Kaizer commited on
Commit
42fd6ae
·
verified ·
1 Parent(s): 5a3148a

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 sha256:37e2eae05660024ae122448cfa5cf29726f0c1541e70e0aa9521eb57a4ca7eb6
3
+ size 107352
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4642012e2764ea92cd8fbe8e0341b4ca051ea343ec54f34c4867e256bc46836
3
+ size 58989
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2310,
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": "0:5"
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.wrist": {
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 17.233333333333334
8
+ ],
9
+ "mean": [
10
+ 7.732323232323233
11
+ ],
12
+ "std": [
13
+ 4.53096809736825
14
+ ],
15
+ "count": [
16
+ 2310
17
+ ],
18
+ "q01": [
19
+ 0.14033365358146932
20
+ ],
21
+ "q10": [
22
+ 1.5299407502805396
23
+ ],
24
+ "q50": [
25
+ 7.723047220779105
26
+ ],
27
+ "q90": [
28
+ 13.927790562850689
29
+ ],
30
+ "q99": [
31
+ 15.324312811064996
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 4
40
+ ],
41
+ "mean": [
42
+ 2.0324675324675323
43
+ ],
44
+ "std": [
45
+ 1.458304319077845
46
+ ],
47
+ "count": [
48
+ 2310
49
+ ],
50
+ "q01": [
51
+ 2.0324675324675328
52
+ ],
53
+ "q10": [
54
+ 2.0324675324675363
55
+ ],
56
+ "q50": [
57
+ 2.0324675324675523
58
+ ],
59
+ "q90": [
60
+ 2.0324675324675683
61
+ ],
62
+ "q99": [
63
+ 2.0324675324675723
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -46.335697174072266,
69
+ -96.53465270996094,
70
+ -26.077299118041992,
71
+ 7.10823917388916,
72
+ -18.328445434570312,
73
+ 1.7601042985916138
74
+ ],
75
+ "max": [
76
+ 47.59653091430664,
77
+ 33.99340057373047,
78
+ 97.95646667480469,
79
+ 80.2907943725586,
80
+ 34.45747756958008,
81
+ 47.783573150634766
82
+ ],
83
+ "mean": [
84
+ -3.361000605424245,
85
+ -27.414486890850647,
86
+ 36.01977819715228,
87
+ 49.735755282975894,
88
+ 2.2134661055230476,
89
+ 31.803263539566107
90
+ ],
91
+ "std": [
92
+ 21.506713634568168,
93
+ 44.65047944715003,
94
+ 40.043641698164826,
95
+ 14.7882481042927,
96
+ 12.213687391524935,
97
+ 12.722171470282875
98
+ ],
99
+ "count": [
100
+ 2310
101
+ ],
102
+ "q01": [
103
+ -26.57316104387824,
104
+ -88.13342510074764,
105
+ -5.951640586109903,
106
+ 30.38399599306511,
107
+ -8.323213103046665,
108
+ 12.177003767273643
109
+ ],
110
+ "q10": [
111
+ -24.48868008981714,
112
+ -85.89138993003152,
113
+ -3.944785473522361,
114
+ 33.07435064918269,
115
+ -6.847456858943666,
116
+ 12.177003767273643
117
+ ],
118
+ "q50": [
119
+ -5.77313404402384,
120
+ -16.041812469020034,
121
+ 26.876928653095085,
122
+ 49.63439162345677,
123
+ -0.9973347189432858,
124
+ 38.05334777512172
125
+ ],
126
+ "q90": [
127
+ 23.489855762030313,
128
+ 18.522657276072664,
129
+ 90.00984070519168,
130
+ 62.06723744145274,
131
+ 14.50087512521677,
132
+ 42.88718781418406
133
+ ],
134
+ "q99": [
135
+ 25.118495064736766,
136
+ 20.840768340487237,
137
+ 91.31952482884454,
138
+ 70.50049582232879,
139
+ 14.800214517305255,
140
+ 42.91545526720632
141
+ ]
142
+ },
143
+ "observation.images.wrist": {
144
+ "min": [
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ],
150
+ [
151
+ [
152
+ 0.00392156862745098
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ]
160
+ ],
161
+ "max": [
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ],
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ]
177
+ ],
178
+ "mean": [
179
+ [
180
+ [
181
+ 0.3950697372536254
182
+ ]
183
+ ],
184
+ [
185
+ [
186
+ 0.43396347704120714
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.4456572836084303
192
+ ]
193
+ ]
194
+ ],
195
+ "std": [
196
+ [
197
+ [
198
+ 0.017586410039306683
199
+ ]
200
+ ],
201
+ [
202
+ [
203
+ 0.007897221498513657
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.0057967933576727115
209
+ ]
210
+ ]
211
+ ],
212
+ "count": [
213
+ 512
214
+ ],
215
+ "q01": [
216
+ [
217
+ [
218
+ -3.921568627450981e-13
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.06509731881452215
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.047009542742043955
229
+ ]
230
+ ]
231
+ ],
232
+ "q10": [
233
+ [
234
+ [
235
+ 0.03139456459668596
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.21412654507477674
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.29937375958911916
246
+ ]
247
+ ]
248
+ ],
249
+ "q50": [
250
+ [
251
+ [
252
+ 0.4480984238298419
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.462871062345487
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.45963331133985497
263
+ ]
264
+ ]
265
+ ],
266
+ "q90": [
267
+ [
268
+ [
269
+ 0.5568677772328121
270
+ ]
271
+ ],
272
+ [
273
+ [
274
+ 0.558492398831231
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.5524879116554223
280
+ ]
281
+ ]
282
+ ],
283
+ "q99": [
284
+ [
285
+ [
286
+ 0.9338024010497447
287
+ ]
288
+ ],
289
+ [
290
+ [
291
+ 0.8771322965221754
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.8562284055996854
