean": [
116
+ -16.87123007774353,
117
+ -45.35164108276367,
118
+ 65.12403182983398,
119
+ 61.06587677001953,
120
+ 8.173412561416626,
121
+ 22.72051887512207
122
+ ],
123
+ "std": [
124
+ 13.659378415299841,
125
+ 29.323391864264178,
126
+ 23.897106001143523,
127
+ 10.1860690910162,
128
+ 7.446785558177198,
129
+ 12.2287946308488
130
+ ],
131
+ "count": [
132
+ 1500
133
+ ],
134
+ "q01": [
135
+ -34.20962829589844,
136
+ -84.5350227355957,
137
+ 31.946797943115236,
138
+ 51.64574966430664,
139
+ -0.094191575050354,
140
+ 6.083610254917366
141
+ ],
142
+ "q10": [
143
+ -26.590868736099413,
144
+ -84.48987290555714,
145
+ 40.709868097305296,
146
+ 52.53034970463553,
147
+ 0.12504294034675453,
148
+ 8.879902371028361
149
+ ],
150
+ "q50": [
151
+ -17.8864433725059,
152
+ -35.79143624063648,
153
+ 60.901048395066034,
154
+ 58.75819829798753,
155
+ 9.796365308627676,
156
+ 27.211481298185653
157
+ ],
158
+ "q90": [
159
+ -5.4753598286079,
160
+ -24.32349282869073,
161
+ 93.96639098416311,
162
+ 74.25833740234376,
163
+ 13.009863915982889,
164
+ 28.05520805601796
165
+ ],
166
+ "q99": [
167
+ -3.406988887786865,
168
+ -21.36323646256166,
169
+ 94.22063353038969,
170
+ 84.87630471173455,
171
+ 13.846256337416799,
172
+ 28.434065595882124
173
+ ]
174
+ },
175
+ "frame_index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 299
181
+ ],
182
+ "mean": [
183
+ 149.5
184
+ ],
185
+ "std": [
186
+ 86.60205925188308
187
+ ],
188
+ "count": [
189
+ 1500
190
+ ],
191
+ "q01": [
192
+ 2.0331999999013597
193
+ ],
194
+ "q10": [
195
+ 29.002999999919403
196
+ ],
197
+ "q50": [
198
+ 149.02159999999967
199
+ ],
200
+ "q90": [
201
+ 269.04020000007995
202
+ ],
203
+ "q99": [
204
+ 296.010000000098
205
+ ]
206
+ },
207
+ "observation.state": {
208
+ "min": [
209
+ -55.94483947753906,
210
+ -98.5892105102539,
211
+ 14.590746879577637,
212
+ -98.80085754394531,
213
+ -5.627258777618408,
214
+ 1.8169583082199097
215
+ ],
216
+ "max": [
217
+ 5.329854488372803,
218
+ -8.381742477416992,
219
+ 98.75444793701172,
220
+ 99.14347076416016,
221
+ 22.30253028869629,
222
+ 42.934051513671875
223
+ ],
224
+ "mean": [
225
+ -16.716313552856445,
226
+ -45.8522232055664,
227
+ 66.31573181152343,
228
+ 59.735514068603514,
229
+ 8.072248649597167,
230
+ 23.095666694641114
231
+ ],
232
+ "std": [
233
+ 13.444094888197121,
234
+ 29.701956756376603,
235
+ 23.051426467522514,
236
+ 16.506870361648286,
237
+ 7.395617259732127,
238
+ 11.998099673612165
239
+ ],
240
+ "count": [
241
+ 1500
242
+ ],
243
+ "q01": [
244
+ -33.23756446838379,
245
+ -84.61236801147462,
246
+ 34.875515937805176,
247
+ 21.765420532226564,
248
+ -0.6500361204147339,
249
+ 6.514131784439087
250
+ ],
251
+ "q10": [
252
+ -25.514325737953186,
253
+ -84.2993206098968,
254
+ 42.19575153774685,
255
+ 52.50825353059618,
256
+ 0.3305582501776725,
257
+ 9.233239078521729
258
+ ],
259
+ "q50": [
260
+ -17.731641595834827,
261
+ -37.55653742009943,
262
+ 61.40820445575467,
263
+ 58.819301457781656,
264
+ 9.829409529635686,
265
+ 27.30656036124172
266
+ ],
267
+ "q90": [
268
+ -5.611626691261224,
269
+ -24.23860761578581,
270
+ 93.87535272517194,
271
+ 74.02311706542969,
272
+ 12.772867971104738,
273
+ 28.169623133478993
274
+ ],
