yyiiii commited on
Commit
89834cb
·
verified ·
1 Parent(s): d60068b

Upload 7 files

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8dbea876307dfc4a7dc7749578182401a4b4b4ea47bfdf5c75a6199916fbfef9
3
+ size 61960
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:029190aaa4b86ba18505c6f40b42605ffc7152c5ef4e457d7b8972a88f920717
3
+ size 67727
meta/info.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": null,
4
+ "total_episodes": 5,
5
+ "total_frames": 500,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 8,
11
+ "splits": {
12
+ "train": "0:5"
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
+ 4
21
+ ],
22
+ "names": {
23
+ "delta_x": 0,
24
+ "delta_y": 1,
25
+ "delta_z": 2,
26
+ "gripper": 3
27
+ }
28
+ },
29
+ "next.reward": {
30
+ "dtype": "float32",
31
+ "shape": [
32
+ 1
33
+ ],
34
+ "names": null
35
+ },
36
+ "next.done": {
37
+ "dtype": "bool",
38
+ "shape": [
39
+ 1
40
+ ],
41
+ "names": null
42
+ },
43
+ "complementary_info.discrete_penalty": {
44
+ "dtype": "float32",
45
+ "shape": [
46
+ 1
47
+ ],
48
+ "names": [
49
+ "discrete_penalty"
50
+ ]
51
+ },
52
+ "observation.images.front": {
53
+ "dtype": "video",
54
+ "shape": [
55
+ 3,
56
+ 128,
57
+ 128
58
+ ],
59
+ "names": [
60
+ "channels",
61
+ "height",
62
+ "width"
63
+ ],
64
+ "info": {
65
+ "video.height": 128,
66
+ "video.width": 128,
67
+ "video.codec": "av1",
68
+ "video.pix_fmt": "yuv420p",
69
+ "video.is_depth_map": false,
70
+ "video.fps": 8,
71
+ "video.channels": 3,
72
+ "has_audio": false
73
+ }
74
+ },
75
+ "observation.images.wrist": {
76
+ "dtype": "video",
77
+ "shape": [
78
+ 3,
79
+ 128,
80
+ 128
81
+ ],
82
+ "names": [
83
+ "channels",
84
+ "height",
85
+ "width"
86
+ ],
87
+ "info": {
88
+ "video.height": 128,
89
+ "video.width": 128,
90
+ "video.codec": "av1",
91
+ "video.pix_fmt": "yuv420p",
92
+ "video.is_depth_map": false,
93
+ "video.fps": 8,
94
+ "video.channels": 3,
95
+ "has_audio": false
96
+ }
97
+ },
98
+ "observation.state": {
99
+ "dtype": "float32",
100
+ "shape": [
101
+ 18
102
+ ],
103
+ "names": null
104
+ },
105
+ "timestamp": {
106
+ "dtype": "float32",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "frame_index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "episode_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "index": {
127
+ "dtype": "int64",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "task_index": {
134
+ "dtype": "int64",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ }
140
+ }
141
+ }
meta/stats.json ADDED
@@ -0,0 +1,398 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "next.reward": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 1.0
8
+ ],
9
+ "mean": [
10
+ 0.0019999999552965165
11
+ ],
12
+ "std": [
13
+ 0.04467662193305861
14
+ ],
15
+ "count": [
16
+ 500
17
+ ]
18
+ },
19
+ "frame_index": {
20
+ "min": [
21
+ 0
22
+ ],
23
+ "max": [
24
+ 99
25
+ ],
26
+ "mean": [
27
+ 49.5
28
+ ],
29
+ "std": [
30
+ 28.86607004772212
31
+ ],
32
+ "count": [
33
+ 500
34
+ ]
35
+ },
36
+ "next.done": {
37
+ "min": [
38
+ false
39
+ ],
40
+ "max": [
41
+ true
42
+ ],
43
+ "mean": [
44
+ 0.01
45
+ ],
46
+ "std": [
47
+ 0.09949874371066199
48
+ ],
49
+ "count": [
50
+ 500
51
+ ]
52
+ },
53
+ "observation.images.front": {
54
+ "min": [
55
+ [
56
+ [
57
+ 0.06666666666666667
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.07450980392156863
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.07450980392156863
68
+ ]
69
+ ]
70
+ ],
71
+ "max": [
72
+ [
73
+ [
74
+ 1.0
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 1.0
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 1.0
85
+ ]
86
+ ]
87
+ ],
88
+ "mean": [
89
+ [
90
+ [
91
+ 0.2719235227098652
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.38640414512484683
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.5026898035386029
102
+ ]
103
+ ]
104
+ ],
105
+ "std": [
106
+ [
107
+ [
108
+ 0.22059287360237032
109
+ ]
110
+ ],
111
+ [
112
+ [
113
+ 0.19922640895948895
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 0.19535340323579617
119
+ ]
120
+ ]
121
+ ],
122
+ "count": [
123
+ 500
124
+ ]
125
+ },
126
+ "timestamp": {
127
+ "min": [
128
+ 0.0
129
+ ],
130
+ "max": [
131
+ 12.375
132
+ ],
133
+ "mean": [
134
+ 6.1875
135
+ ],
136
+ "std": [
137
+ 3.608258755965265
138
+ ],
139
+ "count": [
140
+ 500
141
+ ]
142
+ },
143
+ "observation.images.wrist": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.07450980392156863
