tana-51 commited on
Commit
1b98343
·
verified ·
1 Parent(s): c7e041e

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 sha256:2302671a4de81fef138ef8f871a3ced3bec11bde8d3af4078096b579890cd541
3
+ size 713960
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4d94e0d37ac2a719eda2d17d3fec0ca7841f3ef29323c420ac9f2b0b1cefd098
3
+ size 125992
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 30,
5
+ "total_frames": 17454,
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": "0:30"
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
+ "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
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 17453
8
+ ],
9
+ "mean": [
10
+ 8726.5
11
+ ],
12
+ "std": [
13
+ 5038.535790948266
14
+ ],
15
+ "count": [
16
+ 17454
17
+ ],
18
+ "q01": [
19
+ 8441.131309670121
20
+ ],
21
+ "q10": [
22
+ 8493.997696816696
23
+ ],
24
+ "q50": [
25
+ 8726.2783856308
26
+ ],
27
+ "q90": [
28
+ 8959.002303183304
29
+ ],
30
+ "q99": [
31
+ 9011.868690329879
32
+ ]
33
+ },
34
+ "timestamp": {
35
+ "min": [
36
+ 0.0
37
+ ],
38
+ "max": [
39
+ 19.466666666666665
40
+ ],
41
+ "mean": [
42
+ 9.680394178984761
43
+ ],
44
+ "std": [
45
+ 5.599035089364786
46
+ ],
47
+ "count": [
48
+ 17454
49
+ ],
50
+ "q01": [
51
+ 0.16810450122712522
52
+ ],
53
+ "q10": [
54
+ 1.9303174061305506
55
+ ],
56
+ "q50": [
57
+ 9.67300703334471
58
+ ],
59
+ "q90": [
60
+ 17.43047095183897
61
+ ],
62
+ "q99": [
63
+ 19.19268385674239
64
+ ]
65
+ },
66
+ "observation.images.front": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.0
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 1.0
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 1.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.46170550053496096
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.4420750781652779
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.42091521481130384
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.014254322241667313
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.016122403763924292
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.01537492458631796
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 3537
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.04444317559788618
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.0564410504839075
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.06431073890353146
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.1290665595125304
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.11451810512651292
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.12914801425950517
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.5277242815264858
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.5019628119333938
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.4649807266523791
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.5925637019545257
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.5708386011901945
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.544080014512114
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.6992369872909072
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.681575063538602
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.6726662764022502
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "episode_index": {
225
+ "min": [
226
+ 0
227
+ ],
228
+ "max": [
229
+ 29
230
+ ],
231
+ "mean": [
232
+ 14.489687177724305
233
+ ],
234
+ "std": [
235
+ 8.65929353257684
236
+ ],
237
+ "count": [
238
+ 17454
239
+ ],
240
+ "q01": [
241
+ 14.489687177724305
242
+ ],
243
+ "q10": [
244
+ 14.489687177724306
245
+ ],
246
+ "q50": [
247
+ 14.48968717772432
248
+ ],
249
+ "q90": [
250
+ 14.489687177724344
251
+ ],
252
+ "q99": [
253
+ 14.489687177724349
254
+ ]
255
+ },
256
+ "action": {
257
+ "min": [
258
+ -39.36087417602539,
259
+ -100.0,
260
+ -45.09272003173828,
261
+ 4.797048091888428,
262
+ -5.003929615020752,
263
+ 0.6960557103157043
264
+ ],
265
+ "max": [
266
+ 57.4434928894043,
267
+ 48.05194854736328,
268
+ 99.81908416748047,
269
+ 96.96597290039062,
270
+ 60.649723052978516,