275
+ "q99": [
276
+ -3.7492749278328636,
277
+ -21.660174891658958,
278
+ 94.16631799354694,
279
+ 84.47634376525879,
280
+ 13.629225379363039,
281
+ 28.31850730475656
282
+ ]
283
+ },
284
+ "observation.images.front": {
285
+ "min": [
286
+ [
287
+ [
288
+ 0.0
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.0
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ]
301
+ ],
302
+ "max": [
303
+ [
304
+ [
305
+ 1.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 1.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ]
318
+ ],
319
+ "mean": [
320
+ [
321
+ [
322
+ 0.4584971786492375
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.43699327941176463
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.4728671557734204
333
+ ]
334
+ ]
335
+ ],
336
+ "std": [
337
+ [
338
+ [
339
+ 0.015439944208800368
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.022353628832652933
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.020393378616857756
350
+ ]
351
+ ]
352
+ ],
353
+ "count": [
354
+ 500
355
+ ],
356
+ "q01": [
357
+ [
358
+ [
359
+ -3.9215686274509807e-13
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.008688549507267858
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ -3.9215686274509807e-13
370
+ ]
371
+ ]
372
+ ],
373
+ "q10": [
374
+ [
375
+ [
376
+ 0.009428903441262584
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.026629911793426986
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.016495411262197786
387
+ ]
388
+ ]
389
+ ],
390
+ "q50": [
391
+ [
392
+ [
393
+ 0.5129352440943694
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.49173725005137164
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.5348583193687657
404
+ ]
405
+ ]
406
+ ],
407
+ "q90": [
408
+ [
409
+ [
410
+ 0.7451123807870786
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.7450360922001228
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.7944825696107113
421
+ ]
422
+ ]
423
+ ],
424
+ "q99": [
425
+ [
426
+ [
427
+ 0.9404271353763274
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.936468379491373
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.9865590485904017
438
+ ]
439
+ ]
440
+ ]
441
+ },
442
+ "timestamp": {
443
+ "min": [
444
+ 0.0
445
+ ],
446
+ "max": [
447
+ 9.966666666666667
448
+ ],
449
+ "mean": [
450
+ 4.983333333333333
451
+ ],
452
+ "std": [
453
+ 2.8867353083961027
454
+ ],
455
+ "count": [
456
+ 1500
457
+ ],
458
+ "q01": [
459
+ 0.06777333323469334
460
+ ],
461
+ "q10": [
462
+ 0.9667666665860666
463
+ ],
464
+ "q50": [
465
+ 4.967386666666346
466
+ ],
467
+ "q90": [
468
+ 8.968006666746627
469
+ ],
470
+ "q99": [
471
+ 9.867000000098
472
+ ]
473
+ }
474
+ }
TestFolding/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7404c808055b7a05c5757df9e2d5b4b7c4edafe1657eeade33edd56934b5afd
3
+ size 2171
TestFolding/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:c0221fce3084e238bca64bcc20703bdda7293be2bea2bc953b7443d47b15e434
3
+ size 5063541
TestFoldingModel/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aca5f5eba96246593667e54ef58d18c08ce54518747c405852ef3a68982e00c2
3
+ size 117959
TestFoldingModel/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93ac51727630390a281f46796c0f6d056582268ecb395c99d6acb67cddced6fa
