jake123456789 commited on
Commit
508d9c5
·
verified ·
1 Parent(s): bb14748

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:d6b2cd6486dcda661e250afc62e302e45d428ff4dfa48db6e044a3dc20c660c9
3
+ size 593469
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:32242356dc4a710f699b3923ab1f47f67e3a65e18c8f66956e36aa204b4582c5
3
+ size 145194
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 28,
5
+ "total_frames": 11891,
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": "0:28"
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
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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
+ 720,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 720,
82
+ "video.width": 1280,
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
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 11890
8
+ ],
9
+ "mean": [
10
+ 5945.0
11
+ ],
12
+ "std": [
13
+ 3432.6360133285325
14
+ ],
15
+ "count": [
16
+ 11891
17
+ ],
18
+ "q01": [
19
+ 5733.234972793443
20
+ ],
21
+ "q10": [
22
+ 5772.061055864018
23
+ ],
24
+ "q50": [
25
+ 5944.817987385418
26
+ ],
27
+ "q90": [
28
+ 6117.909876101334
29
+ ],
30
+ "q99": [
31
+ 6156.765027206557
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 27
40
+ ],
41
+ "mean": [
42
+ 13.590951139517282
43
+ ],
44
+ "std": [
45
+ 8.194498742004592
46
+ ],
47
+ "count": [
48
+ 11891
49
+ ],
50
+ "q01": [
51
+ 13.590951139517282
52
+ ],
53
+ "q10": [
54
+ 13.590951139517285
55
+ ],
56
+ "q50": [
57
+ 13.590951139517305
58
+ ],
59
+ "q90": [
60
+ 13.590951139517315
61
+ ],
62
+ "q99": [
63
+ 13.590951139517324
64
+ ]
65
+ },
66
+ "observation.images.wrist": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.0
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.0
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 1.0
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 1.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 1.0
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.49077504679396317
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.44017166726762286
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.34062243496619343
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.011282895401094156
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.011714532374265627
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.02454057359958934
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 171230400
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ -9.999999999999999e-11
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.05735311382711766
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.014633581961401843
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.0692619928468884
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.1366180198693369
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.09645680157243991
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.5765306791895821
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.47529580445243913
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.34389930328006857
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.6697824081127614
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.6019837187561697
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.5588435591663014
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.777747835230923
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.8447094030416276
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.8627919898605514
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "timestamp": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 19.0
230
+ ],
231
+ "mean": [
232
+ 7.185170857511282
233
+ ],
234
+ "std": [
235
+ 4.316371329923629
236
+ ],
237
+ "count": [
238
+ 11891
239
+ ],
240
+ "q01": [
241
+ 0.12633661719774705
242
+ ],
243
+ "q10": [
244
+ 1.4205393862343432
245
+ ],
246
+ "q50": [
247
+ 7.179019150618024
248
+ ],
249
+ "q90": [
250
+ 12.948833394299937
251
+ ],
252
+ "q99": [
253
+ 14.244005097824814
254
+ ]
255
+ },
256
+ "observation.images.front": {
257
+ "min": [
258
+ [
259
+ [
260
+ 0.0
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 0.0
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.0
271
+ ]
272
+ ]
273
+ ],
274
+ "max": [
275
+ [
276
+ [
277
+ 1.0
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 1.0
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 1.0
288
+ ]
289
+ ]
290
+ ],
291
+ "mean": [
292
+ [
293
+ [
294
+ 0.5569302725290304
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.46634684018908856
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.37999738574916786
305
+ ]
306
+ ]
307
+ ],
308
+ "std": [
309
+ [
310
+ [
311
+ 0.0037542065199519283
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.0028105377102361604
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.0026210496605011046
322
+ ]
323
+ ]
324
+ ],
325
+ "count": [
326
+ 171230400
327
+ ],
328
+ "q01": [
329
+ [
330
+ [
331
+ -8.54328450747888e-11
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ -8.540942977140396e-11
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ -8.538390379278446e-11
342
+ ]
343
+ ]
344
+ ],
345
+ "q10": [
346
+ [
347
+ [
348
+ 0.10182483845914451
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.08972104546755488
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.0574320918903831
359
+ ]
360
+ ]
361
+ ],
362
+ "q50": [
363
+ [
364
+ [
365
+ 0.6530282162485732
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.505937898066283
