supreme-helix commited on
Commit
a48fd1c
·
verified ·
1 Parent(s): e7944f2

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:c89942b6386a0c9e5c608ed9d6c9dd17317c4a0c5f0b8784a354350b6e11bf35
3
+ size 353822
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eb25e6a6ff943102f96c47c44f102812f35b1ad17b53b075f3ef3fda83afdcaf
3
+ size 108470
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 7815,
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": "0:20"
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.main_cam": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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.wrist_right": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 600,
72
+ 800,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 600,
82
+ "video.width": 800,
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
+ "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
+ 7815
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
+ 3.5999999999994766e-14
29
+ ],
30
+ "q99": [
31
+ 3.959999999999423e-14
32
+ ]
33
+ },
34
+ "timestamp": {
35
+ "min": [
36
+ 0.0
37
+ ],
38
+ "max": [
39
+ 15.633333333333333
40
+ ],
41
+ "mean": [
42
+ 6.553209639581999
43
+ ],
44
+ "std": [
45
+ 3.857784219195995
46
+ ],
47
+ "count": [
48
+ 7815
49
+ ],
50
+ "q01": [
51
+ 0.11764228600117234
52
+ ],
53
+ "q10": [
54
+ 1.2998094303314356
55
+ ],
56
+ "q50": [
57
+ 6.5436155768819155
58
+ ],
59
+ "q90": [
60
+ 11.803296204132156
61
+ ],
62
+ "q99": [
63
+ 12.988776993162826
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -24.897043228149414,
69
+ -82.00276947021484,
70
+ -48.39293670654297,
71
+ 46.12765884399414,
72
+ -65.67985534667969,
73
+ 1.4141414165496826
74
+ ],
75
+ "max": [
76
+ 4.679895401000977,
77
+ 39.36317443847656,
78
+ 84.4273452758789,
79
+ 98.2978744506836,
80
+ -47.81241989135742,
81
+ 29.831649780273438
82
+ ],
83
+ "mean": [
84
+ -7.369152345004482,
85
+ -9.50172501061867,
86
+ 14.042225416089508,
87
+ 77.57990897893143,
88
+ -56.594733149259426,
89
+ 12.201387899133996
90
+ ],
91
+ "std": [
92
+ 9.48417012423671,
93
+ 43.071703308588226,
94
+ 44.11437766334835,
95
+ 9.137910218695586,
96
+ 3.6056702307462354,
97
+ 7.784435181787583
98
+ ],
99
+ "count": [
100
+ 7815
101
+ ],
102
+ "q01": [
103
+ -22.788044067155656,
104
+ -76.14920046190687,
105
+ -24.683880708954383,
106
+ 67.82759833657916,
107
+ -60.58610073901194,
108
+ 3.044488369053529
109
+ ],
110
+ "q10": [
111
+ -21.862729867587323,
112
+ -74.65876062683735,
113
+ -24.452961160479333,
114
+ 68.29282632062232,
115
+ -60.490094021615995,
116
+ 3.044549332911342
117
+ ],
118
+ "q50": [
119
+ -2.034671475477697,
120
+ 16.281491151793265,
121
+ -10.348748747136565,
122
+ 77.23748604222305,
123
+ -56.66339948420174,
124
+ 14.492143904982742
125
+ ],
126
+ "q90": [
127
+ 1.5007546372854468,
128
+ 28.791864647148998,
129
+ 82.40481272598687,
130
+ 88.75632768286188,
131
+ -52.870496157377026,
132
+ 20.771836599366114
133
+ ],
134
+ "q99": [
135
+ 2.2361551630549243,
136
+ 29.534712249271752,
137
+ 83.07426791001129,
138
+ 93.97276116740575,
139
+ -52.75497309066326,
140
+ 22.15855234280928
141
+ ]
142
+ },
143
+ "observation.images.main_cam": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.2206040362200436
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.5510490859204792
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.49542001089324605