3
+ size 49454
TestFoldingModel/meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2549,
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": "0:5"
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
+ 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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
TestFoldingModel/meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 2548
8
+ ],
9
+ "mean": [
10
+ 1274.0
11
+ ],
12
+ "std": [
13
+ 735.8328614570024
14
+ ],
15
+ "count": [
16
+ 2549
17
+ ],
18
+ "q01": [
19
+ 1020.5264042023341
20
+ ],
21
+ "q10": [
22
+ 1067.1702218594726
23
+ ],
24
+ "q50": [
25
+ 1273.8428987053746
26
+ ],
27
+ "q90": [
28
+ 1480.8297781405274
29
+ ],
30
+ "q99": [
31
+ 1527.473595797666
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 598
40
+ ],
41
+ "mean": [
42
+ 257.94782267555905
43
+ ],
44
+ "std": [
45
+ 153.23980501963007
46
+ ],
47
+ "count": [
48
+ 2549
49
+ ],
50
+ "q01": [
51
+ 4.4742268778931065
52
+ ],
53
+ "q10": [
54
+ 51.11804453503162
55
+ ],
56
+ "q50": [
57
+ 257.76659662612786
58
+ ],
59
+ "q90": [
60
+ 464.77760081608653
61
+ ],
62
+ "q99": [
63
+ 511.421418473225
64
+ ]
65
+ },
66
+ "episode_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 4
72
+ ],
73
+ "mean": [
74
+ 1.9446841898783838
75
+ ],
76
+ "std": [
77
+ 1.4712093101784558
78
+ ],
79
+ "count": [
80
+ 2549
81
+ ],
82
+ "q01": [
83
+ 1.944684189878384
84
+ ],
85
+ "q10": [
86
+ 1.9446841898783875
87
+ ],
88
+ "q50": [
89
+ 1.9446841898784037
90
+ ],
91
+ "q90": [
92
+ 1.9446841898784193
93
+ ],
94
+ "q99": [
95
+ 1.9446841898784233
96
+ ]
97
+ },
98
+ "action": {
99
+ "min": [
100
+ -45.3125,
101
+ -98.81282043457031,
102
+ -40.38721466064453,
103
+ 37.4254035949707,
104
+ -4.918890476226807,
105
+ 0.555996835231781
106
+ ],
107
+ "max": [
108
+ 30.58035659790039,
109
+ 26.553224563598633,
110
+ 98.2890625,
111
+ 100.0,
112
+ 40.60701370239258,
113
+ 31.77124786376953
114
+ ],
115
+ "mean": [
116
+ 1.449096621415717,
117
+ -30.497909241725342,
118
+ 39.311556346559584,
119
+ 67.65135256923288,
120
+ 19.829961603882268,
121
+ 13.779466992315006
122
+ ],
123
+ "std": [
124
+ 22.301689090164643,
125
+ 38.64731022984349,
126
+ 32.74874849898642,
127
+ 14.332876808648967,
128
+ 14.537572187156888,
129
+ 11.63949154181751
130
+ ],
131
+ "count": [
132
+ 2549
133
+ ],
134
+ "q01": [
135
+ -35.34687277842522,
136
+ -98.46928926859242,
137
+ -0.22668678334948097,
138
+ 51.46452258504304,
139
+ -1.0785753687650936,
140
+ 1.3010699355310167
141
+ ],
142
+ "q10": [
143
+ -32.51887069136953,
144
+ -96.36715949797521,
145
+ 13.08015792533417,
146
+ 55.6218690751273,
147
+ 3.483206796780287,
148
+ 1.320331658273003
149
+ ],
150
+ "q50": [
151
+ 7.213715836212332,
152
+ -20.89693644736274,
153
+ 30.446275444295278,
154
+ 66.53059840770594,
155
+ 17.331389637101452,
156
+ 13.752394096384316
157
+ ],
158
+ "q90": [
159
+ 23.581478230158254,
160
+ 4.355969046732907,
161
+ 89.86875303712806,
162
+ 84.28250580391982,
163
+ 37.37053992336897,
164
+ 25.655212935883856
165
+ ],
166
+ "q99": [
167
+ 25.693024812650016,
168
+ 6.421043496346994,
169
+ 97.77886567275252,
170
+ 88.80936061941729,
171
+ 38.59263875867854,
