Alfaxad commited on
Commit
6057ac3
·
verified ·
1 Parent(s): 73b3a53

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:df7dd90d7b7690cbe68dae1e0fc087e63eadd59d9364c99abf0c8431447dfb4b
3
+ size 215491
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:042baba2ad404bec812c8f2b153cc4faec68aca2b7147801972e6426bb3f9313
3
+ size 56996
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 4,
5
+ "total_frames": 3136,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:4"
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.side": {
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
+ "observation.images.top": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "av1",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 30,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ 3136
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
+ 3.959999999999424e-14
32
+ ]
33
+ },
34
+ "timestamp": {
35
+ "min": [
36
+ 0.0
37
+ ],
38
+ "max": [
39
+ 26.2
40
+ ],
41
+ "mean": [
42
+ 13.050573979591839
43
+ ],
44
+ "std": [
45
+ 7.545026384310074
46
+ ],
47
+ "count": [
48
+ 3136
49
+ ],
50
+ "q01": [
51
+ 0.23535387005486466
52
+ ],
53
+ "q10": [
54
+ 2.593908191246406
55
+ ],
56
+ "q50": [
57
+ 13.053184094387772
58
+ ],
59
+ "q90": [
60
+ 23.507239767937264
61
+ ],
62
+ "q99": [
63
+ 25.86579408912881
64
+ ]
65
+ },
66
+ "episode_index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 3
72
+ ],
73
+ "mean": [
74
+ 1.5057397959183674
75
+ ],
76
+ "std": [
77
+ 1.1163066443099632
78
+ ],
79
+ "count": [
80
+ 3136
81
+ ],
82
+ "q01": [
83
+ 1.5057397959183678
84
+ ],
85
+ "q10": [
86
+ 1.5057397959183714
87
+ ],
88
+ "q50": [
89
+ 1.5057397959183874
90
+ ],
91
+ "q90": [
92
+ 1.5057397959184033
93
+ ],
94
+ "q99": [
95
+ 1.505739795918407
96
+ ]
97
+ },
98
+ "action": {
99
+ "min": [
100
+ 5.518838882446289,
101
+ -99.94806671142578,
102
+ -14.9237060546875,
103
+ 26.587085723876953,
104
+ -5.180350303649902,
105
+ 0.7083816528320312
106
+ ],
107
+ "max": [
108
+ 28.08835220336914,
109
+ 7.390186309814453,
110
+ 93.51165771484375,
111
+ 87.88370513916016,
112
+ 3.705658435821533,
113
+ 59.56107711791992
114
+ ],
115
+ "mean": [
116
+ 16.676687977447802,
117
+ -63.47380533753609,
118
+ 61.04337537167024,
119
+ 63.097586974805715,
120
+ -2.263152258090523,
121
+ 12.32468917509731
122
+ ],
123
+ "std": [
124
+ 3.8059213777383474,
125
+ 37.07924109633866,
126
+ 34.94321421694193,
127
+ 15.834644341276476,
128
+ 1.5333403703454986,
129
+ 14.512309248802952
130
+ ],
131
+ "count": [
132
+ 3136
133
+ ],
134
+ "q01": [
135
+ 10.031884961198179,
136
+ -99.41521653920412,
137
+ -8.828512184132956,
138
+ 30.852092413604257,
139
+ -4.599536845211928,
140
+ 0.8319934846317574
141
+ ],
142
+ "q10": [
143
+ 11.975129402702562,
144
+ -98.25961319322488,
145
+ 7.713239302683849,
146
+ 36.605767654369075,
147
+ -3.6201553175111814,
148
+ 0.988740528189525
149
+ ],
150
+ "q50": [
151
+ 16.98910061538625,
152
+ -83.75179771744475,
153
+ 79.87513409463726,
154
+ 71.4024928054031,
155
+ -2.663608530162498,
156
+ 5.624577869109961
157
+ ],
158
+ "q90": [
159
+ 21.032310292915422,
160
+ -6.531013110462499,
161
+ 92.60165971474208,
162
+ 75.33085863786896,
163
+ -0.13846972634901797,
164
+ 35.28587594129601
165
+ ],
166
+ "q99": [
167
+ 26.393048121339206,
168
+ 1.87291762773277,
169
+ 93.06375006581206,
170
+ 82.05466784084331,
171
+ 2.380765501891015,
172
