steb6 commited on
Commit
b511064
·
verified ·
1 Parent(s): cb85a38

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 sha256:728fc548da3c59a61041ddd063def6af4897731a3334be8ae59b5126124dad2e
3
+ size 123197
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cbc3529eb325ad66bd18fdfbc04595a5af6169d5c4a6a491b09a0b71dce6a550
3
+ size 68224
meta/info.json ADDED
@@ -0,0 +1,129 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "custom_manipulator",
4
+ "total_episodes": 10,
5
+ "total_frames": 1301,
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": "0:10"
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
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 167
8
+ ],
9
+ "mean": [
10
+ 66.38124519600306
11
+ ],
12
+ "std": [
13
+ 40.45151492193418
14
+ ],
15
+ "count": [
16
+ 1301
17
+ ],
18
+ "q01": [
19
+ 0.8546065794554253
20
+ ],
21
+ "q10": [
22
+ 12.751729592540277
23
+ ],
24
+ "q50": [
25
+ 66.12713374327402
26
+ ],
27
+ "q90": [
28
+ 120.01076079946584
29
+ ],
30
+ "q99": [
31
+ 131.90539217534854
32
+ ]
33
+ },
34
+ "index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 1300
40
+ ],
41
+ "mean": [
42
+ 650.0
43
+ ],
44
+ "std": [
45
+ 375.56623916427844
46
+ ],
47
+ "count": [
48
+ 1301
49
+ ],
50
+ "q01": [
51
+ 584.4733613834525
52
+ ],
53
+ "q10": [
54
+ 596.3704843965371
55
+ ],
56
+ "q50": [
57
+ 649.745888547271
58
+ ],
59
+ "q90": [
60
+ 703.6295156034629
61
+ ],
62
+ "q99": [
63
+ 715.5241469793456
64
+ ]
65
+ },
66
+ "episode_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 9
72
+ ],
73
+ "mean": [
74
+ 4.305918524212145
75
+ ],
76
+ "std": [
77
+ 2.731973187989797
78
+ ],
79
+ "count": [
80
+ 1301
81
+ ],
82
+ "q01": [
83
+ 4.305918524212145
84
+ ],
85
+ "q10": [
86
+ 4.305918524212148
87
+ ],
88
+ "q50": [
89
+ 4.3059185242121645
90
+ ],
91
+ "q90": [
92
+ 4.3059185242121805
93
+ ],
94
+ "q99": [
95
+ 4.305918524212184
96
+ ]
97
+ },
98
+ "task_index": {
99
+ "min": [
100
+ 0
101
+ ],
102
+ "max": [
103
+ 0
104
+ ],
105
+ "mean": [
106
+ 0.0
107
+ ],
108
+ "std": [
109
+ 0.0
110
+ ],
111
+ "count": [
112
+ 1301
113
+ ],
114
+ "q01": [
115
+ 3.999999999999417e-16
116
+ ],
117
+ "q10": [
118
+ 3.999999999999417e-15
119
+ ],
120
+ "q50": [
121
+ 1.9999999999997088e-14
122
+ ],
123
+ "q90": [
124
+ 3.5999999999994754e-14
125
+ ],
126
+ "q99": [
127
+ 3.959999999999423e-14
128
+ ]
129
+ },
130
+ "observation.images.left_rgb": {
131
+ "min": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "max": [
149
+ [
150
+ [
151
+ 1.0
152
+ ]
153
+ ],
154
+ [
155
+ [
156
+ 1.0
157
+ ]
158
+ ],
159
+ [
160
+ [
161
+ 1.0
162
+ ]
163
+ ]
164
+ ],
165
+ "mean": [
166
+ [
167
+ [
168
+ 0.7469679628056896
169
+ ]
170
+ ],
171
+ [
172
+ [
173
+ 0.7215492259255947
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.7278077248925575
179
+ ]
180
+ ]
181
+ ],
182
+ "std": [
183
+ [
184
+ [
185
+ 0.007134994386478386
186
+ ]
187
+ ],
188
+ [
189
+ [
190
+ 0.006510892225245586
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.006610204259325997
196
+ ]
197
+ ]
198
+ ],
199
+ "count": [
200
+ 987
201
+ ],
202
+ "q01": [
203
+ [
204
+ [
205
+ 0.11535049170317671
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.00039953655969443645
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.09531536284465845
216
+ ]
217
+ ]
218
+ ],
219
+ "q10": [
220
+ [
221
+ [
222
+ 0.39348343779748374
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.3152758513375663