172
+ 27.1610410600471
173
+ ]
174
+ },
175
+ "observation.images.front": {
176
+ "min": [
177
+ [
178
+ [
179
+ 0.0
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.0
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.0
190
+ ]
191
+ ]
192
+ ],
193
+ "max": [
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 1.0
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 1.0
207
+ ]
208
+ ]
209
+ ],
210
+ "mean": [
211
+ [
212
+ [
213
+ 0.4428716377188735
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.4099326398975228
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.45111298767449365
224
+ ]
225
+ ]
226
+ ],
227
+ "std": [
228
+ [
229
+ [
230
+ 0.016397705365168786
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.019544328340069937
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.018919936625657156
241
+ ]
242
+ ]
243
+ ],
244
+ "count": [
245
+ 540
246
+ ],
247
+ "q01": [
248
+ [
249
+ [
250
+ -3.9215686274509807e-13
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.009301243052448192
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ -3.9215686274509807e-13
261
+ ]
262
+ ]
263
+ ],
264
+ "q10": [
265
+ [
266
+ [
267
+ 0.010132845476647511
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.025083349474881292
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.015637847482052093
278
+ ]
279
+ ]
280
+ ],
281
+ "q50": [
282
+ [
283
+ [
284
+ 0.4684608772846339
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.3992730137331405
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.4551901044757262
295
+ ]
296
+ ]
297
+ ],
298
+ "q90": [
299
+ [
300
+ [
301
+ 0.7858671678196071
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.789147048176393
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.849460916097978
312
+ ]
313
+ ]
314
+ ],
315
+ "q99": [
316
+ [
317
+ [
318
+ 0.9856588203164212
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.9890457839155048
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.9999206833622328
329
+ ]
330
+ ]
331
+ ]
332
+ },
333
+ "timestamp": {
334
+ "min": [
335
+ 0.0
336
+ ],
337
+ "max": [
338
+ 19.933333333333334
339
+ ],
340
+ "mean": [
341
+ 8.598260755851967
342
+ ],
343
+ "std": [
344
+ 5.107993500654335
345
+ ],
346
+ "count": [
347
+ 2549
348
+ ],
349
+ "q01": [
350
+ 0.14914089583478268
351
+ ],
352
+ "q10": [
353
+ 1.7039348177568765
354
+ ],
355
+ "q50": [
356
+ 8.593960889237549
357
+ ],
358
+ "q90": [
359
+ 15.492586693947057
360
+ ],
361
+ "q99": [
362
+ 17.04738061586915
363
+ ]
364
+ },
365
+ "task_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 0
371
+ ],
372
+ "mean": [
373
+ 0.0
374
+ ],
375
+ "std": [
376
+ 0.0
377
+ ],
378
+ "count": [
379
+ 2549
380
+ ],
381
+ "q01": [
382
+ 3.9999999999994176e-16
383
+ ],
384
+ "q10": [
385
+ 3.999999999999417e-15
386
+ ],
387
+ "q50": [
388
+ 1.9999999999997088e-14
389
+ ],
390
+ "q90": [
391
+ 3.5999999999994754e-14
392
+ ],
393
+ "q99": [
394
+ 3.959999999999424e-14
395
+ ]
396
+ },
397
+ "observation.state": {
398
+ "min": [
399
+ -47.372344970703125,
400
+ -98.42323303222656,
401
+ -37.09964370727539,
402
+ 38.244110107421875,
403
+ -4.904491424560547,
404
+ 1.5477793216705322
405
+ ],
406
+ "max": [
407
