lenawngr commited on
Commit
2e5952e
·
verified ·
1 Parent(s): 0cfe41f

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 sha256:67fd8ebe5126fcb1aae8414149136cf6af506f05a9f8bbfe822bd3d4952a2f27
3
+ size 342954
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0592f0849fcf726afb674e487d0af9f9dd37e4ae3d136199762a8156b7f9d8c
3
+ size 105746
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "shoulder_pan.pos",
9
+ "shoulder_lift.pos",
10
+ "elbow_flex.pos",
11
+ "wrist_flex.pos",
12
+ "wrist_roll.pos",
13
+ "gripper.pos"
14
+ ],
15
+ "shape": [
16
+ 6
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "names": [
22
+ "shoulder_pan.pos",
23
+ "shoulder_lift.pos",
24
+ "elbow_flex.pos",
25
+ "wrist_flex.pos",
26
+ "wrist_roll.pos",
27
+ "gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 6
31
+ ]
32
+ },
33
+ "observation.images.top": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "video.height": 480,
47
+ "video.width": 640,
48
+ "video.codec": "av1",
49
+ "video.pix_fmt": "yuv420p",
50
+ "video.is_depth_map": false,
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false,
54
+ "video.g": 2,
55
+ "video.crf": 30,
56
+ "video.preset": 12,
57
+ "video.fast_decode": 0,
58
+ "video.video_backend": "pyav",
59
+ "video.extra_options": {}
60
+ }
61
+ },
62
+ "observation.images.gripper": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 480,
66
+ 640,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channels"
73
+ ],
74
+ "info": {
75
+ "video.height": 480,
76
+ "video.width": 640,
77
+ "video.codec": "av1",
78
+ "video.pix_fmt": "yuv420p",
79
+ "video.is_depth_map": false,
80
+ "video.fps": 30,
81
+ "video.channels": 3,
82
+ "has_audio": false,
83
+ "video.g": 2,
84
+ "video.crf": 30,
85
+ "video.preset": 12,
86
+ "video.fast_decode": 0,
87
+ "video.video_backend": "pyav",
88
+ "video.extra_options": {}
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
+ "total_episodes": 20,
128
+ "total_frames": 6827,
129
+ "total_tasks": 1,
130
+ "chunks_size": 1000,
131
+ "data_files_size_in_mb": 100,
132
+ "video_files_size_in_mb": 200,
133
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
134
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
135
+ "robot_type": "so_follower",
136
+ "splits": {
137
+ "train": "0:20"
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 458
8
+ ],
9
+ "mean": [
10
+ 172.60377911234804
11
+ ],
12
+ "std": [
13
+ 102.87826679999685
14
+ ],
15
+ "count": [
16
+ 6827
17
+ ],
18
+ "q01": [
19
+ 3.0409764375757016
20
+ ],
21
+ "q10": [
22
+ 34.13301359300604
23
+ ],
24
+ "q50": [
25
+ 172.41246541672757
26
+ ],
27
+ "q90": [
28
+ 311.0745446316901
29
+ ],
30
+ "q99": [
31
+ 342.1665817871203
32
+ ]
33
+ },
34
+ "task_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 0
40
+ ],
41
+ "mean": [
42
+ 0.0
43
+ ],
44
+ "std": [
45
+ 0.0
46
+ ],
47
+ "count": [
48
+ 6827
49
+ ],
50
+ "q01": [
51
+ 3.9999999999994167e-16
52
+ ],
53
+ "q10": [
54
+ 3.999999999999418e-15
55
+ ],
56
+ "q50": [
57
+ 1.9999999999997088e-14
58
+ ],
59
+ "q90": [
60
+ 3.5999999999994766e-14
61
+ ],
62
+ "q99": [
63
+ 3.959999999999423e-14
64
+ ]
65
+ },
66
+ "episode_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 19
72
+ ],
73
+ "mean": [
74
+ 9.241247985938186
75
+ ],
76
+ "std": [
77
+ 5.790868095393906
78
+ ],
79
+ "count": [
80
+ 6827
81
+ ],
82
+ "q01": [
83
+ 9.241247985938186
84
+ ],
85
+ "q10": [
86
+ 9.24124798593819
87
+ ],
88
+ "q50": [
89
+ 9.24124798593821
90
+ ],
91
+ "q90": [
92
+ 9.241247985938223
93
+ ],
94
+ "q99": [
95
+ 9.241247985938228
96
+ ]
97
+ },
98
+ "action": {
99
+ "min": [
100
+ -115.73626708984375,
101
+ -104.21977996826172,
102
+ -96.52747344970703,
103
+ -102.76923370361328,
104
+ -99.56044006347656,
105
+ 0.725806474685669
106
+ ],
107
+ "max": [
108
+ 118.37362670898438,
109
+ 58.06593322753906,
110
+ 96.70330047607422,
111
+ 103.20879364013672,
112
+ -49.098899841308594,
