SOARM1 commited on
Commit
bb5b6b8
·
verified ·
1 Parent(s): f678012

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 sha256:6b20379f0bccc96997f1d4255e49ffdd33d335755f6c72f966c83550f96ecf7c
3
+ size 200300
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84d9d7918df55fdc41388e2f0733f6c1a46cdc46cd97fcf8d9becd10a9c4d98a
3
+ size 65974
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": 4370,
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": "0:10"
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
+ 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.front1": {
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
+ -7.378568649291992,
5
+ -94.9269790649414,
6
+ -60.68376159667969,
7
+ -99.91866302490234,
8
+ 63.25569152832031,
9
+ 0.08064515888690948
10
+ ],
11
+ "max": [
12
+ 39.41416549682617,
13
+ 37.81706237792969,
14
+ 99.01034545898438,
15
+ 99.67466735839844,
16
+ 99.79063415527344,
17
+ 53.467742919921875
18
+ ],
19
+ "mean": [
20
+ 15.606123087771698,
21
+ -25.262199781361105,
22
+ 33.412670538790984,
23
+ 10.268980277430275,
24
+ 88.44353210658721,
25
+ 15.189068248779332
26
+ ],
27
+ "std": [
28
+ 11.396326423548146,
29
+ 49.39229897739234,
30
+ 46.43716677121357,
31
+ 65.20114907122226,
32
+ 11.181495387715266,
33
+ 15.207944334866898
34
+ ],
35
+ "count": [
36
+ 4370
37
+ ],
38
+ "q01": [
39
+ -4.622900360124063,
40
+ -94.19705184657187,
41
+ -41.61809596966788,
42
+ -99.85997006887418,
43
+ 73.5263960802717,
44
+ 0.6359882962058343
45
+ ],
46
+ "q10": [
47
+ -2.323141642718476,
48
+ -94.0637031795302,
49
+ -14.81879023186599,
50
+ -99.84631074382924,
51
+ 76.27015117447955,
52
+ 0.6723373980404953
53
+ ],
54
+ "q50": [
55
+ 17.566685837180778,
56
+ -2.861915428487515,
57
+ 18.647977111864538,
58
+ 37.459433954291356,
59
+ 89.19694691968266,
60
+ 8.936599882113136
61
+ ],
62
+ "q90": [
63
+ 27.196992450082067,
64
+ 24.739013152829394,
65
+ 98.81018490667857,
66
+ 69.50129759964963,
67
+ 99.35525000017043,
68
+ 37.07402684318022
69
+ ],
70
+ "q99": [
71
+ 30.258905697229412,
72
+ 25.99345741816939,
73
+ 98.82177078458413,
74
+ 93.13115615284597,
75
+ 99.53063369123586,
76
+ 39.140589175793345
77
+ ]
78
+ },
79
+ "task_index": {
80
+ "min": [
81
+ 0
82
+ ],
83
+ "max": [
84
+ 0
85
+ ],
86
+ "mean": [
87
+ 0.0
88
+ ],
89
+ "std": [
90
+ 0.0
91
+ ],
92
+ "count": [
93
+ 4370
94
+ ],
95
+ "q01": [
96
+ 3.9999999999994176e-16
97
+ ],
98
+ "q10": [
99
+ 3.999999999999418e-15
100
+ ],
101
+ "q50": [
102
+ 1.999999999999709e-14
103
+ ],
104
+ "q90": [
105
+ 3.5999999999994766e-14
106
+ ],
107
+ "q99": [
108
+ 3.959999999999424e-14
109
+ ]
110
+ },
111
+ "timestamp": {
112
+ "min": [
113
+ 0.0
114
+ ],
115
+ "max": [
116
+ 20.733333333333334
117
+ ],
118
+ "mean": [
119
+ 7.655461479786423
120
+ ],
121
+ "std": [
122
+ 4.84136293981667
123
+ ],
124
+ "count": [
125
+ 4370
126
+ ],
127
+ "q01": [
128
+ 0.13569234217482024
129
+ ],
130
+ "q10": [
131
+ 1.513113900148564
132
+ ],
133
+ "q50": [
134
+ 7.648006913806132
135
+ ],
136
+ "q90": [
137
+ 13.789442102902415
138
+ ],
139
+ "q99": [
140
+ 15.175230617398025
141
+ ]
142
+ },
143
+ "observation.state": {
144
+ "min": [
145
+ -7.982261657714844,
146
+ -99.74736785888672,
147
+ -54.892051696777344,
148
+ -96.4897232055664,
149
+ 63.64594268798828,
150
+ 1.825557827949524
151
+ ],
152
+ "max": [
153
+ 38.72875213623047,
154
+ 39.11579132080078,
155
+ 98.80569458007812,
156
+ 96.83219146728516,
157
+ 99.47312927246094,
158
