zding08 commited on
Commit
84272a0
·
verified ·
1 Parent(s): f5a8278

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:c912a2d82ad04f275e9ea7e1feed593f5fc3c429918f9ed5a47de1aae487b286
3
+ size 242540
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:898caba05816423970b7b42d97c8bea3b28dae1b691486053e8c3ee2695087a6
3
+ size 90996
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "koch_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 2985,
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": "0:1"
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.front": {
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
+ "action": {
3
+ "min": [
4
+ -28.0484676361084,
5
+ -102.23422241210938,
6
+ -62.71929168701172,
7
+ -100.51161193847656,
8
+ -9.215479850769043,
9
+ -3.6698532104492188
10
+ ],
11
+ "max": [
12
+ 9.672347068786621,
13
+ -13.936744689941406,
14
+ 30.227571487426758,
15
+ -58.00384521484375,
16
+ 35.16716766357422,
17
+ 54.25575256347656
18
+ ],
19
+ "mean": [
20
+ -1.2798467874526978,
21
+ -65.08699035644531,
22
+ -13.163704872131348,
23
+ -88.3086929321289,
24
+ 3.114859104156494,
25
+ 35.23714828491211
26
+ ],
27
+ "std": [
28
+ 8.648672103881836,
29
+ 16.426177978515625,
30
+ 27.625198364257812,
31
+ 8.716845512390137,
32
+ 8.195747375488281,
33
+ 18.114604949951172
34
+ ],
35
+ "count": [
36
+ 2985
37
+ ],
38
+ "q01": [
39
+ -27.396463632583618,
40
+ -95.3143482208252,
41
+ -61.726154232025145,
42
+ -100.19747734069824,
43
+ -8.417923974990845,
44
+ -1.2850560307502747
45
+ ],
46
+ "q10": [
47
+ -17.135836601257324,
48
+ -85.09568405151367,
49
+ -53.08534908294678,
50
+ -99.76432418823242,
51
+ -3.6365809440612793,
52
+ 1.5646905104319255
53
+ ],
54
+ "q50": [
55
+ 1.3649651209513347,
56
+ -69.07852172851562,
57
+ -7.146364212036133,
58
+ -87.659814453125,
59
+ 0.7987244923909506,
60
+ 44.55610942840576
61
+ ],
62
+ "q90": [
63
+ 5.834254264831543,
64
+ -43.52523231506348,
65
+ 17.81916046142578,
66
+ -77.16847610473633,
67
+ 14.604687690734863,
68
+ 50.34480826059977
69
+ ],
70
+ "q99": [
71
+ 8.714801216125489,
72
+ -21.598319244384765,
73
+ 27.441950988769534,
74
+ -64.05567741394043,
75
+ 31.45810718536377,
76
+ 53.411775779724124
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -27.91208839416504,
82
+ -97.43589782714844,
83
+ -64.59329986572266,
84
+ -100.0,
85
+ -9.10866928100586,
86
+ 0.699999988079071
87
+ ],
88
+ "max": [
89
+ 9.450549125671387,
90
+ 21.794872283935547,
91
+ 24.72089385986328,
92
+ -64.40367126464844,
93
+ 34.847373962402344,
94
+ 53.70000076293945
95
+ ],
96
+ "mean": [
97
+ -1.3469618558883667,
98
+ -62.47274398803711,
99
+ -16.665651321411133,
100
+ -92.12036895751953,
101
+ 3.0907058715820312,
102
+ 36.63465881347656
103
+ ],
104
+ "std": [
105
+ 8.63951587677002,
106
+ 16.74669075012207,
107
+ 27.29682731628418,
108
+ 7.056482315063477,
109
+ 8.19255542755127,
110
+ 16.511451721191406
111
+ ],
112
+ "count": [
113
+ 2985
114
+ ],
115
+ "q01": [
116
+ -27.471488809585573,
117
+ -92.30015090942383,
118
+ -63.794606637954715,
119
+ -100.0,
120
+ -8.37628820737203,
121
+ 0.8911921981573104
122
+ ],
123
+ "q10": [
124
+ -17.116154670715332,
125
+ -82.4262342453003,
126
+ -55.64699363708496,
127
+ -100.0,
128
+ -3.595262813568115,
129
+ 11.103899478912354
130
+ ],
131
+ "q50": [
132
+ 1.2945285050765327,
133
+ -66.10950374603271,
134
+ -10.687715530395508,
135
+ -91.37282122098483,
136
+ 0.756714403629303,
137
+ 45.49786949157715
138
+ ],
139
+ "q90": [
140
+ 5.743833368474787,
141
+ -40.673603455225624,
142
+ 14.988999366760254,
143
+ -84.03310428966175,
144
+ 14.675944328308105,
145
+ 50.6916593975491
146
+ ],
147
+ "q99": [
148
+ 8.5752028465271,
149
+ -14.10829226175944,
150
+ 23.44281349182129,
151
+ -68.07338342666625,
152
+ 31.226054382324218,
153
+ 53.692282686000915
154
+ ]
155
+ },
156
+ "observation.images.top": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.6570959110794856
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.644665944448499
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.6561960586654016
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 403
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.02759001610268906
