xjtu-dzz commited on
Commit
d665ac3
·
verified ·
1 Parent(s): 73024bb

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 sha256:3c310864459cdba4c7b6b195a59cf37bbceefa65389452677d6cc5cf657c9aaa
3
+ size 621296
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a61986f51da3c79b8d27c3f35796c41a532f57ed3a51a1716bc0781e607da1b6
3
+ size 161114
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": 19509,
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
+ 19508
8
+ ],
9
+ "mean": [
10
+ 9754.0
11
+ ],
12
+ "std": [
13
+ 5631.7631934116935
14
+ ],
15
+ "count": [
16
+ 19509
17
+ ],
18
+ "q01": [
19
+ 9512.05483063458
20
+ ],
21
+ "q10": [
22
+ 9556.499076534854
23
+ ],
24
+ "q50": [
25
+ 9753.693649013278
26
+ ],
27
+ "q90": [
28
+ 9951.441125013147
29
+ ],
30
+ "q99": [
31
+ 9995.945169365421
32
+ ]
33
+ },
34
+ "observation.images.front": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5276760432146461
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.523426454799617
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5304562896143777
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.013404399057914794
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.014750979267610449
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.018219695800188788
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 5291
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.048618446745371545
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.030335147898487708
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.0015092173347675012
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.19004425871561398
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.17557594596276332
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.1619895349892548
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.5603519064023279
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.5609764958473034
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5675039866401826
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.8433672219737619
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.8418356208541317
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.8678488988766594
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.9997026801057185
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.9997739202412591
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9999477032485047
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -67.25926208496094,
195
+ -98.98002624511719,
196
+ -99.36363983154297,
197
+ -98.43952941894531,
198
+ -95.4957275390625,
199
+ 0.7518796920776367
200
+ ],
201
+ "max": [
202
+ 23.481481552124023,
203
+ 85.04037475585938,
204
+ 99.63636016845703,
205
+ 99.73992156982422,
206
+ -18.974889755249023,
207
+ 66.43882751464844
208
+ ],
209
+ "mean": [
210
+ -13.954116121077318,
211
+ -27.481535630160387,
212
+ 28.95946254942839,
213
+ 62.1231612478717,
214
+ -54.365848336925424,
215
+ 11.068267046992787
216
+ ],
217
+ "std": [
218
+ 19.35021658746933,
219
+ 64.55360214260774,
220
+ 64.02553109431473,
221
+ 32.901260367208465,
222
+ 12.36744382393522,
223
+ 14.344228848246045
224
+ ],
225
+ "count": [
226
+ 19509
227
+ ],
228
+ "q01": [
229
+ -41.58928387846439,
230
+ -97.5613138302837,
231
+ -40.20688769439327,
232
+ 24.599925576419263,
233
+ -69.38966113379587,
234
+ 1.2373334350466598
235
+ ],
236
+ "q10": [
237
+ -36.56402196605382,
238
+ -96.88638235303408,
239
+ -30.373662855929044,
240
+ 36.69216135696723,
241
+ -66.2149023658944,
242
+ 1.3661947972214634
243
+ ],
244
+ "q50": [
245
+ -10.96209822272642,
246
+ -17.662031379384704,
247
+ 15.154647269749404,
248
+ 61.404332314436864,
249
+ -52.426044635912646,
250
+ 6.8944520987627005
251
+ ],
252
+ "q90": [
253
+ 8.21003746320399,
254
+ 39.62638010214545,
255
+ 93.83148398387658,
256
+ 87.56963286641705,
257
+ -45.58180646655282,
258
+ 32.32119682443317
259
+ ],
260
+ "q99": [
261
+ 13.692187270783014,
262
+ 47.577562302674686,
263
+ 94.9906535474423,
264
+ 90.73362758304003,
265
+ -43.166137340133915,
266
+ 43.24560141074291
267
+ ]
268
+ },
269
+ "observation.images.top": {
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ],
287
+ "max": [
288
+ [
289
+ [
290
+ 1.0
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 1.0
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 1.0
301
+ ]
302
+ ]
303
+ ],
304
+ "mean": [
305
+ [
306
+ [
307
+ 0.4568758110872081
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.4495015676670087
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.4559213131915337
318
+ ]
319
+ ]
320
+ ],
321
+ "std": [
322
+ [
323
+ [
324
+ 0.00814432489554846
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.00629325244319586
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.007290181263307952
335
+ ]
336
+ ]
337
+ ],
338
+ "count": [
339
