Natalish commited on
Commit
5c84a4e
·
verified ·
1 Parent(s): ca1d740

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:e5b3943544943f88688d16d73e52361f950d67ebb5a5f5344a352bd335546fc0
3
+ size 42897
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0180ca9fd7d7fc83dc6e19314702fc693b918ef522ea7e54eda5da83838be7cc
3
+ size 52523
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 601,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
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_yaw.pos",
25
+ "wrist_roll.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_yaw.pos",
39
+ "wrist_roll.pos"
40
+ ],
41
+ "shape": [
42
+ 6
43
+ ]
44
+ },
45
+ "observation.images.wrist": {
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.front": {
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
+ "action": {
3
+ "min": [
4
+ -0.5081214904785156,
5
+ -62.323448181152344,
6
+ -52.129051208496094,
7
+ -18.3074893951416,
8
+ -47.714988708496094,
9
+ -84.34458923339844
10
+ ],
11
+ "max": [
12
+ 21.159656524658203,
13
+ -1.9439125061035156,
14
+ 43.01319122314453,
15
+ 126.95977783203125,
16
+ 33.09909439086914,
17
+ -54.82825469970703
18
+ ],
19
+ "mean": [
20
+ 4.353410243988037,
21
+ -25.426481246948242,
22
+ -4.529625415802002,
23
+ 38.039878845214844,
24
+ -16.319923400878906,
25
+ -73.35997772216797
26
+ ],
27
+ "std": [
28
+ 4.96433162689209,
29
+ 13.400940895080566,
30
+ 13.950432777404785,
31
+ 23.43094253540039,
32
+ 13.94276237487793,
33
+ 4.7091169357299805
34
+ ],
35
+ "count": [
36
+ 601
37
+ ],
38
+ "q01": [
39
+ -0.10072391927242279,
40
+ -61.912808113098144,
41
+ -47.219521026611325,
42
+ -17.34843572616577,
43
+ -46.98750164031983,
44
+ -80.55463607788086
45
+ ],
46
+ "q10": [
47
+ 0.2720268741250038,
48
+ -45.39182052612305,
49
+ -20.57798252105713,
50
+ 11.736688995361328,
51
+ -29.20694465637207,
52
+ -76.20369186401368
53
+ ],
54
+ "q50": [
55
+ 1.8601666688919067,
56
+ -19.918899536132812,
57
+ -3.211669921875,
58
+ 36.24037170410156,
59
+ -15.817667007446289,
60
+ -74.8373794555664
61
+ ],
62
+ "q90": [
63
+ 10.156325912475586,
64
+ -10.663923645019532,
65
+ 1.7585622787475583,
66
+ 60.88932876586914,
67
+ 0.7395259857177731,
68
+ -67.52086944580078
69
+ ],
70
+ "q99": [
71
+ 20.747925338745116,
72
+ -2.2217775344848634,
73
+ 42.02351425170898,
74
+ 125.91358108520508,
75
+ 31.708937225341796,
76
+ -55.152994041442874
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -0.6153846383094788,
82
+ -62.989009857177734,
83
+ -51.868133544921875,
84
+ -6.109889984130859,
85
+ -47.78022003173828,
86
+ -83.29669952392578
87
+ ],
88
+ "max": [
89
+ 14.593406677246094,
90
+ -0.48351648449897766,
91
+ 40.96703338623047,
92
+ 93.84615325927734,
93
+ 20.791208267211914,
94
+ -55.60439682006836
95
+ ],
96
+ "mean": [
97
+ 4.284580230712891,
98
+ -24.09659767150879,
99
+ -1.5634044408798218,
100
+ 39.48311233520508,
101
+ -16.83063316345215,
102
+ -73.40785217285156
103
+ ],
104
+ "std": [
105
+ 4.06260347366333,
106
+ 13.836687088012695,
107
+ 14.914276123046875,
108
+ 20.20674705505371,
109
+ 13.178152084350586,
110
+ 4.670071601867676
111
+ ],
112
+ "count": [
113
+ 601
114
+ ],
115
+ "q01": [
116
+ -0.08839620411396026,
117
+ -62.46383754730225,
118
+ -48.897221870422364,
119
+ -6.01982969045639,
120
+ -47.78022003173828,
121
+ -80.74895278930664
122
+ ],
123
+ "q10": [
124
+ 0.437967330567977,
125
+ -45.149315643310544,
126
+ -21.026434898376465,
127
+ 9.625189971923827,
128
+ -32.405134201049805,
129
+ -76.09072843279158
130
+ ],
131
+ "q50": [
132
+ 2.550781774520874,
133
+ -17.97880744934082,
134
+ 0.6115856170654297,
135
+ 37.221052169799805,
136
+ -15.873934745788574,
137
+ -75.02958480171536
138
+ ],
139
+ "q90": [
140
+ 10.19646909236908,
141
+ -8.38546257019043,
142
+ 6.072879954746791,
143
+ 63.3575553894043,
144
+ 2.604692459106445,
145
+ -65.44679718017578
146
+ ],
147
+ "q99": [
148
+ 14.243594522476196,
149
+ -4.965224781036377,
150
+ 40.892575607299804,
151
+ 93.83690865736742,
152
+ 20.091644439697266,
153
+ -55.687504806518554
154
+ ]
155
+ },
156
+ "observation.images.wrist": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.44117145890725434
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.5003145796197267
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.5147065018500513
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.0
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.0
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 121
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ 0.04305650674156698
