steb6 commited on
Commit
1001db8
·
verified ·
1 Parent(s): ac2fab8

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 sha256:3b3b9e621f586d919cfa1d666c529f704d507200655d3fa0043df6dd625c00af
3
+ size 181636
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ee76b90953f1b5b5cfa82694c951e2720d887625b13ab274fe7fa6692b0c63cf
3
+ size 103481
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "custom_manipulator",
4
+ "total_episodes": 15,
5
+ "total_frames": 1828,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:15"
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
+ "position.x",
21
+ "position.y",
22
+ "position.z",
23
+ "orientation.x",
24
+ "orientation.y",
25
+ "orientation.z",
26
+ "gripper"
27
+ ],
28
+ "shape": [
29
+ 7
30
+ ]
31
+ },
32
+ "observation.state": {
33
+ "dtype": "float32",
34
+ "names": [
35
+ "position.x",
36
+ "position.y",
37
+ "position.z",
38
+ "orientation.x",
39
+ "orientation.y",
40
+ "orientation.z",
41
+ "gripper"
42
+ ],
43
+ "shape": [
44
+ 7
45
+ ]
46
+ },
47
+ "observation.images.wrist_rgb": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 480,
61
+ "video.width": 640,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 10,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.left_rgb": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.codec": "av1",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 10,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "timestamp": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "frame_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "episode_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "task_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ }
128
+ }
129
+ }
meta/stats.json ADDED
@@ -0,0 +1,650 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist_rgb": {
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
+ 0.46562340047170037
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.4438520638067772
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.44259863031369706
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.019716984504287986
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.029719325228543734
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.02741594294759236
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1387
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.08057373346261718
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -3.9215686274509807e-13
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.034620670407430706
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.2398908944314438
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.0480250600124774
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.11431304700076798
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.46587167700016513
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.47553151202901794
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.4640479501127356
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.6848734281816803
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.7154709582156347
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.7135350750128373
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.786941044338165
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.8889581544314666
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.8876505652723383
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 1827
166
+ ],
167
+ "mean": [
168
+ 913.5
169
+ ],
170
+ "std": [
171
+ 527.6980670800301
172
+ ],
173
+ "count": [
174
+ 1828
175
+ ],
176
+ "q01": [
177
+ 847.0681022055902
178
+ ],
179
+ "q10": [
180
+ 859.285558796418
181
+ ],
182
+ "q50": [
183
+ 913.2187449671768
184
+ ],
185
+ "q90": [
186
+ 967.5739991904526
187
+ ],
188
+ "q99": [
189
+ 979.8750999847815
190
+ ]
191
+ },
192
+ "task_index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 0
198
+ ],
199
+ "mean": [
200
+ 0.0
201
+ ],
202
+ "std": [
203
+ 0.0
204
+ ],
205
+ "count": [
206
+ 1828
207
+ ],
208
+ "q01": [
209