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.07450980392156863
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.07450980392156863
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 0.9254901960784314
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.29228598297717523
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.3968919840494792
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.5656624277152267
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.19691833497495456
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.14237421462314587
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.2040592435436536
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 500
214
+ ]
215
+ },
216
+ "observation.state": {
217
+ "min": [
218
+ -0.21913278102874756,
219
+ 0.07757528126239777,
220
+ -0.12498940527439117,
221
+ -2.436929941177368,
222
+ -0.003514333860948682,
223
+ 2.4967570304870605,
224
+ 0.41165757179260254,
225
+ -0.30938664078712463,
226
+ -0.46584486961364746,
227
+ -0.15234094858169556,
228
+ -0.132390558719635,
229
+ -0.03995257243514061,
230
+ -0.4252111315727234,
231
+ -0.4442313313484192,
232
+ 0.0,
233
+ 0.4869019389152527,
234
+ -0.17500099539756775,
235
+ 0.0045048934407532215
236
+ ],
237
+ "max": [
238
+ 0.0007648625178262591,
239
+ 0.3859507739543915,
240
+ 0.0006026438786648214,
241
+ -2.326765537261963,
242
+ 0.04385432228446007,
243
+ 2.823765993118286,
244
+ 0.7891180515289307,
245
+ 0.17135381698608398,
246
+ 0.5416322946548462,
247
+ 0.102955162525177,
248
+ 0.18109504878520966,
249
+ 0.0540095791220665,
250
+ 0.43073877692222595,
251
+ 0.27784281969070435,
252
+ 255.0,
253
+ 0.5048599243164062,
254
+ 6.0861435486003757e-05,
255
+ 0.12764649093151093
256
+ ],
257
+ "mean": [
258
+ -0.05347663331776857,
259
+ 0.21133295595645904,
260
+ -0.029877099813893436,
261
+ -2.4121832847595215,
262
+ 0.010082226153463126,
263
+ 2.623301887512207,
264
+ 0.6950272560119629,
265
+ -0.010099202580749988,
266
+ -0.0030365594662725925,
267
+ -0.004924097191542387,
268
+ 0.00307873603887856,
269
+ 0.001417113421484828,
270
+ -0.005826612096279859,
271
+ -0.01610423158854246,
272
+ 92.82000122070312,
273
+ 0.49026434421539306,
274
+ -0.042209635209292176,
275
+ 0.07639691978693008
276
+ ],
277
+ "std": [
278
+ 0.07844590225912276,
279
+ 0.06474134488727237,
280
+ 0.042626499302608915,
281
+ 0.03090612045961348,
282
+ 0.015268092087749088,
283
+ 0.0742618724493809,
284
+ 0.13185925530690984,
285
+ 0.056146981488914026,
286
+ 0.09413744330322757,
287
+ 0.030592545175002636,
288
+ 0.028421555234447577,
289
+ 0.009514547871429012,
290
+ 0.08332971122477449,
291
+ 0.0866385016616403,
292
+ 122.6928999280526,
293
+ 0.0015222616289343345,
294
+ 0.061301236009136825,
295
+ 0.027765533271215687
296
+ ],
297
+ "count": [
298
+ 500
299
+ ]
300
+ },
301
+ "action": {
302
+ "min": [
303
+ 0.0,
304
+ 0.0,
305
+ 0.0,
306
+ 1.0
307
+ ],
308
+ "max": [
309
+ 0.0,
310
+ 0.0,
311
+ 0.0,
312
+ 1.0
313
+ ],
314
+ "mean": [
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 1.0
319
+ ],
320
+ "std": [
321
+ 0.0,
322
+ 0.0,
323
+ 0.0,
324
+ 0.0
325
+ ],
326
+ "count": [
327
+ 500
328
+ ]
329
+ },
330
+ "episode_index": {
331
+ "min": [
332
+ 0
333
+ ],
334
+ "max": [
335
+ 4
336
+ ],
337
+ "mean": [
338
+ 2.0
339
+ ],
340
+ "std": [
341
+ 1.4142135623730951
342
+ ],
343
+ "count": [
344
+ 500
345
+ ]
346
+ },
347
+ "index": {
348
+ "min": [
349
+ 0
350
+ ],
351
+ "max": [
352
+ 499
353
+ ],
354
+ "mean": [
355
+ 249.5
356
+ ],
357
+ "std": [
358
+ 144.33727862198316
359
+ ],
360
+ "count": [
361
+ 500
362
+ ]
363
+ },
364
+ "complementary_info.discrete_penalty": {
365
+ "min": [
366
+ 0.0
367
+ ],
368
+ "max": [
369
+ 0.0
370
+ ],
371
+ "mean": [
372
+ 0.0
373
+ ],
374
+ "std": [
375
+ 0.0
376
+ ],
377
+ "count": [
378
+ 500
379
+ ]
380
+ },
381
+ "task_index": {
382
+ "min": [
383
+ 0
384
+ ],
385
+ "max": [
386
+ 0
387
+ ],
388
+ "mean": [
389
+ 0.0
390
+ ],
391
+ "std": [
392
+ 0.0
393
+ ],
394
+ "count": [
395
+ 500
396
+ ]
397
+ }
398
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b4b8bde6f165f2c18ec54fd8f2fdd3fb06bf0bc1599efd436e406ba784d433a8
3
+ size 2091
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 sha256:8a8cb038a89c812e6116369487cb0b74a5648048a7e61041ca941d69ff0492d0
3
+ size 619263
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 sha256:876c064ee6449b7bb4772f05f4612e716d888e8d600f7c4ae30bc8553287a10e
3
+ size 260682