DrainpipeAI commited on
Commit
ac089f2
·
verified ·
1 Parent(s): f4a422a

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 sha256:1b9848d6bf91e15b08c83c4eac7e2b70eac05cf3e95700866a43d5d6c7a04ca7
3
+ size 480861
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83051b082477c46308ea49a00d4c8e574fe46acf63f6bc89edb52b1439f4edae
3
+ size 148133
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 30,
5
+ "total_frames": 10784,
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": "0:30"
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.side": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 720,
72
+ 1280,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 720,
82
+ "video.width": 1280,
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 17.4
8
+ ],
9
+ "mean": [
10
+ 6.121652448071215
11
+ ],
12
+ "std": [
13
+ 3.7319919677510036
14
+ ],
15
+ "count": [
16
+ 10784
17
+ ],
18
+ "q01": [
19
+ 0.10901514867774822
20
+ ],
21
+ "q10": [
22
+ 1.2075721132975596
23
+ ],
24
+ "q50": [
25
+ 6.116193743199711
26
+ ],
27
+ "q90": [
28
+ 11.030195357028763
29
+ ],
30
+ "q99": [
31
+ 12.133105771203537
32
+ ]
33
+ },
34
+ "observation.images.side": {
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
+ 0.5249423046867367
73
+ ]
74
+ ],
75
+ [
76
+ [
77
+ 0.5574631308296593
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.5035194037982734
83
+ ]
84
+ ]
85
+ ],
86
+ "std": [
87
+ [
88
+ [
89
+ 0.005200220153985583
90
+ ]
91
+ ],
92
+ [
93
+ [
94
+ 0.005013198254563956
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.004275491446138912
100
+ ]
101
+ ]
102
+ ],
103
+ "count": [
104
+ 3011
105
+ ],
106
+ "q01": [
107
+ [
108
+ [
109
+ -3.9215686274509807e-13
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.018869505589872913
115
+ ]
116
+ ],
117
+ [
118
+ [
119
+ 0.011904146822106196
120
+ ]
121
+ ]
122
+ ],
123
+ "q10": [
124
+ [
125
+ [
126
+ 0.008507452559397015
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.04829667450531681
132
+ ]
133
+ ],
134
+ [
135
+ [
136
+ 0.0457727508349311
137
+ ]
138
+ ]
139
+ ],
140
+ "q50": [
141
+ [
142
+ [
143
+ 0.6228410782702547
144
+ ]
145
+ ],
146
+ [
147
+ [
148
+ 0.6560324715617404
149
+ ]
150
+ ],
151
+ [
152
+ [
153
+ 0.5843154467394408
154
+ ]
155
+ ]
156
+ ],
157
+ "q90": [
158
+ [
159
+ [
160
+ 0.7363476778272987
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.7712393770432927
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.7095427142031197
171
+ ]
172
+ ]
173
+ ],
174
+ "q99": [
175
+ [
176
+ [
177
+ 0.8093138309521298
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 0.8396500306558907
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 0.785682738236737
188
+ ]
189
+ ]
190
+ ]
191
+ },
192
+ "action": {
193
+ "min": [
194
+ -35.579105377197266,
195
+ -100.0,
196
+ -100.0,
197
+ 6.065857887268066,
198
+ -32.33438491821289,
199
+ 0.0
200
+ ],
201
+ "max": [
202
+ 12.187736511230469,
203
+ 71.34429168701172,
204
+ 100.0,
205
+ 99.65338134765625,
206
+ 11.829652786254883,
207
+ 63.8958854675293
208
+ ],
209
+ "mean": [
210
+ -9.34498367204334,
211
+ -46.5739499962825,
212
+ 56.80811280365867,
213
+ 46.961871649815706,
214
+ -3.6758959589896367,
215
+ 15.891702935143819
216
+ ],
217
+ "std": [
218
+ 10.535482550515438,
219
+ 54.47106651074132,
220
+ 48.09880329189036,
221
+ 13.426236404748417,
222
+ 4.1030402576773515,
223
+ 16.483726049173075