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.30542034023715553
233
+ ]
234
+ ]
235
+ ],
236
+ "q50": [
237
+ [
238
+ [
239
+ 0.7996625460488351
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.7949230076008698
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.8110188052176815
250
+ ]
251
+ ]
252
+ ],
253
+ "q90": [
254
+ [
255
+ [
256
+ 0.9914228300762584
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.9939564643517286
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.979461619863481
267
+ ]
268
+ ]
269
+ ],
270
+ "q99": [
271
+ [
272
+ [
273
+ 0.9999718097589867
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.9999836675605843
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.9922255544112326
284
+ ]
285
+ ]
286
+ ]
287
+ },
288
+ "observation.state": {
289
+ "min": [
290
+ 0.44657179713249207,
291
+ -0.3080730736255646,
292
+ 0.32988160848617554,
293
+ -3.137192964553833,
294
+ -1.8272435665130615,
295
+ -0.3820064961910248,
296
+ 0.05991189554333687
297
+ ],
298
+ "max": [
299
+ 0.680408239364624,
300
+ 0.20545132458209991,
301
+ 0.5697885751724243,
302
+ 3.1399571895599365,
303
+ 1.8871036767959595,
304
+ 0.3536487817764282,
305
+ 0.08500000089406967
306
+ ],
307
+ "mean": [
308
+ 0.5713548273604069,
309
+ -0.1008528493098531,
310
+ 0.411316396294879,
311
+ 0.009690309142397515,
312
+ -0.0932269921722456,
313
+ 0.01445510647518075,
314
+ 0.07707295619483914
315
+ ],
316
+ "std": [
317
+ 0.05629271456866716,
318
+ 0.12480888636030804,
319
+ 0.05332711670040211,
320
+ 2.9307537250934828,
321
+ 0.9811433380974083,
322
+ 0.10478977672558651,
323
+ 0.010961434605607315
324
+ ],
325
+ "count": [
326
+ 1301
327
+ ],
328
+ "q01": [
329
+ 0.5012084326581019,
330
+ -0.24836178299292472,
331
+ 0.3371466366277181,
332
+ -3.1294793831456906,
333
+ -1.4893255605152806,
334
+ -0.21073664539109097,
335
+ 0.06160425637898512
336
+ ],
337
+ "q10": [
338
+ 0.5122448623245593,
339
+ -0.23598078915630608,
340
+ 0.3466244680334039,
341
+ -3.1004018459503793,
342
+ -1.0959452895068054,
343
+ -0.11410370841585789,
344
+ 0.06160425637898512
345
+ ],
346
+ "q50": [
347
+ 0.5686876809681988,
348
+ -0.12945602932719627,
349
+ 0.4069048691575059,
350
+ 1.0291513849980678,
351
+ -0.06662328718258684,
352
+ 0.022694377595167275,
353
+ 0.08499634697213533
354
+ ],
355
+ "q90": [
356
+ 0.6315151171081432,
357
+ 0.06491543448651323,
358
+ 0.48453760309347865,
359
+ 2.5306353325359767,
360
+ 1.0177472255772704,
361
+ 0.1303313029677836,
362
+ 0.08499927018968279
363
+ ],
364
+ "q99": [
365
+ 0.6431950734059352,
366
+ 0.09289706470433481,
367
+ 0.5187220598203162,
368
+ 3.128599153672874,
369
+ 1.3021922142887719,
370
+ 0.20077076232649696,
371
+ 0.08499992791363098
372
+ ]
373
+ },
374
+ "observation.images.wrist_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
+ 0.4776420188347206
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.4440714335379543
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.44022340839409047
423
+ ]
424
+ ]
425
+ ],
426
+ "std": [
427
+ [
428
+ [
429
+ 0.009110975315532448
430
+ ]
431
+ ],
432
+ [
433
+ [
434
+ 0.006066275187813791
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.006848339413892993
440
+ ]
441
+ ]
442
+ ],
443
+ "count": [
444
+ 987
445
+ ],
446
+ "q01": [
447
+ [
448
+ [
449
+ 0.11064590716680849
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ -3.9215686274509807e-13
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.037319350829665796
460
+ ]
461
+ ]
462
