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 sha256:533c0e54aca1f0458e9f3e81af0dd9937bc492c102fcbdfbca7f62204d745c4d
|
| 3 |
+
size 29914
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:61b7ca3e95b4a0e336469c6491abaad7e162f75eb3d0f69fdd187b0bfd9440a4
|
| 3 |
+
size 4705
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "y1_bimanual",
|
| 4 |
+
"total_episodes": 5,
|
| 5 |
+
"total_frames": 505,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"fps": 10,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:5"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"features": {
|
| 15 |
+
"action": {
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"shape": [
|
| 18 |
+
7
|
| 19 |
+
],
|
| 20 |
+
"names": [
|
| 21 |
+
"action_0",
|
| 22 |
+
"action_1",
|
| 23 |
+
"action_2",
|
| 24 |
+
"action_3",
|
| 25 |
+
"action_4",
|
| 26 |
+
"action_5",
|
| 27 |
+
"action_6"
|
| 28 |
+
]
|
| 29 |
+
},
|
| 30 |
+
"observation.state": {
|
| 31 |
+
"dtype": "float32",
|
| 32 |
+
"shape": [
|
| 33 |
+
7
|
| 34 |
+
],
|
| 35 |
+
"names": [
|
| 36 |
+
"joint_0",
|
| 37 |
+
"joint_1",
|
| 38 |
+
"joint_2",
|
| 39 |
+
"joint_3",
|
| 40 |
+
"joint_4",
|
| 41 |
+
"joint_5",
|
| 42 |
+
"joint_6"
|
| 43 |
+
]
|
| 44 |
+
},
|
| 45 |
+
"observation.images.wrist_1": {
|
| 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": "h264",
|
| 61 |
+
"video.pix_fmt": "yuv420p",
|
| 62 |
+
"video.is_depth_map": false,
|
| 63 |
+
"video.fps": 10,
|
| 64 |
+
"video.channels": 3,
|
| 65 |
+
"has_audio": false
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"observation.images.wrist_2": {
|
| 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": "h264",
|
| 84 |
+
"video.pix_fmt": "yuv420p",
|
| 85 |
+
"video.is_depth_map": false,
|
| 86 |
+
"video.fps": 10,
|
| 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 +1,259 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"min": [
|
| 4 |
+
0.10416364669799805,
|
| 5 |
+
-1.6835789680480957,
|
| 6 |
+
1.1571073532104492,
|
| 7 |
+
0.19309091567993164,
|
| 8 |
+
0.14134454727172852,
|
| 9 |
+
-0.032868385314941406,
|
| 10 |
+
69.0
|
| 11 |
+
],
|
| 12 |
+
"max": [
|
| 13 |
+
0.4272913932800293,
|
| 14 |
+
-1.6301069259643555,
|
| 15 |
+
1.1572990417480469,
|
| 16 |
+
0.7715005874633789,
|
| 17 |
+
0.23218822479248047,
|
| 18 |
+
-0.025585651397705078,
|
| 19 |
+
69.0
|
| 20 |
+
],
|
| 21 |
+
"mean": [
|
| 22 |
+
0.22337181733386352,
|
| 23 |
+
-1.6544225806056863,
|
| 24 |
+
1.157109251116762,
|
| 25 |
+
0.7657737590298794,
|
| 26 |
+
0.20088030088065875,
|
| 27 |
+
-0.03062180245276725,
|
| 28 |
+
69.0
|
| 29 |
+
],
|
| 30 |
+
"std": [
|
| 31 |
+
0.07141198113129418,
|
| 32 |
+
0.026237614632896467,
|
| 33 |
+
1.89790631284809e-05,
|
| 34 |
+
0.05726828433499494,
|
| 35 |
+
0.029391345273287628,
|
| 36 |
+
0.00213544392554507,
|
| 37 |
+
0.0
|
| 38 |
+
],
|