+ 53.85807225099631
173
+ ]
174
+ },
175
+ "observation.images.side": {
176
+ "min": [
177
+ [
178
+ [
179
+ 0.0
180
+ ]
181
+ ],
182
+ [
183
+ [
184
+ 0.0
185
+ ]
186
+ ],
187
+ [
188
+ [
189
+ 0.0
190
+ ]
191
+ ]
192
+ ],
193
+ "max": [
194
+ [
195
+ [
196
+ 1.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 0.9333333333333333
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.996078431372549
207
+ ]
208
+ ]
209
+ ],
210
+ "mean": [
211
+ [
212
+ [
213
+ 0.4571685519829401
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.4575798258003767
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.4808416022765038
224
+ ]
225
+ ]
226
+ ],
227
+ "std": [
228
+ [
229
+ [
230
+ 0.012388889599241601
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.011534212369836684
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.01532268767626881
241
+ ]
242
+ ]
243
+ ],
244
+ "count": [
245
+ 590
246
+ ],
247
+ "q01": [
248
+ [
249
+ [
250
+ 0.09307808419102777
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.10101553837997639
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ 0.08619736765233295
261
+ ]
262
+ ]
263
+ ],
264
+ "q10": [
265
+ [
266
+ [
267
+ 0.15482379461834633
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.1597444988606042
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.15290306151432503
278
+ ]
279
+ ]
280
+ ],
281
+ "q50": [
282
+ [
283
+ [
284
+ 0.42545351675357884
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.43913446194481787
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.4979687161673572
295
+ ]
296
+ ]
297
+ ],
298
+ "q90": [
299
+ [
300
+ [
301
+ 0.7685274399232181
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.7597562570945267
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.7753747645910639
312
+ ]
313
+ ]
314
+ ],
315
+ "q99": [
316
+ [
317
+ [
318
+ 0.8823264896160528
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.8676254333036728
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.921554964418637
329
+ ]
330
+ ]
331
+ ]
332
+ },
333
+ "observation.state": {
334
+ "min": [
335
+ 5.805325031280518,
336
+ -99.24349975585938,
337
+ -12.150389671325684,
338
+ 27.538803100585938,
339
+ -4.761904716491699,
340
+ 1.1447811126708984
341
+ ],
342
+ "max": [
343
+ 27.1933650970459,
344
+ 7.706855773925781,
345
+ 100.0,
346
+ 87.22837829589844,
347
+ 3.0576441287994385,
348
+ 53.6700325012207
349
+ ],
350
+ "mean": [
351
+ 16.521152987772105,
352
+ -63.313163001926576,
353
+ 62.814405015536714,
354
+ 63.343234691084646,
355
+ -2.2923299631826124,
356
+ 12.054912147473315
357
+ ],
358
+ "std": [
359
+ 3.699995780689486,
360
+ 37.225786673932255,
361
+ 33.80173028445598,
362
+ 15.616449648859888,
363
+ 1.4049149826861582,
364
+ 13.7559805698026
365
+ ],
366
+ "count": [
367
+ 3136
368
+ ],
369
+ "q01": [
370
+ 9.912255749567633,
371
+ -98.96519604118586,
372
+ -4.956970149136471,
373
+ 31.836952512903196,
374
+ -4.3385712027696,
375
+ 1.2454435273048272
376
+ ],
377
+ "q10": [
378
+ 11.988089478124872,
379
+ -97.99291997047646,
380
+ 10.982387031837794,
381
+ 37.355282970422444,
382
+ -3.509492521659051,
383
+ 1.3116991780941327
384
+ ],
385
+ "q50": [
386
+ 16.996528292922477,
387
+ -83.08585444518498,
388
+ 81.8334077797374,
389
+ 71.84845160424304,
390
+ -2.7095202799633205,
391
+ 5.824493833152311
392
+ ],
393
+ "q90": [
394
+ 20.593151500995468,
395
