yamilama commited on
Commit
25ed0d5
·
verified ·
1 Parent(s): 9f0ccbe

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 sha256:415c1ec5764b4e2e7205fda22ff16d251c9f14890a9b86bef75d44db6bebcb10
3
+ size 470040
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4381c284fbdcda877684c3999f10bc20a47fc741b618a9729498c945ce8233c5
3
+ size 103838
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 8880,
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": "0:20"
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.images.top": {
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
+ 0.5042167912581699
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.5626962603145425
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.5665608757148693
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.009971907124834254
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.00598156611996147
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.00619499815188916
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 2000
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.1123460402484166
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.11429758299114556
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.14253598418333024
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.19256508548877743
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.3752881389428929
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.3760489385602555
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.498613505181774
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.5870730037856153
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.5795869751720433
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.857845864317971
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.7003818684088744
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.7227527964330144
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9999448925524367
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9456933603978622
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9705456543599086
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.images.wrist": {
161
+ "min": [
162
+ [
163
+ [
164
+ 0.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.0
175
+ ]
176
+ ]
177
+ ],
178
+ "max": [
179
+ [
180
+ [
181
+ 1.0
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 1.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 1.0
192
+ ]
193
+ ]
194
+ ],
195
+ "mean": [
196
+ [
197
+ [
198
+ 0.45134827696078433
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.5696672654207515
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.5691907818627449
209
+ ]
210
+ ]
211
+ ],
212
+ "std": [
213
+ [
214
+ [
215
+ 0.007982346802116106
216
+ ]
217
+ ],
218
+ [
219
+ [
220
+ 0.004998394103329117
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.005338664083608177
226
+ ]
227
+ ]
228
+ ],
229
+ "count": [
230
+ 2000
231
+ ],
232
+ "q01": [
233
+ [
234
+ [
235
+ 0.12199833611174353
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.08393083314718786
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.1247310905677271
246
+ ]
247
+ ]
248
+ ],
249
+ "q10": [
250
+ [
251
+ [
252
+ 0.27371552807632643
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.391768423149385
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.41433572960011006
263
+ ]
264
+ ]
265
+ ],
266
+ "q50": [
267
+ [
268
+ [
269
+ 0.358018930111792
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.5909691809460915
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.5770164140387543
280
+ ]
281
+ ]
282
+ ],
283
+ "q90": [
284
+ [
285
+ [
286
+ 0.9362561473335993
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.687031712702509
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.6886225525373486
297
+ ]
298
+ ]
299
+ ],
300
+ "q99": [
301
+ [
302
+ [
303
+ 0.9999225366686048
304
+ ]
305
+ ],
306
+ [
307
+ [
308
+ 0.9801774735616539
309
+ ]
310
+ ],
311
+ [
312
+ [
313
+ 0.9885285099657355
314
+ ]
315
+ ]
316
+ ]
317
+ },
318
+ "index": {
319
+ "min": [
320
+ 0
321
+ ],
322
+ "max": [
323
+ 8879
324
+ ],
325
+ "mean": [
326
+ 4439.5
327
+ ],
328
+ "std": [
329
+ 2563.4351789477073
330
+ ],
331
+ "count": [
332
+ 8880
333
+ ],
334
+ "q01": [
335
+ 4222.025983999902
336
+ ],
337
+ "q10": [
338
+ 4261.98103999992
339
+ ],
340
+ "q50": [
341
+ 4439.056999999999
342
+ ],
343
+ "q90": [
344
+ 4617.01896000008
345
+ ],
346
+ "q99": [
347
+ 4656.974016000099
348
+ ]
349
+ },
350
+ "observation.state": {
351
+ "min": [
352
+ -99.40059661865234,
353
+ -97.67634582519531,
354
+ -91.93976593017578,
355
+ 31.626754760742188,
356
+ 25.724544525146484,
357
+ 4.5806450843811035
358
+ ],
359
+ "max": [
360
+ 11.588411331176758,
361
+ 58.008296966552734,
362
+ 98.22852325439453,
363
+ 97.44013214111328,
364
+ 64.70890045166016,
365
+ 37.09677505493164
366
+ ],
367
+ "mean": [
368