| 39 |
+
"count": [
|
| 40 |
+
101
|
| 41 |
+
],
|
| 42 |
+
"q01": [
|
| 43 |
+
0.11010456085205078,
|
| 44 |
+
-1.6835789680480957,
|
| 45 |
+
1.1571073532104492,
|
| 46 |
+
0.7715005874633789,
|
| 47 |
+
0.14172792434692383,
|
| 48 |
+
-0.032868385314941406,
|
| 49 |
+
69.0
|
| 50 |
+
],
|
| 51 |
+
"q10": [
|
| 52 |
+
0.16530084609985352,
|
| 53 |
+
-1.6835789680480957,
|
| 54 |
+
1.1571073532104492,
|
| 55 |
+
0.7715005874633789,
|
| 56 |
+
0.17392587661743164,
|
| 57 |
+
-0.032868385314941406,
|
| 58 |
+
69.0
|
| 59 |
+
],
|
| 60 |
+
"q50": [
|
| 61 |
+
0.22260570526123047,
|
| 62 |
+
-1.6301069259643555,
|
| 63 |
+
1.1571073532104492,
|
| 64 |
+
0.7715005874633789,
|
| 65 |
+
0.18254995346069336,
|
| 66 |
+
-0.02980184555053711,
|
| 67 |
+
69.0
|
| 68 |
+
],
|
| 69 |
+
"q90": [
|
| 70 |
+
0.29505014419555664,
|
| 71 |
+
-1.6301069259643555,
|
| 72 |
+
1.1571073532104492,
|
| 73 |
+
0.7715005874633789,
|
| 74 |
+
0.23180484771728516,
|
| 75 |
+
-0.0294189453125,
|
| 76 |
+
69.0
|
| 77 |
+
],
|
| 78 |
+
"q99": [
|
| 79 |
+
0.426332950592041,
|
| 80 |
+
-1.6301069259643555,
|
| 81 |
+
1.1571073532104492,
|
| 82 |
+
0.7715005874633789,
|
| 83 |
+
0.23218822479248047,
|
| 84 |
+
-0.026160717010498047,
|
| 85 |
+
69.0
|
| 86 |
+
]
|
| 87 |
+
},
|
| 88 |
+
"action": {
|
| 89 |
+
"min": [
|
| 90 |
+
0.10799646377563477,
|
| 91 |
+
-1.6841535568237305,
|
| 92 |
+
1.156723976135254,
|
| 93 |
+
0.19309091567993164,
|
| 94 |
+
0.1484355926513672,
|
| 95 |
+
-0.032485008239746094,
|
| 96 |
+
69.0
|
| 97 |
+
],
|
| 98 |
+
"max": [
|
| 99 |
+
0.42652463912963867,
|
| 100 |
+
-1.630873680114746,
|
| 101 |
+
1.1571073532104492,
|
| 102 |
+
0.7728424072265625,
|
| 103 |
+
0.24023771286010742,
|
| 104 |
+
-0.02309417724609375,
|
| 105 |
+
69.0
|
| 106 |
+
],
|
| 107 |
+
"mean": [
|
| 108 |
+
0.22315541824491897,
|
| 109 |
+
-1.6551985835084821,
|
| 110 |
+
1.1569896830190527,
|
| 111 |
+
0.767102293448873,
|
| 112 |
+
0.20684247913927134,
|
| 113 |
+
-0.028403612646726098,
|
| 114 |
+
69.0
|
| 115 |
+
],
|
| 116 |
+
"std": [
|
| 117 |
+
0.07166739425256956,
|
| 118 |
+
0.02602208887302356,
|
| 119 |
+
9.714611024407164e-05,
|
| 120 |
+
0.05740113777689423,
|
| 121 |
+
0.0301358197709035,
|
| 122 |
+
0.0026129943477871636,
|
| 123 |
+
0.0
|
| 124 |
+
],
|
| 125 |
+
"count": [
|
| 126 |
+
101
|
| 127 |
+
],
|
| 128 |
+
"q01": [
|
| 129 |
+
0.10895490646362305,
|
| 130 |
+
-1.6839618682861328,
|
| 131 |
+
1.1569156646728516,
|
| 132 |
+
0.7728424072265625,
|
| 133 |
+
0.1484355926513672,
|
| 134 |
+
-0.03171873092651367,
|
| 135 |
+
69.0
|
| 136 |
+
],
|
| 137 |
+
"q10": [
|
| 138 |
+
0.1635756492614746,
|
| 139 |
+
-1.6839618682861328,
|
| 140 |
+
1.1569156646728516,
|
| 141 |
+
0.7728424072265625,
|
| 142 |
+
0.16990041732788086,
|
| 143 |
+
-0.030951976776123047,
|
| 144 |
+
69.0
|
| 145 |
+
],
|
| 146 |
+
"q50": [