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.03229726935104713
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.029274625031053308
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.028896600564038526
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 2000
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ 0.006644803004424641
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.04162310460951548
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.024726903581157204
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.058988289925640466
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.12024786507897259
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.10332977416981666
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.1612081910817313
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.6311910377605019
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.550582016152157
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.48585757152364356
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.7946833273940604
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.7329136859380088
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.9421240935351205
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.9998933245159194
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.999105364940923
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "action": {
302
+ "min": [
303
+ -25.064983367919922,
304
+ -86.50022888183594,
305
+ -54.582763671875,
306
+ 44.916343688964844,
307
+ -65.89066314697266,
308
+ 0.0
309
+ ],
310
+ "max": [
311
+ 4.938730239868164,
312
+ 38.788719177246094,
313
+ 84.95211791992188,
314
+ 100.0,
315
+ -47.52811813354492,
316
+ 30.5687198638916
317
+ ],
318
+ "mean": [
319
+ -7.386953344546444,
320
+ -12.310886967464358,
321
+ 11.35794629269659,
322
+ 77.40969024580102,
323
+ -56.578445440427814,
324
+ 11.439713597190892
325
+ ],
326
+ "std": [
327
+ 9.541699238701025,
328
+ 43.37474873811585,
329
+ 46.06445119229976,
330
+ 9.557378351525953,
331
+ 3.635896843773069,
332
+ 8.88909611099651
333
+ ],
334
+ "count": [
335
+ 7815
336
+ ],
337
+ "q01": [
338
+ -23.14909067251879,
339
+ -79.30815935543949,
340
+ -30.228923593968904,
341
+ 66.81462250359182,
342
+ -60.8017861970042,
343
+ 0.3680722532365375
344
+ ],
345
+ "q10": [
346
+ -21.983228323179606,
347
+ -77.53756807004041,
348
+ -29.445339071182044,
349
+ 67.56940665067995,
350
+ -60.529128758779365,
351
+ 0.48593219854627195
352
+ ],
353
+ "q50": [
354
+ -2.076906614849922,
355
+ 9.928316471199917,
356
+ -13.521778074408298,
357
+ 76.96757402697027,
358
+ -56.69135414321222,
359
+ 14.46255370883263
360
+ ],
361
+ "q90": [
362
+ 1.7116751094275082,
363
+ 28.581983574184832,
364
+ 83.76567556524878,
365
+ 89.36833727661899,
366
+ -52.73110302382806,
367
+ 21.008414516147766
368
+ ],
369
+ "q99": [
370
+ 2.4644711439800178,
371
+ 30.221235706115507,
372
+ 84.25967213854176,
373
+ 95.17341102609352,
374
+ -52.53116673223889,
375
+ 22.684246510848727
376
+ ]
377
+ },
378
+ "observation.images.wrist_right": {
379
+ "min": [
380
+ [
381
+ [
382
+ 0.0
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.0
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.0
393
+ ]
394
+ ]
395
+ ],
396
+ "max": [
397
+ [
398
+ [
399
+ 1.0
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 1.0
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 1.0
410
+ ]
411
+ ]
412
+ ],
