nkim7 commited on
Commit
8cb1c27
·
verified ·
1 Parent(s): 638b99a

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:b6af585c7c3dd149393e91885c75913c04b37f98c0607118d5707359b92d8527
3
+ size 129601
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f932ca20548067c4b3c3846c8e0f5c4a4f8e3f6509f353effeca9a3be5862d5
3
+ size 80710
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 13,
5
+ "total_frames": 5743,
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": "0:13"
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
+ 0.5274264515774258
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.5127723490133232
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4997790621857717
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.058157238507312733
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.05627924504057264
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.05336648615103891
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1300
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.0035452386763502814
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -3.9215686274509797e-13
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509797e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.011747187463473703
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.0042261274985396155
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ -3.9215686274509797e-13
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.6841786420169058
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.654917373420163
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.6657283443831098
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.8977136261969192
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.8959719482099613
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.9173544105400038
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9830850142831183
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9857595508442861
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.9957223369058782
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "observation.state": {
161
+ "min": [
162
+ -46.68132019042969,
163
+ -75.9120864868164,
164
+ -47.912086486816406,
165
+ 40.57143020629883,
166
+ 67.47252655029297,
167
+ 1.0445683002471924
168
+ ],
169
+ "max": [
170
+ -1.6703296899795532,
171
+ 45.05494689941406,
172
+ 55.38461685180664,
173
+ 90.5054931640625,
174
+ 95.16483306884766,
175
+ 38.50975036621094
176
+ ],
177
+ "mean": [
178
+ -13.071100259229901,
179
+ -39.92931560886336,
180
+ 29.01617808992099,
181
+ 68.3037290950073,
182
+ 86.56153423927728,
183
+ 4.099731896078464
184
+ ],
185
+ "std": [
186
+ 9.971416516258362,
187
+ 43.03282365961668,
188
+ 32.22751837943585,
189
+ 8.911594901878498,
190
+ 5.849453198106287,
191
+ 5.966493475326542
192
+ ],
193
+ "count": [
194
+ 5743
195
+ ],
196
+ "q01": [
197
+ -38.41287586298028,
198
+ -75.83101678496554,
199
+ -26.573820992432758,
200
+ 49.629814154591564,
201
+ 73.27697835075675,
202
+ 1.1639457143351486
203
+ ],
204
+ "q10": [
205
+ -33.1923289702921,
206
+ -75.82575827806164,
207
+ -21.674265999797512,
208
+ 53.79241444412749,
209
+ 78.45780179061927,
210
+ 1.1639457143351486
211
+ ],
212
+ "q50": [
213
+ -9.350965578840853,
214
+ -66.69011528028413,
215
+ 47.623006937034376,
216
+ 71.70853530476565,
217
+ 87.66710105586904,
218
+ 1.2589071619815926
219
+ ],
220
+ "q90": [
221
+ -6.320018265666049,
222
+ 20.39611970102037,
223
+ 55.1507923752095,
224
+ 76.38080764788438,
225
+ 91.60883105217042,
226
+ 12.34244888019974
227
+ ],
228
+ "q99": [
229
+ -4.870862793287003,
230
+ 29.480900213438204,
231
+ 55.16016437701249,
232
+ 79.0133355205627,
233
+ 92.71129206317235,
234
+ 25.91563864993562
235
+ ]
236
+ },
237
+ "timestamp": {
238
+ "min": [
239
+ 0.0
240
+ ],
241
+ "max": [
242
+ 14.966666666666667
243
+ ],
244
+ "mean": [
245
+ 7.351924081490509
246
+ ],
247
+ "std": [
248
+ 4.260737049489086
249
+ ],
250
+ "count": [
251
+ 5743
252
+ ],