+ 29.85464096069336,
408
+ 26.88796615600586,
409
+ 98.75444793701172,
410
+ 99.31477355957031,
411
+ 40.268455505371094,
412
+ 31.69582748413086
413
+ ],
414
+ "mean": [
415
+ 1.3077799351648425,
416
+ -29.990695088178143,
417
+ 40.862261132382095,
418
+ 67.72224869546632,
419
+ 19.807353605986485,
420
+ 13.885629806578416
421
+ ],
422
+ "std": [
423
+ 22.252054686677358,
424
+ 38.89317501246146,
425
+ 32.198695081398064,
426
+ 14.089529480920723,
427
+ 14.54169112375522,
428
+ 11.450095114551939
429
+ ],
430
+ "count": [
431
+ 2549
432
+ ],
433
+ "q01": [
434
+ -35.046051986601725,
435
+ -98.17385176706894,
436
+ 2.609111019555799,
437
+ 51.8722418314674,
438
+ -0.9834220915130409,
439
+ 1.7465698158145648
440
+ ],
441
+ "q10": [
442
+ -32.855682260293776,
443
+ -95.76919993180819,
444
+ 15.133559919908071,
445
+ 55.24389020199272,
446
+ 2.4298009265583955,
447
+ 1.7468909524865814
448
+ ],
449
+ "q50": [
450
+ 7.045683841298761,
451
+ -19.833328964581263,
452
+ 31.873573967945717,
453
+ 66.74872382966652,
454
+ 17.46235389825039,
455
+ 13.864949963923976
456
+ ],
457
+ "q90": [
458
+ 23.38481471325845,
459
+ 5.015035480217725,
460
+ 91.85317067152464,
461
+ 83.85593041633109,
462
+ 37.19541023183957,
463
+ 25.647007942482706
464
+ ],
465
+ "q99": [
466
+ 25.23858874063237,
467
+ 6.573814499122734,
468
+ 97.56467039718888,
469
+ 88.4879716423307,
470
+ 38.29137849138294,
471
+ 26.968309088270722
472
+ ]
473
+ }
474
+ }
TestFoldingModel/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7404c808055b7a05c5757df9e2d5b4b7c4edafe1657eeade33edd56934b5afd
3
+ size 2171
TestFoldingModel/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 sha256:0d2f5803ce23fc6fdc89dd81812027a6f828afba86ac7afeaec98052e072ad3c
3
+ size 10495957
noCameraTest/meta/info.json ADDED
@@ -0,0 +1,92 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 0,
5
+ "total_frames": 0,
6
+ "total_tasks": 0,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {},
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "action": {
16
+ "dtype": "float32",
17
+ "names": [
18
+ "shoulder_pan.pos",
19
+ "shoulder_lift.pos",
20
+ "elbow_flex.pos",
21
+ "wrist_flex.pos",
22
+ "wrist_roll.pos",
23
+ "gripper.pos"
24
+ ],
25
+ "shape": [
26
+ 6
27
+ ]
28
+ },
29
+ "observation.state": {
30
+ "dtype": "float32",
31
+ "names": [
32
+ "shoulder_pan.pos",
33
+ "shoulder_lift.pos",
34
+ "elbow_flex.pos",
35
+ "wrist_flex.pos",
36
+ "wrist_roll.pos",
37
+ "gripper.pos"
38
+ ],
39
+ "shape": [
40
+ 6
41
+ ]
42
+ },
43
+ "observation.images.front": {
44
+ "dtype": "video",
45
+ "shape": [
46
+ 360,
47
+ 640,
48
+ 3
49
+ ],
50
+ "names": [
51
+ "height",
52
+ "width",
53
+ "channels"
54
+ ]
55
+ },
56
+ "timestamp": {
57
+ "dtype": "float32",
58
+ "shape": [
59
+ 1
60
+ ],
61
+ "names": null
62
+ },
63
+ "frame_index": {
64
+ "dtype": "int64",
65
+ "shape": [
66
+ 1
67
+ ],
68
+ "names": null
69
+ },
70
+ "episode_index": {
71
+ "dtype": "int64",
72
+ "shape": [
73
+ 1
74
+ ],
75
+ "names": null
76
+ },
77
+ "index": {
78
+ "dtype": "int64",
79
+ "shape": [
80
+ 1
81
+ ],
82
+ "names": null
83
+ },
84
+ "task_index": {
85
+ "dtype": "int64",
86
+ "shape": [
87
+ 1
88
+ ],
89
+ "names": null
90
+ }
91
+ }
92
+ }