+ -5.2698773793176725,
396
+ 93.14999257276055,
397
+ 75.27939543537339,
398
+ -0.45013922272875057,
399
+ 34.328344026876955
400
+ ],
401
+ "q99": [
402
+ 25.638301127096828,
403
+ 3.0448387385888136,
404
+ 93.57634451914159,
405
+ 81.61562197704704,
406
+ 1.908138977784885,
407
+ 50.755972885817904
408
+ ]
409
+ },
410
+ "observation.images.top": {
411
+ "min": [
412
+ [
413
+ [
414
+ 0.0
415
+ ]
416
+ ],
417
+ [
418
+ [
419
+ 0.0
420
+ ]
421
+ ],
422
+ [
423
+ [
424
+ 0.0
425
+ ]
426
+ ]
427
+ ],
428
+ "max": [
429
+ [
430
+ [
431
+ 1.0
432
+ ]
433
+ ],
434
+ [
435
+ [
436
+ 1.0
437
+ ]
438
+ ],
439
+ [
440
+ [
441
+ 1.0
442
+ ]
443
+ ]
444
+ ],
445
+ "mean": [
446
+ [
447
+ [
448
+ 0.5150416985155645
449
+ ]
450
+ ],
451
+ [
452
+ [
453
+ 0.5158204244904177
454
+ ]
455
+ ],
456
+ [
457
+ [
458
+ 0.530219543799158
459
+ ]
460
+ ]
461
+ ],
462
+ "std": [
463
+ [
464
+ [
465
+ 0.0018387911807799693
466
+ ]
467
+ ],
468
+ [
469
+ [
470
+ 0.0016589480693584536
471
+ ]
472
+ ],
473
+ [
474
+ [
475
+ 0.004221544270226205
476
+ ]
477
+ ]
478
+ ],
479
+ "count": [
480
+ 590
481
+ ],
482
+ "q01": [
483
+ [
484
+ [
485
+ 0.034345404621029696
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.03342514760931243
491
+ ]
492
+ ],
493
+ [
494
+ [
495
+ 0.014805201696483456
496
+ ]
497
+ ]
498
+ ],
499
+ "q10": [
500
+ [
501
+ [
502
+ 0.18898766682395382
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.18701115485059105
508
+ ]
509
+ ],
510
+ [
511
+ [
512
+ 0.1780883717437509
513
+ ]
514
+ ]
515
+ ],
516
+ "q50": [
517
+ [
518
+ [
519
+ 0.48528332906507765
520
+ ]
521
+ ],
522
+ [
523
+ [
524
+ 0.4881940973272598
525
+ ]
526
+ ],
527
+ [
528
+ [
529
+ 0.5284574636111228
530
+ ]
531
+ ]
532
+ ],
533
+ "q90": [
534
+ [
535
+ [
536
+ 0.9559699337208142
537
+ ]
538
+ ],
539
+ [
540
+ [
541
+ 0.9529890959980165
542
+ ]
543
+ ],
544
+ [
545
+ [
546
+ 0.9148763660315689
547
+ ]
548
+ ]
549
+ ],
550
+ "q99": [
551
+ [
552
+ [
553
+ 0.9999730627945481
554
+ ]
555
+ ],
556
+ [
557
+ [
558
+ 0.999971198455808
559
+ ]
560
+ ],
561
+ [
562
+ [
563
+ 0.9999693693546305
564
+ ]
565
+ ]
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 3135
574
+ ],
575
+ "mean": [
576
+ 1567.5
577
+ ],
578
+ "std": [
579
+ 905.2851760633221
580
+ ],
581
+ "count": [
582
+ 3136
583
+ ],
584
+ "q01": [
585
+ 1183.0433967167387
586
+ ],
587
+ "q10": [
588
+ 1253.8000263519607
589
+ ],
590
+ "q50": [
591
+ 1567.5400477040814
592
+ ],
593
+ "q90": [
594
+ 1881.1999736480393
595
+ ],
596
+ "q99": [
597
+ 1951.9566032832615
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 786
606
+ ],
607
+ "mean": [
608
+ 391.5172193877551
609
+ ],
610
+ "std": [
611
+ 226.35079152930228
612
+ ],
613
+ "count": [
614
+ 3136
615
+ ],
616
+ "q01": [
617
+ 7.060616104493641
618
+ ],
619
+ "q10": [
620
+ 77.8172457397158
621
+ ],
622
+ "q50": [
623
+ 391.4389159438776
624
+ ],
625
+ "q90": [
626
+ 705.2171930357944
627
+ ],
628
+ "q99": [
629
+ 775.9738226710167
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba6a524ec76f41436becd90d9e8b041c803b7f0f2b284e2e347c7ea1e912c433
3
+ size 2291
videos/observation.images.side/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51489bf4cfdbbade6eb7177b7d9c880a9f0b90ef87e5c67bb7d2e56c64479e7b
3
+ size 72957611
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e97ad3d5ffdaf3b35d5f1d470f0d6a34770ec9724161e0d487fa5a502f9a8a64
3
+ size 21653183