swpark5 commited on
Commit
b571a5a
·
verified ·
1 Parent(s): 4ee9f2f

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:cac334285c31c2e7367f804dc285b85c8e7da770fd3a9ca84718bbba92777c70
3
+ size 2219870
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7993e6b381dbca101e37fe7b6725b5e6e07c4fbfce98754a4249940bb7ffa60
3
+ size 230621
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 31283,
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": "0:50"
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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 31282
8
+ ],
9
+ "mean": [
10
+ 15641.0
11
+ ],
12
+ "std": [
13
+ 9030.624230915602
14
+ ],
15
+ "count": [
16
+ 31283
17
+ ],
18
+ "q01": [
19
+ 15294.253511333474
20
+ ],
21
+ "q10": [
22
+ 15357.916641040742
23
+ ],
24
+ "q50": [
25
+ 15640.798300201388
26
+ ],
27
+ "q90": [
28
+ 15923.985006755183
29
+ ],
30
+ "q99": [
31
+ 15987.684311765333
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 1148
40
+ ],
41
+ "mean": [
42
+ 353.2723204296263
43
+ ],
44
+ "std": [
45
+ 238.34684755462507
46
+ ],
47
+ "count": [
48
+ 31283
49
+ ],
50
+ "q01": [
51
+ 6.525831763095895
52
+ ],
53
+ "q10": [
54
+ 70.18896147036706
55
+ ],
56
+ "q50": [
57
+ 353.0265100533836
58
+ ],
59
+ "q90": [
60
+ 636.2573271848134
61
+ ],
62
+ "q99": [
63
+ 699.9566321949646
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -79.3458251953125,
69
+ -100.0,
70
+ -79.6337661743164,
71
+ 55.479156494140625,
72
+ -8.75,
73
+ 0.4761904776096344
74
+ ],
75
+ "max": [
76
+ 11.57662582397461,
77
+ 50.35517120361328,
78
+ 98.74944305419922,
79
+ 99.91405487060547,
80
+ 54.16666793823242,
81
+ 41.9727897644043
82
+ ],
83
+ "mean": [
84
+ -25.786003391124538,
85
+ -25.407687829217043,
86
+ 29.355383234621865,
87
+ 79.36198720586611,
88
+ 18.36757520715839,
89
+ 21.16107254149042
90
+ ],
91
+ "std": [
92
+ 23.433073995980102,
93
+ 34.109350609223036,
94
+ 27.24237041782925,
95
+ 12.048288488878066,
96
+ 13.982463534666715,
97
+ 13.078677820696894
98
+ ],
99
+ "count": [
100
+ 31283
101
+ ],
102
+ "q01": [
103
+ -76.96188975248836,
104
+ -99.56370439440411,
105
+ -4.189080938287664,
106
+ 62.34763247577338,
107
+ 1.738896729259598,
108
+ 1.0806812377066384
109
+ ],
110
+ "q10": [
111
+ -54.820019176485665,
112
+ -72.3868139298404,
113
+ 5.609370546213602,
114
+ 64.9434018350357,
115
+ 6.641589488370963,
116
+ 3.5640548666076945
117
+ ],
118
+ "q50": [
119
+ -20.810106782476964,
120
+ -15.96668814398066,
121
+ 24.181144169761286,
122
+ 76.72694854961787,
123
+ 15.99378655285177,
124
+ 19.09807784594604
125
+ ],
126
+ "q90": [
127
+ -7.899490693807657,
128
+ 5.028255361434401,
129
+ 59.4881115846309,
130
+ 97.20291450060282,
131
+ 33.782837059554296,
132
+ 37.30651781337105
133
+ ],
134
+ "q99": [
135
+ -0.4611147828921491,
136
+ 11.32655501385846,
137
+ 98.50445282721846,
138
+ 99.46115217719269,
139
+ 51.03221790840004,
140
+ 38.98841189470187
141
+ ]
142
+ },
143
+ "task_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 0
149
+ ],
150
+ "mean": [
151
+ 0.0
152
+ ],
153
+ "std": [
154
+ 0.0
155
+ ],
156
+ "count": [
157
+ 31283
158
+ ],
159
+ "q01": [
160
+ 3.999999999999417e-16
161
+ ],
162
+ "q10": [
163
+ 3.999999999999416e-15
164
+ ],
165
+ "q50": [
166
+ 1.9999999999997094e-14
167
+ ],
168
+ "q90": [
169
+ 3.5999999999994754e-14
170
+ ],
171
+ "q99": [
172
+ 3.9599999999994235e-14
173
+ ]
174
+ },
175
+ "action": {
176
+ "min": [
177
+ -79.53804016113281,
178
+ -101.22622680664062,
179
+ -82.77497863769531,
180
+ 54.83970260620117,
181
+ -8.982320785522461,
182
+ -0.4319124221801758
183
+ ],
184
+ "max": [
185
+ 11.858867645263672,
186
+ 50.0839958190918,
187
+ 99.49234008789062,
188
+ 101.6350326538086,
189
+ 54.6558723449707,
190
+ 42.55195617675781
191
+ ],
192
+ "mean": [
193
+ -25.530150236926588,
194
+ -25.38335212209937,
195
+ 27.744891615043198,
196
+ 79.35291477195199,
197
+ 18.36845818179589,
198
+ 20.643051584255534
199
+ ],
200
+ "std": [
201
+ 23.412651654596385,
202
+ 33.50288556128226,
203
+ 27.38555793965583,
204
+ 12.307546746952703,
205
+ 13.916602283614589,
206
+ 13.270303104971656
207
+ ],
208
+ "count": [
209
+ 31283
210
+ ],
211
+ "q01": [
212
+ -76.97335264020398,
213
+ -99.9231241219567,
214
+ -6.060757190108785,
215
+ 62.13711718909674,
216
+ 1.604819227072736,
217
+ 0.6401674117036492
218
+ ],
219
+ "q10": [
220
+ -54.14999464253085,
221
+ -71.80202224775338,
222
+ 3.8117446535791992,
223
+ 64.89973643277037,
224
+ 6.742088859082601,
225
+ 3.159633720954826
226
+ ],
227
+ "q50": [
228
+ -20.618598195486232,
229
+ -16.393352318153525,
230
+ 22.905256790035576,
231
+ 76.42198251043136,
232
+ 16.074742978286853,
233
+ 17.550292744731955
234
+ ],
235
+ "q90": [
236
+ -7.7900400235507625,
237
+ 4.428411978500998,
238
+ 57.59459015434975,
239
+ 97.46165275622506,
240
+ 33.47377151077037,
241
+ 37.47258966329041
242
+ ],
243
+ "q99": [
244
+ -0.2606267841462155,
245
+ 10.973402548492043,
246
+ 98.90121687126224,
247
+ 100.32229449302247,