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ -3.9215686274509807e-13
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.0744944285125708
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.3451425666514827
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.31766037363017846
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.36476735193998916
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.6862853033700085
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.6862122391699967
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.6863941279312635
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.9883637298094872
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.8784476468097095
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.8785318866989882
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.9999797535132267
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.9999660540762633
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.9999547552433071
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.front": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.46546100021894615
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.4433028136606173
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.4374625277737232
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 403
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ -3.9215686274509807e-13
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ -3.9215686274509807e-13
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.9215686274509807e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.14519453293747553
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.1099130354006642
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.09405635246601728
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.3765105640303247
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.36072765871048496
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.360659618707576
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.9998092272420199
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.9998338966645219
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.9998408310623617
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9999809227245549
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.999983389666805
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.999984083106589
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 99.46666666666667
478
+ ],
479
+ "mean": [
480
+ 49.733333333333334
481
+ ],
482
+ "std": [
483
+ 28.723174280374046
484
+ ],
485
+ "count": [
486
+ 2985
487
+ ],
488
+ "q01": [
489
+ 0.9717893332352874
490
+ ],
491
+ "q10": [
492
+ 9.93671999991998
493
+ ],
494
+ "q50": [
495
+ 49.74328000000003
496
+ ],
497
+ "q90": [
498
+ 89.5299466667467
499
+ ],
500
+ "q99": [
501
+ 98.49487733343139
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 2984
510
+ ],
511
+ "mean": [
512
+ 1492.0
513
+ ],
514
+ "std": [
515
+ 861.6952284112211
516
+ ],
517
+ "count": [
518
+ 2985
519
+ ],
520
+ "q01": [
521
+ 29.153679999901957
522
+ ],
523
+ "q10": [
524
+ 298.10159999992
525
+ ],
526
+ "q50": [
527
+ 1492.2983999999997
528
+ ],
529
+ "q90": [
530
+ 2685.89840000008
531
+ ],
532
+ "q99": [
533
+ 2954.846320000098
534
+ ]
535
+ },
536
+ "episode_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
+ 2985
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 2984
574
+ ],
575
+ "mean": [
576
+ 1492.0
577
+ ],
578
+ "std": [
579
+ 861.6952284112211
580
+ ],
581
+ "count": [
582
+ 2985
583
+ ],
584
+ "q01": [
585
+ 29.153679999901957
586
+ ],
587
+ "q10": [
588
+ 298.10159999992
589
+ ],
590
+ "q50": [
591
+ 1492.2983999999997
592
+ ],
593
+ "q90": [
594
+ 2685.89840000008
595
+ ],
596
+ "q99": [
597
+ 2954.846320000098
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 2985
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c3f7ecdd40e1daf493eec40d42fa0f7450a6e1af1b0bc96bd278835ca89254d7
3
+ size 2071
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 sha256:63b183b592432aa8c9d51e9b70cf19fa164b7165b28be6c39a503027dc681635
3
+ size 57097328
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:fd3a99befc3b8c588261c4510416e84d1d4839e0bcf4afb4f95f60d0f8afe704
3
+ size 97937753