data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:677420c444f1d0f0222773e68d9746f7f2226baf534f72938ca2963feb46f535
3
+ size 107089
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2db3f37a9a617cf6dd8d43a0393170ac31bceed292c1dbbdf04ab8b381631a5c
3
+ size 49606
meta/info.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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.front": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 360,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "is_depth_map": false,
47
+ "video.height": 360,
48
+ "video.width": 640,
49
+ "video.codec": "h264",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false,
54
+ "video.g": 2,
55
+ "video.crf": 30,
56
+ "video.preset": null,
57
+ "video.fast_decode": 0,
58
+ "video.video_backend": "pyav",
59
+ "video.extra_options": {}
60
+ }
61
+ },
62
+ "timestamp": {
63
+ "dtype": "float32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "frame_index": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "episode_index": {
77
+ "dtype": "int64",
78
+ "shape": [
79
+ 1
80
+ ],
81
+ "names": null
82
+ },
83
+ "index": {
84
+ "dtype": "int64",
85
+ "shape": [
86
+ 1
87
+ ],
88
+ "names": null
89
+ },
90
+ "task_index": {
91
+ "dtype": "int64",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ }
97
+ },
98
+ "total_episodes": 5,
99
+ "total_frames": 2806,
100
+ "total_tasks": 1,
101
+ "chunks_size": 1000,
102
+ "data_files_size_in_mb": 100,
103
+ "video_files_size_in_mb": 200,
104
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
105
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
106
+ "robot_type": "so_follower",
107
+ "splits": {
108
+ "train": "0:5"
109
+ }
110
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -26.549449920654297,
5
+ -66.4175796508789,
6
+ 4.615384578704834,
7
+ 28.96703338623047,
8
+ -31.956043243408203,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 4.835165023803711,
13
+ 3.7362637519836426,
14
+ 45.14285659790039,
15
+ 102.54945373535156,
16
+ 18.41758155822754,
17
+ 99.22212982177734
18
+ ],
19
+ "mean": [
20
+ -6.118130179702258,
21
+ -37.744878647927294,
22
+ 22.88077309364433,
23
+ 83.51103697414493,
24
+ -1.278241178943528,
25
+ 37.695914912206824
26
+ ],
27
+ "std": [
28
+ 5.93599022401501,
29
+ 20.7205800706272,
30
+ 5.971771155875134,
31
+ 24.69637387161911,
32
+ 10.857985954799219,
33
+ 40.816317274413734
34
+ ],
35
+ "count": [
36
+ 2806
37
+ ],
38
+ "q01": [
39
+ -25.936673984527587,
40
+ -66.4175796508789,
41
+ 4.7050751066207885,
42
+ 29.132731699262347,
43
+ -31.956043243408203,
44
+ 0.341490707449615
45
+ ],
46
+ "q10": [
47
+ -23.646311378479005,
48
+ -66.32828642411665,
49
+ 5.230930111624978,
50
+ 31.253447151184083,
51
+ -31.872009644141563,
52
+ 0.34578057132661344
53
+ ],
54
+ "q50": [
55
+ -10.722988605499268,
56
+ -53.05446632872236,
57
+ 20.791438102722168,
58
+ 99.55767822265625,
59
+ -2.419833183288574,
60
+ 0.44071641076694834
61
+ ],
62
+ "q90": [
63
+ 0.5286958835743092,
64
+ -0.6567680358886722,
65
+ 38.90132080078125,
66
+ 102.4644111797964,
67
+ 13.492642710759089,
68
+ 99.2110171508789
69
+ ],
70
+ "q99": [
71
+ 4.044765567779541,
72
+ 3.7288077988991373,
73