224
+ ],
225
+ "count": [
226
+ 10784
227
+ ],
228
+ "q01": [
229
+ -26.596441690104154,
230
+ -99.7170475665393,
231
+ -13.602038211044968,
232
+ 22.202345412475246,
233
+ -7.125905551081331,
234
+ 0.5375500842804144
235
+ ],
236
+ "q10": [
237
+ -22.219363891896293,
238
+ -99.4031421351652,
239
+ -4.960443196095849,
240
+ 30.35373832587221,
241
+ -6.8582951700567385,
242
+ 0.8645823896250749
243
+ ],
244
+ "q50": [
245
+ -8.5658531738017,
246
+ -63.54612311352886,
247
+ 73.6382046472835,
248
+ 49.62096111210655,
249
+ -3.798800357129807,
250
+ 10.183290087062074
251
+ ],
252
+ "q90": [
253
+ 5.455311899689774,
254
+ 22.423707172489966,
255
+ 99.60165659546321,
256
+ 58.86327766017598,
257
+ -0.8792989514650694,
258
+ 40.12965492954605
259
+ ],
260
+ "q99": [
261
+ 8.46648695100203,
262
+ 26.159514123382166,
263
+ 99.84234374199191,
264
+ 62.38853282432772,
265
+ -0.056562748936310525,
266
+ 41.4140682334174
267
+ ]
268
+ },
269
+ "frame_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 522
275
+ ],
276
+ "mean": [
277
+ 183.64957344213644
278
+ ],
279
+ "std": [
280
+ 111.9597590325301
281
+ ],
282
+ "count": [
283
+ 10784
284
+ ],
285
+ "q01": [
286
+ 3.2704544631807146
287
+ ],
288
+ "q10": [
289
+ 36.22716340125503
290
+ ],
291
+ "q50": [
292
+ 183.47243113872395
293
+ ],
294
+ "q90": [
295
+ 330.90586070853726
296
+ ],
297
+ "q99": [
298
+ 363.9931731332584
299
+ ]
300
+ },
301
+ "index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 10783
307
+ ],
308
+ "mean": [
309
+ 5391.5
310
+ ],
311
+ "std": [
312
+ 3113.072638086044
313
+ ],
314
+ "count": [
315
+ 10784
316
+ ],
317
+ "q01": [
318
+ 5211.1208810210455
319
+ ],
320
+ "q10": [
321
+ 5244.077589959121
322
+ ],
323
+ "q50": [
324
+ 5391.336238853856
325
+ ],
326
+ "q90": [
327
+ 5538.756287266401
328
+ ],
329
+ "q99": [
330
+ 5571.843599691122
331
+ ]
332
+ },
333
+ "observation.images.front": {
334
+ "min": [
335
+ [
336
+ [
337
+ 0.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 0.0
348
+ ]
349
+ ]
350
+ ],
351
+ "max": [
352
+ [
353
+ [
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.9921568627450981
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 1.0
365
+ ]
366
+ ]
367
+ ],
368
+ "mean": [
369
+ [
370
+ [
371
+ 0.7184024996581164
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.5740621345552872
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.5223099127635852
382
+ ]
383
+ ]
384
+ ],
385
+ "std": [
386
+ [
387
+ [
388
+ 0.0036641387983492994
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.0037838123925690056
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.003703938761919592
399
+ ]
400
+ ]
401
+ ],
402
+ "count": [
403
+ 3011
404
+ ],
405
+ "q01": [
406
+ [
407
+ [
408
+ 0.08671353196797998
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.06748456668042913
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.0676006547720814
419
+ ]
420
+ ]
421
+ ],
422
+ "q10": [
423
+ [
424
+ [
425
+ 0.6142258597781313
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.46942012968190344
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.41464315699053755
436
+ ]
437
+ ]
438
+ ],
439
+ "q50": [
440
+ [
441
+ [
442
+ 0.7578721931844703
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.6088651516884142
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.544322303799524
453
+ ]
454
+ ]
455
+ ],
456
