Chengmingethz commited on
Commit
0c68f36
·
verified ·
1 Parent(s): 6be2b26

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:ab79132de999845124b50bd608c3b0438dfa05efa7a1d6c114e53f9649045c79
3
+ size 297248
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9ab6b86abfac9f11f5127ce9a158d6529676b68eb7457e6553ec9214cb6d55a
3
+ size 82526
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 15,
5
+ "total_frames": 6750,
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": "0:15"
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.front": {
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
+ "timestamp": {
69
+ "dtype": "float32",
70
+ "shape": [
71
+ 1
72
+ ],
73
+ "names": null
74
+ },
75
+ "frame_index": {
76
+ "dtype": "int64",
77
+ "shape": [
78
+ 1
79
+ ],
80
+ "names": null
81
+ },
82
+ "episode_index": {
83
+ "dtype": "int64",
84
+ "shape": [
85
+ 1
86
+ ],
87
+ "names": null
88
+ },
89
+ "index": {
90
+ "dtype": "int64",
91
+ "shape": [
92
+ 1
93
+ ],
94
+ "names": null
95
+ },
96
+ "task_index": {
97
+ "dtype": "int64",
98
+ "shape": [
99
+ 1
100
+ ],
101
+ "names": null
102
+ }
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.front": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.6433150690359478
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.6118967302559913
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.5980714532952068
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0105420049254987
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.008058921437594355
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.009322805327530497
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1500
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.05360160914172201
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.05543955460789975
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.005749408869276937
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.12233532798352446
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.11532215135618919
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.0669341499902105
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.7356852949169022
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.6962170312444459
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.7080155405020088
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.9999235083773383
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.9999211791240025
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.9999254713130752
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9999923508380868
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.999992117912753
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9999925471316604
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "task_index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 0
166
+ ],
167
+ "mean": [
168
+ 0.0
169
+ ],
170
+ "std": [
171
+ 0.0
172
+ ],
173
+ "count": [
174
+ 6750
175
+ ],
176
+ "q01": [
177
+ 3.9999999999994176e-16
178
+ ],
179
+ "q10": [
180
+ 3.999999999999417e-15
181
+ ],
182
+ "q50": [
183
+ 1.999999999999708e-14
184
+ ],
185
+ "q90": [
186
+ 3.5999999999994754e-14
187
+ ],
188
+ "q99": [
189
+ 3.959999999999424e-14
190
+ ]
191
+ },
192
+ "action": {
193
+ "min": [
194
+ -23.384614944458008,
195
+ -103.78022003173828,
196
+ -76.52747344970703,
197
+ 49.010990142822266,
198
+ 58.5054931640625,
199
+ 0.0
200
+ ],
201
+ "max": [
202
+ 29.9780216217041,
203
+ 62.989009857177734,
204
+ 91.20879364013672,
205
+ 101.75823974609375,
206
+ 112.04395294189453,
207
+ 67.09292602539062
208
+ ],
209
+ "mean": [
210
+ -0.6587690909703573,
211
+ -26.453552023569742,
212
+ 19.468152300516763,
213
+ 75.90629323323567,
214
+ 91.87808227539062,
215
+ 7.060881201426188
216
+ ],
217
+ "std": [
218
+ 12.171196447815417,
219
+ 59.670169093876616,
220
+ 57.02854225102366,
221
+ 10.28587637385342,
222
+ 8.71541671453854,
223
+ 12.385382201014119
224
+ ],
225
+ "count": [
226
+ 6750
227
+ ],
228
+ "q01": [
229
+ -14.927915672555804,
230
+ -100.86308486633213,
231
+ -53.1113015062381,
232
+ 61.63470481399797,
233
+ 75.85326701976635,
234
+ 0.7873734504572597
235
+ ],
236
+ "q10": [
237
+ -12.019242728232701,
238
+ -100.28147345364842,
239
+ -45.194020152621796,
240
+ 66.03146923900783,
