Rqwebdev commited on
Commit
2cfeaf5
·
verified ·
1 Parent(s): 56a027c

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 sha256:7c30073f1fc6f9318a9c93a6f893c84b68aab1419e1ae2339de5a5a509d6e098
3
+ size 446037
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98b847e11506f3084e01878270c6adda23d0272be87d60cf32164b8956f04288
3
+ size 57302
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": 6613,
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.front": {
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.robot": {
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
+ "observation.images.robot": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.3830240793811077
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.3724960068851848
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.36928760283529916
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.03312246672740037
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.03324039766338637
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0341315500202902
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 1034
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.008866695683863605
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -3.9215686274509807e-13
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509807e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.06716196634362764
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.04028975982136663
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.006284291507329189
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.33825106800074933
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.3225774857106602
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.3260448443341246
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.7852560057018093
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.8114381840792226
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.8242368508504018
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9999040930549654
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9999100678258417
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.999924003206012
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "frame_index": {
161
+ "min": [
162
+ 0
163
+ ],
164
+ "max": [
165
+ 1796
166
+ ],
167
+ "mean": [
168
+ 844.5282020263118
169
+ ],
170
+ "std": [
171
+ 504.34292038088705
172
+ ],
173
+ "count": [
174
+ 6613
175
+ ],
176
+ "q01": [
177
+ 16.21409231382904
178
+ ],
179
+ "q10": [
180
+ 168.47482684401493
181
+ ],
182
+ "q50": [
183
+ 844.3883386057765
184
+ ],
185
+ "q90": [
186
+ 1520.581577208609
187
+ ],
188
+ "q99": [
189
+ 1672.8423117387947
190
+ ]
191
+ },
192
+ "observation.state": {
193
+ "min": [
194
+ -96.21212005615234,
195
+ -97.764404296875,
196
+ -48.43110656738281,
197
+ 10.547045707702637,
198
+ -11.062271118164062,
199
+ 0.0
200
+ ],
201
+ "max": [
202
+ 73.67424011230469,
203
+ 46.51762771606445,
204
+ 99.63619995117188,
205
+ 87.04595184326172,
206
+ 10.671550750732422,
207
+ 38.75698471069336
208
+ ],
209
+ "mean": [
210
+ 16.83382724039172,
211
+ -41.66686945842684,
212
+ 43.808296193230014,
213
+ 59.19605968976623,
214
+ 1.7934634151507147,
215
+ 7.399307714618318
216
+ ],
217
+ "std": [
218
+ 27.655903369327298,
219
+ 40.2758600598187,
220
+ 37.63280747219261,
221
+ 11.272480260374987,
222
+ 3.3195707788350592,
223
+ 12.316268334122679
224
+ ],
225
+ "count": [
226
+ 6613
