devsheroubi commited on
Commit
dd3099a
·
verified ·
1 Parent(s): e17ed31

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 sha256:5cd1c931941770800e588c9c2f7354d1b967b00772ebaa59671918134e28d1b1
3
+ size 312898
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:067f862e4d9290ead9f3698df0aa1071827a45736c7b2bfe4102454f0a587ec6
3
+ size 104126
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 20,
5
+ "total_frames": 7904,
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": "0:20"
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.image": {
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.image2": {
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.image": {
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
+ 0.49087055371732025
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.48711963664215696
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4853844785539217
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.02517271903188298
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.02379015660294371
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.025920687103671246
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 2000
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.022905664776838825
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.013373506134026967
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509787e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.0929327055784666
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.08782950614394353
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.04703443045726162
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.45216275482958423
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.44724989494404577
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.4527610075854432
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.9395657532010532
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.9349256490259575
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.9411599984170251
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.9999605507781683
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.9999577850408707
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.999962838426131
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "action": {
161
+ "min": [
162
+ -25.257518768310547,
163
+ -99.83094024658203,
164
+ -60.16333770751953,
165
+ 60.0,
166
+ -9.968520164489746,
167
+ 0.08326394855976105
168
+ ],
169
+ "max": [
170
+ 23.36217498779297,
171
+ 46.74556350708008,
172
+ 99.18330383300781,
173
+ 100.0,
174
+ 12.906610488891602,
175
+ 48.3763542175293
176
+ ],
177
+ "mean": [
178
+ 1.2177544778989635,
179
+ -51.30190935839526,
180
+ 38.12710250654684,
181
+ 88.1042068825077,
182
+ 1.0217168126858558,
183
+ 7.231846546837192
184
+ ],
185
+ "std": [
186
+ 8.828602157051003,
187
+ 46.00356834851705,
188
+ 52.88677012922724,
189
+ 8.266489446808192,
190
+ 3.8399395271846313,
191
+ 10.613820723906118
192
+ ],
193
+ "count": [
194
+ 7904
195
+ ],
196
+ "q01": [
197
+ -16.011785430102606,
198
+ -98.63076034332494,
199
+ -33.43160008353502,
200
+ 74.84716068090047,
201
+ -1.3761544379024853,
202
+ 1.178252205171656
203
+ ],
204
+ "q10": [
205
+ -11.85779252997326,
206
+ -98.2101325273961,
207
+ -24.290626446133675,
208
+ 80.3096765155804,
209
+ -1.278622250307214,
210