253
+ "q01": [
254
+ 0.1331318852578979
255
+ ],
256
+ "q10": [
257
+ 1.44704762938164
258
+ ],
259
+ "q50": [
260
+ 7.338349155493462
261
+ ],
262
+ "q90": [
263
+ 13.233580439571556
264
+ ],
265
+ "q99": [
266
+ 14.570716277723125
267
+ ]
268
+ },
269
+ "index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 8798
275
+ ],
276
+ "mean": [
277
+ 4069.9468918683615
278
+ ],
279
+ "std": [
280
+ 2696.2807924212316
281
+ ],
282
+ "count": [
283
+ 5743
284
+ ],
285
+ "q01": [
286
+ 3853.383125984231
287
+ ],
288
+ "q10": [
289
+ 3892.800598307425
290
+ ],
291
+ "q50": [
292
+ 4069.5396440884547
293
+ ],
294
+ "q90": [
295
+ 4246.396582608472
296
+ ],
297
+ "q99": [
298
+ 4286.510657752492
299
+ ]
300
+ },
301
+ "episode_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 19
307
+ ],
308
+ "mean": [
309
+ 8.623889952986245
310
+ ],
311
+ "std": [
312
+ 6.09783835864577
313
+ ],
314
+ "count": [
315
+ 5743
316
+ ],
317
+ "q01": [
318
+ 8.623889952986245
319
+ ],
320
+ "q10": [
321
+ 8.623889952986246
322
+ ],
323
+ "q50": [
324
+ 8.623889952986264
325
+ ],
326
+ "q90": [
327
+ 8.62388995298628
328
+ ],
329
+ "q99": [
330
+ 8.623889952986284
331
+ ]
332
+ },
333
+ "frame_index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 449
339
+ ],
340
+ "mean": [
341
+ 220.5577224447153
342
+ ],
343
+ "std": [
344
+ 127.8221114846726
345
+ ],
346
+ "count": [
347
+ 5743
348
+ ],
349
+ "q01": [
350
+ 3.9939565605843823
351
+ ],
352
+ "q10": [
353
+ 43.41142888377829
354
+ ],
355
+ "q50": [
356
+ 220.14431690753943
357
+ ],
358
+ "q90": [
359
+ 397.00741318482676
360
+ ],
361
+ "q99": [
362
+ 437.1214883288463
363
+ ]
364
+ },
365
+ "task_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 0
371
+ ],
372
+ "mean": [
373
+ 0.0
374
+ ],
375
+ "std": [
376
+ 0.0
377
+ ],
378
+ "count": [
379
+ 5743
380
+ ],
381
+ "q01": [
382
+ 3.9999999999994176e-16
383
+ ],
384
+ "q10": [
385
+ 3.999999999999417e-15
386
+ ],
387
+ "q50": [
388
+ 1.9999999999997088e-14
389
+ ],
390
+ "q90": [
391
+ 3.599999999999475e-14
392
+ ],
393
+ "q99": [
394
+ 3.959999999999423e-14
395
+ ]
396
+ },
397
+ "action": {
398
+ "min": [
399
+ -46.94505310058594,
400
+ -103.25274658203125,
401
+ -50.41758346557617,
402
+ 39.868133544921875,
403
+ 67.12088012695312,
404
+ 0.0
405
+ ],
406
+ "max": [
407
+ -1.4065934419631958,
408
+ 44.61538314819336,
409
+ 90.68132019042969,
410
+ 90.94505310058594,
411
+ 95.6043930053711,
412
+ 43.4782600402832
413
+ ],
414
+ "mean": [
415
+ -12.99350280901208,
416
+ -53.40472313204896,
417
+ 44.85574949989538,
418
+ 68.5107610451102,
419
+ 86.44715742655546,
420
+ 3.4561962205400953
421
+ ],
422
+ "std": [
423
+ 10.030830678814265,
424
+ 54.02549684345956,
425
+ 47.52092454720522,
426
+ 9.285610732826107,
427
+ 5.882724458220206,
428
+ 6.293033347201167
429
+ ],
430
+ "count": [
431
+ 5743
432
+ ],
433
+ "q01": [
434
+ -38.69052174793517,
435
+ -102.70200595422358,
436
+ -29.068980765972036,
437
+ 49.15409885195785,
438
+ 72.96553198239604,
439
+ 0.8635967317130401
440
+ ],
441
+ "q10": [
442
+ -33.14707904711389,
443
+ -102.69308087206346,
444
+ -23.924916253921126,
445
+ 53.49618747785481,
446
+ 78.32458891354665,
447
+ 0.8733473933196063
448
+ ],
449
+ "q50": [
450
+ -9.234602182084654,
451
+ -79.05236866131631,
452
+ 63.013544307575025,
453
+ 71.94117858520677,
454
+ 87.49582877714847,
455
+ 1.1016342948261588
456
+ ],
457
+ "q90": [
458
+ -6.071645887247626,
459
+ 19.608687767435587,
460
+ 89.62002081238818,
461
+ 77.0026957525367,
462
+ 91.52582600635779,
463
+ 12.080454573611055
464
+ ],
465
+ "q99": [
466
+ -4.583521350345196,
467
+ 29.194947991771343,
468
+ 89.63817984688009,
469
+ 79.50749887274903,
470
+ 92.87054671189269,
471
+ 27.061226376604452
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eae919fa96a41c3426afdedab66120f28e4b7f4318546260ba6e5383fd13b5be
3
+ size 2153
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:e443e1faeeae2b4a4db456d6de8a610946df8c3b9551c3a5ee321090c579b65b
3
+ size 37730099