wszhaorobot commited on
Commit
a1211ef
·
verified ·
1 Parent(s): fed1e32

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 sha256:66af8486addc95f96ea6dbe3c8ca6b152737838c65ca2ae30df25cac54dad3c8
3
+ size 1554929
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c46eb5bbfda434544e42227a755cf6c556bcadc2ad6e9475f2da0909dff01df5
3
+ size 229432
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": 28495,
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": "0:50"
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.wrist": {
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.exterior": {
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.exterior": {
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
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.5450211870274797
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.5495779957006938
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.49844524518850714
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0018991417354003422
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0019208797531151689
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0021424941405865532
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 5870
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.0028091039565432186
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.004666553758788329
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.007815991388036306
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.2208121793918688
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.2174192750218745
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.16662450678360533
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.41448854709301053
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.42344557236687613
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.3966178123046837
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.9356618664177282
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.9377935551055494
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.9462310528870101
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9999524211893689
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9999465295515074
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9999176613940226
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 28494
166
+ ],
167
+ "mean": [
168
+ 14247.0
169
+ ],
170
+ "std": [
171
+ 8225.79795521383
172
+ ],
173
+ "count": [
174
+ 28495
175
+ ],
176
+ "q01": [
177
+ 13928.880172658535
178
+ ],
179
+ "q10": [
180
+ 13987.344904364896
181
+ ],
182
+ "q50": [
183
+ 14246.8097810072
184
+ ],
185
+ "q90": [
186
+ 14506.622996740562
187
+ ],
188
+ "q99": [
189
+ 14565.119827341463
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -17.728431701660156,
195
+ 1.0500611066818237,
196
+ -82.46642303466797,
197
+ -0.3663003742694855,
198
+ -69.13308715820312,
199
+ 0.27567195892333984
200
+ ],
201
+ "max": [
202
+ 36.07571792602539,
203
+ 87.25274658203125,
204
+ -0.46398046612739563,
205
+ 98.82783508300781,
206
+ 45.05494689941406,
207
+ 95.86492156982422
208
+ ],
209
+ "mean": [
210
+ 11.605794247913241,
211
+ 44.62392876854819,
212
+ -38.069033742658014,
213
+ 64.60290152353453,
214
+ -23.422943348272952,
215
+ 12.88188490080277
216
+ ],
217
+ "std": [
218
+ 10.338318214453254,
219
+ 26.621023642019527,
220
+ 22.246926367125102,
221
+ 32.727384222961014,
222
+ 21.631133367675925,
223
+ 16.48654008863947
224
+ ],
225
+ "count": [
226
+ 28495
227
+ ],
228
+ "q01": [
229
+ -5.257677364752268,
230
+ 1.7464475518250577,
231
+ -62.830218524996575,
232
+ -0.01462353734871304,
233
+ -47.982304772518404,
234
+ 0.3362554551425953
235
+ ],
236
+ "q10": [
237
+ -1.2656936286199474,
238
+ 2.345651165728996,
239
+ -59.69314590547346,
240
+ 5.318954010155558,
241
+ -44.046709366724144,
242
+ 0.3542276519353276
243
+ ],
244
+ "q50": [
245
+ 11.484010844921894,
246
+ 56.47431253241712,
247
+ -46.07725958881288,
248
+ 80.1262712444155,
249
+ -24.661851933611324,
250
+ 6.799949271702757
251
+ ],
252
+ "q90": [
253
+ 24.220503318144168,
254
+ 70.0942317817519,
255
+ -1.9915884145856055,
256
+ 89.77836068848544,
257
+ -0.6762780319250344,
258
+ 37.911889595009804
259
+ ],
260
+ "q99": [
261
+ 27.381412941046147,
262
+ 73.43945431272368,
263
+ -0.8739916586409392,
264
+ 92.4796911000154,
265
+ 3.1681949073307067,
266
+ 46.871935406552375
267
+ ]
268
+ },
269
+ "action": {
270
+ "min": [
271
+ -18.48617172241211,
272
+ -0.17094017565250397,
273
+ -83.68742370605469,
274
+ -99.95115661621094,
275
+ -70.01220703125,
276
+ 0.0
277
+ ],
278
+ "max": [
279
+ 36.75400161743164,
280
+ 87.35042572021484,
281
+ 0.02442002482712269,
282
+ 99.85347747802734,
283
+ 45.29914474487305,
284
+ 97.31127166748047
285
+ ],
286
+ "mean": [
287
+ 11.587523317998034,
288
+ 43.22162367985905,
289
+ -38.76452977263649,
290
+ 64.5306217238451,
291
+ -23.42939441340872,
292
+ 10.231701810921798
293
+ ],
294
+ "std": [
295
+ 10.441552972818355,
296
+ 26.57475501476869,
297
+ 22.72710131625312,
298
+ 32.826454776119206,
299
+ 21.66808668112705,
300
+ 18.07456796181519
301
+ ],
302
+ "count": [
303
+ 28495
304
+ ],
305
+ "q01": [
