yamilama commited on
Commit
3f441ff
·
verified ·
1 Parent(s): 47fd5dc

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 sha256:87ed10612b0f7825d0a4710cca978b4bb367f133724fc98988a7d6a1e273332b
3
+ size 1785256
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9336ca9506eacee798c7b7546962db365cfabb4e3972f20d8c69b3c1cc4ac9ce
3
+ size 436305
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 100,
5
+ "total_frames": 34401,
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": "0:100"
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.top": {
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.wrist": {
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.state": {
3
+ "min": [
4
+ -98.60140228271484,
5
+ -94.93775939941406,
6
+ -83.0823745727539,
7
+ 44.17836380004883,
8
+ 8.591946601867676,
9
+ 4.516129016876221
10
+ ],
11
+ "max": [
12
+ 33.66633224487305,
13
+ 60.08298873901367,
14
+ 97.60850524902344,
15
+ 96.36663818359375,
16
+ 72.60836029052734,
17
+ 44.25806427001953
18
+ ],
19
+ "mean": [
20
+ -14.388633652601937,
21
+ -20.01320281843367,
22
+ 21.626580387820848,
23
+ 76.95061714565136,
24
+ 45.581604432492774,
25
+ 13.183980690802615
26
+ ],
27
+ "std": [
28
+ 36.49546365487375,
29
+ 54.8378257185246,
30
+ 55.426127382172616,
31
+ 7.272270657309138,
32
+ 16.347483388670902,
33
+ 11.128150658250922
34
+ ],
35
+ "count": [
36
+ 34401
37
+ ],
38
+ "q01": [
39
+ -68.93765326130648,
40
+ -94.48181100184237,
41
+ -41.603846960170955,
42
+ 61.32753829811174,
43
+ 20.303941314632905,
44
+ 4.649191426071054
45
+ ],
46
+ "q10": [
47
+ -67.60809628866788,
48
+ -94.41693427769725,
49
+ -38.62336386184155,
50
+ 70.2285694029187,
51
+ 21.611160041305432,
52
+ 4.695297151852772
53
+ ],
54
+ "q50": [
55
+ 0.1786678832366657,
56
+ 2.2163583272191305,
57
+ -5.3258229303162405,
58
+ 76.48196611807816,
59
+ 51.89540394332859,
60
+ 7.458293377359918
61
+ ],
62
+ "q90": [
63
+ 23.547944251586514,
64
+ 41.56652073058904,
65
+ 97.42154498168254,
66
+ 85.68120251443811,
67
+ 62.54565058816465,
68
+ 32.695562912895845
69
+ ],
70
+ "q99": [
71
+ 25.8266054408275,
72
+ 45.3521899647654,
73
+ 97.45691069110327,
74
+ 87.96761313548927,
75
+ 63.93097483869575,
76
+ 33.28951380958294
77
+ ]
78
+ },
79
+ "timestamp": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 19.666666666666668
85
+ ],
86
+ "mean": [
87
+ 5.816844471575446
88
+ ],
89
+ "std": [
90
+ 3.5090645958063176
91
+ ],
92
+ "count": [
93
+ 34401
94
+ ],
95
+ "q01": [
96
+ 0.10057200256056763
97
+ ],
98
+ "q10": [
99
+ 1.1482813144551667
100
+ ],
101
+ "q50": [
102
+ 5.810110972355335
103
+ ],
104
+ "q90": [
105
+ 10.482661832546324
106
+ ],
107
+ "q99": [
108
+ 11.532745788588917
109
+ ]
110
+ },
111
+ "task_index": {
112
+ "min": [
113
+ 0
114
+ ],
115
+ "max": [
116
+ 0
117
+ ],
118
+ "mean": [
119
+ 0.0
120
+ ],
121
+ "std": [
122
+ 0.0
123
+ ],
124
+ "count": [
125
+ 34401
126
+ ],
127
+ "q01": [
128
+ 3.999999999999418e-16
129
+ ],
130
+ "q10": [
131
+ 3.999999999999418e-15
132
+ ],
133
+ "q50": [
134
+ 1.999999999999708e-14
135
+ ],
136
+ "q90": [
137
+ 3.599999999999474e-14
138
+ ],
139
+ "q99": [
140
+ 3.959999999999424e-14
141
+ ]
142
+ },
143
+ "observation.images.wrist": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.3990532427030351
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.4976950816333479
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.498396206427287
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.005360135658849949
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.0033333155082885843
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.004109161640118645
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 10027
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ 0.06988026596794224
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.03565317075823394
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.0662850689599628
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.21114077308609472
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.210433235623353
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.24437565113285578
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.3280546733973025
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.53113376759523
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.5177243173813337
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.8717415193610951
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.6633968270730628
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.6798577982085399
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.999929749284229
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.984296690487838
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.9891280295584574
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "observation.images.top": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.41350083722071335
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.4542297865615776