+ 1.193735643154974
211
+ ],
212
+ "q50": [
213
+ 2.310158493920575,
214
+ -61.45893293218364,
215
+ 50.02176365563961,
216
+ 86.90455290586178,
217
+ 1.116375616347722,
218
+ 7.280643953444326
219
+ ],
220
+ "q90": [
221
+ 10.540845191661434,
222
+ 2.6463015536864547,
223
+ 92.55217047137353,
224
+ 97.92867294905253,
225
+ 3.4408006273070075,
226
+ 17.427917569687793
227
+ ],
228
+ "q99": [
229
+ 14.77522239626195,
230
+ 18.010195078157977,
231
+ 93.42222286992845,
232
+ 99.86380094049943,
233
+ 3.809957868884548,
234
+ 32.354552984732116
235
+ ]
236
+ },
237
+ "index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 7903
243
+ ],
244
+ "mean": [
245
+ 3951.5
246
+ ],
247
+ "std": [
248
+ 2281.688245576069
249
+ ],
250
+ "count": [
251
+ 7904
252
+ ],
253
+ "q01": [
254
+ 3756.987538334922
255
+ ],
256
+ "q10": [
257
+ 3792.6378428642925
258
+ ],
259
+ "q50": [
260
+ 3951.119538208503
261
+ ],
262
+ "q90": [
263
+ 4109.5867725203225
264
+ ],
265
+ "q99": [
266
+ 4145.237077049695
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
+ 7904
284
+ ],
285
+ "q01": [
286
+ 3.999999999999417e-16
287
+ ],
288
+ "q10": [
289
+ 3.999999999999418e-15
290
+ ],
291
+ "q50": [
292
+ 1.9999999999997088e-14
293
+ ],
294
+ "q90": [
295
+ 3.5999999999994754e-14
296
+ ],
297
+ "q99": [
298
+ 3.9599999999994235e-14
299
+ ]
300
+ },
301
+ "episode_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 19
307
+ ],
308
+ "mean": [
309
+ 9.379048582995951
310
+ ],
311
+ "std": [
312
+ 5.7029891574176705
313
+ ],
314
+ "count": [
315
+ 7904
316
+ ],
317
+ "q01": [
318
+ 9.379048582995951
319
+ ],
320
+ "q10": [
321
+ 9.379048582995955
322
+ ],
323
+ "q50": [
324
+ 9.37904858299597
325
+ ],
326
+ "q90": [
327
+ 9.379048582995988
328
+ ],
329
+ "q99": [
330
+ 9.37904858299599
331
+ ]
332
+ },
333
+ "frame_index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 400
339
+ ],
340
+ "mean": [
341
+ 197.69104251012146
342
+ ],
343
+ "std": [
344
+ 114.94889262500438
345
+ ],
346
+ "count": [
347
+ 7904
348
+ ],
349
+ "q01": [
350
+ 3.1785808450433106
351
+ ],
352
+ "q10": [
353
+ 38.828885374413545
354
+ ],
355
+ "q50": [
356
+ 197.31058071862336
357
+ ],
358
+ "q90": [
359
+ 355.7778150304442
360
+ ],
361
+ "q99": [
362
+ 391.4281195598145
363
+ ]
364
+ },
365
+ "timestamp": {
366
+ "min": [
367
+ 0.0
368
+ ],
369
+ "max": [
370
+ 13.333333333333334
371
+ ],
372
+ "mean": [
373
+ 6.589701417004049
374
+ ],
375
+ "std": [
376
+ 3.8316297541668134
377
+ ],
378
+ "count": [
379
+ 7904
380
+ ],
381
+ "q01": [
382
+ 0.10595269473966806
383
+ ],
384
+ "q10": [
385
+ 1.2942961790694418
386
+ ],
387
+ "q50": [
388
+ 6.577019357287261
389
+ ],
390
+ "q90": [
391
+ 11.859260501092114
392
+ ],
393
+ "q99": [
394
+ 13.047603985421892
395
+ ]
396
+ },
397
+ "observation.images.image2": {
398
+ "min": [
399
+ [
400
+ [
401
+ 0.00392156862745098
402
+ ]
403
+ ],
404
+ [
405
+ [
406
+ 0.0
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.0
412
+ ]
413
+ ]
414
+ ],
415
+ "max": [
416
+ [
417
+ [
418
+ 1.0
419
+ ]
420
+ ],
421
+ [
422
+ [
423
+ 1.0
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 1.0
429
+ ]
430
+ ]
431
+ ],
432
+ "mean": [
433
+ [
434
+ [
435
+ 0.5112554130923203
436
+ ]
437
+ ],
438
+ [
439
+ [
440
+ 0.48751445516748365
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.42836007700163403
446
+ ]
447
