zhoumiaosen commited on
Commit
0125b83
·
verified ·
1 Parent(s): 63f3381

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:c0ea3ed54fbd346a40ef549de7605f1ab0ba460588641d44e40f5108c386f509
3
+ size 90278
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e67d91b225c6e04c7b5ce2666d99c489fab16acec85d6975b983e9d27fb7731b
3
+ size 76677
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so100_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 1782,
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.front": {
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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -31.477691650390625,
5
+ -94.68405151367188,
6
+ -91.53915405273438,
7
+ 5.006104946136475,
8
+ -56.19047546386719,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 30.331560134887695,
13
+ 74.42327117919922,
14
+ 100.0,
15
+ 100.0,
16
+ 2.5152626037597656,
17
+ 93.81698608398438
18
+ ],
19
+ "mean": [
20
+ -5.510721206665039,
21
+ -16.507366180419922,
22
+ -0.3418678343296051,
23
+ 31.6812686920166,
24
+ -28.572547912597656,
25
+ 17.27140998840332
26
+ ],
27
+ "std": [
28
+ 19.647478103637695,
29
+ 44.20603561401367,
30
+ 51.15460968017578,
31
+ 25.441633224487305,
32
+ 22.884931564331055,
33
+ 30.972972869873047
34
+ ],
35
+ "count": [
36
+ 1782
37
+ ],
38
+ "q01": [
39
+ -31.477691650390625,
40
+ -94.68405151367188,
41
+ -91.45644244511922,
42
+ 5.66358949025472,
43
+ -55.904950987871956,
44
+ 1.5674108158217537
45
+ ],
46
+ "q10": [
47
+ -31.30807836280679,
48
+ -87.56350504557291,
49
+ -73.97731262207031,
50
+ 6.70138779399551,
51
+ -55.36720352172851,
52
+ 1.732514800672178
53
+ ],
54
+ "q50": [
55
+ -10.27392861150926,
56
+ -8.608413696289062,
57
+ 2.5448760986328125,
58
+ 24.80210282252385,
59
+ -9.505718231201172,
60
+ 2.2179628733930916
61
+ ],
62
+ "q90": [
63
+ 18.048822021484376,
64
+ 35.515069580078126,
65
+ 77.77092704772949,
66
+ 61.25768966674804,
67
+ -3.5407107761928014,
68
+ 93.80042908923461
69
+ ],
70
+ "q99": [
71
+ 29.505536575317382,
72
+ 67.69889923095704,
73
+ 99.98049228341239,
74
+ 98.059893989563,
75
+ -3.0594736480712887,
76
+ 93.8153303845094
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -40.879764556884766,
82
+ -94.25611877441406,
83
+ -91.50474548339844,
84
+ 6.697892189025879,
85
+ -55.55555725097656,
86
+ 2.419882297515869
87
+ ],
88
+ "max": [
89
+ 30.205278396606445,
90
+ 75.14124298095703,
91
+ 100.0,
92
+ 98.03278350830078,
93
+ 1.0500611066818237,
94
+ 93.45977783203125
95
+ ],
96
+ "mean": [
97
+ -5.5161027908325195,
98
+ -13.557195663452148,
99
+ 2.2907724380493164,
100
+ 32.44926834106445,
101
+ -28.515464782714844,
102
+ 18.01058578491211
103
+ ],
104
+ "std": [
105
+ 19.65275001525879,
106
+ 45.98016357421875,
107
+ 51.36820602416992,
108
+ 25.050844192504883,
109
+ 22.85312271118164,
110
+ 30.399497985839844
111
+ ],
112
+ "count": [
113
+ 1782
114
+ ],
115
+ "q01": [
116
+ -31.488945620854697,
117
+ -93.1322671018328,
118
+ -91.41177642313639,
119
+ 6.796192098125335,
120
+ -55.55555725097656,
121
+ 2.419882297515869
122
+ ],
123
+ "q10": [
124
+ -30.79619923215924,
125
+ -88.7136026829849,
126
+ -70.1953732808431,
127
+ 7.726331031900146,
128
+ -55.55555725097656,
129
+ 2.419882297515869
130
+ ],
131
+ "q50": [
132
+ -9.911564826965332,
133
+ -5.458015441894531,
134
+ 3.4050064086914062,
135
+ 25.345136991111183,
136
+ -9.54974365234375,
137
+ 3.4601119290227476
138
+ ],
139
+ "q90": [
140
+ 17.423716608683268,
141
+ 38.34348468780517,
142
+ 78.49738427364466,
143
+ 62.70829433713641,
144
+ -3.4399869384765625,
145
+ 93.44402411747905
146
+ ],
147
+ "q99": [
148
+ 29.61655174255371,
149
+ 71.45449218750001,
150
+ 99.98250004695012,
151
+ 98.02707097906816,
152
+ -2.949488426208496,
153
+ 93.45820246057603
154
+ ]
155
+ },
156
+ "observation.images.front": {
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
+ 0.5242939707969562
