Datasets:

License:
Chengmingethz commited on
Commit
b4731be
·
verified ·
1 Parent(s): 4bd4ed8

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 sha256:65a18daaf4e13cedf085a6495eb083accd5a6028da13fd34cf269408d2f966e0
3
+ size 121614
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 5,
5
+ "total_frames": 2775,
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": "0:5"
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.state": {
3
+ "min": [
4
+ -3.384615421295166,
5
+ 0.3076923191547394,
6
+ -132.7032928466797,
7
+ 48.74725341796875,
8
+ -104.92308044433594,
9
+ 0.6076974868774414
10
+ ],
11
+ "max": [
12
+ 58.32966995239258,
13
+ 139.8241729736328,
14
+ -3.6483516693115234,
15
+ 97.71428680419922,
16
+ -5.846153736114502,
17
+ 42.53882598876953
18
+ ],
19
+ "mean": [
20
+ 28.73995590209961,
21
+ 82.23148498535156,
22
+ -86.62921295166015,
23
+ 78.81511993408203,
24
+ -80.97729034423828,
25
+ 7.613354873657227
26
+ ],
27
+ "std": [
28
+ 18.898778928738018,
29
+ 40.918058313103984,
30
+ 32.65136137750947,
31
+ 11.750058443741178,
32
+ 33.39792496004363,
33
+ 11.811406860753065
34
+ ],
35
+ "count": [
36
+ 2775
37
+ ],
38
+ "q01": [
39
+ 2.1164627712249757,
40
+ 0.5494658916136798,
41
+ -123.52527313232422,
42
+ 57.87252655029297,
43
+ -103.79780426025391,
44
+ 0.661715030670166
45
+ ],
46
+ "q10": [
47
+ 5.846721744537353,
48
+ 15.391656158952154,
49
+ -118.95373046875,
50
+ 62.179103731286936,
51
+ -103.79780426025391,
52
+ 0.661715030670166
53
+ ],
54
+ "q50": [
55
+ 23.973923428762003,
56
+ 89.20112023318543,
57
+ -96.20228348858734,
58
+ 77.2849514254255,
59
+ -99.16998834118384,
60
+ 3.226959741035682
61
+ ],
62
+ "q90": [
63
+ 50.044741333312544,
64
+ 127.73382961241136,
65
+ -36.60221412181854,
66
+ 95.91990215259497,
67
+ -19.36385182501753,
68
+ 29.559831750203692
69
+ ],
70
+ "q99": [
71
+ 53.42024136407034,
72
+ 130.90799098655,
73
+ -3.72289194518228,
74
+ 96.42986273867133,
75
+ -14.552821355358688,
76
+ 38.67467816114426
77
+ ]
78
+ },
79
+ "observation.images.front": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.5461963238877423
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.4957353256507282
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.4812756131034284
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.007000657106256368
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.010686033671185627
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.013184708317454974
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 570
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.003972787186105369
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.005485972249538411
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.18976073994460357
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.10038825168505683
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.02194896832854339
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.5937041422751328
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.566202941500415
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.5631087396936193
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.7451311602702454
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.7615263308689219
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.7843102210694015
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.8596559029288195
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.8713318687734753
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9380420920953627
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "episode_index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 4
243
+ ],
244
+ "mean": [
245
+ 2.0
246
+ ],
247
+ "std": [
248
+ 1.4142135623730951
249
+ ],
250
+ "count": [
251
+ 2775
252
+ ],
253
+ "q01": [
254
+ 2.0000000000000004
255
+ ],
256
+ "q10": [
257
+ 2.000000000000004
258
+ ],
259
+ "q50": [
260
+ 2.00000000000002