+ 3.9999999999994176e-16
210
+ ],
211
+ "q10": [
212
+ 3.999999999999418e-15
213
+ ],
214
+ "q50": [
215
+ 1.9999999999997088e-14
216
+ ],
217
+ "q90": [
218
+ 3.5999999999994754e-14
219
+ ],
220
+ "q99": [
221
+ 3.959999999999423e-14
222
+ ]
223
+ },
224
+ "action": {
225
+ "min": [
226
+ -0.11919551342725754,
227
+ -0.11646793782711029,
228
+ -0.053534090518951416,
229
+ -0.07247088849544525,
230
+ -0.08406467735767365,
231
+ -0.45255962014198303,
232
+ -0.038973093032836914
233
+ ],
234
+ "max": [
235
+ 0.08598361909389496,
236
+ 0.14660508930683136,
237
+ 0.11223547160625458,
238
+ 0.1342792809009552,
239
+ 0.11726976931095123,
240
+ 0.26074063777923584,
241
+ 1.0481597185134888
242
+ ],
243
+ "mean": [
244
+ -0.00833143863413805,
245
+ -0.008854298837804316,
246
+ 0.00790839413939048,
247
+ -3.548522869907882e-05,
248
+ 0.022639114487666843,
249
+ -0.005388276898852372,
250
+ 0.3384789232596657
251
+ ],
252
+ "std": [
253
+ 0.03866908762751251,
254
+ 0.05039338225960616,
255
+ 0.028455775762983818,
256
+ 0.023005307231421673,
257
+ 0.03480482723961463,
258
+ 0.09872583899245686,
259
+ 0.4603138335270114
260
+ ],
261
+ "count": [
262
+ 1828
263
+ ],
264
+ "q01": [
265
+ -0.07859598848722384,
266
+ -0.09760670515445599,
267
+ -0.0314194486540518,
268
+ -0.04281925331617974,
269
+ -0.04258873837066451,
270
+ -0.29913633196498257,
271
+ -0.02421789691796833
272
+ ],
273
+ "q10": [
274
+ -0.05613494055193169,
275
+ -0.07575282055247527,
276
+ -0.019357354208925807,
277
+ -0.022471740487468344,
278
+ -0.017518128834803935,
279
+ -0.10694665553358407,
280
+ -0.012579326438719576
281
+ ],
282
+ "q50": [
283
+ -0.003852528720687578,
284
+ -0.010505741996447266,
285
+ 0.0018055955952629567,
286
+ -0.003913286061445275,
287
+ 0.020682932821416974,
288
+ 0.004694179628569743,
289
+ 0.08433967313082652
290
+ ],
291
+ "q90": [
292
+ 0.035351316832164484,
293
+ 0.06332115551488214,
294
+ 0.04799897190926824,
295
+ 0.02730388097975183,
296
+ 0.06195146568620685,
297
+ 0.08374449252430373,
298
+ 1.000141360319671
299
+ ],
300
+ "q99": [
301
+ 0.047249287215907626,
302
+ 0.1028654273887319,
303
+ 0.0814373767358275,
304
+ 0.06853743942585724,
305
+ 0.0902132747824149,
306
+ 0.17204524062541032,
307
+ 1.025397367078866
308
+ ]
309
+ },
310
+ "timestamp": {
311
+ "min": [
312
+ 0.0
313
+ ],
314
+ "max": [
315
+ 17.4
316
+ ],
317
+ "mean": [
318
+ 6.716466083150985
319
+ ],
320
+ "std": [
321
+ 4.513293904225327
322
+ ],
323
+ "count": [
324
+ 1828
325
+ ],
326
+ "q01": [
327
+ 0.0732763036209027
328
+ ],
329
+ "q10": [
330
+ 1.2950219627200719
331
+ ],
332
+ "q50": [
333
+ 6.688286203500612
334
+ ],
335
+ "q90": [
336
+ 12.123866002268768
337
+ ],
338
+ "q99": [
339
+ 13.35397608171815
340
+ ]
341
+ },
342
+ "frame_index": {
343
+ "min": [
344
+ 0
345
+ ],
346
+ "max": [
347
+ 174
348
+ ],
349
+ "mean": [
350
+ 67.16466083150985
351
+ ],
352
+ "std": [
353
+ 45.13293904225326
354
+ ],
355
+ "count": [
356
+ 1828
357
+ ],
358
+ "q01": [
359
+ 0.732763037100115
360
+ ],
361
+ "q10": [
362
+ 12.950219627927947
363
+ ],
364
+ "q50": [
365
+ 66.88340579868661
366
+ ],
367
+ "q90": [
368
+ 121.23866002196245
369
+ ],
370
+ "q99": [
371
+ 133.53976081629148
372
+ ]
373
+ },
374
+ "observation.images.left_rgb": {
375
+ "min": [
376
+ [
377
+ [
378
+ 0.0
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.0
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.0
389
+ ]
390
+ ]
391
+ ],
392
+ "max": [
393
+ [
394
+ [
395
+ 1.0
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 1.0
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ "mean": [
410
+ [
411
+ [
412
+ 0.78528009681402
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.757596129854249
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.7657717777059153
423
+ ]
424
+ ]
425
+ ],
426
+ "std": [
427
+ [
428
+ [
429
+ 0.0045766094481392424
430
+ ]
431
+ ],
432
+ [
433
+ [
434
+ 0.004988409546560085
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.004805420928279715
440
+ ]
441
+ ]
442
+ ],
