Datasets:

License:
Chengmingethz commited on
Commit
a7a86ed
·
verified ·
1 Parent(s): 7e7b377

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:cacd93d5df4d7eeea158b35b2d132c4057cfbb7143747ec502bc709b5a3251a1
3
+ size 128009
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
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 4
8
+ ],
9
+ "mean": [
10
+ 2.0
11
+ ],
12
+ "std": [
13
+ 1.4142135623730951
14
+ ],
15
+ "count": [
16
+ 2775
17
+ ],
18
+ "q01": [
19
+ 2.0000000000000004
20
+ ],
21
+ "q10": [
22
+ 2.000000000000004
23
+ ],
24
+ "q50": [
25
+ 2.00000000000002
26
+ ],
27
+ "q90": [
28
+ 2.000000000000036
29
+ ],
30
+ "q99": [
31
+ 2.0000000000000395
32
+ ]
33
+ },
34
+ "observation.images.front": {
35
+ "min": [
36
+ [
37
+ [
38
+ 0.0
39
+ ]
40
+ ],
41
+ [
42
+ [
43
+ 0.0
44
+ ]
45
+ ],
46
+ [
47
+ [
48
+ 0.0
49
+ ]
50
+ ]
51
+ ],
52
+ "max": [
53
+ [
54
+ [
55
+ 1.0
56
+ ]
57
+ ],
58
+ [
59
+ [
60
+ 1.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 1.0
66
+ ]
67
+ ]
68
+ ],
69
+ "mean": [
70
+ [
71
+ [
72
+ 0.5377464783281735
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5020058769779842
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.49089362422600624
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.009220942998142271
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.011088901714179747
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.011283502148679403
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 570
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ 0.0039050338296252357
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.003910326385649104
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ -3.9215686274509807e-13
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.15602980553719642
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.1043148791319318
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.03131873069072413
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.5897486889358776
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.5702207206693863
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5741291761448433
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.7396412762676542
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.7403522079472812
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.7702003483347521
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.8501445421255038
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.8259111688702869
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.8643469564280575
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -31.604394912719727,
195
+ 0.04395604506134987,
196
+ -129.45054626464844,
197
+ 42.241756439208984,
198
+ -145.7142791748047,
199
+ 0.6752194166183472
200
+ ],
201
+ "max": [
202
+ 41.098899841308594,
203
+ 134.90109252929688,
204
+ -0.5714285969734192,
205
+ 97.71428680419922,
206
+ -11.560439109802246,
207
+ 45.779876708984375
208
+ ],
209
+ "mean": [
210
+ 0.16079602241516106,
211
+ 74.52339401245118,
212
+ -82.77698211669922,
213
+ 77.62493286132812,
214
+ -80.8674102783203,
215
+ 7.645011901855469
216
+ ],
217
+ "std": [
218
+ 19.06486716018371,
219
+ 38.93744397276228,
220
+ 28.76360884489,
221
+ 14.146690140305525,
222
+ 36.69403467733779,
223
+ 11.382243799466888
224
+ ],
225
+ "count": [
226
+ 2775
227
+ ],
228
+ "q01": [
229
+ -27.104666913350425,
230
+ 0.3947519777587482,
231
+ -110.61977996826172,
232
+ 54.70759338378906,
233
+ -121.52087707519532,
234
+ 0.6752194166183472
235
+ ],
236
+ "q10": [
237
+ -25.256259231895097,
238
+ 21.758315156635486,
239
+ -106.32443120715317,
240
+ 56.800612671656644,
241
+ -118.77695105416434,
242
+ 0.6752194166183472
243
+ ],
244
