nkim7 commited on
Commit
fc23b43
·
verified ·
1 Parent(s): ca9a3ed

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 sha256:4136bd71496141cda83589f1573c2426a4fd7ec283b06f325a53a21b6cd46f12
3
+ size 521237
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:40fbe4941a986f8924c3974c7e2bc04d15c46ba7d473ec242177b3860c019bbe
3
+ size 168124
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 90,
5
+ "total_frames": 18808,
6
+ "total_tasks": 3,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:90"
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
+ 256,
49
+ 256,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 256,
59
+ "video.width": 256,
60
+ "video.codec": "h264",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 15,
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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 2
8
+ ],
9
+ "mean": [
10
+ 1.0150790731886723
11
+ ],
12
+ "std": [
13
+ 0.7988022448155945
14
+ ],
15
+ "count": [
16
+ 19033
17
+ ],
18
+ "q01": [
19
+ 1.0150790731886727
20
+ ],
21
+ "q10": [
22
+ 1.0150790731886759
23
+ ],
24
+ "q50": [
25
+ 1.0150790731886918
26
+ ],
27
+ "q90": [
28
+ 1.015079073188708
29
+ ],
30
+ "q99": [
31
+ 1.0150790731887125
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 224
40
+ ],
41
+ "mean": [
42
+ 105.08705931802659
43
+ ],
44
+ "std": [
45
+ 62.0163534525823
46
+ ],
47
+ "count": [
48
+ 19033
49
+ ],
50
+ "q01": [
51
+ 1.7030126724177477
52
+ ],
53
+ "q10": [
54
+ 20.455458370118574
55
+ ],
56
+ "q50": [
57
+ 104.90012058004507
58
+ ],
59
+ "q90": [
60
+ 189.43328055700766
61
+ ],
62
+ "q99": [
63
+ 208.47110596363552
64
+ ]
65
+ },
66
+ "observation.images.front": {
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
+ 0.5280404975647415
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.521973291938899
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.5101689521332589
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.015502417304080479
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.011811699011973882
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.013851076469647991
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 261756600
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.008684510340406007
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ -9.981136854080552e-11
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ -9.999885839161484e-11
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.1618687588551728
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.19803704023277321
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.06750324794829032
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.5849117688393329
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.5755347624844919
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.5821111067445575
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.7220757249164846
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.7151725742161289
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.7384995169558061
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.816399372363244
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.8048428858342178
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.8404948096292877
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "timestamp": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 14.933333333333334
230
+ ],
231
+ "mean": [
232
+ 7.005803954535103
233
+ ],
234
+ "std": [
235
+ 4.134423563505485
236
+ ],
237
+ "count": [
238
+ 19033
239
+ ],
240
+ "q01": [
241
+ 0.11353417806933631
242
+ ],
243
+ "q10": [
244
+ 1.3636972245993808
245
+ ],
246
+ "q50": [
247
+ 6.9933413720028135
248
+ ],
249
+ "q90": [
250
+ 12.62888537054207
251
+ ],
252
+ "q99": [
253
+ 13.898073731000878
254
+ ]
255
+ },
256
+ "index": {
257
+ "min": [
258
+ 0
259
+ ],
260
+ "max": [
261
+ 13407
262
+ ],
263
+ "mean": [
264
+ 5642.567015184154
265
+ ],
266
+ "std": [
267
+ 3746.0763506700932
268
+ ],
269
+ "count": [
270
+ 19033
271
+ ],
272
+ "q01": [
273
+ 5539.1829685385455
274
+ ],
275
+ "q10": [
276
+ 5557.935414236244
277
+ ],
278
+ "q50": [
279
+ 5642.380076446169
280
+ ],
281
+ "q90": [
282