271
+ 36.040218353271484
272
+ ],
273
+ "mean": [
274
+ 10.99032663460298,
275
+ -41.97434331653071,
276
+ 45.35604544927319,
277
+ 57.90455736654436,
278
+ 7.246942208588321,
279
+ 17.243518134388466
280
+ ],
281
+ "std": [
282
+ 24.087945514578422,
283
+ 57.29853531172066,
284
+ 51.8651830758243,
285
+ 11.509166839886433,
286
+ 8.11518670555136,
287
+ 9.909037741115185
288
+ ],
289
+ "count": [
290
+ 17454
291
+ ],
292
+ "q01": [
293
+ -15.572366575039943,
294
+ -98.58786061131536,
295
+ -26.89405741279894,
296
+ 44.99083464439725,
297
+ -0.3880158636296008,
298
+ 1.7885349857917534
299
+ ],
300
+ "q10": [
301
+ -13.921094763385737,
302
+ -98.37322837438565,
303
+ -22.805627009809687,
304
+ 46.091763157936775,
305
+ 0.38702442294473877,
306
+ 2.179467694509684
307
+ ],
308
+ "q50": [
309
+ 4.119476838151017,
310
+ -63.81170773574837,
311
+ 60.739328671312855,
312
+ 58.49717034440002,
313
+ 6.268289139714555,
314
+ 19.06549532337685
315
+ ],
316
+ "q90": [
317
+ 47.587508496813996,
318
+ 29.625707071463896,
319
+ 97.07620634074915,
320
+ 68.40059897304293,
321
+ 16.15314343989994,
322
+ 27.129135948317977
323
+ ],
324
+ "q99": [
325
+ 52.012691397332574,
326
+ 35.879212030671795,
327
+ 97.18953458067877,
328
+ 84.55894366898445,
329
+ 17.362439710260677,
330
+ 28.400053899747142
331
+ ]
332
+ },
333
+ "observation.state": {
334
+ "min": [
335
+ -38.91081237792969,
336
+ -99.4090347290039,
337
+ -42.31974792480469,
338
+ 5.361701965332031,
339
+ -4.615384578704834,
340
+ 2.3026316165924072
341
+ ],
342
+ "max": [
343
+ 57.14285659790039,
344
+ 48.41705322265625,
345
+ 98.3878173828125,
346
+ 96.17021179199219,
347
+ 60.26075744628906,
348
+ 35.657894134521484
349
+ ],
350
+ "mean": [
351
+ 10.92968019600981,
352
+ -41.2757723147317,
353
+ 46.396592994428545,
354
+ 58.38192547011023,
355
+ 7.2488641549703035,
356
+ 17.815113657676733
357
+ ],
358
+ "std": [
359
+ 24.104719883888027,
360
+ 57.69738931113832,
361
+ 51.03569112365461,
362
+ 11.369846936217758,
363
+ 8.033671609889081,
364
+ 8.83882867080769
365
+ ],
366
+ "count": [
367
+ 17454
368
+ ],
369
+ "q01": [
370
+ -15.25196740535433,
371
+ -98.29449493374553,
372
+ -24.372472732182057,
373
+ 45.7197089189636,
374
+ -0.14646544057547722,
375
+ 4.8274899078835265
376
+ ],
377
+ "q10": [
378
+ -14.017596350363325,
379
+ -98.03614299514167,
380
+ -20.844806338904323,
381
+ 46.711316818168115,
382
+ 0.5554576166357351,
383
+ 5.289881894637167
384
+ ],
385
+ "q50": [
386
+ 3.999631507312782,
387
+ -63.39017348984454,
388
+ 61.89835225124852,
389
+ 58.953776376151666,
390
+ 6.306333088562525,
391
+ 19.148086203265535
392
+ ],
393
+ "q90": [
394
+ 47.649853867992405,
395
+ 30.4371326159802,
396
+ 97.01295979872468,
397
+ 68.62624666726008,
398
+ 16.0318524457861,
399
+ 26.85878767212329
400
+ ],
401
+ "q99": [
402
+ 51.749522186983555,
403
+ 36.2401391130191,
404
+ 97.02509274882154,
405
+ 84.04021589458313,
406
+ 17.055479062769127,
407
+ 28.041883408050627
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 584
416
+ ],
417
+ "mean": [
418
+ 290.41182536954267
419
+ ],
420
+ "std": [
421
+ 167.97105268094367
422
+ ],
423
+ "count": [
424
+ 17454
425
+ ],
426
+ "q01": [
427
+ 5.043135039663398
428
+ ],
429
+ "q10": [
430
+ 57.90952218623826
431
+ ],
432
+ "q50": [
433
+ 290.1362011000342
434
+ ],
435
+ "q90": [
436
+ 522.9141285528475
437
+ ],
438
+ "q99": [
439
+ 575.7805156994222
440
+ ]
441
+ },
442
+ "task_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 0
448
+ ],
449
+ "mean": [
450
+ 0.0
451
+ ],
452
+ "std": [
453
+ 0.0
454
+ ],
455
+ "count": [
456
+ 17454
457
+ ],
458
+ "q01": [
459
+ 3.999999999999419e-16
460
+ ],
461
+ "q10": [
462
+ 3.999999999999417e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997088e-14
466
+ ],
467
+ "q90": [
468
+ 3.5999999999994754e-14
469
+ ],
470
+ "q99": [
471
+ 3.959999999999425e-14
472
+ ]
473
+ }
474
+ }
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.front/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98743e82c49c0d57f3914d007f1001bb551740170ecaa2d9b8a049253068fcb9
3
+ size 98198647