qualiaadmin commited on
Commit
e552884
·
verified ·
1 Parent(s): 08ab28e

Upload 7 files

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93ebc14b4d0dfebfbd793698f68019522b3f286192e6a8f6417efecadbce9685
3
+ size 1329186
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cd23b10dc1afb5c5edcf2d88ab2ba302c53802eea8d2c431ccc98bcfcc93334d
3
+ size 238740
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "dk1_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 22337,
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": "0:50"
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
+ "joint_1.pos",
21
+ "joint_2.pos",
22
+ "joint_3.pos",
23
+ "joint_4.pos",
24
+ "joint_5.pos",
25
+ "joint_6.pos",
26
+ "gripper.pos"
27
+ ],
28
+ "shape": [
29
+ 7
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "names": [
35
+ "joint_1.pos",
36
+ "joint_2.pos",
37
+ "joint_3.pos",
38
+ "joint_4.pos",
39
+ "joint_5.pos",
40
+ "joint_6.pos",
41
+ "gripper.pos"
42
+ ],
43
+ "shape": [
44
+ 7
45
+ ]
46
+ },
47
+ "observation.images.wrist": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 360,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 360,
61
+ "video.width": 640,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 30,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.top": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 360,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 360,
84
+ "video.width": 640,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 30,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/stats.json ADDED
@@ -0,0 +1,650 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -0.4987792670726776,
5
+ -0.005912871100008488,
6
+ -0.005149920005351305,
7
+ -1.0862516164779663,
8
+ -0.34885939955711365,
9
+ -0.570496678352356,
10
+ 4.058250488014892e-05
11
+ ],
12
+ "max": [
13
+ 0.728427529335022,
14
+ 2.3134584426879883,
15
+ 2.401960849761963,
16
+ 0.36717021465301514,
17
+ 0.28477150201797485,
18
+ 0.3778515160083771,
19
+ 0.9609532356262207
20
+ ],
21
+ "mean": [
22
+ 0.05720630397499347,
23
+ 0.9125433069966807,
24
+ 0.770481884794397,
25
+ -0.34686593298770735,
26
+ 0.014686769222265793,
27
+ -0.05830051018157815,
28
+ 0.1944857846676847
29
+ ],
30
+ "std": [
31
+ 0.24903383700063392,
32
+ 0.6937310277504651,
33
+ 0.5955870015982206,
34
+ 0.31610696165058205,
35
+ 0.09079614004769382,
36
+ 0.11299347005632432,
37
+ 0.26732000314151777
38
+ ],
39
+ "count": [
40
+ 22337
41
+ ],
42
+ "q01": [
43
+ -0.21410852940169803,
44
+ -0.003972391208769249,
45
+ -0.003067940136843775,
46
+ -0.8333437172004269,
47
+ -0.09147973363489202,
48
+ -0.198924800552185,
49
+ 0.02895058604496213
50
+ ],
51
+ "q10": [
52
+ -0.19416339350692594,
53
+ -0.0030660709601151863,
54
+ -0.002197099194809052,
55
+ -0.7235342196271622,
56
+ -0.07073223923142219,
57
+ -0.17328392426899192,
58
+ 0.03102269308202064
59
+ ],
60
+ "q50": [
61
+ -0.006155450532113337,
62
+ 1.088796384057208,
63
+ 0.9190438429835668,
64
+ -0.3628673449809341,
65