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.35367885386428416
376
+ ]
377
+ ]
378
+ ],
379
+ "q90": [
380
+ [
381
+ [
382
+ 0.763540058674855
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.701101983609771
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.6899796199006673
393
+ ]
394
+ ]
395
+ ],
396
+ "q99": [
397
+ [
398
+ [
399
+ 0.8466837595097771
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.7913827433822117
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 0.7716442899975722
410
+ ]
411
+ ]
412
+ ]
413
+ },
414
+ "frame_index": {
415
+ "min": [
416
+ 0
417
+ ],
418
+ "max": [
419
+ 570
420
+ ],
421
+ "mean": [
422
+ 215.55512572533848
423
+ ],
424
+ "std": [
425
+ 129.49113989770882
426
+ ],
427
+ "count": [
428
+ 11891
429
+ ],
430
+ "q01": [
431
+ 3.7900985187815786
432
+ ],
433
+ "q10": [
434
+ 42.61618158935716
435
+ ],
436
+ "q50": [
437
+ 215.35747593978627
438
+ ],
439
+ "q90": [
440
+ 388.4650018266716
441
+ ],
442
+ "q99": [
443
+ 427.32015293189545
444
+ ]
445
+ },
446
+ "action": {
447
+ "min": [
448
+ -105.31867980957031,
449
+ -110.4175796508789,
450
+ -2.153846263885498,
451
+ -100.04395294189453,
452
+ -95.16483306884766,
453
+ 18.91472816467285
454
+ ],
455
+ "max": [
456
+ 86.68132019042969,
457
+ 49.406593322753906,
458
+ 97.36264038085938,
459
+ 78.5934066772461,
460
+ -53.58241653442383,
461
+ 69.06977081298828
462
+ ],
463
+ "mean": [
464
+ -5.242785755714391,
465
+ -33.49879994375153,
466
+ 76.10747317307008,
467
+ -27.897803989654534,
468
+ -85.87693584706163,
469
+ 40.08173372494685
470
+ ],
471
+ "std": [
472
+ 43.994425293298455,
473
+ 53.47141106829414,
474
+ 22.99290081965995,
475
+ 60.13093033320747,
476
+ 4.268002385907852,
477
+ 12.677880039647313
478
+ ],
479
+ "count": [
480
+ 11891
481
+ ],
482
+ "q01": [
483
+ -52.58864285374616,
484
+ -108.9083796647311,
485
+ 35.019153518329084,
486
+ -86.954224900708,
487
+ -90.74917184887775,
488
+ 24.547224924171818
489
+ ],
490
+ "q10": [
491
+ -50.00447821208484,
492
+ -108.34493467948678,
493
+ 40.44515515802388,
494
+ -85.32141520323685,
495
+ -89.47041511946532,
496
+ 25.114874958287796
497
+ ],
498
+ "q50": [
499
+ -5.41131939700496,
500
+ -24.935390383315188,
501
+ 83.46583449092864,
502
+ -58.314764068405545,
503
+ -86.37500281122001,
504
+ 43.95371523843563
505
+ ],
506
+ "q90": [
507
+ 36.03951125567647,
508
+ 30.42067621428149,
509
+ 96.38507271359087,
510
+ 74.03990411862691,
511
+ -81.54714830273763,
512
+ 57.926864457536226
513
+ ],
514
+ "q99": [
515
+ 37.14057213630564,
516
+ 35.098513001484314,
517
+ 96.7389627673817,
518
+ 76.83047599757911,
519
+ -75.28062951936373,
520
+ 58.6964948962767
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
+ 11891
538
+ ],
539
+ "q01": [
540
+ 3.999999999999418e-16
541
+ ],
542
+ "q10": [
543
+ 3.999999999999419e-15
544
+ ],
545
+ "q50": [
546
+ 1.9999999999997088e-14
547
+ ],
548
+ "q90": [
549
+ 3.599999999999477e-14
550
+ ],
551
+ "q99": [
552
+ 3.959999999999422e-14
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -104.87911987304688,
558
+ -106.68132019042969,
559
+ 0.6153846383094788,
560
+ -97.27472686767578,
561
+ -94.81318664550781,
562
+ 23.776704788208008
563
+ ],
564
+ "max": [
565
+ 86.4175796508789,
566
+ 49.978023529052734,
567
+ 96.43955993652344,
568
+ 78.54945373535156,
569
+ -53.93406677246094,
570
+ 68.64231872558594
571
+ ],
572
+ "mean": [
573
+ -5.21853877252751,
574
+ -32.12916535740092,
575
+ 76.89153326591303,
576
+ -27.381781896383146,
577
+ -85.93003722603012,
578
+ 41.187120295986475
579
+ ],
580
+ "std": [
581
+ 43.92895551647164,
582
+ 53.26692230595637,
583
+ 22.339661254408277,
584
+ 59.78505116221481,
585
+ 4.229387144564084,
586
+ 10.980051376097286
587
+ ],
588
+ "count": [
589
+ 11891
590
+ ],
591
+ "q01": [
592
+ -52.133847768733894,
593
+ -106.35066253107757,
594
+ 36.924895610658744,
595
+ -85.53896673291666,
596
+ -90.46981911829785,
597
+ 28.603132524779884
598
+ ],
599
+ "q10": [
600
+ -50.09421302977599,
601
+ -106.26659159915836,
602
+ 42.083478243704704,
603
+ -84.32685460589182,
604
+ -89.56614235701184,
605
+ 28.836121098894054
606
+ ],
607
+ "q50": [
608
+ -5.501347708584027,
609
+ -23.263727822007425,
610
+ 84.62458086663521,
611
+ -57.899603381020746,
612
+ -86.43502930610455,
613
+ 43.71980874083047
614
+ ],
615
+ "q90": [
616
+ 36.07821124232945,
617
+ 31.390107277292408,
618
+ 96.02975656265264,
619
+ 73.85599051592745,
620
+ -81.61379437925602,
621
+ 57.6555140022748
622
+ ],
623
+ "q99": [
624
+ 36.72931650005724,
625
+ 35.45110018387655,
626
+ 96.20283064690888,
627
+ 76.61116141863947,
628
+ -75.89906637688506,
629
+ 58.17883557749633
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e665c3f100f6af896c109b9f2ff8e361b0c00c553d374e91ad8cccba8e2d59fc
3
+ size 2060
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:a8805e1ebdfeb26c67c3626443b8009f3e804e5893b4782016cabbd0b6acfc20
3
+ size 195051150
videos/observation.images.front/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a90b7077dfa43012e8e47f7737ea390d3fe557d1167a79773c55b9001f9b8421
3
+ size 208197972
videos/observation.images.front/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0e004bb4fe10d82d3709ebb09a5aae308addbf58329c03ec80d84d1bab2c13a
3
+ size 196366786
videos/observation.images.front/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a694fa528365929ff0090154de8af5eedb26be52586e21266e369866c808e334
3
+ size 71109238
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 sha256:8e720239e1b57ac9df28f81e315f6ca60e1e8e90923db5d32768166d76b65c6f
3
+ size 177747819