+ ],
463
+ "q10": [
464
+ [
465
+ [
466
+ 0.270124507121264
467
+ ]
468
+ ],
469
+ [
470
+ [
471
+ 0.09911613345131418
472
+ ]
473
+ ],
474
+ [
475
+ [
476
+ 0.15464683908442395
477
+ ]
478
+ ]
479
+ ],
480
+ "q50": [
481
+ [
482
+ [
483
+ 0.48217416405855873
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.45826334470336044
489
+ ]
490
+ ],
491
+ [
492
+ [
493
+ 0.4398716039410641
494
+ ]
495
+ ]
496
+ ],
497
+ "q90": [
498
+ [
499
+ [
500
+ 0.6657195294134103
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 0.6955213106728012
506
+ ]
507
+ ],
508
+ [
509
+ [
510
+ 0.6959776947802858
511
+ ]
512
+ ]
513
+ ],
514
+ "q99": [
515
+ [
516
+ [
517
+ 0.7638159779073072
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.9597800907831802
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.9666668624223828
528
+ ]
529
+ ]
530
+ ]
531
+ },
532
+ "timestamp": {
533
+ "min": [
534
+ 0.0
535
+ ],
536
+ "max": [
537
+ 16.7
538
+ ],
539
+ "mean": [
540
+ 6.638124519600308
541
+ ],
542
+ "std": [
543
+ 4.045151492193418
544
+ ],
545
+ "count": [
546
+ 1301
547
+ ],
548
+ "q01": [
549
+ 0.08546065785665517
550
+ ],
551
+ "q10": [
552
+ 1.2751729591813268
553
+ ],
554
+ "q50": [
555
+ 6.612459538815923
556
+ ],
557
+ "q90": [
558
+ 12.001076080019288
559
+ ],
560
+ "q99": [
561
+ 13.190539217623735
562
+ ]
563
+ },
564
+ "action": {
565
+ "min": [
566
+ 0.35710710287094116,
567
+ -0.33952170610427856,
568
+ 0.3039015233516693,
569
+ -3.1410818099975586,
570
+ -1.8142560720443726,
571
+ -0.3740623891353607,
572
+ 0.0
573
+ ],
574
+ "max": [
575
+ 0.7195334434509277,
576
+ 0.19476854801177979,
577
+ 0.5971158742904663,
578
+ 3.1397111415863037,
579
+ 1.943833351135254,
580
+ 0.3637508153915405,
581
+ 1.0
582
+ ],
583
+ "mean": [
584
+ 0.5660965096299965,
585
+ -0.10406612629481776,
586
+ 0.4305375346671976,
587
+ -0.13772297503396605,
588
+ 0.019913707315051314,
589
+ 0.021063971890853884,
590
+ 0.3315989748960637
591
+ ],
592
+ "std": [
593
+ 0.07530777819756591,
594
+ 0.13374674709140927,
595
+ 0.06788658007240567,
596
+ 2.9225899997975833,
597
+ 0.9823468919734286,
598
+ 0.1040945127066354,
599
+ 0.4652306024471848
600
+ ],
601
+ "count": [
602
+ 1301
603
+ ],
604
+ "q01": [
605
+ 0.43587852683666856,
606
+ -0.27330020461546584,
607
+ 0.3252259476221264,
608
+ -3.1312737518260807,
609
+ -1.4828128908625147,
610
+ -0.22148687814001147,
611
+ -1e-10
612
+ ],
613
+ "q10": [
614
+ 0.4841437945931842,
615
+ -0.2502891077212772,
616
+ 0.3415973552305792,
617
+ -3.101395949021091,
618
+ -1.0969490070841794,
619
+ -0.11516395246219312,
620
+ -1e-10
621
+ ],
622
+ "q50": [
623
+ 0.5634327271123142,
624
+ -0.13465826524016888,
625
+ 0.42984037813224796,
626
+ -0.6734258684945814,
627
+ 0.13374256430566864,
628
+ 0.032454129825759986,
629
+ -1e-10
630
+ ],
631
+ "q90": [
632
+ 0.6564368829767362,
633
+ 0.0780577691938861,
634
+ 0.5204844589331783,
635
+ 3.091014979537011,
636
+ 1.1063463690982231,
637
+ 0.13974967625505302,
638
+ 0.9999303508727609
639
+ ],
640
+ "q99": [
641
+ 0.6786839307718963,
642
+ 0.10799107151794941,
643
+ 0.5584396486216372,
644
+ 3.130719903867997,
645
+ 1.3843715261377891,
646
+ 0.2296338440939473,
647
+ 0.9999930351772761
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:d7969c7117921ada1bcad415424814bb1e78f292f3b16dc7c8dacd1aca14ecc9
3
+ size 13728772
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:e7e024be8dc133934e309156b85394437ca1429aeab77c7e922bbe49b9d61509
3
+ size 7304742