tlrma commited on
Commit
5a0bfba
·
verified ·
1 Parent(s): 8c185f3

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:f120d5ed09c1e4cb26b15cce81965ea50161ae0460845b16b97ed9c7dcd8f284
3
+ size 1173108
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db91c3041465de653d9f9567214ef0729f0249a386f5e1c19332f94cc5b0b462
3
+ size 186004
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 40,
5
+ "total_frames": 16140,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:40"
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
+ "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": 30,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.wrist": {
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": 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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 485
8
+ ],
9
+ "mean": [
10
+ 202.6281288723668
11
+ ],
12
+ "std": [
13
+ 118.86121623765742
14
+ ],
15
+ "count": [
16
+ 16140
17
+ ],
18
+ "q01": [
19
+ 3.6591620906081204
20
+ ],
21
+ "q10": [
22
+ 40.06055570252199
23
+ ],
24
+ "q50": [
25
+ 202.36232488227986
26
+ ],
27
+ "q90": [
28
+ 365.17055743254605
29
+ ],
30
+ "q99": [
31
+ 401.5970956541255
32
+ ]
33
+ },
34
+ "observation.images.wrist": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 0.9921568627450981
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 0.9921568627450981
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.7776327493003029
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.6393933486940344
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.47134505061075627
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.05001482131219697
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.06110675337937108
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.10188996909735439
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 4005
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.1913624348826034
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.0006810141520444766
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.013590792080039044
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.44201847618704726
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.10411937135711587
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.050983611975016836
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.8745806782751299
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.7199358890247962
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.4395400952570872
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.9273040862481727
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.9251678217493444
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.9193701851843856
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.9377498210255834
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.934520049798958
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.9341369045288633
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -25.274742126464844,
195
+ -94.30278015136719,
196
+ 14.700257301330566,
197
+ 3.222987651824951,
198
+ -48.71726989746094,
199
+ -3.294511407148093e-05
200
+ ],
201
+ "max": [
202
+ 25.91992950439453,
203
+ 1.136536717414856,
204
+ 94.57635498046875,
205
+ 95.0009536743164,
206
+ 218.38319396972656,
207
+ 38.781036376953125
208
+ ],
209
+ "mean": [
210
+ -4.591517432301758,
211
+ -43.479457909703406,
212
+ 49.87577236038454,
213
+ 67.15387871965599,
214
+ 8.495468081358492,
215
+ 25.08976308912445
216
+ ],
217
+ "std": [
218
+ 12.915799483845799,
219
+ 26.764814158493365,
220
+ 23.32841244332018,
221
+ 32.096356653357724,
222
+ 56.260960214251504,
223
+ 11.547546614273323
224
+ ],
225
+ "count": [
226
+ 16140
227
+ ],
228
+ "q01": [
229
+ -12.763249173240295,
230
+ -88.7219763525404,
231
+ 24.366122094091132,
232
+ 3.778977988485658,
233
+ -22.49193465892976,
234
+ -3.240139063257583e-05
235
+ ],
236
+ "q10": [
237
+ -10.472262641159901,
238
+ -82.83334750254795,
239
+ 31.903571544334447,
240
+ 3.8417870049392193,
241
+ -18.831627303362087,
242
+ 0.004938051673405391
243
+ ],
244
+ "q50": [
245
+ -5.969044397059856,
246
+ -31.345349628715564,
247
+ 42.283663794906715,
248
+ 78.91187837313936,
249
+ 11.777877470570065,
250
+ 24.962180871249892
251
+ ],
252
+ "q90": [
253
+ 3.977898131934617,
254
+ -22.87481719731201,
255
+ 92.75333620871886,
256
+ 91.65348598984423,
257
+ 32.01193785703802,
258
+ 37.07046774886094
259
+ ],
260
+ "q99": [
261
+ 4.263519486688874,
262
+ -21.342236121082745,
263
+ 93.20470830715013,
264
+ 94.98333724113591,
265
+ 35.910014583473476,
266
+ 37.07841641972263
267
+ ]
268
+ },
269
+ "observation.images.front": {
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ],
287
+ "max": [
288
+ [
289
+ [
290
+ 0.996078431372549
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.984313725490196
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.9686274509803922
301
+ ]
302
+ ]
303
+ ],
304
+ "mean": [
305
+ [
306
+ [
307
+ 0.845781691594657
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.7828656196706729
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.6096243688444999
318
+ ]
319
+ ]
320
+ ],
321
+ "std": [
322
+ [
323
+ [
324
+ 0.01513847322602096