+ "q50": [
245
+ 6.513995439219164,
246
+ 76.70993243358174,
247
+ -88.81970947661812,
248
+ 80.02556739507938,
249
+ -99.15163814380504,
250
+ 4.211072149987583
251
+ ],
252
+ "q90": [
253
+ 21.491627008531477,
254
+ 122.78448937155986,
255
+ -47.05607529677354,
256
+ 93.98299516925105,
257
+ -26.18855074585452,
258
+ 32.93625011444092
259
+ ],
260
+ "q99": [
261
+ 25.818075149227102,
262
+ 129.56674236068724,
263
+ -2.950187569869889,
264
+ 96.81513656832955,
265
+ -20.654939618929532,
266
+ 35.962549435488086
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
+ "task_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 0
307
+ ],
308
+ "mean": [
309
+ 0.0
310
+ ],
311
+ "std": [
312
+ 0.0
313
+ ],
314
+ "count": [
315
+ 2775
316
+ ],
317
+ "q01": [
318
+ 3.9999999999994176e-16
319
+ ],
320
+ "q10": [
321
+ 3.999999999999417e-15
322
+ ],
323
+ "q50": [
324
+ 1.9999999999997088e-14
325
+ ],
326
+ "q90": [
327
+ 3.599999999999476e-14
328
+ ],
329
+ "q99": [
330
+ 3.9599999999994235e-14
331
+ ]
332
+ },
333
+ "action": {
334
+ "min": [
335
+ -32.0439567565918,
336
+ -0.3076923191547394,
337
+ -131.2967071533203,
338
+ 41.4945068359375,
339
+ -146.24176025390625,
340
+ 0.0
341
+ ],
342
+ "max": [
343
+ 41.36263656616211,
344
+ 134.90109252929688,
345
+ -0.1318681389093399,
346
+ 101.45054626464844,
347
+ -11.032966613769531,
348
+ 46.153846740722656
349
+ ],
350
+ "mean": [
351
+ -0.11978895664215088,
352
+ 74.03545227050782,
353
+ -84.33898315429687,
354
+ 77.5798110961914,
355
+ -80.7937225341797,
356
+ 5.401246547698975
357
+ ],
358
+ "std": [
359
+ 19.076385580261825,
360
+ 38.30081399964057,
361
+ 28.2946948026844,
362
+ 14.564651689986926,
363
+ 36.880021121621496,
364
+ 12.448313083884603
365
+ ],
366
+ "count": [
367
+ 2775
368
+ ],
369
+ "q01": [
370
+ -27.43901883847786,
371
+ -0.07912088334560394,
372
+ -112.93867179107666,
373
+ 53.97865427017212,
374
+ -121.94403384957995,
375
+ -1.000000013351432e-10
376
+ ],
377
+ "q10": [
378
+ -25.08253010901194,
379
+ 25.378737167436253,
380
+ -107.90399388313294,
381
+ 56.47469271341959,
382
+ -119.16451308157991,
383
+ -1.000000013351432e-10
384
+ ],
385
+ "q50": [
386
+ 5.900828871295841,
387
+ 76.03575089746592,
388
+ -90.17490609296162,
389
+ 80.03516675595884,
390
+ -98.90660388033876,
391
+ -1.000000013351432e-10
392
+ ],
393
+ "q90": [
394
+ 21.439436966076233,
395
+ 120.99458513259887,
396
+ -54.28511505126953,
397
+ 94.5217087205012,
398
+ -25.99201966680083,
399
+ 34.18445032263896
400
+ ],
401
+ "q99": [
402
+ 25.99488190990299,
403
+ 129.74382298943044,
404
+ -2.9516650838386207,
405
+ 98.72263836880795,
406
+ -20.111858521870204,
407
+ 36.3537470763675
408
+ ]
409
+ },
410
+ "index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 2774
416
+ ],
417
+ "mean": [
418
+ 1387.0
419
+ ],
420
+ "std": [
421
+ 801.0734464870662
422
+ ],
423
+ "count": [
424
+ 2775
425
+ ],
426
+ "q01": [
427
+ 1115.0469399999017
428
+ ],
429
+ "q10": [
430
+ 1165.0121999999199
431
+ ],
432
+ "q50": [
433
+ 1387.0332399999998
434
+ ],
435
+ "q90": [
436
+ 1608.9878000000801
437
+ ],
438
+ "q99": [
439
+ 1658.9530600000983
440
+ ]
441
+ },
442
+ "frame_index": {
443
+ "min": [
444
+ 0
445
+ ],
446
+ "max": [
447
+ 554
448
+ ],
449
+ "mean": [
450
+ 277.0
451
+ ],
452
+ "std": [
453
+ 160.21443963222126
454
+ ],
455
+ "count": [
456
+ 2775
457
+ ],
458
+ "q01": [
459
+ 5.046939999901823
460
+ ],
461
+ "q10": [
462
+ 55.012199999919865
463
+ ],
464
+ "q50": [
465
+ 276.94460000000004
466
+ ],
467
+ "q90": [
468
+ 498.9878000000802
469
+ ],
470
+ "q99": [
471
+ 548.9530600000982
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:d4e44b4644798d378f0ec562e0d2f7c526b26f80bb3ac679728feca0d59f65d0
3
+ size 9641157