+ 0.020406665099543714,
66
+ -0.049603008942152346,
67
+ 0.037975186186583215
68
+ ],
69
+ "q90": [
70
+ 0.4160064102368241,
71
+ 1.7397838234840484,
72
+ 1.5218653014270749,
73
+ 0.026590828439322596,
74
+ 0.0942497331196394,
75
+ 0.051492822559729826,
76
+ 0.6524954030094943
77
+ ],
78
+ "q99": [
79
+ 0.44706484981021033,
80
+ 1.878789211768679,
81
+ 1.5912463679572024,
82
+ 0.06973724349554868,
83
+ 0.12203936314424763,
84
+ 0.0743592100092905,
85
+ 0.6553784200407151
86
+ ]
87
+ },
88
+ "observation.images.wrist": {
89
+ "min": [
90
+ [
91
+ [
92
+ 0.0
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 0.0
98
+ ]
99
+ ],
100
+ [
101
+ [
102
+ 0.0
103
+ ]
104
+ ]
105
+ ],
106
+ "max": [
107
+ [
108
+ [
109
+ 1.0
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 1.0
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 1.0
120
+ ]
121
+ ]
122
+ ],
123
+ "mean": [
124
+ [
125
+ [
126
+ 0.5099467563892591
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.5131722973418268
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.5314709351333127
137
+ ]
138
+ ]
139
+ ],
140
+ "std": [
141
+ [
142
+ [
143
+ 0.008399011010002986
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.007453840336017649
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.007206452522978263
154
+ ]
155
+ ]
156
+ ],
157
+ "count": [
158
+ 5124
159
+ ],
160
+ "q01": [
161
+ [
162
+ [
163
+ 0.026480057678990254
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.028386258851815605
169
+ ]
170
+ ],
171
+ [
172
+ [
173
+ 0.05296384756155338
174
+ ]
175
+ ]
176
+ ],
177
+ "q10": [
178
+ [
179
+ [
180
+ 0.12017070298182406
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.12348908602382926
186
+ ]
187
+ ],
188
+ [
189
+ [
190
+ 0.15305895036069328
191
+ ]
192
+ ]
193
+ ],
194
+ "q50": [
195
+ [
196
+ [
197
+ 0.6277695543618176
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.62012778998008
203
+ ]
204
+ ],
205
+ [
206
+ [
207
+ 0.6335796934060972
208
+ ]
209
+ ]
210
+ ],
211
+ "q90": [
212
+ [
213
+ [
214
+ 0.7887312598255094
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.8039495800004374
220
+ ]
221
+ ],
222
+ [
223
+ [
224
+ 0.8150538989559227
225
+ ]
226
+ ]
227
+ ],
228
+ "q99": [
229
+ [
230
+ [
231
+ 0.9094836075571671
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.9327610865502984
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.9390821380238963
242
+ ]
243
+ ]
244
+ ]
245
+ },
246
+ "frame_index": {
247
+ "min": [
248
+ 0
249
+ ],
250
+ "max": [
251
+ 588
252
+ ],
253
+ "mean": [
254
+ 226.44325558490397
255
+ ],
256
+ "std": [
257
+ 135.17486454370007
258
+ ],
259
+ "count": [
260
+ 22337
261
+ ],
262
+ "q01": [
263
+ 4.0106342985094585
264
+ ],
265
+ "q10": [
266
+ 44.84253105064282
267
+ ],
268
+ "q50": [
269
+ 226.2517241348435
270
+ ],
271
+ "q90": [
272
+ 408.0109399615791
273
+ ],
274
+ "q99": [
275
+ 448.8587286419032
276
+ ]
277
+ },
278
+ "episode_index": {
279
+ "min": [
280
+ 0
281
+ ],
282
+ "max": [
283
+ 49
284
+ ],