241
+ 78.54482092331646,
242
+ 0.829406934594495
243
+ ],
244
+ "q50": [
245
+ -4.36011048972183,
246
+ -13.403098552923863,
247
+ 5.511793188083414,
248
+ 74.39517341642478,
249
+ 93.92789987660632,
250
+ 1.085876155854728
251
+ ],
252
+ "q90": [
253
+ 19.153390006278254,
254
+ 36.37129167137768,
255
+ 89.12464664782725,
256
+ 87.64852495088408,
257
+ 100.06427319217673,
258
+ 28.816609523557446
259
+ ],
260
+ "q99": [
261
+ 20.63927685533251,
262
+ 40.84218145380085,
263
+ 89.59662805456601,
264
+ 98.60437878744943,
265
+ 102.48942790547001,
266
+ 39.8225078781809
267
+ ]
268
+ },
269
+ "observation.state": {
270
+ "min": [
271
+ -23.208791732788086,
272
+ -76.0,
273
+ -55.29670333862305,
274
+ 49.71428680419922,
275
+ 59.03296661376953,
276
+ 0.7660167217254639
277
+ ],
278
+ "max": [
279
+ 29.80219841003418,
280
+ 62.989009857177734,
281
+ 55.56044006347656,
282
+ 98.5934066772461,
283
+ 111.42857360839844,
284
+ 61.6295280456543
285
+ ],
286
+ "mean": [
287
+ -0.6785382191340129,
288
+ -18.18817097345988,
289
+ 9.07256783246994,
290
+ 75.72891591389974,
291
+ 91.79911600748697,
292
+ 7.769401025772095
293
+ ],
294
+ "std": [
295
+ 12.180597545572338,
296
+ 51.469565944167364,
297
+ 42.343243328467615,
298
+ 9.968804607489234,
299
+ 8.609253827795548,
300
+ 11.809127522379057
301
+ ],
302
+ "count": [
303
+ 6750
304
+ ],
305
+ "q01": [
306
+ -14.716828585899027,
307
+ -75.755216188784,
308
+ -47.3786813100179,
309
+ 61.863483298266374,
310
+ 76.33390000661214,
311
+ 0.9981118629376093
312
+ ],
313
+ "q10": [
314
+ -12.001276007910505,
315
+ -75.73373791723652,
316
+ -41.58278050851568,
317
+ 66.13600672575959,
318
+ 78.42715438141609,
319
+ 1.0439259170908994
320
+ ],
321
+ "q50": [
322
+ -4.6761939412126035,
323
+ -10.669544685476472,
324
+ 3.9668740556959854,
325
+ 74.25960955540037,
326
+ 93.86489432613821,
327
+ 1.704197572812002
328
+ ],
329
+ "q90": [
330
+ 19.258496832149905,
331
+ 37.252449405488136,
332
+ 55.33636441090823,
333
+ 87.32477828892611,
334
+ 99.79449819577768,
335
+ 28.469737839247856
336
+ ],
337
+ "q99": [
338
+ 20.418814415723162,
339
+ 41.646348492160165,
340
+ 55.37137055241644,
341
+ 96.53379380532628,
342
+ 102.08537638456055,
343
+ 38.658173002440726
344
+ ]
345
+ },
346
+ "timestamp": {
347
+ "min": [
348
+ 0.0
349
+ ],
350
+ "max": [
351
+ 14.966666666666667
352
+ ],
353
+ "mean": [
354
+ 7.483333333333333
355
+ ],
356
+ "std": [
357
+ 4.330116327237343
358
+ ],
359
+ "count": [
360
+ 6750
361
+ ],
362
+ "q01": [
363
+ 0.13320333323511332
364
+ ],
365
+ "q10": [
366
+ 1.4667333332529335
367
+ ],
368
+ "q50": [
369
+ 7.468366666666467
370
+ ],
371
+ "q90": [
372
+ 13.467006666746622
373
+ ],
374
+ "q99": [
375
+ 14.833463333431549
376
+ ]
377
+ },
378
+ "frame_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 449
384
+ ],
385
+ "mean": [
386
+ 224.5
387
+ ],
388
+ "std": [
389
+ 129.90348981712032
390
+ ],
391
+ "count": [
392
+ 6750
393
+ ],
394
+ "q01": [
395
+ 3.9960999999017797
396
+ ],
397
+ "q10": [
398
+ 44.0019999999196
399
+ ],
400
+ "q50": [
401
+ 224.05099999999987
402
+ ],
403
+ "q90": [
404
+ 404.01020000008003
405
+ ],
406
+ "q99": [
407
+ 445.0039000000981
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 14
416
+ ],
417
+ "mean": [
418
+ 7.0
419
+ ],
420
+ "std": [
421
+ 4.320493798938573
422
+ ],
423
+ "count": [
424
+ 6750
425
+ ],
426
+ "q01": [
427
+ 7.0
428
+ ],
429
+ "q10": [
430
+ 7.000000000000004
431
+ ],
432
+ "q50": [
433
+ 7.00000000000002
434
+ ],
435
+ "q90": [
436
+ 7.000000000000035
437
+ ],
438
+ "q99": [
439
+ 7.000000000000041
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 6749
448
+ ],
449
+ "mean": [
450
+ 3374.5
451
+ ],
452
+ "std": [
453
+ 1948.5571371316435
454
+ ],
455
+ "count": [
456
+ 6750
457
+ ],
458
+ "q01": [
459
+ 3153.996099999902
460
+ ],
461
+ "q10": [
462
+ 3194.0019999999195
463
+ ],
464
+ "q50": [
465
+ 3374.0509999999995
466
+ ],
467
+ "q90": [
468
+ 3554.0102000000797
469
+ ],
470
+ "q99": [
471
+ 3595.003900000098
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c6e877f1fb97dc53ece884fcec337a9f57aa3a592cda87e156f18976b30e829
3
+ size 2150
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 sha256:3714913ddb12cf68ac58536422f868b89959e3cb2d246aa16a29534dd98a8de8
3
+ size 63273889