tana-51 commited on
Commit
a27d52f
·
verified ·
1 Parent(s): 410e626

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 sha256:06a440e4b5c6518a3312213cbefc72d65b81a77fbab94ff2e87ddd8cc680bbc1
3
+ size 88900
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03a6943ac7efc52586f1e723dceefdfa26fedc9a535dbe796315e8329d8ac285
3
+ size 55604
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 3,
5
+ "total_frames": 2651,
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": "0:3"
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.arm": {
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
+ "observation.images.arm": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 0.011764705882352941
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.01568627450980392
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.011764705882352941
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.0005468874233542214
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.0005469594366956404
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.0005468735260427195
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0014432358963570862
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0014439081884250985
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0014432222814277338
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 485
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ -3.9215686274509807e-13
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -3.9215686274509807e-13
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509807e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ -3.9215686274509807e-13
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ -3.9215686274509807e-13
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ -3.9215686274509807e-13
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ -3.9215686274509807e-13
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ -3.9215686274509807e-13
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ -3.9215686274509807e-13
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.003920599929596888
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.003922368524251515
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.003920599880050124
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.003922308682178457
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.003924646872741744
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.003922308680958781
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "task_index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 0
166
+ ],
167
+ "mean": [
168
+ 0.0
169
+ ],
170
+ "std": [
171
+ 0.0
172
+ ],
173
+ "count": [
174
+ 2651
175
+ ],
176
+ "q01": [
177
+ 3.999999999999417e-16
178
+ ],
179
+ "q10": [
180
+ 3.999999999999417e-15
181
+ ],
182
+ "q50": [
183
+ 1.9999999999997088e-14
184
+ ],
185
+ "q90": [
186
+ 3.599999999999476e-14
187
+ ],
188
+ "q99": [
189
+ 3.9599999999994235e-14
190
+ ]
191
+ },
192
+ "episode_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 2
198
+ ],
199
+ "mean": [
200
+ 1.000754432289702
201
+ ],
202
+ "std": [
203
+ 0.8161881784483195
204
+ ],
205
+ "count": [
206
+ 2651
207
+ ],
208
+ "q01": [
209
+ 1.0007544322897024
210
+ ],
211
+ "q10": [
212
+ 1.000754432289706
213
+ ],
214
+ "q50": [
215
+ 1.0007544322897222
216
+ ],
217
+ "q90": [
218
+ 1.000754432289738
219
+ ],
220
+ "q99": [
221
+ 1.0007544322897417
222
+ ]
223
+ },
224
+ "frame_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 884
230
+ ],
231
+ "mean": [
232
+ 441.334213504338
233
+ ],
234
+ "std": [
235
+ 255.09395454563767
236
+ ],
237
+ "count": [
238
+ 2651
239
+ ],
240
+ "q01": [
241
+ 8.09172191012439
242
+ ],
243
+ "q10": [
244
+ 87.97816681998783
245
+ ],
246
+ "q50": [
247
+ 441.0696795171633
248
+ ],
249
+ "q90": [
250
+ 794.6902601886882
251
+ ],
252
+ "q99": [
253
+ 874.5767050985517
254
+ ]
255
+ },
256
+ "timestamp": {
257
+ "min": [
258
+ 0.0
259
+ ],
260
+ "max": [
261
+ 29.466666666666665
262
+ ],
263
+ "mean": [
264
+ 14.711140450144601
265
+ ],
266
+ "std": [
267
+ 8.50313181818792
268
+ ],
269
+ "count": [
270
+ 2651
271
+ ],
272
+ "q01": [
273
+ 0.2697240635759187
274
+ ],
275
+ "q10": [
276
+ 2.9326055605888643
277
+ ],
278
+ "q50": [
279
+ 14.704290059097147
280
+ ],
281
+ "q90": [
282
+ 26.489675339700334
283
+ ],
284
+ "q99": [
285
+ 29.15255683671328
286
+ ]
287
+ },
288
+ "observation.images.front": {
289
+ "min": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "max": [
307
+ [
308
+ [
309
+ 1.0
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 1.0
315
+ ]
316
+ ],
317
+ [
318
+ [
319
+ 1.0
320
+ ]
321
+ ]
322
+ ],
323
+ "mean": [
324
+ [
325
+ [
326
+ 0.5386459727275791
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 0.5408351025032005
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.53121707600566
337
+ ]
338
+ ]
339
+ ],
340
+ "std": [
341
+ [
342
+ [
343
+ 0.003765638882685092
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.0037170965986553653
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.003605632681409589
354
+ ]
355
+ ]
356
+ ],
357
+ "count": [
358
+ 485
359
+ ],
360
+ "q01": [
361
+ [
362
+ [
363
+ 0.09017286973575735
