nkim7 commited on
Commit
b10c013
·
verified ·
1 Parent(s): 3f9d197

Upload physical-trimmed dataset without initial pose outliers

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17fcbc9a35da5add1c29247869d1122461904a986362b23d0f796c3a53c0f6dd
3
+ size 1945100
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e655ddcbb0b73bc7e6a57142896f3b991bf86536e235d06a12e7986ffb2b151
3
+ size 231932
meta/info.json ADDED
@@ -0,0 +1,110 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "shoulder_pan.pos",
9
+ "shoulder_lift.pos",
10
+ "elbow_flex.pos",
11
+ "wrist_flex.pos",
12
+ "wrist_roll.pos",
13
+ "gripper.pos"
14
+ ],
15
+ "shape": [
16
+ 6
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "names": [
22
+ "shoulder_pan.pos",
23
+ "shoulder_lift.pos",
24
+ "elbow_flex.pos",
25
+ "wrist_flex.pos",
26
+ "wrist_roll.pos",
27
+ "gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 6
31
+ ]
32
+ },
33
+ "observation.images.front": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "video.height": 480,
47
+ "video.width": 640,
48
+ "video.codec": "av1",
49
+ "video.pix_fmt": "yuv420p",
50
+ "video.is_depth_map": false,
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false,
54
+ "video.video_backend": "pyav",
55
+ "video.crf": null,
56
+ "video.g": null,
57
+ "video.extra_options": null,
58
+ "video.fast_decode": null,
59
+ "video.preset": null
60
+ }
61
+ },
62
+ "timestamp": {
63
+ "dtype": "float32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "frame_index": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "episode_index": {
77
+ "dtype": "int64",
78
+ "shape": [
79
+ 1
80
+ ],
81
+ "names": null
82
+ },
83
+ "index": {
84
+ "dtype": "int64",
85
+ "shape": [
86
+ 1
87
+ ],
88
+ "names": null
89
+ },
90
+ "task_index": {
91
+ "dtype": "int64",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ }
97
+ },
98
+ "total_episodes": 167,
99
+ "total_frames": 73884,
100
+ "total_tasks": 6,
101
+ "chunks_size": 1000,
102
+ "data_files_size_in_mb": 100,
103
+ "video_files_size_in_mb": 200,
104
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
105
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
106
+ "robot_type": "so_follower",
107
+ "splits": {
108
+ "train": "0:173"
109
+ }
110
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 78365
17
+ ],
18
+ "q01": [
19
+ 3.9999999999994176e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 599
40
+ ],
41
+ "mean": [
42
+ 251.29052510687168
43
+ ],
44
+ "std": [
45
+ 166.6295663232086
46
+ ],
47
+ "count": [
48
+ 78365
49
+ ],
50
+ "q01": [
51
+ 4.07564492414072
52
+ ],
53
+ "q10": [
54
+ 49.4348794292567
55
+ ],
56
+ "q50": [
57
+ 250.8286427206021
58
+ ],
59
+ "q90": [
60
+ 452.31493684076145
61
+ ],
62
+ "q99": [
63
+ 497.59592580258624
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 8824
72
+ ],
73
+ "mean": [
74
+ 2165.3918203279527
75
+ ],
76
+ "std": [
77
+ 1837.3386752499266
78
+ ],
79
+ "count": [
80
+ 78365
81
+ ],
82
+ "q01": [
83
+ 1918.176940145222
84
+ ],
85
+ "q10": [
86
+ 1963.5361746503372
87
+ ],
88
+ "q50": [
89
+ 2164.9299379416834
90
+ ],
91
+ "q90": [
92
+ 2366.416232061842
93
+ ],
94
+ "q99": [
95
+ 2411.6972210236677
96
+ ]
97
+ },
98
+ "timestamp": {
99
+ "min": [
100
+ 0.0
101
+ ],
102
+ "max": [
103
+ 19.966666666666665
104
+ ],
105
+ "mean": [
106
+ 8.376350836895723
107
+ ],
108
+ "std": [
109
+ 5.55431887744029
110
+ ],
111
+ "count": [
112
+ 78365
113
+ ],
114
+ "q01": [
115
+ 0.13585483070955284
116
+ ],
117
+ "q10": [
118
+ 1.6478293142308755
119
+ ],
120
+ "q50": [
121
+ 8.360954757353209
122
+ ],
123
+ "q90": [
124
+ 15.077164561436042
125
+ ],
126
+ "q99": [
127
+ 16.58653086018097
128
+ ]
129
+ },
130
+ "action": {
131
+ "min": [
132
+ -61.93406677246094,
133
+ -2.4175825119018555,
134
+ -179.2967071533203,
135
+ 8.439560890197754,
136
+ -154.6813201904297,
137
+ 0.0
138
+ ],
139
+ "max": [
140
+ 63.516483306884766,
141
+ 164.87911987304688,
142
+ 180.0,
143
+ 102.32967376708984,
144
+ 9.714285850524902,
145
+ 60.769229888916016
146
+ ],
147
+ "mean": [
148
+ 6.420714074354231,
149
+ 70.68373255211553,
150
+ -75.83941170556083,
151
+ 74.89950051371873,
152
+ -91.07617545803588,
153
+ 5.188099932596054
154
+ ],
155
+ "std": [
156
+ 21.116601138222926,
157
+ 46.38040991835919,
158
+ 40.9092245074126,
159
+ 14.976484157072,
160
+ 35.78730809330637,
161
+ 12.427123880969496
162
+ ],
163
+ "count": [
164
+ 78365
165
+ ],
166
+ "q01": [
167
+ -15.271395182337866,
168
+ 0.18429233205969367,
169
+ -125.67329938637003,
170
+ 50.740092138672125,
171
+ -120.19947767842801,
172
+ -1.000000013351432e-10
173
+ ],
174
+ "q10": [
175
+ -13.497372512852133,
176
+ 0.5362023278127334,
177
+ -119.02430999961052,
178
+ 55.7255368947195,
179
+ -118.53282432380244,
180
+ -1.000000013351432e-10
181
+ ],
182
+ "q50": [
183