443
+ "count": [
444
+ 1387
445
+ ],
446
+ "q01": [
447
+ [
448
+ [
449
+ 0.12939038668143532
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.0005514419516940555
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.10832234189875345
460
+ ]
461
+ ]
462
+ ],
463
+ "q10": [
464
+ [
465
+ [
466
+ 0.43317099439694484
467
+ ]
468
+ ],
469
+ [
470
+ [
471
+ 0.36126771586566003
472
+ ]
473
+ ],
474
+ [
475
+ [
476
+ 0.3537413607009445
477
+ ]
478
+ ]
479
+ ],
480
+ "q50": [
481
+ [
482
+ [
483
+ 0.8495390123534552
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.8362215405848917
489
+ ]
490
+ ],
491
+ [
492
+ [
493
+ 0.8534296029566285
494
+ ]
495
+ ]
496
+ ],
497
+ "q90": [
498
+ [
499
+ [
500
+ 0.9968433654265116
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 0.9998950214952693
506
+ ]
507
+ ],
508
+ [
509
+ [
510
+ 0.9843683891848326
511
+ ]
512
+ ]
513
+ ],
514
+ "q99": [
515
+ [
516
+ [
517
+ 0.9999793802034811
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.99998950214988
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.9994197740802001
528
+ ]
529
+ ]
530
+ ]
531
+ },
532
+ "observation.state": {
533
+ "min": [
534
+ 0.3113884925842285,
535
+ -0.30052855610847473,
536
+ 0.32768258452415466,
537
+ -0.13974617421627045,
538
+ -0.20771248638629913,
539
+ -1.2290209531784058,
540
+ 0.001123348018154502
541
+ ],
542
+ "max": [
543
+ 0.675690233707428,
544
+ 0.09790999442338943,
545
+ 0.5915806293487549,
546
+ 0.17122839391231537,
547
+ 0.423555463552475,
548
+ 0.5504351258277893,
549
+ 0.08500000089406967
550
+ ],
551
+ "mean": [
552
+ 0.5506540461559525,
553
+ -0.12507911153031712,
554
+ 0.40963033813355526,
555
+ 0.02179181303132616,
556
+ -0.017879534223885222,
557
+ -0.24184131856265945,
558
+ 0.0700601621039815
559
+ ],
560
+ "std": [
561
+ 0.07257067875475674,
562
+ 0.10955914236512167,
563
+ 0.05661384533208056,
564
+ 0.05364164892917805,
565
+ 0.08440128768609603,
566
+ 0.45140086807250424,
567
+ 0.025012493974886186
568
+ ],
569
+ "count": [
570
+ 1828
571
+ ],
572
+ "q01": [
573
+ 0.4476180333958992,
574
+ -0.23739520371157186,
575
+ 0.34356552543665964,
576
+ -0.06308722184919069,
577
+ -0.09894513273879904,
578
+ -0.7271448127829763,
579
+ 0.038784567439881894
580
+ ],
581
+ "q10": [
582
+ 0.4643940574956147,
583
+ -0.23253425876041356,
584
+ 0.3499189616409317,
585
+ -0.04170992288298148,
586
+ -0.08231147034176209,
587
+ -0.6419638209764437,
588
+ 0.0398991057727666
589
+ ],
590
+ "q50": [
591
+ 0.5634998340436698,
592
+ -0.14504762344644934,
593
+ 0.4002208566715819,
594
+ 0.025631035326286356,
595
+ -0.029561378941645237,
596
+ -0.26607267934892176,
597
+ 0.07939002896723422
598
+ ],
599
+ "q90": [
600
+ 0.6173301073202095,
601
+ 0.013941114250009403,
602
+ 0.4850649853009835,
603
+ 0.07570224952972408,
604
+ 0.07166677318548517,
605
+ 0.19106631075915115,
606
+ 0.08499836241093474
607
+ ],
608
+ "q99": [
609
+ 0.6302293598945682,
610
+ 0.046815613893199756,
611
+ 0.5054979367343194,
612
+ 0.09027821893812492,
613
+ 0.12487077098227616,
614
+ 0.2673426074112356,
615
+ 0.08499983713575616
616
+ ]
617
+ },
618
+ "episode_index": {
619
+ "min": [
620
+ 0
621
+ ],
622
+ "max": [
623
+ 14
624
+ ],
625
+ "mean": [
626
+ 6.565645514223195
627
+ ],
628
+ "std": [
629
+ 4.6438309080271845
630
+ ],
631
+ "count": [
632
+ 1828
633
+ ],
634
+ "q01": [
635
+ 6.565645514223195
636
+ ],
637
+ "q10": [
638
+ 6.565645514223197
639
+ ],
640
+ "q50": [
641
+ 6.565645514223215
642
+ ],
643
+ "q90": [
644
+ 6.56564551422323
645
+ ],
646
+ "q99": [
647
+ 6.5656455142232355
648
+ ]
649
+ }
650
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9373bc4b6bed42101a4e98fd296d6f2bd8fbb7d3e2795dc0a27bad229c13f617
3
+ size 2301
videos/observation.images.left_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49f03051b30254c864b5274c30ef12b59e1adc9fe69990c65baa19d2d6611bb3
3
+ size 19955170
videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d363351027699ec54d6ddc728e367b98f280b43ceabc1a86f24e077c79958624
3
+ size 8710246