+ "q90": [
457
+ [
458
+ [
459
+ 0.8477081649706609
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.6844370610808208
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.6329535320098929
470
+ ]
471
+ ]
472
+ ],
473
+ "q99": [
474
+ [
475
+ [
476
+ 0.868492935202782
477
+ ]
478
+ ],
479
+ [
480
+ [
481
+ 0.7014034873365397
482
+ ]
483
+ ],
484
+ [
485
+ [
486
+ 0.6474930383767968
487
+ ]
488
+ ]
489
+ ]
490
+ },
491
+ "task_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 0
497
+ ],
498
+ "mean": [
499
+ 0.0
500
+ ],
501
+ "std": [
502
+ 0.0
503
+ ],
504
+ "count": [
505
+ 10784
506
+ ],
507
+ "q01": [
508
+ 3.999999999999417e-16
509
+ ],
510
+ "q10": [
511
+ 3.999999999999416e-15
512
+ ],
513
+ "q50": [
514
+ 1.9999999999997088e-14
515
+ ],
516
+ "q90": [
517
+ 3.599999999999476e-14
518
+ ],
519
+ "q99": [
520
+ 3.959999999999422e-14
521
+ ]
522
+ },
523
+ "observation.state": {
524
+ "min": [
525
+ -35.57341003417969,
526
+ -99.48936462402344,
527
+ -97.17282104492188,
528
+ 7.30240535736084,
529
+ -32.11233139038086,
530
+ 0.13540960848331451
531
+ ],
532
+ "max": [
533
+ 11.760409355163574,
534
+ 72.0851058959961,
535
+ 99.17920684814453,
536
+ 99.226806640625,
537
+ 11.59951114654541,
538
+ 63.64251708984375
539
+ ],
540
+ "mean": [
541
+ -9.53923297994038,
542
+ -45.69612631042562,
543
+ 57.333918991534574,
544
+ 47.050727420107904,
545
+ -3.6631960130796855,
546
+ 16.92035308665975
547
+ ],
548
+ "std": [
549
+ 10.486526775219234,
550
+ 54.962884864725936,
551
+ 46.94666068279846,
552
+ 13.243010664933458,
553
+ 4.012565621341753,
554
+ 16.077279783784533
555
+ ],
556
+ "count": [
557
+ 10784
558
+ ],
559
+ "q01": [
560
+ -26.490614930692225,
561
+ -99.00560448101602,
562
+ -10.785663276202254,
563
+ 22.986981958843746,
564
+ -6.953105678366069,
565
+ 0.715461959142461
566
+ ],
567
+ "q10": [
568
+ -22.37156843224331,
569
+ -98.9351730924039,
570
+ -3.0765765051794656,
571
+ 30.670661983833366,
572
+ -6.7296924106859795,
573
+ 1.0619189441616879
574
+ ],
575
+ "q50": [
576
+ -8.777899922850775,
577
+ -62.97721218947219,
578
+ 74.39243781031817,
579
+ 49.65235738817771,
580
+ -3.768914589293638,
581
+ 14.122074035200677
582
+ ],
583
+ "q90": [
584
+ 5.154814196707143,
585
+ 23.527936005601767,
586
+ 98.67225045549151,
587
+ 58.66628750091109,
588
+ -0.9485562837504956,
589
+ 39.87041432804733
590
+ ],
591
+ "q99": [
592
+ 8.069596661695497,
593
+ 26.67960434817913,
594
+ 98.85926125003448,
595
+ 62.05190271994943,
596
+ -0.20289382551940166,
597
+ 41.059852058263665
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 29
606
+ ],
607
+ "mean": [
608
+ 14.303876112759644
609
+ ],
610
+ "std": [
611
+ 8.724045854629187
612
+ ],
613
+ "count": [
614
+ 10784
615
+ ],
616
+ "q01": [
617
+ 14.303876112759644
618
+ ],
619
+ "q10": [
620
+ 14.303876112759646
621
+ ],
622
+ "q50": [
623
+ 14.303876112759664
624
+ ],
625
+ "q90": [
626
+ 14.30387611275968
627
+ ],
628
+ "q99": [
629
+ 14.303876112759681
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a22de15213f29ff57935de46a7b1b565dbe0ac6b01d85ba1709d894f4c1abd7
3
+ size 2081
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 sha256:5ffe99883e0542f2dde4aa72aebc0bad5db947c1c879b54463a26a133be12ab3
3
+ size 113625662
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 sha256:27eed1dcf193987b9043ef32f2eebfccc5578e798eca5055b8abafec78f2dc40
3
+ size 68214755