+ 4.988392324548454,
184
+ 75.3237787196813,
185
+ -85.52068799646803,
186
+ 75.81348306520641,
187
+ -106.53003376841897,
188
+ 0.0005776920905765278
189
+ ],
190
+ "q90": [
191
+ 24.895053041080573,
192
+ 127.11497533546893,
193
+ -6.452913581391869,
194
+ 91.95876732446143,
195
+ -26.824922519798687,
196
+ 31.25375125404206
197
+ ],
198
+ "q99": [
199
+ 28.163860415708292,
200
+ 135.01673384159474,
201
+ -2.693679320269836,
202
+ 96.526784758083,
203
+ -20.098310076841408,
204
+ 38.994297052787054
205
+ ]
206
+ },
207
+ "observation.state": {
208
+ "min": [
209
+ -61.758243560791016,
210
+ -0.3076923191547394,
211
+ -175.86813354492188,
212
+ 9.450549125671387,
213
+ -153.89010620117188,
214
+ 0.6076974868774414
215
+ ],
216
+ "max": [
217
+ 61.67033004760742,
218
+ 165.93406677246094,
219
+ 1.890109896659851,
220
+ 97.89010620117188,
221
+ 8.923076629638672,
222
+ 54.76029586791992
223
+ ],
224
+ "mean": [
225
+ 6.434303270176254,
226
+ 71.51325143947831,
227
+ -74.4238318969088,
228
+ 75.01001780771657,
229
+ -91.17282752287318,
230
+ 7.057135833918398
231
+ ],
232
+ "std": [
233
+ 21.019061918204397,
234
+ 46.84825503900627,
235
+ 40.25458925465389,
236
+ 14.540675253445336,
237
+ 35.580570662294036,
238
+ 11.514169421088528
239
+ ],
240
+ "count": [
241
+ 78365
242
+ ],
243
+ "q01": [
244
+ -15.212196093985623,
245
+ 0.6599312289622088,
246
+ -122.87594297439414,
247
+ 51.57318140411127,
248
+ -119.96761770991482,
249
+ 0.6536777109403993
250
+ ],
251
+ "q10": [
252
+ -13.394084530321836,
253
+ 1.3998440374854455,
254
+ -116.879817037029,
255
+ 56.308117066381136,
256
+ -118.38323973827147,
257
+ 0.6541682506094173
258
+ ],
259
+ "q50": [
260
+ 5.1232577877475585,
261
+ 76.326444253572,
262
+ -84.05119515220355,
263
+ 75.95987557114363,
264
+ -106.63191854895449,
265
+ 2.1712073165817807
266
+ ],
267
+ "q90": [
268
+ 24.767033834580623,
269
+ 128.79585093089824,
270
+ -6.73273326219836,
271
+ 91.42758667912265,
272
+ -26.89385517156504,
273
+ 29.75049352093775
274
+ ],
275
+ "q99": [
276
+ 28.030805227309347,
277
+ 135.33252377615153,
278
+ -3.7755214685035265,
279
+ 94.90668263819383,
280
+ -21.158509432058032,
281
+ 38.432612757318445
282
+ ]
283
+ },
284
+ "episode_index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 29
290
+ ],
291
+ "mean": [
292
+ 5.042748676067122
293
+ ],
294
+ "std": [
295
+ 6.532456591069808
296
+ ],
297
+ "count": [
298
+ 78365
299
+ ],
300
+ "q01": [
301
+ 5.042748676067122
302
+ ],
303
+ "q10": [
304
+ 5.042748676067125
305
+ ],
306
+ "q50": [
307
+ 5.042748676067141
308
+ ],
309
+ "q90": [
310
+ 5.042748676067159
311
+ ],
312
+ "q99": [
313
+ 5.042748676067162
314
+ ]
315
+ },
316
+ "observation.images.front": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.0
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.0
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.5203367213799548
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.518000981327678
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.5087306481146199
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.022911632903476312
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.012688864876674174
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.015732366199659512
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 19169
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.0027055025479285817
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.00448352571882543
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ -3.921568627450982e-13
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.11566247111933554
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.17761749905740692
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.07900312938747776
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.5814749736942941
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.57006818852088
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.5765272061787222
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.7564921861446022
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.7399418205893465
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.7654977616730337
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.8757765189609292
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.8412015391237102
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.8834612989805252
470
+ ]
471
+ ]
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30cfbd39365d310ada447ef23a79a07f4fe3b708de49a7c4aecb04ea4833290f
3
+ size 2237
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:ac4cbba20314dc8cc8ae36c6f01448464184f8ee9dac2db89d0788188d1275fe
3
+ size 202696580
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:ccc9b6dec92b86a90a6492ca24689a4d11d31e11c77208f0c54ed812dc8eb727
3
+ size 57247848