261
+ ],
262
+ "q90": [
263
+ 2.000000000000036
264
+ ],
265
+ "q99": [
266
+ 2.0000000000000395
267
+ ]
268
+ },
269
+ "timestamp": {
270
+ "min": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 18.466666666666665
275
+ ],
276
+ "mean": [
277
+ 9.233333333333333
278
+ ],
279
+ "std": [
280
+ 5.3404813210740425
281
+ ],
282
+ "count": [
283
+ 2775
284
+ ],
285
+ "q01": [
286
+ 0.1682313332351553
287
+ ],
288
+ "q10": [
289
+ 1.8337399999198591
290
+ ],
291
+ "q50": [
292
+ 9.235180000000017
293
+ ],
294
+ "q90": [
295
+ 16.63292666674681
296
+ ],
297
+ "q99": [
298
+ 18.298435333431513
299
+ ]
300
+ },
301
+ "frame_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 554
307
+ ],
308
+ "mean": [
309
+ 277.0
310
+ ],
311
+ "std": [
312
+ 160.21443963222126
313
+ ],
314
+ "count": [
315
+ 2775
316
+ ],
317
+ "q01": [
318
+ 5.046939999901823
319
+ ],
320
+ "q10": [
321
+ 55.012199999919865
322
+ ],
323
+ "q50": [
324
+ 276.94460000000004
325
+ ],
326
+ "q90": [
327
+ 498.9878000000802
328
+ ],
329
+ "q99": [
330
+ 548.9530600000982
331
+ ]
332
+ },
333
+ "task_index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 0
339
+ ],
340
+ "mean": [
341
+ 0.0
342
+ ],
343
+ "std": [
344
+ 0.0
345
+ ],
346
+ "count": [
347
+ 2775
348
+ ],
349
+ "q01": [
350
+ 3.9999999999994176e-16
351
+ ],
352
+ "q10": [
353
+ 3.999999999999417e-15
354
+ ],
355
+ "q50": [
356
+ 1.9999999999997088e-14
357
+ ],
358
+ "q90": [
359
+ 3.599999999999476e-14
360
+ ],
361
+ "q99": [
362
+ 3.9599999999994235e-14
363
+ ]
364
+ },
365
+ "action": {
366
+ "min": [
367
+ -4.0,
368
+ -0.1318681389093399,
369
+ -135.78021240234375,
370
+ 47.82417678833008,
371
+ -105.27472686767578,
372
+ 0.0
373
+ ],
374
+ "max": [
375
+ 58.85714340209961,
376
+ 138.85714721679688,
377
+ -3.7362637519836426,
378
+ 101.62637329101562,
379
+ -5.318681240081787,
380
+ 44.69230651855469
381
+ ],
382
+ "mean": [
383
+ 28.850216674804688,
384
+ 81.50587997436523,
385
+ -88.35380249023437,
386
+ 78.75089721679687,
387
+ -80.88212585449219,
388
+ 5.708468627929688
389
+ ],
390
+ "std": [
391
+ 18.891657797715215,
392
+ 40.214499323710044,
393
+ 32.54651169714741,
394
+ 12.367266620171023,
395
+ 33.56367491002616,
396
+ 12.775118629588716
397
+ ],
398
+ "count": [
399
+ 2775
400
+ ],
401
+ "q01": [
402
+ 1.6980775874853133,
403
+ -0.043956045806407926,
404
+ -126.24947040812175,
405
+ 57.22881506965273,
406
+ -104.13036621216804,
407
+ -1.000000013351432e-10
408
+ ],
409
+ "q10": [
410
+ 6.008108189431104,
411
+ 18.60976018144025,
412
+ -121.07263070913461,
413
+ 61.537934493310814,
414
+ -103.9244367861425,
415
+ -1.000000013351432e-10
416
+ ],
417
+ "q50": [
418
+ 23.904505193435938,
419
+ 88.44766938697357,
420
+ -97.48124342418852,
421
+ 77.04708561113488,
422
+ -99.1182692939834,
423
+ -1.000000013351432e-10
424
+ ],
425
+ "q90": [
426
+ 50.06638399688007,
427
+ 126.51414585391053,
428
+ -41.55743810213529,
429
+ 96.89321938529848,
430
+ -19.297240295324965,
431
+ 29.87790843702274
432
+ ],
433
+ "q99": [
434
+ 53.76955458848996,
435
+ 130.56333699500044,
436
+ -3.8121355619831854,
437
+ 98.66998659636758,
438
+ -13.93894257068634,
439
+ 39.29345897270659
440
+ ]
441
+ },
442
+ "index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 2774
448
+ ],
449
+ "mean": [
450
+ 1387.0
451
+ ],
452
+ "std": [
453
+ 801.0734464870662
454
+ ],
455
+ "count": [
456
+ 2775
457
+ ],
458
+ "q01": [
459
+ 1115.0469399999017
460
+ ],
461
+ "q10": [
462
+ 1165.0121999999199
463
+ ],
464
+ "q50": [
465
+ 1387.0332399999998
466
+ ],
467
+ "q90": [
468
+ 1608.9878000000801
469
+ ],
470
+ "q99": [
471
+ 1658.9530600000983
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab0c9bb0c422a0e4cf70cdbf3ddf337dac3acdea35974a754d1981ae1b7124c8
3
+ size 2015
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 sha256:297783fcb9f63ee7abb3dc431aa97d02bf796c93f2025fa10755c2a8e4abc21d
3
+ size 7570272