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.459186777685543
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.006862488445959297
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.007123480641411822
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.007295968580885087
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 10027
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.0808394726532496
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.06966110735908643
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.09119836857187018
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.13604019079442659
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.16481772819505552
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.1776277110541358
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.4028324758540815
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5053155768181983
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.4949450698924993
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.7430704232618187
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.620994972997108
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.6451524253634006
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.9998720691619895
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.7918264426313935
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.8783308191384184
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "frame_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 590
465
+ ],
466
+ "mean": [
467
+ 174.50533414726314
468
+ ],
469
+ "std": [
470
+ 105.27193787418948
471
+ ],
472
+ "count": [
473
+ 34401
474
+ ],
475
+ "q01": [
476
+ 3.0171600796668523
477
+ ],
478
+ "q10": [
479
+ 34.44843943598264
480
+ ],
481
+ "q50": [
482
+ 174.30189235196636
483
+ ],
484
+ "q90": [
485
+ 314.4798549740635
486
+ ],
487
+ "q99": [
488
+ 345.98237365481765
489
+ ]
490
+ },
491
+ "index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 34400
497
+ ],
498
+ "mean": [
499
+ 17200.0
500
+ ],
501
+ "std": [
502
+ 9930.71330100042
503
+ ],
504
+ "count": [
505
+ 34401
506
+ ],
507
+ "q01": [
508
+ 17028.511825932408
509
+ ],
510
+ "q10": [
511
+ 17059.943105288716
512
+ ],
513
+ "q50": [
514
+ 17199.801703729547
515
+ ],
516
+ "q90": [
517
+ 17339.9745208268
518
+ ],
519
+ "q99": [
520
+ 17371.47703950755
521
+ ]
522
+ },
523
+ "episode_index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 99
529
+ ],
530
+ "mean": [
531
+ 47.866399232580434
532
+ ],
533
+ "std": [
534
+ 29.04381735210039
535
+ ],
536
+ "count": [
537
+ 34401
538
+ ],
539
+ "q01": [
540
+ 47.866399232580434
541
+ ],
542
+ "q10": [
543
+ 47.866399232580434
544
+ ],
545
+ "q50": [
546
+ 47.86639923258047
547
+ ],
548
+ "q90": [
549
+ 47.86639923258047
550
+ ],
551
+ "q99": [
552
+ 47.86639923258047
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -100.0,
558
+ -98.76339721679688,
559
+ -89.20124816894531,
560
+ 43.086002349853516,
561
+ 8.191654205322266,
562
+ 1.2996389865875244
563
+ ],
564
+ "max": [
565
+ 35.12224197387695,
566
+ 58.61500549316406,
567
+ 99.2860336303711,
568
+ 97.47048950195312,
569
+ 73.20968627929688,
570
+ 44.62093734741211
571
+ ],
572
+ "mean": [
573
+ -14.35603314520145,
574
+ -23.108992974829736,
575
+ 19.37957468769833,
576
+ 76.86161510365177,
577
+ 45.59073252966367,
578
+ 11.223077842660507
579
+ ],
580
+ "std": [
581
+ 36.68005776990131,
582
+ 54.58657004493021,
583
+ 57.20038736765799,
584
+ 7.439000337661966,
585
+ 16.467693050256806,
586
+ 12.666130421108134
587
+ ],
588
+ "count": [
589
+ 34401
590
+ ],
591
+ "q01": [
592
+ -69.48521583961978,
593
+ -97.45754782983946,
594
+ -45.733602276808014,
595
+ 60.1868010297173,
596
+ 19.959485836629888,
597
+ 2.5324023680489276
598
+ ],
599
+ "q10": [
600
+ -67.82163150974833,
601
+ -97.26300146248298,
602
+ -42.0876276281764,
603
+ 70.03710084188963,
604
+ 21.42970547367133,
605
+ 2.631132378515742
606
+ ],
607
+ "q50": [
608
+ 0.06501192598983949,
609
+ -3.09912045526927,
610
+ -8.020848211100585,
611
+ 76.47673404832189,
612
+ 51.791867664876506,
613
+ 2.9239419438725283
614
+ ],
615
+ "q90": [
616
+ 23.775799046217507,
617
+ 38.062482184325575,
618
+ 98.64505185846359,
619
+ 85.67406813942553,
620
+ 62.6775927312225,
621
+ 32.93064613786515
622
+ ],
623
+ "q99": [
624
+ 26.44708263261682,
625
+ 44.351110796274014,
626
+ 98.72099411069605,
627
+ 88.30726108756006,
628
+ 64.32772897558776,
629
+ 33.61853614890754
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dee796f85419c8b07d0e19949ebb620bffe3bee5a68a3da4d2be90601d2fa06e
3
+ size 2146
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:cb8dd8566316d8a072e9f57b777d54b2bc564ca65a942e2b60b90855cdd3cb8a
3
+ size 522483732
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a599bf77404f52b781520d73d1e78327f02276842a87159f15aa1b478ad4031
3
+ size 28342387
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 sha256:848283657bcf17d1c61e2118d1debc9754c6cc7d168c3acd618cf6013b3acdfa
3
+ size 477568550