227
+ ],
228
+ "q01": [
229
+ -41.85114997178711,
230
+ -97.68579183013469,
231
+ -18.918980686979264,
232
+ 31.080809635084453,
233
+ -3.9314950623742133,
234
+ 0.16363834137255667
235
+ ],
236
+ "q10": [
237
+ -14.680009319082329,
238
+ -96.63596809304767,
239
+ 3.744602190904412,
240
+ 46.193861953669995,
241
+ -1.6773597284903168,
242
+ 0.22599703373481442
243
+ ],
244
+ "q50": [
245
+ 14.171508262133283,
246
+ -33.43932211123273,
247
+ 31.080309240969086,
248
+ 58.61894216371426,
249
+ 1.3613960034702262,
250
+ 0.81039126982408
251
+ ],
252
+ "q90": [
253
+ 46.596560158636535,
254
+ 6.2504285410314715,
255
+ 97.86433017176688,
256
+ 73.28518414316294,
257
+ 5.825077221759592,
258
+ 32.108909198330004
259
+ ],
260
+ "q99": [
261
+ 58.02025451132195,
262
+ 24.264423968914528,
263
+ 99.57493405491974,
264
+ 80.14357726629297,
265
+ 8.548909851905169,
266
+ 35.75245988637198
267
+ ]
268
+ },
269
+ "observation.images.front": {
270
+ "min": [
271
+ [
272
+ [
273
+ 0.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 0.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.0
284
+ ]
285
+ ]
286
+ ],
287
+ "max": [
288
+ [
289
+ [
290
+ 1.0
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 1.0
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 1.0
301
+ ]
302
+ ]
303
+ ],
304
+ "mean": [
305
+ [
306
+ [
307
+ 0.39616126870235524
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.41182211784617134
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.4142480973691862
318
+ ]
319
+ ]
320
+ ],
321
+ "std": [
322
+ [
323
+ [
324
+ 0.011720172828171962
325
+ ]
326
+ ],
327
+ [
328
+ [
329
+ 0.007479709673715594
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.009527284949320095
335
+ ]
336
+ ]
337
+ ],
338
+ "count": [
339
+ 1034
340
+ ],
341
+ "q01": [
342
+ [
343
+ [
344
+ 0.032409176913053304
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.03636834137074374
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.015730350242179954
355
+ ]
356
+ ]
357
+ ],
358
+ "q10": [
359
+ [
360
+ [
361
+ 0.10090765881791981
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.10197104467374653
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.0763379884995843
372
+ ]
373
+ ]
374
+ ],
375
+ "q50": [
376
+ [
377
+ [
378
+ 0.37934246103200475
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.4294941851667883
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.45991645767146233
389
+ ]
390
+ ]
391
+ ],
392
+ "q90": [
393
+ [
394
+ [
395
+ 0.6447635734932395
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.6392325637563675
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.6332452946746168
406
+ ]
407
+ ]
408
+ ],
409
+ "q99": [
410
+ [
411
+ [
412
+ 0.9142443133633943
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.9910490623588397
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.985865831885034
423
+ ]
424
+ ]
425
+ ]
426
+ },
427
+ "episode_index": {
428
+ "min": [
429
+ 0
430
+ ],
431
+ "max": [
432
+ 3
433
+ ],
434
+ "mean": [
435
+ 1.4577347648570997
436
+ ],
437
+ "std": [
438
+ 1.154969202437099
439
+ ],
440
+ "count": [
441
+ 6613
442
+ ],
443
+ "q01": [
444
+ 1.4577347648571002
445
+ ],
446
+ "q10": [
447
+ 1.4577347648571035
448
+ ],
449
+ "q50": [
450
+ 1.4577347648571195
451
+ ],
452
+ "q90": [
453
+ 1.4577347648571355
454
+ ],
455
+ "q99": [
456
+ 1.4577347648571393
457
+ ]
458
+ },
459
+ "task_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 0