+ 45.0533978398641,
74
+ 102.46972680400602,
75
+ 18.068537063598633,
76
+ 99.2210185546875
77
+ ]
78
+ },
79
+ "index": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 2805.0
85
+ ],
86
+ "mean": [
87
+ 1402.5
88
+ ],
89
+ "std": [
90
+ 810.0223762341384
91
+ ],
92
+ "count": [
93
+ 2806
94
+ ],
95
+ "q01": [
96
+ 6.059579999901757
97
+ ],
98
+ "q10": [
99
+ 69.01379999992001
100
+ ],
101
+ "q50": [
102
+ 344.93100000000004
103
+ ],
104
+ "q90": [
105
+ 2744.04120000008
106
+ ],
107
+ "q99": [
108
+ 2799.0763200000983
109
+ ]
110
+ },
111
+ "episode_index": {
112
+ "min": [
113
+ 0.0
114
+ ],
115
+ "max": [
116
+ 4.0
117
+ ],
118
+ "mean": [
119
+ 1.8781183178902352
120
+ ],
121
+ "std": [
122
+ 1.4910419688212457
123
+ ],
124
+ "count": [
125
+ 2806
126
+ ],
127
+ "q01": [
128
+ 3.9999999999994176e-16
129
+ ],
130
+ "q10": [
131
+ 3.999999999999417e-15
132
+ ],
133
+ "q50": [
134
+ 1.9999999999997088e-14
135
+ ],
136
+ "q90": [
137
+ 4.0000000000000355
138
+ ],
139
+ "q99": [
140
+ 4.00000000000004
141
+ ]
142
+ },
143
+ "task_index": {
144
+ "min": [
145
+ 0.0
146
+ ],
147
+ "max": [
148
+ 0.0
149
+ ],
150
+ "mean": [
151
+ 0.0
152
+ ],
153
+ "std": [
154
+ 0.0
155
+ ],
156
+ "count": [
157
+ 2806
158
+ ],
159
+ "q01": [
160
+ 3.9999999999994176e-16
161
+ ],
162
+ "q10": [
163
+ 3.999999999999417e-15
164
+ ],
165
+ "q50": [
166
+ 1.9999999999997088e-14
167
+ ],
168
+ "q90": [
169
+ 3.599999999999476e-14
170
+ ],
171
+ "q99": [
172
+ 3.9599999999994235e-14
173
+ ]
174
+ },
175
+ "timestamp": {
176
+ "min": [
177
+ 0.0
178
+ ],
179
+ "max": [
180
+ 23.0
181
+ ],
182
+ "mean": [
183
+ 9.656236635780472
184
+ ],
185
+ "std": [
186
+ 5.906170431143313
187
+ ],
188
+ "count": [
189
+ 2806
190
+ ],
191
+ "q01": [
192
+ 0.13222413323511215
193
+ ],
194
+ "q10": [
195
+ 1.4013999999196
196
+ ],
197
+ "q50": [
198
+ 7.135699999999801
199
+ ],
200
+ "q90": [
201
+ 20.699540000079995
202
+ ],
203
+ "q99": [
204
+ 22.79801400009824
205
+ ]
206
+ },
207
+ "observation.state": {
208
+ "min": [
209
+ -26.0219783782959,
210
+ -67.12088012695312,
211
+ 6.637362480163574,
212
+ 29.80219841003418,
213
+ -31.428571701049805,
214
+ 0.9472259879112244
215
+ ],
216
+ "max": [
217
+ 4.219780445098877,
218
+ 4.087912082672119,
219
+ 45.406593322753906,
220
+ 101.89010620117188,
221
+ 17.89011001586914,
222
+ 98.64682006835938
223
+ ],
224
+ "mean": [
225
+ -6.21110420403783,
226
+ -37.27576681247203,
227
+ 23.94103856470784,
228
+ 83.35023313374155,
229
+ -1.2250636326612443,
230
+ 39.78292947960851
231
+ ],
232
+ "std": [
233
+ 5.8927865344081285,
234
+ 21.001031104295283,
235
+ 6.106395857125743,
236
+ 24.32799418399374,
237
+ 10.790492286265323,
238
+ 38.66730052827362
239
+ ],
240
+ "count": [
241
+ 2806
242
+ ],
243
+ "q01": [
244
+ -25.84623998006185,
245
+ -67.12088012695312,
246
+ 6.637362480163574,
247
+ 29.80219841003418,
248
+ -31.428571701049805,
249
+ 0.9472259879112244
250
+ ],
251
+ "q10": [
252
+ -23.384241104125977,
253
+ -67.12088012695312,
254
+ 6.637362480163574,
255
+ 31.461662101745606,
256
+ -31.428571701049805,
257
+ 0.9472259879112244
258
+ ],
259
+ "q50": [
260
+ -10.550044059753418,
261
+ -52.61706052732862,
262
+ 21.14265028635661,
