soliscute commited on
Commit
9babb0c
·
verified ·
1 Parent(s): 0b31d83

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 sha256:5f3be475fc0ad384d8c858c7abb638e755a4b884570811c781efa99f417686a8
3
+ size 168830
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:70ab25785d8ae65baf14a20368a58c0493244d7cc7e40811cb605b9475d93087
3
+ size 52832
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 2584,
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": "0:1"
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.camera1": {
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.camera2": {
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
+ -9.137247085571289,
5
+ -103.06869506835938,
6
+ 5.390766143798828,
7
+ 53.45094299316406,
8
+ 18.099040985107422,
9
+ 1.297783374786377
10
+ ],
11
+ "max": [
12
+ 60.72835159301758,
13
+ 10.055229187011719,
14
+ 91.45095825195312,
15
+ 94.14264678955078,
16
+ 118.16751098632812,
17
+ 25.263355255126953
18
+ ],
19
+ "mean": [
20
+ 15.299836158752441,
21
+ -19.71076774597168,
22
+ 33.4844970703125,
23
+ 72.15850067138672,
24
+ 42.14281463623047,
25
+ 10.400927543640137
26
+ ],
27
+ "std": [
28
+ 14.413033485412598,
29
+ 26.875228881835938,
30
+ 18.009817123413086,
31
+ 7.4579877853393555,
32
+ 15.370676040649414,
33
+ 6.225508689880371
34
+ ],
35
+ "count": [
36
+ 2584
37
+ ],
38
+ "q01": [
39
+ -7.196101341247559,
40
+ -101.57908172607422,
41
+ 8.882055587768555,
42
+ 56.973543395996096,
43
+ 20.719233627319337,
44
+ 1.6469138526916505
45
+ ],
46
+ "q10": [
47
+ -1.3067109107971187,
48
+ -62.82598991394043,
49
+ 16.79202194213867,
50
+ 63.28531494140625,
51
+ 24.10715217590332,
52
+ 3.252415466308594
53
+ ],
54
+ "q50": [
55
+ 15.91189956665039,
56
+ -12.75054931640625,
57
+ 29.375741958618164,
58
+ 72.87987772623698,
59
+ 39.81389617919922,
60
+ 8.535386085510254
61
+ ],
62
+ "q90": [
63
+ 33.48495941162109,
64
+ 4.516685485839843,
65
+ 53.57759170532226,
66
+ 81.84452718098959,
67
+ 61.6008056640625,
68
+ 19.830838775634763
69
+ ],
70
+ "q99": [
71
+ 55.8198779296875,
72
+ 8.429866027832029,
73
+ 89.66365783691406,
74
+ 88.51221374511718,
75
+ 72.43942138671875,
76
+ 24.15211883544922
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -8.615385055541992,
82
+ -103.9120864868164,
83
+ 8.835165023803711,
84
+ 53.406593322753906,
85
+ 19.648351669311523,
86
+ 0.930232584476471
87
+ ],
88
+ "max": [
89
+ 60.0439567565918,
90
+ 9.670330047607422,
91
+ 92.0,
92
+ 93.05494689941406,
93
+ 165.14285278320312,
94
+ 24.784053802490234
95
+ ],
96
+ "mean": [
97
+ 15.287895202636719,
98
+ -19.02322769165039,
99
+ 34.86153793334961,
100
+ 72.1414794921875,
101
+ 42.31703186035156,
102
+ 10.979388236999512
103
+ ],
104
+ "std": [
105
+ 14.407354354858398,
106
+ 27.3920955657959,
107
+ 18.13800048828125,
108
+ 7.3346686363220215,
109
+ 16.395153045654297,
110
+ 5.783376693725586
111
+ ],
112
+ "count": [
113
+ 2584
114
+ ],
115
+ "q01": [
116
+ -7.201734968821207,
117
+ -102.04973558213976,
118
+ 10.247636528015137,
119
+ 57.01396057128906,
120
+ 20.984572448730468,
121
+ 1.7296956616063273
122
+ ],
123
+ "q10": [
124
+ -1.3173551241556802,
125
+ -63.376792907714844,
126
+ 17.97165298461914,
127
+ 63.42282511393229,
128
+ 24.04344985961914,
129
+ 3.7169950008392334
130
+ ],
131
+ "q50": [
132
+ 15.913850784301758,
133
+ -11.787660217285156,
134
+ 30.976970672607422,
135
+ 73.01158885466747,
136
+ 39.78063310895647,
137
+ 10.366122654506139
138
+ ],
139
+ "q90": [
140
+ 33.316246032714844,
141
+ 5.3561420985630575,
142
+ 56.751417541503905,
143
+ 81.71075897216797,
144
+ 61.42452322152945,
145
+ 19.53392318725586
146
+ ],
147
+ "q99": [
148
+ 55.636756896972656,
149
+ 8.35004913330078,
150
+ 90.77181976318359,
151
+ 87.86143086751302,
152
+ 74.59173767089844,
153
+ 23.789540367126463
154
+ ]
155
+ },
156
+ "timestamp": {
157
+ "min": [
158
+ 0.0
159
+ ],
160
+ "max": [
161
+ 86.1
162
+ ],
163
+ "mean": [
164
+ 43.050000000000004
165
+ ],
166
+ "std": [
167
+ 24.864549731160086
168
+ ],
169
+ "count": [
170
+ 2584
171
+ ],
172
+ "q01": [
173
+ 0.8410247999019536
174
+ ],
175
+ "q10": [
176
+ 8.599667999919976
177
+ ],
178
+ "q50": [
179
+ 43.05
180
+ ],
181
+ "q90": [
182
+ 77.50033200008001
183
+ ],
184
+ "q99": [
185
+ 85.25897520009804
186
+ ]
187
+ },
188
+ "frame_index": {
189
+ "min": [
190
+ 0
191
+ ],
192
+ "max": [
193
+ 2583
194
+ ],
195
+ "mean": [
196
+ 1291.5
197
+ ],
198
+ "std": [
199
+ 745.9364919348027
200
+ ],
201
+ "count": [
202
+ 2584
203
+ ],
204
+ "q01": [
205
+ 25.230743999901957
206
+ ],
207
+ "q10": [
208
+ 257.99003999992004
209
+ ],
210
+ "q50": [
211
+ 1291.5
212
+ ],
213
+ "q90": [
214
+ 2325.00996000008
215
+ ],
216
+ "q99": [
217
+ 2557.7692560000983
218
+ ]
219
+ },
220
+ "episode_index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 0
226
+ ],
227
+ "mean": [
228
+ 0.0
229
+ ],
230
+ "std": [
231
+ 0.0
232
+ ],
233
+ "count": [