113
+ 0.725806474685669
114
+ ],
115
+ "mean": [
116
+ -11.938515317464915,
117
+ -49.21865205106823,
118
+ 34.44776475661773,
119
+ 14.99978980626537,
120
+ -72.08275802833575,
121
+ 0.7258034743640369
122
+ ],
123
+ "std": [
124
+ 23.402359043242726,
125
+ 62.66399835412394,
126
+ 66.30681987521575,
127
+ 66.58895035399618,
128
+ 13.89048287014353,
129
+ 0.001957619054590632
130
+ ],
131
+ "count": [
132
+ 6827
133
+ ],
134
+ "q01": [
135
+ -36.00359030279892,
136
+ -103.51467964356857,
137
+ -65.32001702034336,
138
+ -95.52757675358737,
139
+ -91.00377164553119,
140
+ 0.725806474685669
141
+ ],
142
+ "q10": [
143
+ -29.497240294102593,
144
+ -103.41201983068322,
145
+ -56.173636077336376,
146
+ -89.33527035838466,
147
+ -89.96817028226702,
148
+ 0.725806474685669
149
+ ],
150
+ "q50": [
151
+ -14.624625644703888,
152
+ -86.24422286108216,
153
+ 62.851411243230295,
154
+ 35.7391981443869,
155
+ -71.22811502838523,
156
+ 0.725806474685669
157
+ ],
158
+ "q90": [
159
+ 20.643967689162807,
160
+ 44.59004476393136,
161
+ 96.36620758906272,
162
+ 86.16251777363955,
163
+ -57.21983654277253,
164
+ 0.725806474685669
165
+ ],
166
+ "q99": [
167
+ 30.37098134199704,
168
+ 51.322855849875914,
169
+ 96.40852485830015,
170
+ 94.18948684038858,
171
+ -54.926866086374936,
172
+ 0.725806474685669
173
+ ]
174
+ },
175
+ "timestamp": {
176
+ "min": [
177
+ 0.0
178
+ ],
179
+ "max": [
180
+ 15.266666666666667
181
+ ],
182
+ "mean": [
183
+ 5.7534593037449335
184
+ ],
185
+ "std": [
186
+ 3.429275559999895
187
+ ],
188
+ "count": [
189
+ 6827
190
+ ],
191
+ "q01": [
192
+ 0.10136588115755854
193
+ ],
194
+ "q10": [
195
+ 1.137767119689319
196
+ ],
197
+ "q50": [
198
+ 5.746963580879724
199
+ ],
200
+ "q90": [
201
+ 10.369151487800547
202
+ ],
203
+ "q99": [
204
+ 11.40555272633231
205
+ ]
206
+ },
207
+ "observation.state": {
208
+ "min": [
209
+ -115.20879364013672,
210
+ -103.82417297363281,
211
+ -89.89010620117188,
212
+ -100.48351287841797,
213
+ -99.29669952392578,
214
+ 1.4403291940689087
215
+ ],
216
+ "max": [
217
+ 117.05494689941406,
218
+ 58.63736343383789,
219
+ 96.30769348144531,
220
+ 100.83516693115234,
221
+ -49.978023529052734,
222
+ 1.4403291940689087
223
+ ],
224
+ "mean": [
225
+ -11.659582979669374,
226
+ -47.32977034760304,
227
+ 36.85270025930241,
228
+ 16.149092553972203,
229
+ -72.27448037240976,
230
+ 1.4403312803973596
231
+ ],
232
+ "std": [
233
+ 24.305768135726115,
234
+ 64.53190359645203,
235
+ 64.78594916181505,
236
+ 65.91475199323096,
237
+ 13.40642946880479,
238
+ 0.0001894800141077486
239
+ ],
240
+ "count": [
241
+ 6827
242
+ ],
243
+ "q01": [
244
+ -35.436236121161045,
245
+ -103.56025922995143,
246
+ -60.846241230650506,
247
+ -94.43125974756568,
248
+ -90.51728251201159,
249
+ 1.4403291940689087
250
+ ],
251
+ "q10": [
252
+ -30.044842282080115,
253
+ -103.44988393129069,
254
+ -53.76267976060829,
255
+ -85.2317450438017,
256
+ -89.14172348443978,
257
+ 1.4403291940689087
258
+ ],
259
+ "q50": [
260
+ -14.96759072652249,
261
+ -85.64384551027594,
262
+ 66.9058694037269,
263
+ 37.44095423856071,
264
+ -71.21798091075173,
265
+ 1.4403291940689087
266
+ ],
267
+ "q90": [
268
+ 23.904171136378192,
269
+ 48.40985894286384,
270
+ 96.05994552692296,
271
+ 85.98041364794987,
272
+ -57.91801105171628,
273
+ 1.4403291940689087
274
+ ],
275
+ "q99": [
276
+ 29.594178600209656,
277
+ 51.01445614605311,
278
+ 96.09994934725607,
279
+ 92.29322983016571,
280
+ -55.84617430202625,
281
+ 1.4403291940689087
282
+ ]
283
+ },
284
+ "index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 6826
290
+ ],
291
+ "mean": [
292
+ 3413.0
293
+ ],
294
+ "std": [
295
+ 1970.7851227366216
296
+ ],
297
+ "count": [
298
+ 6827
299
+ ],
300
+ "q01": [
301
+ 3243.437197325228
302
+ ],
303
+ "q10": [
304
+ 3274.529234480658
305
+ ],
306
+ "q50": [
307
+ 3412.8086863043795
308
+ ],
309
+ "q90": [
310
+ 3551.470765519342
311
+ ],
312