263
+ 99.07943344116211,
264
+ -2.063878059387207,
265
+ 5.009580475943429
266
+ ],
267
+ "q90": [
268
+ 0.26399993896484375,
269
+ 0.6684669494628903,
270
+ 41.102099609375,
271
+ 101.88621811429084,
272
+ 13.145316137269486,
273
+ 98.63733486599392
274
+ ],
275
+ "q99": [
276
+ 4.0434356117248536,
277
+ 4.086122688033364,
278
+ 45.4020613861084,
279
+ 101.88971739248377,
280
+ 17.888485679626466,
281
+ 98.64587154812283
282
+ ]
283
+ },
284
+ "observation.images.front": {
285
+ "min": [
286
+ [
287
+ [
288
+ 0.0
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.0
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ]
301
+ ],
302
+ "max": [
303
+ [
304
+ [
305
+ 0.8117647171020508
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.8156862854957581
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ]
318
+ ],
319
+ "mean": [
320
+ [
321
+ [
322
+ 0.5529727675153456
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 0.5530049686166787
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.5591262565581865
333
+ ]
334
+ ]
335
+ ],
336
+ "std": [
337
+ [
338
+ [
339
+ 0.15791044430693918
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.1584524933400787
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.16133664998257038
350
+ ]
351
+ ]
352
+ ],
353
+ "count": [
354
+ 40406400
355
+ ],
356
+ "q01": [
357
+ [
358
+ [
359
+ 0.03917705090613846
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.03531096261326919
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.051089441689757965
370
+ ]
371
+ ]
372
+ ],
373
+ "q10": [
374
+ [
375
+ [
376
+ 0.2626870524668733
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.25492796087336345
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.2784691599986094
387
+ ]
388
+ ]
389
+ ],
390
+ "q50": [
391
+ [
392
+ [
393
+ 0.6038186716672391
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.6038945017360565
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.5882254577482674
404
+ ]
405
+ ]
406
+ ],
407
+ "q90": [
408
+ [
409
+ [
410
+ 0.6784902238583165
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.674512741342852
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.6863439840905062
421
+ ]
422
+ ]
423
+ ],
424
+ "q99": [
425
+ [
426
+ [
427
+ 0.698134313184021
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.7372798397408421
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.8901010163422415
438
+ ]
439
+ ]
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "min": [
444
+ 0.0
445
+ ],
446
+ "max": [
447
+ 690.0
448
+ ],
449
+ "mean": [
450
+ 289.6870990734141
451
+ ],
452
+ "std": [
453
+ 177.1851129342994
454
+ ],
455
+ "count": [
456
+ 2806
457
+ ],
458
+ "q01": [
459
+ 3.9667239999017787
460
+ ],
461
+ "q10": [
462
+ 42.0419999999196
463
+ ],
464
+ "q50": [
465
+ 214.0709999999998
466
+ ],
467
+ "q90": [
468
+ 620.98620000008
469
+ ],
470
+ "q99": [
471
+ 683.9404200000982
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1510a67b324dcf40f270491894462f9f70550334aafefccb62c9f320f33ceafd
3
+ size 2055
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 sha256:493ca5e8afa0aec6a66179e1559b9b8d39b625984f3a06194dc37834aa940ef8
3
+ size 7077840