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.01674583048296644
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.009440500967787719
335
+ ]
336
+ ]
337
+ ],
338
+ "count": [
339
+ 4005
340
+ ],
341
+ "q01": [
342
+ [
343
+ [
344
+ 0.15947134447508074
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.020929409785999584
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.024475776611650263
355
+ ]
356
+ ]
357
+ ],
358
+ "q10": [
359
+ [
360
+ [
361
+ 0.7021466681995824
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.49566013869755626
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.16897112126968247
372
+ ]
373
+ ]
374
+ ],
375
+ "q50": [
376
+ [
377
+ [
378
+ 0.9024228387409099
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.8143114431350732
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.6379400250852175
389
+ ]
390
+ ]
391
+ ],
392
+ "q90": [
393
+ [
394
+ [
395
+ 0.9333238804747457
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.9294866450446404
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.9294406887845043
406
+ ]
407
+ ]
408
+ ],
409
+ "q99": [
410
+ [
411
+ [
412
+ 0.9429299684679782
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.933442227961198
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.9334597788648331
423
+ ]
424
+ ]
425
+ ]
426
+ },
427
+ "episode_index": {
428
+ "min": [
429
+ 0
430
+ ],
431
+ "max": [
432
+ 39
433
+ ],
434
+ "mean": [
435
+ 19.602540272614622
436
+ ],
437
+ "std": [
438
+ 11.589598421186272
439
+ ],
440
+ "count": [
441
+ 16140
442
+ ],
443
+ "q01": [
444
+ 19.602540272614622
445
+ ],
446
+ "q10": [
447
+ 19.602540272614622
448
+ ],
449
+ "q50": [
450
+ 19.602540272614636
451
+ ],
452
+ "q90": [
453
+ 19.602540272614647
454
+ ],
455
+ "q99": [
456
+ 19.60254027261466
457
+ ]
458
+ },
459
+ "index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 16139
465
+ ],
466
+ "mean": [
467
+ 8069.5
468
+ ],
469
+ "std": [
470
+ 4659.216663417433
471
+ ],
472
+ "count": [
473
+ 16140
474
+ ],
475
+ "q01": [
476
+ 7870.531033218241
477
+ ],
478
+ "q10": [
479
+ 7906.932426830154
480
+ ],
481
+ "q50": [
482
+ 8069.236263816605
483
+ ],
484
+ "q90": [
485
+ 8232.042428560182
486
+ ],
487
+ "q99": [
488
+ 8268.468966781758
489
+ ]
490
+ },
491
+ "timestamp": {
492
+ "min": [
493
+ 0.0
494
+ ],
495
+ "max": [
496
+ 16.166666666666668
497
+ ],
498
+ "mean": [
499
+ 6.754270962412227
500
+ ],
501
+ "std": [
502
+ 3.9620405412552486
503
+ ],
504
+ "count": [
505
+ 16140
506
+ ],
507
+ "q01": [
508
+ 0.12197206959201305
509
+ ],
510
+ "q10": [
511
+ 1.335351856673173
512
+ ],
513
+ "q50": [
514
+ 6.745479756298921
515
+ ],
516
+ "q90": [
517
+ 12.172351914495753
518
+ ],
519
+ "q99": [
520
+ 13.386569855232443
521
+ ]
522
+ },
523
+ "task_index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 0
529
+ ],
530
+ "mean": [
531
+ 0.0
532
+ ],
533
+ "std": [
534
+ 0.0
535
+ ],
536
+ "count": [
537
+ 16140
538
+ ],
539
+ "q01": [
540
+ 3.9999999999994186e-16
541
+ ],
542
+ "q10": [
543
+ 3.9999999999994166e-15
544
+ ],
545
+ "q50": [
546
+ 1.999999999999709e-14
547
+ ],
548
+ "q90": [
549
+ 3.599999999999478e-14
550
+ ],
551
+ "q99": [
552
+ 3.959999999999424e-14
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -25.275129318237305,
558
+ -94.324462890625,
559
+ 12.50440788269043,
560
+ 3.0799996852874756,
561
+ -48.91773986816406,
562
+ 8.669766202729079e-07
563
+ ],
564
+ "max": [
565
+ 25.990388870239258,
566
+ -0.5780293941497803,
567
+ 90.0,
568
+ 94.99983215332031,
569
+ 218.52651977539062,
570
+ 38.78575134277344
571
+ ],
572
+ "mean": [
573
+ -4.6463136690035185,
574
+ -44.45730602649655,
575
+ 48.41965729194651,
576
+ 66.62006954561816,
577
+ 8.443511630552262,
578
+ 13.234700956427329
579
+ ],
580
+ "std": [
581
+ 12.930258572220607,
582
+ 26.260476902463825,
583
+ 23.227843424876998,
584
+ 32.59453959162967,
585
+ 56.305086597381106,
586
+ 16.8915614738652
587
+ ],
588
+ "count": [
589
+ 16140
590
+ ],
591
+ "q01": [
592
+ -12.711720606079597,
593
+ -86.8034821787034,
594
+ 22.639920818656794,
595
+ 3.0799996852874756,
596
+ -22.602047437362955,
597
+ 8.668766326991317e-07
598
+ ],
599
+ "q10": [
600
+ -10.53585097505117,
601
+ -83.60090857781726,
602
+ 30.334636896952816,
603
+ 3.0799996852874756,
604
+ -18.847828174954508,
605
+ 8.668766326991317e-07
606
+ ],
607
+ "q50": [
608
+ -6.0069911055647855,
609
+ -32.479090597719164,
610
+ 40.612404928520554,
611
+ 78.7145172153519,
612
+ 11.727736043939414,
613
+ 0.28057837324854373
614
+ ],
615
+ "q90": [
616
+ 3.8615855719626366,
617
+ -24.172020784855487,
618
+ 89.99293582172925,
619
+ 91.60585842647357,
620
+ 31.98469880993524,
621
+ 37.07529724084675
622
+ ],
623
+ "q99": [
624
+ 4.058817577340237,
625
+ -22.5808667552406,
626
+ 89.99929358217291,
627
+ 94.93212143414269,
628
+ 35.90501884588245,
629
+ 37.07758274929845
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1129bad129baf0a0c9fe88b1cb455073457efbdab25b7b54bf60a92eae325052
3
+ size 2393
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 sha256:3400bd8286d0b6f9dc6f0c78e783f9e5f8fe374e8c498b40f6d800b7f7803b94
3
+ size 58650019
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:ef2841c0097b536002444c74432abb476140be804707be3895fa32b645a4684c
3
+ size 55303959