413
+ "mean": [
414
+ [
415
+ [
416
+ 0.4859625975285949
417
+ ]
418
+ ],
419
+ [
420
+ [
421
+ 0.47651718167892165
422
+ ]
423
+ ],
424
+ [
425
+ [
426
+ 0.4556958366013073
427
+ ]
428
+ ]
429
+ ],
430
+ "std": [
431
+ [
432
+ [
433
+ 0.005481313366100091
434
+ ]
435
+ ],
436
+ [
437
+ [
438
+ 0.006670370754447913
439
+ ]
440
+ ],
441
+ [
442
+ [
443
+ 0.005050216150557516
444
+ ]
445
+ ]
446
+ ],
447
+ "count": [
448
+ 2000
449
+ ],
450
+ "q01": [
451
+ [
452
+ [
453
+ 0.07725222842969313
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.004524203374642671
459
+ ]
460
+ ],
461
+ [
462
+ [
463
+ 0.03136019477954717
464
+ ]
465
+ ]
466
+ ],
467
+ "q10": [
468
+ [
469
+ [
470
+ 0.13077293412605676
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.055898899735153766
476
+ ]
477
+ ],
478
+ [
479
+ [
480
+ 0.07979002397880429
481
+ ]
482
+ ]
483
+ ],
484
+ "q50": [
485
+ [
486
+ [
487
+ 0.5137631981463422
488
+ ]
489
+ ],
490
+ [
491
+ [
492
+ 0.5145307569030438
493
+ ]
494
+ ],
495
+ [
496
+ [
497
+ 0.4831440627305997
498
+ ]
499
+ ]
500
+ ],
501
+ "q90": [
502
+ [
503
+ [
504
+ 0.7388048002205798
505
+ ]
506
+ ],
507
+ [
508
+ [
509
+ 0.7648676664422474
510
+ ]
511
+ ],
512
+ [
513
+ [
514
+ 0.7251134102085605
515
+ ]
516
+ ]
517
+ ],
518
+ "q99": [
519
+ [
520
+ [
521
+ 0.9951157231919613
522
+ ]
523
+ ],
524
+ [
525
+ [
526
+ 0.9996405323668663
527
+ ]
528
+ ],
529
+ [
530
+ [
531
+ 0.9860954054647985
532
+ ]
533
+ ]
534
+ ]
535
+ },
536
+ "frame_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 469
542
+ ],
543
+ "mean": [
544
+ 196.59628918746
545
+ ],
546
+ "std": [
547
+ 115.73352657587985
548
+ ],
549
+ "count": [
550
+ 7815
551
+ ],
552
+ "q01": [
553
+ 3.5292685828832364
554
+ ],
555
+ "q10": [
556
+ 38.99428291226789
557
+ ],
558
+ "q50": [
559
+ 196.31282170185526
560
+ ],
561
+ "q90": [
562
+ 354.09888612164116
563
+ ],
564
+ "q99": [
565
+ 389.66330979203684
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 19
574
+ ],
575
+ "mean": [
576
+ 9.184005118362125
577
+ ],
578
+ "std": [
579
+ 5.782664328468181
580
+ ],
581
+ "count": [
582
+ 7815
583
+ ],
584
+ "q01": [
585
+ 9.184005118362125
586
+ ],
587
+ "q10": [
588
+ 9.184005118362126
589
+ ],
590
+ "q50": [
591
+ 9.184005118362144
592
+ ],
593
+ "q90": [
594
+ 9.184005118362162
595
+ ],
596
+ "q99": [
597
+ 9.184005118362164
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 7814
606
+ ],
607
+ "mean": [
608
+ 3907.0
609
+ ],
610
+ "std": [
611
+ 2255.9961583891645
612
+ ],
613
+ "count": [
614
+ 7815
615
+ ],
616
+ "q01": [
617
+ 3713.9329793954234
618
+ ],
619
+ "q10": [
620
+ 3749.3979937248077
621
+ ],
622
+ "q50": [
623
+ 3906.720803071017
624
+ ],
625
+ "q90": [
626
+ 4064.502596934181
627
+ ],
628
+ "q99": [
629
+ 4100.067020604576
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7aa7372a06a6ae096b4144fd6b0ab20295f0bd879cb110f752ecfc20936e46b
3
+ size 2296
videos/observation.images.main_cam/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c61ae6ea604660ab42941d44d4d9742b62c12a7d3c23eb88cff9b44380db8ea3
3
+ size 502228267
videos/observation.images.main_cam/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:75e5a1e11b689a3011bc0f00cfe7d1e7d5f9b5d5d11be55b5005f52353d3a92c
3
+ size 156997840
videos/observation.images.wrist_right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3c3c3bdeef27a3e62421e07d135a800cba54e209345617ae21af07756080b812
3
+ size 143952658