+ 52.4002685546875
159
+ ],
160
+ "mean": [
161
+ 15.415387481191884,
162
+ -24.65420163807116,
163
+ 36.42076868410787,
164
+ 9.39074556996675,
165
+ 88.4642297024585,
166
+ 17.070125857206996
167
+ ],
168
+ "std": [
169
+ 11.185054210353055,
170
+ 51.1911035642913,
171
+ 45.66755890239379,
172
+ 64.77887913638553,
173
+ 11.12697595061817,
174
+ 13.403674104315014
175
+ ],
176
+ "count": [
177
+ 4370
178
+ ],
179
+ "q01": [
180
+ -4.530595549295304,
181
+ -94.79799317855311,
182
+ -36.746285009068714,
183
+ -96.44812937721235,
184
+ 73.62333422798314,
185
+ 3.2130226545508447
186
+ ],
187
+ "q10": [
188
+ -2.3786762388976284,
189
+ -94.63488716261755,
190
+ -12.001501629236484,
191
+ -96.44812937721235,
192
+ 76.26393848652106,
193
+ 3.9883873739343834
194
+ ],
195
+ "q50": [
196
+ 17.263286901010392,
197
+ -0.4373245522523088,
198
+ 22.239720924596732,
199
+ 37.98647111018602,
200
+ 89.08766304040508,
201
+ 13.166273611096937
202
+ ],
203
+ "q90": [
204
+ 26.68155358680676,
205
+ 26.549118068995543,
206
+ 98.73629719834243,
207
+ 69.21271939057182,
208
+ 99.24637937176983,
209
+ 36.80160713443273
210
+ ],
211
+ "q99": [
212
+ 29.545410915553493,
213
+ 27.286817590141847,
214
+ 98.74714196485535,
215
+ 91.55856447787598,
216
+ 99.38438359978763,
217
+ 38.56646181710897
218
+ ]
219
+ },
220
+ "episode_index": {
221
+ "min": [
222
+ 0
223
+ ],
224
+ "max": [
225
+ 9
226
+ ],
227
+ "mean": [
228
+ 3.9416475972540046
229
+ ],
230
+ "std": [
231
+ 2.764854622588734
232
+ ],
233
+ "count": [
234
+ 4370
235
+ ],
236
+ "q01": [
237
+ 3.9416475972540046
238
+ ],
239
+ "q10": [
240
+ 3.9416475972540086
241
+ ],
242
+ "q50": [
243
+ 3.9416475972540246
244
+ ],
245
+ "q90": [
246
+ 3.9416475972540406
247
+ ],
248
+ "q99": [
249
+ 3.9416475972540446
250
+ ]
251
+ },
252
+ "observation.images.front1": {
253
+ "min": [
254
+ [
255
+ [
256
+ 0.0
257
+ ]
258
+ ],
259
+ [
260
+ [
261
+ 0.0
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.0
267
+ ]
268
+ ]
269
+ ],
270
+ "max": [
271
+ [
272
+ [
273
+ 1.0
274
+ ]
275
+ ],
276
+ [
277
+ [
278
+ 1.0
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 1.0
284
+ ]
285
+ ]
286
+ ],
287
+ "mean": [
288
+ [
289
+ [
290
+ 0.45785599379303255
291
+ ]
292
+ ],
293
+ [
294
+ [
295
+ 0.4539707755279275
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.4592210240171131
301
+ ]
302
+ ]
303
+ ],
304
+ "std": [
305
+ [
306
+ [
307
+ 0.017634817368482995
308
+ ]
309
+ ],
310
+ [
311
+ [
312
+ 0.01763635997266639
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.016517654213448724
318
+ ]
319
+ ]
320
+ ],
321
+ "count": [
322
+ 1048
323
+ ],
324
+ "q01": [
325
+ [
326
+ [
327
+ 0.05745599425312906
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 0.048380657505821024
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.05770709673397606
338
+ ]
339
+ ]
340
+ ],
341
+ "q10": [
342
+ [
343
+ [
344
+ 0.15865576835382353
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.15967133906743097
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.19815437877497916
355
+ ]
356
+ ]
357
+ ],
358
+ "q50": [
359
+ [
360
+ [
361
+ 0.49814831270174237
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.5056711532880943
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.5068170521468889
372
+ ]
373
+ ]
374
+ ],
375
+ "q90": [
376
+ [
377
+ [
378
+ 0.6494870917343633
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.6326171261441699
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.6451683865939913