|
| 147 |
+
0.21340560913085938,
|
| 148 |
+
-1.6310653686523438,
|
| 149 |
+
1.1569156646728516,
|
| 150 |
+
0.7728424072265625,
|
| 151 |
+
0.18695783615112305,
|
| 152 |
+
-0.02654409408569336,
|
| 153 |
+
69.0
|
| 154 |
+
],
|
| 155 |
+
"q90": [
|
| 156 |
+
0.29236698150634766,
|
| 157 |
+
-1.630873680114746,
|
| 158 |
+
1.1571073532104492,
|
| 159 |
+
0.7728424072265625,
|
| 160 |
+
0.23563814163208008,
|
| 161 |
+
-0.02596902847290039,
|
| 162 |
+
69.0
|
| 163 |
+
],
|
| 164 |
+
"q99": [
|
| 165 |
+
0.42230844497680664,
|
| 166 |
+
-1.630873680114746,
|
| 167 |
+
1.1571073532104492,
|
| 168 |
+
0.7728424072265625,
|
| 169 |
+
0.2398543357849121,
|
| 170 |
+
-0.023285865783691406,
|
| 171 |
+
69.0
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"timestamp": {
|
| 175 |
+
"min": [
|
| 176 |
+
0.0008568763732910156
|
| 177 |
+
],
|
| 178 |
+
"max": [
|
| 179 |
+
9.911926746368408
|
| 180 |
+
],
|
| 181 |
+
"mean": [
|
| 182 |
+
4.912818689157467
|
| 183 |
+
],
|
| 184 |
+
"std": [
|
| 185 |
+
2.913979488348089
|
| 186 |
+
],
|
| 187 |
+
"count": [
|
| 188 |
+
101
|
| 189 |
+
]
|
| 190 |
+
},
|
| 191 |
+
"frame_index": {
|
| 192 |
+
"min": [
|
| 193 |
+
0
|
| 194 |
+
],
|
| 195 |
+
"max": [
|
| 196 |
+
100
|
| 197 |
+
],
|
| 198 |
+
"mean": [
|
| 199 |
+
50.5
|
| 200 |
+
],
|
| 201 |
+
"std": [
|
| 202 |
+
0.0
|
| 203 |
+
],
|
| 204 |
+
"count": [
|
| 205 |
+
101
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"episode_index": {
|
| 209 |
+
"min": [
|
| 210 |
+
0
|
| 211 |
+
],
|
| 212 |
+
"max": [
|
| 213 |
+
100
|
| 214 |
+
],
|
| 215 |
+
"mean": [
|
| 216 |
+
50.5
|
| 217 |
+
],
|
| 218 |
+
"std": [
|
| 219 |
+
0.0
|
| 220 |
+
],
|
| 221 |
+
"count": [
|
| 222 |
+
101
|
| 223 |
+
]
|
| 224 |
+
},
|
| 225 |
+
"index": {
|
| 226 |
+
"min": [
|
| 227 |
+
0
|
| 228 |
+
],
|
| 229 |
+
"max": [
|
| 230 |
+
100
|
| 231 |
+
],
|
| 232 |
+
"mean": [
|
| 233 |
+
50.5
|
| 234 |
+
],
|
| 235 |
+
"std": [
|
| 236 |
+
0.0
|
| 237 |
+
],
|
| 238 |
+
"count": [
|
| 239 |
+
101
|
| 240 |
+
]
|
| 241 |
+
},
|
| 242 |
+
"task_index": {
|
| 243 |
+
"min": [
|
| 244 |
+
0
|
| 245 |
+
],
|
| 246 |
+
"max": [
|
| 247 |
+
0
|
| 248 |
+
],
|
| 249 |
+
"mean": [
|
| 250 |
+
0.0
|
| 251 |
+
],
|
| 252 |
+
"std": [
|
| 253 |
+
0.0
|
| 254 |
+
],
|
| 255 |
+
"count": [
|
| 256 |
+
101
|
| 257 |
+
]
|
| 258 |
+
}
|
| 259 |
+
}
|
meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e04bbe2506b02e5494e5277d77155f82e377e7091e6e8d2012c4db92c178d30a
|
| 3 |
+
size 1810
|
videos/observation.images.wrist_1/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bf902ba433328d8ed137a8f6e53eac5939b0c1e27b783ab42a3fae23caa1259e
|
| 3 |
+
size 1940946
|
videos/observation.images.wrist_2/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:333ae674b9704a283d52101b043fb8e44b72314a4bb2144e78b90773d7cf7c8f
|
| 3 |
+
size 1395443
|