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.058877129004440955
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.09666469025723685
374
+ ]
375
+ ]
376
+ ],
377
+ "q10": [
378
+ [
379
+ [
380
+ 0.47439708505784295
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.47066341809788254
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.44573891698077084
391
+ ]
392
+ ]
393
+ ],
394
+ "q50": [
395
+ [
396
+ [
397
+ 0.5529247952999542
398
+ ]
399
+ ],
400
+ [
401
+ [
402
+ 0.5555342340903996
403
+ ]
404
+ ],
405
+ [
406
+ [
407
+ 0.5398430460915501
408
+ ]
409
+ ]
410
+ ],
411
+ "q90": [
412
+ [
413
+ [
414
+ 0.6039463813261629
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.6144139581163168
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.6195160325497443
425
+ ]
426
+ ]
427
+ ],
428
+ "q99": [
429
+ [
430
+ [
431
+ 0.6418550075331952
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 0.6849218174739914
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 0.7621548403263192
442
+ ]
443
+ ]
444
+ ]
445
+ },
446
+ "observation.state": {
447
+ "min": [
448
+ -21.961933135986328,
449
+ -97.98403930664062,
450
+ -33.513999938964844,
451
+ -6.215644836425781,
452
+ -2.973881483078003,
453
+ 1.5894039869308472
454
+ ],
455
+ "max": [
456
+ 22.035139083862305,
457
+ 65.05670166015625,
458
+ 99.27732849121094,
459
+ 52.05073928833008,
460
+ 51.22834396362305,
461
+ 59.13907241821289
462
+ ],
463
+ "mean": [
464
+ -6.549964821684904,
465
+ -63.96989581217095,
466
+ 76.3230633384909,
467
+ 34.796317364934794,
468
+ 16.77982900728149,
469
+ 15.313274386063112
470
+ ],
471
+ "std": [
472
+ 9.945825182285114,
473
+ 53.93891001120252,
474
+ 39.80329097737284,
475
+ 23.14021272104824,
476
+ 21.846337697217237,
477
+ 21.046629672900426
478
+ ],
479
+ "count": [
480
+ 2651
481
+ ],
482
+ "q01": [
483
+ -21.0344417704912,
484
+ -97.92798674075121,
485
+ -29.864084296987354,
486
+ -1.4496354822574673,
487
+ -1.0069029080085106,
488
+ 1.6775376736915413
489
+ ],
490
+ "q10": [
491
+ -17.155273467337455,
492
+ -97.90570296656693,
493
+ 12.312317263338082,
494
+ -1.1127295306557936,
495
+ -0.9009261794983516,
496
+ 1.6775376736915413
497
+ ],
498
+ "q50": [
499
+ -8.662108996992,
500
+ -96.38435081738787,
501
+ 98.94124774766114,
502
+ 50.193762330162876,
503
+ 2.146232009245505,
504
+ 2.4532326343202797
505
+ ],
506
+ "q90": [
507
+ 12.838482439378577,
508
+ 16.531512599104566,
509
+ 99.01259012777211,
510
+ 51.4267575824322,
511
+ 50.779862510347044,
512
+ 54.34061905342049
513
+ ],
514
+ "q99": [
515
+ 21.05893705681958,
516
+ 60.95353876924191,
517
+ 99.14479034468148,
518
+ 51.42999077737086,
519
+ 50.880442841614915,
520
+ 54.71968536125917
521
+ ]
522
+ },
523
+ "action": {
524
+ "min": [
525
+ -22.091310501098633,
526
+ -98.98947143554688,
527
+ -34.321651458740234,
528
+ -6.411397933959961,
529
+ -2.92887020111084,
530
+ 0.0
531
+ ],
532
+ "max": [
533
+ 22.312223434448242,
534
+ 64.63157653808594,
535
+ 100.0,
536
+ 52.537845611572266,
537
+ 51.412132263183594,
538
+ 61.184669494628906
539
+ ],
540
+ "mean": [
541
+ -6.418772794758765,
542
+ -65.01475324166671,
543
+ 76.31732360770773,
544
+ 34.751466479853654,
545
+ 16.746568238766677,
546
+ 14.24034599482631
547
+ ],
548
+ "std": [
549
+ 10.015406523123088,
550
+ 53.85636983107763,
551
+ 40.715525352996856,
552
+ 23.57548677628705,
553
+ 21.950750656138116,
554
+ 22.030479682904353
555
+ ],
556
+ "count": [
557
+ 2651
558
+ ],
559
+ "q01": [
560
+ -21.10811186935082,
561
+ -98.90519973657034,
562
+ -31.79839231958033,
563
+ -1.9552425035932117,
564
+ -1.218615579391436,
565
+ 0.7587005499252659
566
+ ],
567
+ "q10": [
568
+ -17.379709314259735,
569
+ -98.82450459300954,
570
+ 10.322223755886391,
571
+ -1.8667442640674679,
572
+ -1.041602121948075,
573
+ 0.7605807540020105
574
+ ],
575
+ "q50": [
576
+ -8.490610794679341,
577
+ -97.60548360058188,
578
+ 99.57178122527316,
579
+ 50.373992397126834,
580
+ 2.179836889922438,
581
+ 0.8137027430267286
582
+ ],
583
+ "q90": [
584
+ 13.060087577031272,
585
+ 16.415611111080818,
586
+ 99.66890802345026,
587
+ 51.678997460078016,
588
+ 50.974724711406694,
589
+ 54.538755294408666
590
+ ],
591
+ "q99": [
592
+ 21.327643359604085,
593
+ 60.580937301500896,
594
+ 99.80636752008904,
595
+ 51.79190200158171,
596
+ 51.14667571315948,
597
+ 55.21207996739334
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 2650
606
+ ],
607
+ "mean": [
608
+ 1325.0
609
+ ],
610
+ "std": [
611
+ 765.2777273643864
612
+ ],
613
+ "count": [
614
+ 2651
615
+ ],
616
+ "q01": [
617
+ 891.7575084057864
618
+ ],
619
+ "q10": [
620
+ 971.6439533156497
621
+ ],
622
+ "q50": [
623
+ 1324.794488268578
624
+ ],
625
+ "q90": [
626
+ 1678.3560466843505
627
+ ],
628
+ "q99": [
629
+ 1758.2424915942136
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:09517aace0501abf231a687bf9435dbcd8c230d79aba01fd7b93d16c7fe10496
3
+ size 2191
videos/observation.images.arm/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e3fb793d962d964461c1816b3c892f54f247214be1992aabf6167ccef012fc9e
3
+ size 239550
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 sha256:793b8599dbbde176dec0d98105c45053faeb6a5f10a89084cc8aa3752ee4bd37
3
+ size 22431158