248
+ 51.12729778020975,
249
+ 39.228291631744995
250
+ ]
251
+ },
252
+ "observation.images.front": {
253
+ "min": [
254
+ [
255
+ [
256
+ 0.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ]
269
+ ],
270
+ "max": [
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 1.0
284
+ ]
285
+ ]
286
+ ],
287
+ "mean": [
288
+ [
289
+ [
290
+ 0.5328400210688999
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.5480017871653016
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.5446438997842421
301
+ ]
302
+ ]
303
+ ],
304
+ "std": [
305
+ [
306
+ [
307
+ 0.020877725271109156
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.02142165490986687
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.023643902911650652
318
+ ]
319
+ ]
320
+ ],
321
+ "count": [
322
+ 6463
323
+ ],
324
+ "q01": [
325
+ [
326
+ [
327
+ -3.9215686274509807e-13
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ -3.9215686274509807e-13
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ -3.9215686274509807e-13
338
+ ]
339
+ ]
340
+ ],
341
+ "q10": [
342
+ [
343
+ [
344
+ 0.013289862009484519
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.007598812917076527
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.022981716876871405
355
+ ]
356
+ ]
357
+ ],
358
+ "q50": [
359
+ [
360
+ [
361
+ 0.6384067935280534
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.6593315128537879
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.6548710327502895
372
+ ]
373
+ ]
374
+ ],
375
+ "q90": [
376
+ [
377
+ [
378
+ 0.7906952320216943
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.824746268445364
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.8362694817121545
389
+ ]
390
+ ]
391
+ ],
392
+ "q99": [
393
+ [
394
+ [
395
+ 0.9188195691805681
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.9496802331213007
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.9562994284251705
406
+ ]
407
+ ]
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 49
416
+ ],
417
+ "mean": [
418
+ 25.245884346130484
419
+ ],
420
+ "std": [
421
+ 14.261479075821411
422
+ ],
423
+ "count": [
424
+ 31283
425
+ ],
426
+ "q01": [
427
+ 25.245884346130484
428
+ ],
429
+ "q10": [
430
+ 25.24588434613049
431
+ ],
432
+ "q50": [
433
+ 25.245884346130502
434
+ ],
435
+ "q90": [
436
+ 25.24588434613051
437
+ ],
438
+ "q99": [
439
+ 25.245884346130524
440
+ ]
441
+ },
442
+ "observation.images.top": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.0
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.5273229730143126
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.5302578756817339
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.518451419701539
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.018170543523335962
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.018122427275315083
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.021282434956081314
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 6463
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ -3.9215686274509807e-13
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ -3.9215686274509807e-13
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ -3.9215686274509807e-13
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.0307753608290078
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.016690188417278224
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.016871045054571675
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.5608131268092337
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.55581070338967
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.5459284525642435
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.8874010519892994
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.9063833654869693
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.9002269103770814
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9471382362685277
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.9677519246224847
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.9670218851387037
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "timestamp": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 38.266666666666666
606
+ ],
607
+ "mean": [
608
+ 11.775744014320876
609
+ ],
610
+ "std": [
611
+ 7.944894918487501
612
+ ],
613
+ "count": [
614
+ 31283
615
+ ],
616
+ "q01": [
617
+ 0.21752772534162784
618
+ ],
619
+ "q10": [
620
+ 2.3396320489347566
621
+ ],
622
+ "q50": [
623
+ 11.768378184956612
624
+ ],
625
+ "q90": [
626
+ 21.208577572904545
627
+ ],
628
+ "q99": [
629
+ 23.331887739927026
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e9d0df3acaa3419ea4c3b648d63fcfe517d2158c142296434f35852fb8bb45a0
3
+ size 2336
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:b8e17d355893cf54ae9a6aa36d0cfdbfae177e45d7a21cde55c0f7f7b0e2625b
3
+ size 315661240
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:c9692c0e80b6b7d3613110b99404cbe041d047a8f868b7885915933e64d0669e
3
+ size 373056864