ywu67 commited on
Commit
33ae5bb
·
verified ·
1 Parent(s): e6c83d1

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:f141e6c388a89a51bf400d30032e209290826907cd3297cf383ac630adf932dc
3
+ size 437706
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f388ba0bace3637934c5b42125aea74bc07ccc4dfb4d6454352e081d5e9c933a
3
+ size 54156
meta/info.json ADDED
@@ -0,0 +1,147 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 6645,
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": "0:4"
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
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "observation.state": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
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
+ "video_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": 30.0,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ },
67
+ "info": {
68
+ "video.height": 480,
69
+ "video.width": 640,
70
+ "video.codec": "av1",
71
+ "video.pix_fmt": "yuv420p",
72
+ "video.is_depth_map": false,
73
+ "video.fps": 30,
74
+ "video.channels": 3,
75
+ "has_audio": false
76
+ }
77
+ },
78
+ "observation.images.wrist": {
79
+ "dtype": "video",
80
+ "shape": [
81
+ 480,
82
+ 640,
83
+ 3
84
+ ],
85
+ "names": [
86
+ "height",
87
+ "width",
88
+ "channels"
89
+ ],
90
+ "video_info": {
91
+ "video.height": 480,
92
+ "video.width": 640,
93
+ "video.codec": "av1",
94
+ "video.pix_fmt": "yuv420p",
95
+ "video.is_depth_map": false,
96
+ "video.fps": 30.0,
97
+ "video.channels": 3,
98
+ "has_audio": false
99
+ },
100
+ "info": {
101
+ "video.height": 480,
102
+ "video.width": 640,
103
+ "video.codec": "av1",
104
+ "video.pix_fmt": "yuv420p",
105
+ "video.is_depth_map": false,
106
+ "video.fps": 30,
107
+ "video.channels": 3,
108
+ "has_audio": false
109
+ }
110
+ },
111
+ "timestamp": {
112
+ "dtype": "float32",
113
+ "shape": [
114
+ 1
115
+ ],
116
+ "names": null
117
+ },
118
+ "frame_index": {
119
+ "dtype": "int64",
120
+ "shape": [
121
+ 1
122
+ ],
123
+ "names": null
124
+ },
125
+ "episode_index": {
126
+ "dtype": "int64",
127
+ "shape": [
128
+ 1
129
+ ],
130
+ "names": null
131
+ },
132
+ "index": {
133
+ "dtype": "int64",
134
+ "shape": [
135
+ 1
136
+ ],
137
+ "names": null
138
+ },
139
+ "task_index": {
140
+ "dtype": "int64",
141
+ "shape": [
142
+ 1
143
+ ],
144
+ "names": null
145
+ }
146
+ }
147
+ }
meta/stats.json ADDED
@@ -0,0 +1,307 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 6645
17
+ ]
18
+ },
19
+ "episode_index": {
20
+ "min": [
21
+ 0
22
+ ],
23
+ "max": [
24
+ 3
25
+ ],
26
+ "mean": [
27
+ 1.2242287434161023
28
+ ],
29
+ "std": [
30
+ 1.2300415166887781
31
+ ],
32
+ "count": [
33
+ 6645
34
+ ]
35
+ },
36
+ "observation.images.front": {
37
+ "min": [
38
+ [
39
+ [
40
+ 0.011764705882352941
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.023529411764705882
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.0
51
+ ]
52
+ ]
53
+ ],
54
+ "max": [
55
+ [
56
+ [
57
+ 0.9803921568627451
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.9725490196078431
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.8588235294117647
68
+ ]
69
+ ]
70
+ ],
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.5381557621621708
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.4181476835597253
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.3081119592814295
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.11642944327173353
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.12758134958632097
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.12480291500111712
102
+ ]