297
+ ]
298
+ ]
299
+ ]
300
+ },
301
+ "frame_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 517
307
+ ],
308
+ "mean": [
309
+ 231.96969696969697
310
+ ],
311
+ "std": [
312
+ 135.9290429210475
313
+ ],
314
+ "count": [
315
+ 2310
316
+ ],
317
+ "q01": [
318
+ 4.210009610291426
319
+ ],
320
+ "q10": [
321
+ 45.89822251074231
322
+ ],
323
+ "q50": [
324
+ 231.708988051948
325
+ ],
326
+ "q90": [
327
+ 417.8337168831971
328
+ ],
329
+ "q99": [
330
+ 459.72938432910246
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -48.11009216308594,
336
+ -99.37081909179688,
337
+ -32.05356979370117,
338
+ 5.812897205352783,
339
+ -18.896408081054688,
340
+ 0.0784313753247261
341
+ ],
342
+ "max": [
343
+ 49.43119430541992,
344
+ 33.543060302734375,
345
+ 99.28571319580078,
346
+ 80.6539535522461,
347
+ 34.981781005859375,
348
+ 48.7843132019043
349
+ ],
350
+ "mean": [
351
+ -3.4405499281821315,
352
+ -29.04191240005163,
353
+ 33.2626477509866,
354
+ 49.360255141485304,
355
+ 2.339689829442408,
356
+ 29.64835471859226
357
+ ],
358
+ "std": [
359
+ 21.688735126838544,
360
+ 44.740297578907565,
361
+ 41.833866122381814,
362
+ 15.019320452265383,
363
+ 12.292766408415439,
364
+ 17.029984338189298
365
+ ],
366
+ "count": [
367
+ 2310
368
+ ],
369
+ "q01": [
370
+ -28.372789734049796,
371
+ -90.77101887970875,
372
+ -12.30173393028006,
373
+ 28.824190228936992,
374
+ -8.465273792216395,
375
+ 1.5473806807410642
376
+ ],
377
+ "q10": [
378
+ -25.368849671782296,
379
+ -89.18325702404111,
380
+ -8.884312265110532,
381
+ 32.42021871359214,
382
+ -6.767878444105238,
383
+ 1.68579393061801
384
+ ],
385
+ "q50": [
386
+ -5.872079575645516,
387
+ -18.084392141366934,
388
+ 25.2326175131486,
389
+ 49.22047576558292,
390
+ -1.0264907875188332,
391
+ 39.42464393775435
392
+ ],
393
+ "q90": [
394
+ 23.92035086683138,
395
+ 17.270877198863538,
396
+ 89.58686982097211,
397
+ 61.79966659843148,
398
+ 14.635781111482979,
399
+ 43.51504269036715
400
+ ],
401
+ "q99": [
402
+ 26.958720642106,
403
+ 20.096465247980667,
404
+ 91.72549636916752,
405
+ 70.99469342558083,
406
+ 15.191883977366569,
407
+ 43.8400966448274
408
+ ]
409
+ },
410
+ "observation.images.front": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.46733963631025327
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.44442977725758265
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.41436404159645623
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.006122621138535267
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.005578060285753886
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.005892096614653183
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 512
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.0007808426494657342
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.024307007018196186
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.0015424421084177917
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.2587978631175668
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.15689638704467002
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.10742049377086338
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.4524466829376126
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.46585913366773796
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.45250844128713336
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.7098325806416084
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.6619900232871083
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.6203404271159719
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.9716646777919635
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.9301531837824024
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.9411616503810573
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 2309
574
+ ],
575
+ "mean": [
576
+ 1154.5
577
+ ],
578
+ "std": [
579
+ 666.8394984302195
580
+ ],
581
+ "count": [
582
+ 2310
583
+ ],
584
+ "q01": [
585
+ 926.7403126405943
586
+ ],
587
+ "q10": [
588
+ 968.4285255410455
589
+ ],
590
+ "q50": [
591
+ 1154.239291082251
592
+ ],
593
+ "q90": [
594
+ 1340.3640199135002
595
+ ],
596
+ "q99": [
597
+ 1382.2596873594057
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
+ 2310
615
+ ],
616
+ "q01": [
617
+ 3.999999999999417e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999418e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.959999999999424e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a997d778807c36c29837b62e3c0da76e749e2e20c67e888d17de6cadc612efb7
3
+ size 2344
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:cda7cb45a9a6fb41529fa837ae6343d273015da24c451e65dd0ac7691c8a03b7
3
+ size 36487774
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 sha256:03c6d445ea5133e69571d0337650643829e2634e004630c45a8619f7410c75ff
3
+ size 5672784