lbxa commited on
Commit
9712fcc
·
verified ·
1 Parent(s): 1ebf81d

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 sha256:64ca1a2076f9a58853ef45e9e7bfd5d451ce0f7824858a3ea7923cafd09e6707
3
+ size 1213890
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5195b8821cc4df38c1e629380f40632f2a973551990fba7f7642ba7214d12ce7
3
+ size 66699
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 26384,
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": "0:10"
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
+ "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
+ 720,
49
+ 1280,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 720,
59
+ "video.width": 1280,
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
+ 1080,
72
+ 1920,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 1080,
82
+ "video.width": 1920,
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
+ "action": {
3
+ "min": [
4
+ -51.26338195800781,
5
+ -99.90921783447266,
6
+ -84.79745483398438,
7
+ -78.61524963378906,
8
+ -10.988142013549805,
9
+ 2.17216420173645
10
+ ],
11
+ "max": [
12
+ 65.1391830444336,
13
+ 65.68315887451172,
14
+ 100.0,
15
+ 100.0,
16
+ 99.94729614257812,
17
+ 36.68544006347656
18
+ ],
19
+ "mean": [
20
+ 8.05000216696409,
21
+ -27.74860152488336,
22
+ 36.90480055597206,
23
+ 47.273876958503514,
24
+ 36.99735168148489,
25
+ 11.840468475860563
26
+ ],
27
+ "std": [
28
+ 28.329987966500767,
29
+ 40.98943644807614,
30
+ 42.99867548647561,
31
+ 38.412446325843106,
32
+ 25.898048620634913,
33
+ 10.015046697794935
34
+ ],
35
+ "count": [
36
+ 26384
37
+ ],
38
+ "q01": [
39
+ -40.97665200119983,
40
+ -99.19423244838283,
41
+ -43.3401094678728,
42
+ -50.11861424430718,
43
+ -4.71042917501376,
44
+ 3.1517946571782964
45
+ ],
46
+ "q10": [
47
+ -34.975835627650696,
48
+ -87.78138639953413,
49
+ -16.449862069651225,
50
+ -11.399553820486034,
51
+ -0.7200452196863922,
52
+ 3.300592792828946
53
+ ],
54
+ "q50": [
55
+ 7.03255153442862,
56
+ -27.27818500490522,
57
+ 33.71690932410171,
58
+ 59.05333828341701,
59
+ 43.59728895266012,
60
+ 5.979450953215235
61
+ ],
62
+ "q90": [
63
+ 42.66066824616465,
64
+ 20.00017830913272,
65
+ 95.4993247381988,
66
+ 85.57560048439332,
67
+ 62.247711780822,
68
+ 25.366194437342564
69
+ ],
70
+ "q99": [
71
+ 56.44508180486731,
72
+ 41.72322387098692,
73
+ 99.47293805290302,
74
+ 95.23449716300902,
75
+ 72.8572298094522,
76
+ 30.258409419711583
77
+ ]
78
+ },
79
+ "observation.images.top": {
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
+ 0.5064527844559148
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.5150848704947116
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.5015513691519451
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0014469609291655455
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.001466632148795739
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0017150873566511514
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 3662
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.06999706163242927
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.06533203818962739
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 0.06260534852468076
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.17915715299780277
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.17049338115846044
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.1651778854920037
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.5414864269255951
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.5546540745296669
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.5432534787902868
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.6484232118518197
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.6567247712783886
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.6454059165970948
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.7073087913572649
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.711216208838586
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.7032464652195559
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 26383
243
+ ],
244
+ "mean": [
245
+ 13191.5
246
+ ],
247
+ "std": [
248
+ 7616.404745678896
249
+ ],
250
+ "count": [
251
+ 26384
252
+ ],
253
+ "q01": [
254
+ 11845.751226087228
255
+ ],
256
+ "q10": [
257
+ 12093.01780406602
258
+ ],
259
+ "q50": [
260
+ 13191.572028350516
261
+ ],
262
+ "q90": [
263
+ 14289.839870585283
264
+ ],
265
+ "q99": [
266
+ 14537.201415665348
267
+ ]
268
+ },
269
+ "task_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 0
275
+ ],
276
+ "mean": [
277
+ 0.0
278
+ ],
279
+ "std": [
280
+ 0.0
281
+ ],
282
+ "count": [
283
+ 26384
284
+ ],
285
+ "q01": [
286
+ 3.999999999999417e-16
287
+ ],
288
+ "q10": [
289
+ 3.999999999999417e-15
290
+ ],
291
+ "q50": [
292
+ 1.9999999999997084e-14
293
+ ],
294
+ "q90": [
295
+ 3.599999999999476e-14
296
+ ],
297
+ "q99": [
298
+ 3.9599999999994235e-14
299
+ ]
300
+ },
301
+ "observation.images.front": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.023529411764705882
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5580640766501394