+ "q99": [
313
+ 3582.562802674772
314
+ ]
315
+ },
316
+ "observation.images.gripper": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.0
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.0
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.4933717628114914
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.49395704402861196
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.48390164126292096
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.0027841251798073
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.0030945169403685724
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.0034573819125686364
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 131078400
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.07940631771166187
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.09053391829529048
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.08186082194030035
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.31697868465767876
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.31664012087577514
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.29643297916043254
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.5338306918588452
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.5324043019053529
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.511735903261975
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.6112553445124996
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.617141694223544
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.634003584457971
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.6634804034413836
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.6724129255259558
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.7130071116153085
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.top": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.00784313725490196
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.463563800134941
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.47120699801513793
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.46231042239292086
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.008858932584913215
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.007946310030372335
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.008649593476877833
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 131078400
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.12532435377429316
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.14011800401930796
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.13280265225604287
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.31248681432420067
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.3310828915109012
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.3095324039995241
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.4901670726165966
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.4914272844445265
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.4798830419938983
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.5802026238843067
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.5790603847136746
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.5811294504330062
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.7159596427206739
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.7097964809040642
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.7366339263232027
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1d4f989f1534f8cbc3d91e48d6290fb1cbd41384263f01ddf17cac6087813bc5
3
+ size 2170
videos/observation.images.gripper/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7622e15c24af1f177a15c2561b3109ae754019c18eaccde8d8393ca394c8548
3
+ size 61958834
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 sha256:4124df68db950cca58cf0d9a5f8b26e4281b17f22fcada044e6200a83cd937aa
3
+ size 29000529