103
+ ]
104
+ ],
105
+ "count": [
106
+ 1022
107
+ ]
108
+ },
109
+ "frame_index": {
110
+ "min": [
111
+ 0
112
+ ],
113
+ "max": [
114
+ 2853
115
+ ],
116
+ "mean": [
117
+ 985.7167795334839
118
+ ],
119
+ "std": [
120
+ 728.6245372789185
121
+ ],
122
+ "count": [
123
+ 6645
124
+ ]
125
+ },
126
+ "observation.images.wrist": {
127
+ "min": [
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ],
138
+ [
139
+ [
140
+ 0.0
141
+ ]
142
+ ]
143
+ ],
144
+ "max": [
145
+ [
146
+ [
147
+ 0.9607843137254902
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.9607843137254902
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.9607843137254902
158
+ ]
159
+ ]
160
+ ],
161
+ "mean": [
162
+ [
163
+ [
164
+ 0.6110005294069683
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.460004797838085
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 0.31465309933905067
175
+ ]
176
+ ]
177
+ ],
178
+ "std": [
179
+ [
180
+ [
181
+ 0.11089426307697904
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.12700357075317964
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.14505192166398878
192
+ ]
193
+ ]
194
+ ],
195
+ "count": [
196
+ 1022
197
+ ]
198
+ },
199
+ "action": {
200
+ "min": [
201
+ -43.47021484375,
202
+ -99.99999237060547,
203
+ -99.99999237060547,
204
+ -74.37811279296875,
205
+ -70.25640869140625,
206
+ 8.669766202729079e-07
207
+ ],
208
+ "max": [
209
+ 53.311126708984375,
210
+ 85.042724609375,
211
+ 100.0,
212
+ 100.0,
213
+ 1.4896163940429688,
214
+ 96.64607238769531
215
+ ],
216
+ "mean": [
217
+ 6.3113270040200655,
218
+ -19.306683070539442,
219
+ 33.516166943477636,
220
+ 43.83543303283737,
221
+ -10.758571646283496,
222
+ 24.671151583566086
223
+ ],
224
+ "std": [
225
+ 17.6008143738375,
226
+ 57.731806262918134,
227
+ 61.19129793542024,
228
+ 37.6453786920799,
229
+ 13.374960793137399,
230
+ 25.26046285062273
231
+ ],
232
+ "count": [
233
+ 6645
234
+ ]
235
+ },
236
+ "timestamp": {
237
+ "min": [
238
+ 0.0
239
+ ],
240
+ "max": [
241
+ 95.1
242
+ ],
243
+ "mean": [
244
+ 32.85722598444946
245
+ ],
246
+ "std": [
247
+ 24.28748457596396
248
+ ],
249
+ "count": [
250
+ 6645
251
+ ]
252
+ },
253
+ "index": {
254
+ "min": [
255
+ 0
256
+ ],
257
+ "max": [
258
+ 6644
259
+ ],
260
+ "mean": [
261
+ 3322.0
262
+ ],
263
+ "std": [
264
+ 1918.2462476613023
265
+ ],
266
+ "count": [
267
+ 6645
268
+ ]
269
+ },
270
+ "observation.state": {
271
+ "min": [
272
+ -43.4638671875,
273
+ -100.01554870605469,
274
+ -100.06317901611328,
275
+ -72.54193115234375,
276
+ -69.6888198852539,
277
+ -4.334883215051377e-06
278
+ ],
279
+ "max": [
280
+ 45.04791259765625,
281
+ 89.15676879882812,
282
+ 100.07681274414062,
283
+ 100.00119018554688,
284
+ 1.4274215698242188,
285
+ 96.39869689941406
286
+ ],
287
+ "mean": [
288
+ 6.019320230971968,
289
+ -18.559009411211207,
290
+ 34.72380164399732,
291
+ 42.07507848861614,
292
+ -10.767722485171305,
293
+ 28.974596999766145
294
+ ],
295
+ "std": [
296
+ 17.370348672990715,
297
+ 58.65997603617824,
298
+ 60.60222696020298,
299
+ 37.22450443791914,
300
+ 13.375154191471658,
301
+ 22.757678320028948
302
+ ],
303
+ "count": [
304
+ 6645
305
+ ]
306
+ }
307
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5e5f0361303662c3faa9a283e5610a2a328585965fa4d992a8889ddeeb56ef03
3
+ size 2206
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:f38cfb82fbfeb9e6a713025083e64934b4cb13bddeaa99ed677e4dea3e1a9c07
3
+ size 72038029
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 sha256:915688e70cd18edb78fb650f7ab44a183f170b53e0b79952f176ec3877f7d795
3
+ size 45912122