+ 5726.913236423136
283
+ ],
284
+ "q99": [
285
+ 5745.951061829764
286
+ ]
287
+ },
288
+ "episode_index": {
289
+ "min": [
290
+ 0
291
+ ],
292
+ "max": [
293
+ 59
294
+ ],
295
+ "mean": [
296
+ 25.58876687857931
297
+ ],
298
+ "std": [
299
+ 16.351714517582284
300
+ ],
301
+ "count": [
302
+ 19033
303
+ ],
304
+ "q01": [
305
+ 25.58876687857931
306
+ ],
307
+ "q10": [
308
+ 25.588766878579317
309
+ ],
310
+ "q50": [
311
+ 25.58876687857932
312
+ ],
313
+ "q90": [
314
+ 25.588766878579335
315
+ ],
316
+ "q99": [
317
+ 25.588766878579335
318
+ ]
319
+ },
320
+ "action": {
321
+ "min": [
322
+ -48.30769348144531,
323
+ -0.48351648449897766,
324
+ -167.3406524658203,
325
+ 17.846153259277344,
326
+ -152.39559936523438,
327
+ 0.0
328
+ ],
329
+ "max": [
330
+ 45.31867980957031,
331
+ 168.92308044433594,
332
+ -1.890109896659851,
333
+ 101.71428680419922,
334
+ 4.087912082672119,
335
+ 60.153846740722656
336
+ ],
337
+ "mean": [
338
+ -2.1972729470421295,
339
+ 87.17418780407264,
340
+ -90.08682578912656,
341
+ 75.45354767438961,
342
+ -95.36499585510585,
343
+ 10.043810363224976
344
+ ],
345
+ "std": [
346
+ 14.17396499567799,
347
+ 53.61271816905136,
348
+ 50.4489205036239,
349
+ 11.057532949385097,
350
+ 40.258856764208524,
351
+ 17.10192684505352
352
+ ],
353
+ "count": [
354
+ 19033
355
+ ],
356
+ "q01": [
357
+ -17.16647257348513,
358
+ -0.030695100679703158,
359
+ -143.6266434250999,
360
+ 58.00988750913344,
361
+ -127.10874499349669,
362
+ -1.000000013351432e-10
363
+ ],
364
+ "q10": [
365
+ -15.445304293678058,
366
+ 0.070996961325451,
367
+ -141.60699624876793,
368
+ 60.8023418495557,
369
+ -126.71321152313678,
370
+ -1.000000013351432e-10
371
+ ],
372
+ "q50": [
373
+ -2.372891901145536,
374
+ 107.86944520230432,
375
+ -109.26495107423129,
376
+ 75.74054373359769,
377
+ -119.04470527548455,
378
+ 0.5383960390596138
379
+ ],
380
+ "q90": [
381
+ 12.217132096899547,
382
+ 145.88198005899272,
383
+ -2.5837682322911433,
384
+ 88.15635756060524,
385
+ -30.578230554090652,
386
+ 42.59077019600185
387
+ ],
388
+ "q99": [
389
+ 13.66152136914184,
390
+ 149.62172883513074,
391
+ -2.4343690632191572,
392
+ 92.08095912741115,
393
+ -20.51247403190669,
394
+ 44.12922368528703
395
+ ]
396
+ },
397
+ "observation.state": {
398
+ "min": [
399
+ -47.868133544921875,
400
+ -0.21978022158145905,
401
+ -164.5274658203125,
402
+ 19.120878219604492,
403
+ -151.78021240234375,
404
+ 0.1350438892841339
405
+ ],
406
+ "max": [
407
+ 44.61538314819336,
408
+ 170.6813201904297,
409
+ -1.0989011526107788,
410
+ 97.53845977783203,
411
+ 2.5054945945739746,
412
+ 59.82444381713867
413
+ ],
414
+ "mean": [
415
+ -2.3618822675504623,
416
+ 87.34682630431614,
417
+ -87.58084231951719,
418
+ 75.73919414936545,
419
+ -95.31348358380377,
420
+ 10.927394634600178
421
+ ],
422
+ "std": [
423
+ 13.904428869283013,
424
+ 54.78302032124183,
425
+ 50.317110230128044,
426
+ 10.650808354568076,
427
+ 40.11635071048163,
428
+ 16.017917958223535
429
+ ],
430
+ "count": [
431
+ 19033
432
+ ],
433
+ "q01": [
434
+ -16.956027079777446,
435
+ 0.12765105184182696,
436
+ -140.54731901581377,
437
+ 59.05384407911419,
438
+ -126.64596177315859,
439
+ 0.48330503983207085
440
+ ],
441
+ "q10": [
442
+ -15.553644278814035,
443
+ 0.14122107580866367,
444
+ -138.69375485764655,
445
+ 61.60943103911115,
446
+ -126.42889613812979,
447
+ 0.5662179042900294
448
+ ],
449
+ "q50": [
450
+ -2.528898558956528,
451
+ 109.1530599865209,
452
+ -107.82349999679121,
453
+ 75.88634849117658,
454
+ -119.04472735944964,
455
+ 3.71436027791827
456
+ ],
457
+ "q90": [
458
+ 11.873078177416588,
459
+ 147.5336501158141,
460
+ -2.5076071264993067,
461
+ 88.03076922959528,
462
+ -30.402241959643682,
463
+ 41.84826707036824
464
+ ],
465
+ "q99": [
466
+ 13.184515523096152,
467
+ 150.34699807295382,
468
+ -2.4593040290172996,
469
+ 91.28775053793417,
470
+ -21.34777524258862,
471
+ 43.57567359261046
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c3297561fbe77b1159a9be1d8fe3a550c1bd860514fc2782c1cce5e29dd2e626
3
+ size 2240
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 sha256:0bfc7cb16f46179f63cf942dfc1d9a09a894478a8b5155fb070c0511ea9e75b7
3
+ size 16863513