285
+ "mean": [
286
+ 25.417916461476473
287
+ ],
288
+ "std": [
289
+ 14.573520757435698
290
+ ],
291
+ "count": [
292
+ 22337
293
+ ],
294
+ "q01": [
295
+ 25.417916461476473
296
+ ],
297
+ "q10": [
298
+ 25.41791646147648
299
+ ],
300
+ "q50": [
301
+ 25.41791646147649
302
+ ],
303
+ "q90": [
304
+ 25.4179164614765
305
+ ],
306
+ "q99": [
307
+ 25.417916461476505
308
+ ]
309
+ },
310
+ "timestamp": {
311
+ "min": [
312
+ 0.0
313
+ ],
314
+ "max": [
315
+ 19.6
316
+ ],
317
+ "mean": [
318
+ 7.548108519496799
319
+ ],
320
+ "std": [
321
+ 4.5058288181233355
322
+ ],
323
+ "count": [
324
+ 22337
325
+ ],
326
+ "q01": [
327
+ 0.1336878098553568
328
+ ],
329
+ "q10": [
330
+ 1.4947510349439008
331
+ ],
332
+ "q50": [
333
+ 7.542230508423906
334
+ ],
335
+ "q90": [
336
+ 13.600364665463475
337
+ ],
338
+ "q99": [
339
+ 14.961957621491718
340
+ ]
341
+ },
342
+ "action": {
343
+ "min": [
344
+ -0.5000777244567871,
345
+ -0.006135923322290182,
346
+ -0.006135923322290182,
347
+ -1.0937283039093018,
348
+ -0.35128161311149597,
349
+ -0.575242817401886,
350
+ -0.004918032791465521
351
+ ],
352
+ "max": [
353
+ 0.731708824634552,
354
+ 2.3331847190856934,
355
+ 2.4190876483917236,
356
+ 0.37275734543800354,
357
+ 0.2853204309940338,
358
+ 0.37889325618743896,
359
+ 1.019672155380249
360
+ ],
361
+ "mean": [
362
+ 0.05747603706465732,
363
+ 0.9127461414640932,
364
+ 0.770663933286032,
365
+ -0.3466579412895793,
366
+ 0.014879546809610724,
367
+ -0.058150081540344165,
368
+ 0.19387883336578085
369
+ ],
370
+ "std": [
371
+ 0.2511327112931658,
372
+ 0.6982327372969188,
373
+ 0.5988632786974735,
374
+ 0.31811574945154014,
375
+ 0.09150863374202693,
376
+ 0.1136827355924537,
377
+ 0.27010115134676826
378
+ ],
379
+ "count": [
380
+ 22337
381
+ ],
382
+ "q01": [
383
+ -0.216647261408477,
384
+ -0.004070590896164216,
385
+ -0.00466787753519884,
386
+ -0.8398995570536998,
387
+ -0.09229315308257857,
388
+ -0.2018538008114332,
389
+ 0.024363715925770753
390
+ ],
391
+ "q10": [
392
+ -0.19618958974036202,
393
+ -0.0032203495414969982,
394
+ -0.002405034211104839,
395
+ -0.7233434796090591,
396
+ -0.07085967399948273,
397
+ -0.17377500325207285,
398
+ 0.03077947181749647
399
+ ],
400
+ "q50": [
401
+ -0.006724849942470426,
402
+ 1.0857387158428338,
403
+ 0.9210333722440257,
404
+ -0.36066842423442225,
405
+ 0.020931061621810722,
406
+ -0.05001708958796091,
407
+ 0.0376754661052978
408
+ ],
409
+ "q90": [
410
+ 0.41926612529808005,
411
+ 1.750011975501651,
412
+ 1.5264081525888544,
413
+ 0.027259697788237357,
414
+ 0.09595497992073802,
415
+ 0.05187161778916085,
416
+ 0.6525659627461177
417
+ ],
418
+ "q99": [
419
+ 0.45346364497545977,
420
+ 1.8867334092800443,
421
+ 1.5965014497081098,
422
+ 0.08119360149653278,
423
+ 0.12366109690406558,
424
+ 0.0778895062413258,
425
+ 0.6561457824922521
426
+ ]
427
+ },
428
+ "index": {
429
+ "min": [
430
+ 0
431
+ ],
432
+ "max": [
433
+ 22336
434
+ ],
435
+ "mean": [
436
+ 11168.0
437
+ ],
438
+ "std": [
439
+ 6448.13647498252