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.5470419686701673
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5211149636078716
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.004567804256056861
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.004019591062367907
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.00373512430628675
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 3662
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.12238134010304083
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.11016554549838059
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.09681768324166319
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.27368799640328395
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.25837156377122744
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.2519003341590333
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.5922137495561272
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5842287236110045
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5490820092490851
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.7506962660316294
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.7489985841006487
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.711245656380595
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.8400190262977016
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.8146609464090152
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.7867179198521744
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "timestamp": {
460
+ "min": [
461
+ 0.0
462
+ ],
463
+ "max": [
464
+ 117.96666666666667
465
+ ],
466
+ "mean": [
467
+ 45.75632833030119
468
+ ],
469
+ "std": [
470
+ 28.467018657502976
471
+ ],
472
+ "count": [
473
+ 26384
474
+ ],
475
+ "q01": [
476
+ 0.898035866447342
477
+ ],
478
+ "q10": [
479
+ 9.140255132424528
480
+ ],
481
+ "q50": [
482
+ 45.757845211744495
483
+ ],
484
+ "q90": [
485
+ 82.36765734988798
486
+ ],
487
+ "q99": [
488
+ 90.61304218590762
489
+ ]
490
+ },
491
+ "observation.state": {
492
+ "min": [
493
+ -50.64599609375,
494
+ -99.32489776611328,
495
+ -80.1084976196289,
496
+ -76.61669921875,
497
+ -10.703042984008789,
498
+ 3.091397762298584
499
+ ],
500
+ "max": [
501
+ 64.51335144042969,
502
+ 67.1729965209961,
503
+ 99.54792022705078,
504
+ 99.05781555175781,
505
+ 99.31793975830078,
506
+ 36.35752868652344
507
+ ],
508
+ "mean": [
509
+ 7.7883178317256325,
510
+ -26.205363852931487,
511
+ 39.151144929767874,
512
+ 47.699554476324465,
513
+ 36.924133941576365,
514
+ 12.71670499384367
515
+ ],
516
+ "std": [
517
+ 28.077190838829925,
518
+ 41.63708933773499,
519
+ 42.36521109222751,
520
+ 37.9082243621377,
521
+ 25.855056628147295,
522
+ 9.218595426118844
523
+ ],
524
+ "count": [
525
+ 26384
526
+ ],
527
+ "q01": [
528
+ -40.693257994600714,
529
+ -98.69439416180633,
530
+ -39.83406688874447,
531
+ -48.690225068602864,
532
+ -4.536215599538348,
533
+ 3.1665194229813607
534
+ ],
535
+ "q10": [
536
+ -34.64047479497468,
537
+ -87.2272956660015,
538
+ -13.306045648883918,
539
+ -9.992222062654426,
540
+ -0.7309109032475446,
541
+ 3.3342263729315538
542
+ ],
543
+ "q50": [
544
+ 6.730687410628378,
545
+ -25.508290769947212,
546
+ 36.376620994220836,
547
+ 59.0355902693499,
548
+ 43.47199198306174,
549
+ 8.428234181782171
550
+ ],
551
+ "q90": [
552
+ 42.27603290976039,
553
+ 22.24662319145752,
554
+ 95.56321005966234,
555
+ 85.64763899346599,
556
+ 62.06659370867327,
557
+ 25.16562279776552
558
+ ],
559
+ "q99": [
560
+ 55.80214628808861,
561
+ 42.92209969174876,
562
+ 98.89054312920807,
563
+ 94.62514422111322,
564
+ 72.59459212689694,
565
+ 30.03232210066507
566
+ ]
567
+ },
568
+ "episode_index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 9
574
+ ],
575
+ "mean": [
576
+ 4.142321103699212
577
+ ],
578
+ "std": [
579
+ 2.948636662280809
580
+ ],
581
+ "count": [
582
+ 26384
583
+ ],
584
+ "q01": [
585
+ 4.142321103699212
586
+ ],
587
+ "q10": [
588
+ 4.142321103699215
589
+ ],
590
+ "q50": [
591
+ 4.142321103699231
592
+ ],
593
+ "q90": [
594
+ 4.142321103699248
595
+ ],
596
+ "q99": [
597
+ 4.142321103699252
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 3539
606
+ ],
607
+ "mean": [
608
+ 1372.6898499090357
609
+ ],
610
+ "std": [
611
+ 854.0105597250893
612
+ ],
613
+ "count": [
614
+ 26384
615
+ ],
616
+ "q01": [
617
+ 26.941075996263393
618
+ ],
619
+ "q10": [
620
+ 274.2076539750565
621
+ ],
622
+ "q50": [
623
+ 1372.7618782595512
624
+ ],
625
+ "q90": [
626
+ 2471.0297204943195
627
+ ],
628
+ "q99": [
629
+ 2718.391265574385
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f4696dd3d69ec0321f41e77b934a269f303ea2d32f46d7c51adfd207e56767e
3
+ size 2610
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 sha256:25e06296ec2a3645ccf7555f29b2ec5e0be8bbf6c32ddd79c6f8ee62abcfb7fd
3
+ size 268019216
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 sha256:07b985534ea3cc7109e9e61659e96273a417f119ef673f880bb381335dbb4da5
3
+ size 522245814
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0ad142c0da2feedca24c8e9aad008ef31f5e8183983ccf9c9d69b864d634f20
3
+ size 271719436