465
+ ],
466
+ "mean": [
467
+ 0.0
468
+ ],
469
+ "std": [
470
+ 0.0
471
+ ],
472
+ "count": [
473
+ 6613
474
+ ],
475
+ "q01": [
476
+ 3.9999999999994176e-16
477
+ ],
478
+ "q10": [
479
+ 3.999999999999417e-15
480
+ ],
481
+ "q50": [
482
+ 1.9999999999997088e-14
483
+ ],
484
+ "q90": [
485
+ 3.599999999999476e-14
486
+ ],
487
+ "q99": [
488
+ 3.9599999999994235e-14
489
+ ]
490
+ },
491
+ "timestamp": {
492
+ "min": [
493
+ 0.0
494
+ ],
495
+ "max": [
496
+ 59.86666666666667
497
+ ],
498
+ "mean": [
499
+ 28.15094006754373
500
+ ],
501
+ "std": [
502
+ 16.8114306793629
503
+ ],
504
+ "count": [
505
+ 6613
506
+ ],
507
+ "q01": [
508
+ 0.540469743699491
509
+ ],
510
+ "q10": [
511
+ 5.6158275613897795
512
+ ],
513
+ "q50": [
514
+ 28.149546029537778
515
+ ],
516
+ "q90": [
517
+ 50.68605257369767
518
+ ],
519
+ "q99": [
520
+ 55.761410391387955
521
+ ]
522
+ },
523
+ "index": {
524
+ "min": [
525
+ 0
526
+ ],
527
+ "max": [
528
+ 6612
529
+ ],
530
+ "mean": [
531
+ 3306.0
532
+ ],
533
+ "std": [
534
+ 1909.0086432491605
535
+ ],
536
+ "count": [
537
+ 6613
538
+ ],
539
+ "q01": [
540
+ 2477.685890287517
541
+ ],
542
+ "q10": [
543
+ 2629.946624817703
544
+ ],
545
+ "q50": [
546
+ 3306.055352789959
547
+ ],
548
+ "q90": [
549
+ 3982.0533751822973
550
+ ],
551
+ "q99": [
552
+ 4134.3141097124835
553
+ ]
554
+ },
555
+ "action": {
556
+ "min": [
557
+ -97.42478942871094,
558
+ -101.14960479736328,
559
+ -52.20233154296875,
560
+ 9.426284790039062,
561
+ -11.446436882019043,
562
+ -0.018812179565429688
563
+ ],
564
+ "max": [
565
+ 73.61927795410156,
566
+ 46.118263244628906,
567
+ 101.74166870117188,
568
+ 87.46646118164062,
569
+ 10.844599723815918,
570
+ 39.199058532714844
571
+ ],
572
+ "mean": [
573
+ 16.96871877015854,
574
+ -42.93954647115549,
575
+ 42.460893364765994,
576
+ 58.93559922224524,
577
+ 1.8433441238704003,
578
+ 7.297643057178409
579
+ ],
580
+ "std": [
581
+ 27.729094982480156,
582
+ 40.53289944932727,
583
+ 38.24777495300724,
584
+ 11.429311590297418,
585
+ 3.341981492259931,
586
+ 12.562050354725097
587
+ ],
588
+ "count": [
589
+ 6613
590
+ ],
591
+ "q01": [
592
+ -41.91175507456889,
593
+ -100.63385165066835,
594
+ -21.395305335999407,
595
+ 30.097817520468677,
596
+ -4.009056057659325,
597
+ 0.09431474958424775
598
+ ],
599
+ "q10": [
600
+ -14.57144851460681,
601
+ -99.13989049533347,
602
+ 1.8646453068005082,
603
+ 45.61152620720788,
604
+ -1.6159043130518789,
605
+ 0.23952603764628777
606
+ ],
607
+ "q50": [
608
+ 14.101448749641454,
609
+ -34.23075847057537,
610
+ 29.53296108381409,
611
+ 58.393879965576375,
612
+ 1.4290513006800443,
613
+ 0.47553047826031536
614
+ ],
615
+ "q90": [
616
+ 46.79407415497212,
617
+ 5.036765047376499,
618
+ 97.65783382082931,
619
+ 73.23997144896667,
620
+ 5.8677964409306576,
621
+ 32.263416047199364
622
+ ],
623
+ "q99": [
624
+ 58.30048656922217,
625
+ 22.230506567949966,
626
+ 100.97167755928771,
627
+ 80.25704871117249,
628
+ 8.644530001934081,
629
+ 35.79760064383345
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45b2045308d5a8ff92db468bb491ce0957b6352f11540f0f4b2049e4a5afdf00
3
+ size 2354
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 sha256:25f17b073ac42d03a45be74b0386365ec8f17d418b462c8f3bdf950fa4a0730f
3
+ size 83912179
videos/observation.images.robot/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e6c0d9670efa6c09abbe1d0b2c8092fdd6d12d24f5d2cd5fbfc5e6c0417478f
3
+ size 81451655