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ 0.06678111416403694
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 0.05880721838397653
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.0900956023229794
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.12543731437110853
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.10580016861100801
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.47458023715413017
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.6078615105268842
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.60797095091403
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.768707270433781
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.7843783787715788
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.8157333656999685
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.8784353768847187
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.8705905757481195
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.8863573043874581
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.front": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.46012042551180254
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.4517065828741965
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.4417148625290337
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.0
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.0
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.0
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 121
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.023547865825419196
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ -3.9215686274509807e-13
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.9215686274509807e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.07442439794320369
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.027541611298614918
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ -3.9215686274509807e-13
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.5019124910265629
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.5450042148397837
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.5254638561686498
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.862660743446782
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.8235674793037079
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8626277590364289
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.9921752768592957
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.9765949651851621
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.9920191823903229
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 20.0
478
+ ],
479
+ "mean": [
480
+ 10.0
481
+ ],
482
+ "std": [
483
+ 5.783117190965825
484
+ ],
485
+ "count": [
486
+ 601
487
+ ],
488
+ "q01": [
489
+ 0.20003999990200036
490
+ ],
491
+ "q10": [
492
+ 2.0003999999200035
493
+ ],
494
+ "q50": [
495
+ 10.002000000000018
496
+ ],
497
+ "q90": [
498
+ 17.999600000079997
499
+ ],
500
+ "q99": [
501
+ 19.799960000097997
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 600
510
+ ],
511
+ "mean": [
512
+ 300.0
513
+ ],
514
+ "std": [
515
+ 173.49351572897473
516
+ ],
517
+ "count": [
518
+ 601
519
+ ],
520
+ "q01": [
521
+ 6.001199999902002
522
+ ],
523
+ "q10": [
524
+ 60.011999999920015
525
+ ],
526
+ "q50": [
527
+ 299.94000000000005
528
+ ],
529
+ "q90": [
530
+ 539.98800000008
531
+ ],
532
+ "q99": [
533
+ 593.998800000098
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 601
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.5999999999994754e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 600
574
+ ],
575
+ "mean": [
576
+ 300.0
577
+ ],
578
+ "std": [
579
+ 173.49351572897473
580
+ ],
581
+ "count": [
582
+ 601
583
+ ],
584
+ "q01": [
585
+ 6.001199999902002
586
+ ],
587
+ "q10": [
588
+ 60.011999999920015
589
+ ],
590
+ "q50": [
591
+ 299.94000000000005
592
+ ],
593
+ "q90": [
594
+ 539.98800000008
595
+ ],
596
+ "q99": [
597
+ 593.998800000098
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 601
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.5999999999994754e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f88abb3695049be97e9f5003c97c89df46d08fad2ff025d392371a59674b035
3
+ size 2033
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 sha256:760fb43c77cdc9ac181ab7781c09c759d9118783d1e39a1d03231240709a5f45
3
+ size 5999585
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:33c22e030ddacce929363cfa072e17f73da5ea743e1b081fe6a49e962c2e21bd
3
+ size 11172151