389
+ ]
390
+ ]
391
+ ],
392
+ "q99": [
393
+ [
394
+ [
395
+ 0.9843186122331501
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 0.9774092534201015
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 0.9796846472206653
406
+ ]
407
+ ]
408
+ ]
409
+ },
410
+ "frame_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 622
416
+ ],
417
+ "mean": [
418
+ 229.66384439359265
419
+ ],
420
+ "std": [
421
+ 145.24088819450006
422
+ ],
423
+ "count": [
424
+ 4370
425
+ ],
426
+ "q01": [
427
+ 4.070770268093966
428
+ ],
429
+ "q10": [
430
+ 45.393417006784716
431
+ ],
432
+ "q50": [
433
+ 229.40136878718525
434
+ ],
435
+ "q90": [
436
+ 413.6832630847483
437
+ ],
438
+ "q99": [
439
+ 455.25691851909136
440
+ ]
441
+ },
442
+ "observation.images.front": {
443
+ "min": [
444
+ [
445
+ [
446
+ 0.0
447
+ ]
448
+ ],
449
+ [
450
+ [
451
+ 0.0
452
+ ]
453
+ ],
454
+ [
455
+ [
456
+ 0.0
457
+ ]
458
+ ]
459
+ ],
460
+ "max": [
461
+ [
462
+ [
463
+ 1.0
464
+ ]
465
+ ],
466
+ [
467
+ [
468
+ 1.0
469
+ ]
470
+ ],
471
+ [
472
+ [
473
+ 1.0
474
+ ]
475
+ ]
476
+ ],
477
+ "mean": [
478
+ [
479
+ [
480
+ 0.37321104430162655
481
+ ]
482
+ ],
483
+ [
484
+ [
485
+ 0.36311697292227957
486
+ ]
487
+ ],
488
+ [
489
+ [
490
+ 0.3756963448507583
491
+ ]
492
+ ]
493
+ ],
494
+ "std": [
495
+ [
496
+ [
497
+ 0.013087702388706358
498
+ ]
499
+ ],
500
+ [
501
+ [
502
+ 0.01568395606921143
503
+ ]
504
+ ],
505
+ [
506
+ [
507
+ 0.015680717680725244
508
+ ]
509
+ ]
510
+ ],
511
+ "count": [
512
+ 1048
513
+ ],
514
+ "q01": [
515
+ [
516
+ [
517
+ 0.027868329153732403
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.016711873740435142
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.03464299626769205
528
+ ]
529
+ ]
530
+ ],
531
+ "q10": [
532
+ [
533
+ [
534
+ 0.081590113800203
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.06929194138414059
540
+ ]
541
+ ],
542
+ [
543
+ [
544
+ 0.08615072257202268
545
+ ]
546
+ ]
547
+ ],
548
+ "q50": [
549
+ [
550
+ [
551
+ 0.3754215800556309
552
+ ]
553
+ ],
554
+ [
555
+ [
556
+ 0.3534132246883097
557
+ ]
558
+ ],
559
+ [
560
+ [
561
+ 0.33177450475838993
562
+ ]
563
+ ]
564
+ ],
565
+ "q90": [
566
+ [
567
+ [
568
+ 0.6826322573236843
569
+ ]
570
+ ],
571
+ [
572
+ [
573
+ 0.6795545913869571
574
+ ]
575
+ ],
576
+ [
577
+ [
578
+ 0.7113647664533312
579
+ ]
580
+ ]
581
+ ],
582
+ "q99": [
583
+ [
584
+ [
585
+ 0.9478921612821408
586
+ ]
587
+ ],
588
+ [
589
+ [
590
+ 0.8939179894733238
591
+ ]
592
+ ],
593
+ [
594
+ [
595
+ 0.8431947115160306
596
+ ]
597
+ ]
598
+ ]
599
+ },
600
+ "index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 4369
606
+ ],
607
+ "mean": [
608
+ 2184.5
609
+ ],
610
+ "std": [
611
+ 1261.5103051501403
612
+ ],
613
+ "count": [
614
+ 4370
615
+ ],
616
+ "q01": [
617
+ 1958.9069258745014
618
+ ],
619
+ "q10": [
620
+ 2000.229572613192
621
+ ],
622
+ "q50": [
623
+ 2184.2693310755144
624
+ ],
625
+ "q90": [
626
+ 2368.5194186911554
627
+ ],
628
+ "q99": [
629
+ 2410.0930741254992
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83dd88a0dffbd02f647aba17e439b6c8f41dc2dde22921186fd61d2158faade6
3
+ size 2171
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 sha256:3bfff7b7f9f2f472efbe9b51ca589a79129785c629f279890bd2226ac18ace99
3
+ size 65724452
videos/observation.images.front1/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a40b36b45883638e42a0c3f9295eeb612575f09a774f44ec7ec7f483ef73879
3
+ size 56017319