+ 5291
340
+ ],
341
+ "q01": [
342
+ [
343
+ [
344
+ 0.010699119299918193
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ -3.9215686274509827e-13
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.0005967156136499785
355
+ ]
356
+ ]
357
+ ],
358
+ "q10": [
359
+ [
360
+ [
361
+ 0.10510130833855152
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.075720291383705
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.08183760378771844
372
+ ]
373
+ ]
374
+ ],
375
+ "q50": [
376
+ [
377
+ [
378
+ 0.4212853846979191
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.4480502908548963
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.4936086075914402
389
+ ]
390
+ ]
391
+ ],
392
+ "q90": [
393
+ [
394
+ [
395
+ 0.7860533915280614
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.7714779279338231
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.736725630338347
406
+ ]
407
+ ]
408
+ ],
409
+ "q99": [
410
+ [
411
+ [
412
+ 0.9994293742247919
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.9996712685165463
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.9995235548533918
423
+ ]
424
+ ]
425
+ ]
426
+ },
427
+ "timestamp": {
428
+ "min": [
429
+ 0.0
430
+ ],
431
+ "max": [
432
+ 47.766666666666666
433
+ ],
434
+ "mean": [
435
+ 8.212032053582114
436
+ ],
437
+ "std": [
438
+ 7.958182534884415
439
+ ],
440
+ "count": [
441
+ 19509
442
+ ],
443
+ "q01": [
444
+ 0.1471930746398904
445
+ ],
446
+ "q10": [
447
+ 1.628667937999655
448
+ ],
449
+ "q50": [
450
+ 8.20182035402448
451
+ ],
452
+ "q90": [
453
+ 14.793402887431304
454
+ ],
455
+ "q99": [
456
+ 16.27687103252432
457
+ ]
458
+ },
459
+ "episode_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 49
465
+ ],
466
+ "mean": [
467
+ 23.955302680813986
468
+ ],
469
+ "std": [
470
+ 13.99213516325003
471
+ ],
472
+ "count": [
473
+ 19509
474
+ ],
475
+ "q01": [
476
+ 23.955302680813986
477
+ ],
478
+ "q10": [
479
+ 23.955302680813986
480
+ ],
481
+ "q50": [
482
+ 23.955302680814
483
+ ],
484
+ "q90": [
485
+ 23.955302680814
486
+ ],
487
+ "q99": [
488
+ 23.955302680814
489
+ ]
490
+ },
491
+ "action": {
492
+ "min": [
493
+ -67.42984008789062,
494
+ -100.0,
495
+ -100.0,
496
+ -98.9565200805664,
497
+ -95.55323028564453,
498
+ 0.0
499
+ ],
500
+ "max": [
501
+ 23.70753288269043,
502
+ 84.41448974609375,
503
+ 100.0,
504
+ 100.0,
505
+ -19.0164794921875,
506
+ 66.88471221923828
507
+ ],
508
+ "mean": [
509
+ -13.85339525877723,
510
+ -28.368863878724785,
511
+ 27.963263632935405,
512
+ 61.89403357504087,
513
+ -54.337777154132425,
514
+ 10.842969916651313
515
+ ],
516
+ "std": [
517
+ 19.40717618136681,
518
+ 63.81693213842931,
519
+ 64.50215767706946,
520
+ 33.3259656669639,
521
+ 12.418204541391285,
522
+ 14.72177783443102
523
+ ],
524
+ "count": [
525
+ 19509
526
+ ],
527
+ "q01": [
528
+ -41.78991510196221,
529
+ -98.07504691800762,
530
+ -42.38011803149067,
531
+ 24.161283178839366,
532
+ -69.61159339551601,
533
+ 0.6646452958900668
534
+ ],
535
+ "q10": [
536
+ -36.50199959856028,
537
+ -97.25555127696074,
538
+ -31.925978933828,
539
+ 35.7647689724926,
540
+ -66.3826060715948,
541
+ 0.9621755627196722
542
+ ],
543
+ "q50": [
544
+ -10.986788913409956,
545
+ -18.80785685891538,
546
+ 13.747412830023494,
547
+ 61.2715057173803,
548
+ -52.35089736652994,
549
+ 6.487900888660487
550
+ ],
551
+ "q90": [
552
+ 8.367556592130107,
553
+ 38.59848446875229,
554
+ 93.94653534780048,
555
+ 87.79062071365283,
556
+ -45.503679684022664,
557
+ 33.03036597298825
558
+ ],
559
+ "q99": [
560
+ 14.036707402933114,
561
+ 47.27409681614559,
562
+ 95.08148661540821,
563
+ 91.12375979827053,
564
+ -42.959758212768904,
565
+ 43.79867542812474
566
+ ]
567
+ },
568
+ "frame_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 1433
574
+ ],
575
+ "mean": [
576
+ 246.36096160746322
577
+ ],
578
+ "std": [
579
+ 238.74547604653256
580
+ ],
581
+ "count": [
582
+ 19509
583
+ ],
584
+ "q01": [
585
+ 4.415792242046389
586
+ ],
587
+ "q10": [
588
+ 48.86003814231564
589
+ ],
590
+ "q50": [
591
+ 246.05350434158586
592
+ ],
593
+ "q90": [
594
+ 443.80208662061426
595
+ ],
596
+ "q99": [
597
+ 488.30613097288017
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 19509
615
+ ],
616
+ "q01": [
617
+ 3.999999999999418e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999418e-15
621
+ ],
622
+ "q50": [
623
+ 1.999999999999709e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999475e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:14091c02e6897e00f0cff384f88fc7fe515347f6c8c82e7d759869ddb0f22ff4
3
+ size 2146
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 sha256:49af13d7b4fed2df27d03f33bd61ea8bf1db5927e405ac4ffd8591df5c361b68
3
+ size 119497293
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 sha256:09867083140cf2451744350844d8457f32f9e26fe990656c0504081c2aab3439
3
+ size 389102878