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5241591825294595
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5184854282954058
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
+ 274
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.011601002355249617
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.015604180919422436
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.01968740409169489
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.02746580711449092
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.031272224860133375
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.039245090577850215
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.6235842016641222
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.580273002095244
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.5528308551372462
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.9724154279487622
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.9998088479758875
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.9921574105625665
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.9999044160001014
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.9999808847979417
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.9999779962486119
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "timestamp": {
315
+ "min": [
316
+ 0.0
317
+ ],
318
+ "max": [
319
+ 59.36666666666667
320
+ ],
321
+ "mean": [
322
+ 29.68333333333333
323
+ ],
324
+ "std": [
325
+ 17.147300295014592
326
+ ],
327
+ "count": [
328
+ 1782
329
+ ],
330
+ "q01": [
331
+ 0.5677827999019128
332
+ ],
333
+ "q10": [
334
+ 5.927167999919968
335
+ ],
336
+ "q50": [
337
+ 29.671459999999964
338
+ ],
339
+ "q90": [
340
+ 53.4394986667467
341
+ ],
342
+ "q99": [
343
+ 58.798883866764754
344
+ ]
345
+ },
346
+ "frame_index": {
347
+ "min": [
348
+ 0
349
+ ],
350
+ "max": [
351
+ 1781
352
+ ],
353
+ "mean": [
354
+ 890.5
355
+ ],
356
+ "std": [
357
+ 514.4190088504378
358
+ ],
359
+ "count": [
360
+ 1782
361
+ ],
362
+ "q01": [
363
+ 17.033483999901918
364
+ ],
365
+ "q10": [
366
+ 177.81503999992
367
+ ],
368
+ "q50": [
369
+ 890.1438
370
+ ],
371
+ "q90": [
372
+ 1603.18496000008
373
+ ],
374
+ "q99": [
375
+ 1763.9665160000982
376
+ ]
377
+ },
378
+ "episode_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 0
384
+ ],
385
+ "mean": [
386
+ 0.0
387
+ ],
388
+ "std": [
389
+ 0.0
390
+ ],
391
+ "count": [
392
+ 1782
393
+ ],
394
+ "q01": [
395
+ 3.9999999999994176e-16
396
+ ],
397
+ "q10": [
398
+ 3.999999999999417e-15
399
+ ],
400
+ "q50": [
401
+ 1.9999999999997088e-14
402
+ ],
403
+ "q90": [
404
+ 3.599999999999476e-14
405
+ ],
406
+ "q99": [
407
+ 3.9599999999994235e-14
408
+ ]
409
+ },
410
+ "index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 1781
416
+ ],
417
+ "mean": [
418
+ 890.5
419
+ ],
420
+ "std": [
421
+ 514.4190088504378
422
+ ],
423
+ "count": [
424
+ 1782
425
+ ],
426
+ "q01": [
427
+ 17.033483999901918
428
+ ],
429
+ "q10": [
430
+ 177.81503999992
431
+ ],
432
+ "q50": [
433
+ 890.1438
434
+ ],
435
+ "q90": [
436
+ 1603.18496000008
437
+ ],
438
+ "q99": [
439
+ 1763.9665160000982
440
+ ]
441
+ },
442
+ "task_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 0
448
+ ],
449
+ "mean": [
450
+ 0.0
451
+ ],
452
+ "std": [
453
+ 0.0
454
+ ],
455
+ "count": [
456
+ 1782
457
+ ],
458
+ "q01": [
459
+ 3.9999999999994176e-16
460
+ ],
461
+ "q10": [
462
+ 3.999999999999417e-15
463
+ ],
464
+ "q50": [
465
+ 1.9999999999997088e-14
466
+ ],
467
+ "q90": [
468
+ 3.599999999999476e-14
469
+ ],
470
+ "q99": [
471
+ 3.9599999999994235e-14
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:97d8748da6f3c0e09af24eb642fe8761bc26a1126741aa53fdc7121a961ede6f
3
+ size 2156
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:f234b8067c2e016671c22f988c04a4bbb9877763d92c3310ae6c555df9cfe09c
3
+ size 25866373