+ -25.42300205230713,
369
+ -23.8583590477705,
370
+ 16.967455953359604,
371
+ 77.05988235473633,
372
+ 50.843420791625974,
373
+ 12.350496101379395
374
+ ],
375
+ "std": [
376
+ 34.84599524301431,
377
+ 51.047753122301884,
378
+ 53.43181525399008,
379
+ 14.767719507277679,
380
+ 7.114807480351178,
381
+ 8.681028294587037
382
+ ],
383
+ "count": [
384
+ 8880
385
+ ],
386
+ "q01": [
387
+ -83.64277892112732,
388
+ -95.91393374560224,
389
+ -47.30253214645385,
390
+ 52.29571743011475,
391
+ 39.20995381240844,
392
+ 4.7064515352249146
393
+ ],
394
+ "q10": [
395
+ -72.33795102586942,
396
+ -95.25871659593949,
397
+ -35.09282543016373,
398
+ 56.856572038134715,
399
+ 42.67238520655531,
400
+ 4.789888295191551
401
+ ],
402
+ "q50": [
403
+ -5.134632472007777,
404
+ -14.313097381591797,
405
+ -3.0285973615365758,
406
+ 77.37980546409823,
407
+ 51.97545020637957,
408
+ 8.1102803973139
409
+ ],
410
+ "q90": [
411
+ 4.62081866011406,
412
+ 36.22460213216146,
413
+ 97.62477009261943,
414
+ 94.64555285278716,
415
+ 57.63543825100495,
416
+ 25.834950294617254
417
+ ],
418
+ "q99": [
419
+ 6.833210668194368,
420
+ 39.77052841099514,
421
+ 97.91435095648433,
422
+ 96.56317747283275,
423
+ 59.86538691484937,
424
+ 29.765309754485564
425
+ ]
426
+ },
427
+ "episode_index": {
428
+ "min": [
429
+ 0
430
+ ],
431
+ "max": [
432
+ 19
433
+ ],
434
+ "mean": [
435
+ 9.5
436
+ ],
437
+ "std": [
438
+ 5.7662812973353965
439
+ ],
440
+ "count": [
441
+ 8880
442
+ ],
443
+ "q01": [
444
+ 9.5
445
+ ],
446
+ "q10": [
447
+ 9.500000000000004
448
+ ],
449
+ "q50": [
450
+ 9.500000000000021
451
+ ],
452
+ "q90": [
453
+ 9.500000000000036
454
+ ],
455
+ "q99": [
456
+ 9.500000000000039
457
+ ]
458
+ },
459
+ "action": {
460
+ "min": [
461
+ -100.0,
462
+ -98.84584045410156,
463
+ -97.94734191894531,
464
+ 29.763912200927734,
465
+ 25.090160369873047,
466
+ 1.5884476900100708
467
+ ],
468
+ "max": [
469
+ 12.224209785461426,
470
+ 57.54328155517578,
471
+ 99.01829528808594,
472
+ 98.73524475097656,
473
+ 65.22411346435547,
474
+ 37.545127868652344
475
+ ],
476
+ "mean": [
477
+ -25.34894895553589,
478
+ -25.596289265155793,
479
+ 14.955719223618507,
480
+ 76.95157318115234,
481
+ 50.89735851287842,
482
+ 10.030354881286621
483
+ ],
484
+ "std": [
485
+ 35.116608368477905,
486
+ 49.87503494724612,
487
+ 54.695469255267696,
488
+ 15.262628404419292,
489
+ 7.146371864687954,
490
+ 10.429019422564208
491
+ ],
492
+ "count": [
493
+ 8880
494
+ ],
495
+ "q01": [
496
+ -84.71629993438722,
497
+ -96.33450576103861,
498
+ -51.67569212248665,
499
+ 51.00400406174433,
500
+ 38.8947716255188,
501
+ 2.2942371124272696
502
+ ],
503
+ "q10": [
504
+ -72.7914588892288,
505
+ -95.30223607745783,
506
+ -37.91816696431186,
507
+ 56.16460655401875,
508
+ 42.687137789321675,
509
+ 2.335798883857949
510
+ ],
511
+ "q50": [
512
+ -5.078119724398371,
513
+ -17.531987380981445,
514
+ -5.441940014934669,
515
+ 77.26070949848385,
516
+ 52.06667921903807,
517
+ 4.148366035029686
518
+ ],
519
+ "q90": [
520
+ 4.7902874299511495,
521
+ 34.11832778325157,
522
+ 98.3189206713807,
523
+ 95.42483428107691,
524
+ 57.76680953650171,
525
+ 26.004187156180524
526
+ ],
527
+ "q99": [
528
+ 7.5717004001807755,
529
+ 39.16341862841891,
530
+ 98.80537948220945,
531
+ 97.56490154863634,
532
+ 60.11603322215656,
533
+ 29.980668815699072
534
+ ]
535
+ },
536
+ "task_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 8880
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.9999999999994166e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999477e-14
563
+ ],
564
+ "q99": [
565
+ 3.959999999999425e-14
566
+ ]
567
+ },
568
+ "timestamp": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 14.766666666666667
574
+ ],
575
+ "mean": [
576
+ 7.38333333333333
577
+ ],
578
+ "std": [
579
+ 4.272381155835789
580
+ ],
581
+ "count": [
582
+ 8880
583
+ ],
584
+ "q01": [
585
+ 0.1341994665684843
586
+ ],
587
+ "q10": [
588
+ 1.466034666586523
589
+ ],
590
+ "q50": [
591
+ 7.368566666666465
592
+ ],
593
+ "q90": [
594
+ 13.300632000080137
595
+ ],
596
+ "q99": [
597
+ 14.632467200098183
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 443
606
+ ],
607
+ "mean": [
608
+ 221.5
609
+ ],
610
+ "std": [
611
+ 128.1714346750736
612
+ ],
613
+ "count": [
614
+ 8880
615
+ ],
616
+ "q01": [
617
+ 4.025983999901817
618
+ ],
619
+ "q10": [
620
+ 43.981039999919844
621
+ ],
622
+ "q50": [
623
+ 221.05699999999985
624
+ ],
625
+ "q90": [
626
+ 399.01896000008
627
+ ],
628
+ "q99": [
629
+ 438.9740160000982
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a83296cfec3b4b9238ed2371fd431f61d89cd17eac54876120ffb412ee9aeb2
3
+ size 2166
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:dc2ca9148bbdac18ebe4d50fdcc62fde305122629c1476795ca5cfe2c32b3847
3
+ size 125708002
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:fd0bf8b113e01d3a277ab2b7a049c8ffa1e56511aa45346a963db94dc5e255f4
3
+ size 106660681