306
+ -5.710913147054136,
307
+ -0.05558982579306031,
308
+ -64.38081730051088,
309
+ -0.16997886693834713,
310
+ -48.25917661333778,
311
+ 0.04387641666348633
312
+ ],
313
+ "q10": [
314
+ -1.4201257202297766,
315
+ 0.46558596485605,
316
+ -60.85006412193807,
317
+ 5.106118000219921,
318
+ -44.12514237451888,
319
+ 0.05217403316218783
320
+ ],
321
+ "q50": [
322
+ 11.335314449475405,
323
+ 54.73825280693692,
324
+ -46.90012807604988,
325
+ 80.0398995818227,
326
+ -24.66248363320921,
327
+ 0.14656552767679784
328
+ ],
329
+ "q90": [
330
+ 24.38008738036045,
331
+ 68.91113251846551,
332
+ -1.5212488226346053,
333
+ 89.84017087101783,
334
+ -0.5565635343643515,
335
+ 38.26754953870634
336
+ ],
337
+ "q99": [
338
+ 27.990570341546466,
339
+ 73.32924122040674,
340
+ -0.02502572464429933,
341
+ 92.83557619815777,
342
+ 3.3687313401497936,
343
+ 47.36078890712758
344
+ ]
345
+ },
346
+ "frame_index": {
347
+ "min": [
348
+ 0
349
+ ],
350
+ "max": [
351
+ 1794
352
+ ],
353
+ "mean": [
354
+ 324.1045095630813
355
+ ],
356
+ "std": [
357
+ 263.7381041273987
358
+ ],
359
+ "count": [
360
+ 28495
361
+ ],
362
+ "q01": [
363
+ 5.984682221624944
364
+ ],
365
+ "q10": [
366
+ 64.44941392797739
367
+ ],
368
+ "q50": [
369
+ 323.87724095455354
370
+ ],
371
+ "q90": [
372
+ 583.727506303642
373
+ ],
374
+ "q99": [
375
+ 642.2243369045376
376
+ ]
377
+ },
378
+ "episode_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 49
384
+ ],
385
+ "mean": [
386
+ 22.029233198806807
387
+ ],
388
+ "std": [
389
+ 14.762736803198996
390
+ ],
391
+ "count": [
392
+ 28495
393
+ ],
394
+ "q01": [
395
+ 22.029233198806807
396
+ ],
397
+ "q10": [
398
+ 22.02923319880681
399
+ ],
400
+ "q50": [
401
+ 22.02923319880682
402
+ ],
403
+ "q90": [
404
+ 22.029233198806836
405
+ ],
406
+ "q99": [
407
+ 22.029233198806843
408
+ ]
409
+ },
410
+ "observation.images.wrist": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.5054554719076728
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.5012821143150616
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.49034713015387865
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.01818734129035432
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.018578173691292495
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.019290009283695703
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 5870
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.009291829178391383
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.005273051583609025
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ -3.9215686274509807e-13
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.12431514409691376
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.12261004375224833
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.06135271858491595
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.4664744836776494
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.4640063525706579
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.4676322096734848
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.9992944650002584
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.998340341496738
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.9991460230361864
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.9999851272376759
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.9999843047166468
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.9999852608460125
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "task_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 0
574
+ ],
575
+ "mean": [
576
+ 0.0
577
+ ],
578
+ "std": [
579
+ 0.0
580
+ ],
581
+ "count": [
582
+ 28495
583
+ ],
584
+ "q01": [
585
+ 3.9999999999994167e-16
586
+ ],
587
+ "q10": [
588
+ 3.999999999999417e-15
589
+ ],
590
+ "q50": [
591
+ 1.9999999999997084e-14
592
+ ],
593
+ "q90": [
594
+ 3.599999999999475e-14
595
+ ],
596
+ "q99": [
597
+ 3.9599999999994235e-14
598
+ ]
599
+ },
600
+ "timestamp": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 59.8
606
+ ],
607
+ "mean": [
608
+ 10.803483652102715
609
+ ],
610
+ "std": [
611
+ 8.79127013757995
612
+ ],
613
+ "count": [
614
+ 28495
615
+ ],
616
+ "q01": [
617
+ 0.19948940729260142
618
+ ],
619
+ "q10": [
620
+ 2.1483137975217903
621
+ ],
622
+ "q50": [
623
+ 10.797143019009109
624
+ ],
625
+ "q90": [
626
+ 19.457583543532174
627
+ ],
628
+ "q99": [
629
+ 21.407477896912802
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:77ae326869a48eefa1440e274b08b2b203e6647517b8af99fa0180ee833395d1
3
+ size 2110
videos/observation.images.exterior/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9c8e8e1de295b5b882272a3b3df22f63e77123359237eff56d92da0473f80b33
3
+ size 202203292
videos/observation.images.exterior/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b11db8d321130ec461d031812fafaf7862dac71e45567ea4e3bf669829e09feb
3
+ size 167250673
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fce372f138c9e643da1a4cc475724ac974caa43f5aac2066aca522855f4b3374
3
+ size 206386987
videos/observation.images.wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8579ac60725b8770bed7bb5c9ccaad67a3847997c1c3c19943577c02f1b6895f
3
+ size 100060456