234
+ 2584
235
+ ],
236
+ "q01": [
237
+ 3.9999999999994176e-16
238
+ ],
239
+ "q10": [
240
+ 3.999999999999418e-15
241
+ ],
242
+ "q50": [
243
+ 1.9999999999997088e-14
244
+ ],
245
+ "q90": [
246
+ 3.5999999999994754e-14
247
+ ],
248
+ "q99": [
249
+ 3.9599999999994235e-14
250
+ ]
251
+ },
252
+ "index": {
253
+ "min": [
254
+ 0
255
+ ],
256
+ "max": [
257
+ 2583
258
+ ],
259
+ "mean": [
260
+ 1291.5
261
+ ],
262
+ "std": [
263
+ 745.9364919348027
264
+ ],
265
+ "count": [
266
+ 2584
267
+ ],
268
+ "q01": [
269
+ 25.230743999901957
270
+ ],
271
+ "q10": [
272
+ 257.99003999992004
273
+ ],
274
+ "q50": [
275
+ 1291.5
276
+ ],
277
+ "q90": [
278
+ 2325.00996000008
279
+ ],
280
+ "q99": [
281
+ 2557.7692560000983
282
+ ]
283
+ },
284
+ "task_index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 0
290
+ ],
291
+ "mean": [
292
+ 0.0
293
+ ],
294
+ "std": [
295
+ 0.0
296
+ ],
297
+ "count": [
298
+ 2584
299
+ ],
300
+ "q01": [
301
+ 3.9999999999994176e-16
302
+ ],
303
+ "q10": [
304
+ 3.999999999999418e-15
305
+ ],
306
+ "q50": [
307
+ 1.9999999999997088e-14
308
+ ],
309
+ "q90": [
310
+ 3.5999999999994754e-14
311
+ ],
312
+ "q99": [
313
+ 3.9599999999994235e-14
314
+ ]
315
+ },
316
+ "observation.images.camera1": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.0
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.0
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.5362185844829405
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.5152878888623296
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.4787089678153894
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.0
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.0
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.0
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 49612800
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.007871701542734392
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.015662347522856206
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.003907258081359143
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.10192186245713729
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.13325414936785868
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.12953045398408514
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.6156667588956335
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.5686355229839185
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.5059429684784535
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.6707237655131467
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.6745524946397989
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.6589056635908378
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.7176024104678063
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.8940180990735866
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9765968800068393
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.camera2": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.5165411601560133
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.5077934181122118
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.49071855365598227
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.0
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.0
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.0
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 49612800
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.011767289679367089
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ -1e-10
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ -1e-10
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.06276711265947149
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.058830239826662044
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.011622053699848802
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.5882096114728139
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.5724051054784709
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.5490453128612698
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.7687177450889773
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7490127805073608
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7569903645218229
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.8745770343628455
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9099443163108129
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9764167607248347
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:803376deac8882be6ed79467cefb50d633a6a2983bf00f753f216c7a9f27b3e3
3
+ size 2231
videos/observation.images.camera1/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:091a940804f5016a2508c9ad4eaab5d43b065bc37761eb3dcd44b99327c36ae3
3
+ size 16130556
videos/observation.images.camera2/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f905ed97f5eadc8f54f2ef88125bf821042e0e64fb41fea24d0b125a0888ea46
3
+ size 15663200