+ ]
448
+ ],
449
+ "std": [
450
+ [
451
+ [
452
+ 0.013007671476472471
453
+ ]
454
+ ],
455
+ [
456
+ [
457
+ 0.025757846441828422
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.023472120762023655
463
+ ]
464
+ ]
465
+ ],
466
+ "count": [
467
+ 2000
468
+ ],
469
+ "q01": [
470
+ [
471
+ [
472
+ 0.07239966711167983
473
+ ]
474
+ ],
475
+ [
476
+ [
477
+ 0.07431349561380882
478
+ ]
479
+ ],
480
+ [
481
+ [
482
+ 0.056452098877433486
483
+ ]
484
+ ]
485
+ ],
486
+ "q10": [
487
+ [
488
+ [
489
+ 0.14061247771092483
490
+ ]
491
+ ],
492
+ [
493
+ [
494
+ 0.13783230745660183
495
+ ]
496
+ ],
497
+ [
498
+ [
499
+ 0.11213935371039375
500
+ ]
501
+ ]
502
+ ],
503
+ "q50": [
504
+ [
505
+ [
506
+ 0.5441070087864349
507
+ ]
508
+ ],
509
+ [
510
+ [
511
+ 0.4853232442110658
512
+ ]
513
+ ],
514
+ [
515
+ [
516
+ 0.38551325095837774
517
+ ]
518
+ ]
519
+ ],
520
+ "q90": [
521
+ [
522
+ [
523
+ 0.8074439116514683
524
+ ]
525
+ ],
526
+ [
527
+ [
528
+ 0.7996071705956301
529
+ ]
530
+ ],
531
+ [
532
+ [
533
+ 0.7654926190355578
534
+ ]
535
+ ]
536
+ ],
537
+ "q99": [
538
+ [
539
+ [
540
+ 0.9999592760286596
541
+ ]
542
+ ],
543
+ [
544
+ [
545
+ 0.999961551253952
546
+ ]
547
+ ],
548
+ [
549
+ [
550
+ 0.9999568288456466
551
+ ]
552
+ ]
553
+ ]
554
+ },
555
+ "observation.state": {
556
+ "min": [
557
+ -24.84527015686035,
558
+ -98.89970397949219,
559
+ -59.38069152832031,
560
+ 61.885658264160156,
561
+ -9.556136131286621,
562
+ 1.3698630332946777
563
+ ],
564
+ "max": [
565
+ 22.546419143676758,
566
+ 46.67795181274414,
567
+ 99.54462432861328,
568
+ 100.0,
569
+ 12.167101860046387,
570
+ 42.393653869628906
571
+ ],
572
+ "mean": [
573
+ 0.9953548296954227,
574
+ -50.73348749552661,
575
+ 39.642541961389995,
576
+ 88.45244164988097,
577
+ 1.0253279450828368,
578
+ 7.333599443981039
579
+ ],
580
+ "std": [
581
+ 8.758658291361634,
582
+ 46.488628180401385,
583
+ 51.97329880553752,
584
+ 8.091450890035656,
585
+ 3.7487346700243744,
586
+ 10.182318247267702
587
+ ],
588
+ "count": [
589
+ 7904
590
+ ],
591
+ "q01": [
592
+ -15.678417623675305,
593
+ -98.20704762307106,
594
+ -30.682868608820293,
595
+ 76.09470738090644,
596
+ -1.1350448642113846,
597
+ 1.5359785935656745
598
+ ],
599
+ "q10": [
600
+ -12.257911451785953,
601
+ -98.16402756412649,
602
+ -22.020692126185363,
603
+ 80.95099891919931,
604
+ -1.1271468821521724,
605
+ 1.5722625975103675
606
+ ],
607
+ "q50": [
608
+ 2.214580829329959,
609
+ -60.623940981886776,
610
+ 51.21238103755256,
611
+ 87.38114281453117,
612
+ 1.1578967152204966,
613
+ 7.317908771906984
614
+ ],
615
+ "q90": [
616
+ 10.092406079829471,
617
+ 4.184448844219689,
618
+ 93.03619858827835,
619
+ 97.90090047716023,
620
+ 3.3504373329281294,
621
+ 17.475469397029368
622
+ ],
623
+ "q99": [
624
+ 14.091298780816397,
625
+ 18.28179381969521,
626
+ 93.49380324259307,
627
+ 99.72040611989856,
628
+ 3.622877971560105,
629
+ 31.094648638151206
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:69ed3058dc1b40d3d93429adb529d86e8dd078a00836199396662e9ab79d2389
3
+ size 2146
videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b90d2cd5983513f8474db95e94c5ca1287a5895e1afa7782ac78f9b7992344c8
3
+ size 119195985
videos/observation.images.image2/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1b2f6221897c1a999680782e635ebe9adb5e37a46206973cd0c3711348665249
3
+ size 129841939