440
+ ],
441
+ "count": [
442
+ 22337
443
+ ],
444
+ "q01": [
445
+ 10945.567378713607
446
+ ],
447
+ "q10": [
448
+ 10986.399275465737
449
+ ],
450
+ "q50": [
451
+ 11167.823659667816
452
+ ],
453
+ "q90": [
454
+ 11349.567684376676
455
+ ],
456
+ "q99": [
457
+ 11390.415473056995
458
+ ]
459
+ },
460
+ "observation.images.top": {
461
+ "min": [
462
+ [
463
+ [
464
+ 0.0
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.0
470
+ ]
471
+ ],
472
+ [
473
+ [
474
+ 0.0
475
+ ]
476
+ ]
477
+ ],
478
+ "max": [
479
+ [
480
+ [
481
+ 1.0
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 1.0
487
+ ]
488
+ ],
489
+ [
490
+ [
491
+ 1.0
492
+ ]
493
+ ]
494
+ ],
495
+ "mean": [
496
+ [
497
+ [
498
+ 0.4723619413384661
499
+ ]
500
+ ],
501
+ [
502
+ [
503
+ 0.47265085865098927
504
+ ]
505
+ ],
506
+ [
507
+ [
508
+ 0.4868365820144088
509
+ ]
510
+ ]
511
+ ],
512
+ "std": [
513
+ [
514
+ [
515
+ 0.00490575079690445
516
+ ]
517
+ ],
518
+ [
519
+ [
520
+ 0.004419503543109924
521
+ ]
522
+ ],
523
+ [
524
+ [
525
+ 0.011111604471176803
526
+ ]
527
+ ]
528
+ ],
529
+ "count": [
530
+ 5124
531
+ ],
532
+ "q01": [
533
+ [
534
+ [
535
+ 0.027501471124220987
536
+ ]
537
+ ],
538
+ [
539
+ [
540
+ 0.027303893983240714
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.05036403485529349
546
+ ]
547
+ ]
548
+ ],
549
+ "q10": [
550
+ [
551
+ [
552
+ 0.08996811557133443
553
+ ]
554
+ ],
555
+ [
556
+ [
557
+ 0.08736072269153275
558
+ ]
559
+ ],
560
+ [
561
+ [
562
+ 0.1138871843243413
563
+ ]
564
+ ]
565
+ ],
566
+ "q50": [
567
+ [
568
+ [
569
+ 0.6123877658633254
570
+ ]
571
+ ],
572
+ [
573
+ [
574
+ 0.5805951039138338
575
+ ]
576
+ ],
577
+ [
578
+ [
579
+ 0.581976186185105
580
+ ]
581
+ ]
582
+ ],
583
+ "q90": [
584
+ [
585
+ [
586
+ 0.7344896945051573
587
+ ]
588
+ ],
589
+ [
590
+ [
591
+ 0.749045255257793
592
+ ]
593
+ ],
594
+ [
595
+ [
596
+ 0.7507127052531742
597
+ ]
598
+ ]
599
+ ],
600
+ "q99": [
601
+ [
602
+ [
603
+ 0.7525196681373517
604
+ ]
605
+ ],
606
+ [
607
+ [
608
+ 0.7703111687079564
609
+ ]
610
+ ],
611
+ [
612
+ [
613
+ 0.768846111907421
614
+ ]
615
+ ]
616
+ ]
617
+ },
618
+ "task_index": {
619
+ "min": [
620
+ 0
621
+ ],
622
+ "max": [
623
+ 0
624
+ ],
625
+ "mean": [
626
+ 0.0
627
+ ],
628
+ "std": [
629
+ 0.0
630
+ ],
631
+ "count": [
632
+ 22337
633
+ ],
634
+ "q01": [
635
+ 3.999999999999419e-16
636
+ ],
637
+ "q10": [
638
+ 3.999999999999419e-15
639
+ ],
640
+ "q50": [
641
+ 1.999999999999708e-14
642
+ ],
643
+ "q90": [
644
+ 3.5999999999994754e-14
645
+ ],
646
+ "q99": [
647
+ 3.959999999999423e-14
648
+ ]
649
+ }
650
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6de65cd747ecd037f1de5c668c60400f42941f80ad9aa84770022f01c60e8ae9
3
+ size 2171
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 sha256:34d42636c2ed7099e7aa02fb7164ba7e67eec41e022c0839c010355a0c4bfc8f
3
+ size 173513903
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:fefa2777b00fe1be78c23b27f365a7e5c71c922cdd4c99fda4ed0768d2f4b3bd
3
+ size 134313842