TreeePlanter commited on
Commit
45a79a6
·
verified ·
1 Parent(s): 9243177

Upload dataset

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48b057ff76657677dbafe5675b81af871ebbd7da1abe1829b14462aede56dd46
3
+ size 129173
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:398a99f815b49aa1bbcfcfdcbf8ca0f4a6519aef990ac82947c11895dbc03cad
3
+ size 57745
meta/info.json ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": null,
4
+ "total_episodes": 10,
5
+ "total_frames": 1586,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 20,
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
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 7
21
+ ],
22
+ "names": [
23
+ "arm_joint_0",
24
+ "arm_joint_1",
25
+ "arm_joint_2",
26
+ "arm_joint_3",
27
+ "arm_joint_4",
28
+ "arm_joint_5",
29
+ "gripper_open"
30
+ ]
31
+ },
32
+ "action": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "action_0",
39
+ "action_1",
40
+ "action_2",
41
+ "action_3",
42
+ "action_4",
43
+ "action_5",
44
+ "action_6"
45
+ ]
46
+ },
47
+ "observation.images.base_camera": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 256,
51
+ 256,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 256,
61
+ "video.width": 256,
62
+ "video.codec": "av1",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 20,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "timestamp": {
71
+ "dtype": "float32",
72
+ "shape": [
73
+ 1
74
+ ],
75
+ "names": null
76
+ },
77
+ "frame_index": {
78
+ "dtype": "int64",
79
+ "shape": [
80
+ 1
81
+ ],
82
+ "names": null
83
+ },
84
+ "episode_index": {
85
+ "dtype": "int64",
86
+ "shape": [
87
+ 1
88
+ ],
89
+ "names": null
90
+ },
91
+ "index": {
92
+ "dtype": "int64",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "task_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ }
105
+ }
106
+ }
meta/stats.json ADDED
@@ -0,0 +1,492 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 0
8
+ ],
9
+ "mean": [
10
+ 0.0
11
+ ],
12
+ "std": [
13
+ 0.0
14
+ ],
15
+ "count": [
16
+ 1586
17
+ ],
18
+ "q01": [
19
+ 3.999999999999418e-16
20
+ ],
21
+ "q10": [
22
+ 3.999999999999417e-15
23
+ ],
24
+ "q50": [
25
+ 1.9999999999997088e-14
26
+ ],
27
+ "q90": [
28
+ 3.599999999999476e-14
29
+ ],
30
+ "q99": [
31
+ 3.9599999999994235e-14
32
+ ]
33
+ },
34
+ "frame_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 167
40
+ ],
41
+ "mean": [
42
+ 78.8783102143758
43
+ ],
44
+ "std": [
45
+ 45.92077113748083
46
+ ],
47
+ "count": [
48
+ 1586
49
+ ],
50
+ "q01": [
51
+ 1.0042098914523463
52
+ ],
53
+ "q10": [
54
+ 15.318388196640731
55
+ ],
56
+ "q50": [
57
+ 78.79375989911716
58
+ ],
59
+ "q90": [
60
+ 142.43823223211083
61
+ ],
62
+ "q99": [
63
+ 156.7524105372992
64
+ ]
65
+ },
66
+ "observation.state": {
67
+ "min": [
68
+ -0.9548642039299011,
69
+ -0.7737405896186829,
70
+ 0.8306648135185242,
71
+ 1.348041296005249,
72
+ 0.41548722982406616,
73
+ -1.2146552801132202,
74
+ 0.0
75
+ ],
76
+ "max": [
77
+ 0.8442461490631104,
78
+ 0.13907797634601593,
79
+ 2.061366081237793,
80
+ 1.8928899765014648,
81
+ 1.6874045133590698,
82
+ 0.9041761755943298,
83
+ 1.0
84
+ ],
85
+ "mean": [
86
+ -0.09878520906490625,
87
+ -0.45137845594224535,
88
+ 1.5279639753387375,
89
+ 1.5818756022038405,
90
+ 1.1417548413309744,
91
+ -0.1284032605323015,
92
+ 0.46658259669664076
93
+ ],
94
+ "std": [
95
+ 0.6620915164093676,
96
+ 0.24112620979980115,
97
+ 0.28293869761919194,
98
+ 0.11375079326188989,
99
+ 0.2522923776009549,
100
+ 0.6900041041981986,
101
+ 0.49888202699887824
102
+ ],
103
+ "count": [
104
+ 1586
105
+ ],
106
+ "q01": [
107
+ -0.8649980083563532,
108
+ -0.6904875512526298,
109
+ 1.0903381527112128,
110
+ 1.490890526906766,
111
+ 0.764954134981244,
112
+ -0.9234844435532773,
113
+ -9.999999999999999e-11
114
+ ],
115
+ "q10": [
116
+ -0.8439782143763118,
117
+ -0.6896890418120749,
118
+ 1.228039905557017,
119
+ 1.4922975236821012,
120
+ 0.7659348167601189,
121
+ -0.9061845793465173,
122
+ -9.999999999999999e-11
123
+ ],
124
+ "q50": [
125
+ -0.013124340146151586,
126
+ -0.5409559140295286,
127
+ 1.5444719706302872,
128
+ 1.5758365072000422,
129
+ 1.1656355694605638,
130
+ -0.03206480292888268,
131
+ -9.999999999999999e-11
132
+ ],
133
+ "q90": [
134
+ 0.6333707959077229,
135
+ -0.07662419736292346,
136
+ 1.9049455682526777,
137
+ 1.690964465572744,
138
+ 1.403453726458096,
139
+ 0.6187529231365705,
140
+ 0.9999571157238061
141
+ ],
142
+ "q99": [
143
+ 0.6522215106832873,
144
+ 0.05675685876677933,
145
+ 2.0017504683196092,
146
+ 1.6918690875329236,
147
+ 1.515344398350454,
148
+ 0.6389048320088657,
149
+ 0.9999957116623808
150
+ ]
151
+ },
152
+ "observation.images.base_camera": {
153
+ "min": [
154
+ [
155
+ [
156
+ 0.03529411764705882
157
+ ]
158
+ ],
159
+ [
160
+ [
161
+ 0.0
162
+ ]
163
+ ],
164
+ [
165
+ [
166
+ 0.0
167
+ ]
168
+ ]
169
+ ],
170
+ "max": [
171
+ [
172
+ [
173
+ 0.9333333333333333
174
+ ]
175
+ ],
176
+ [
177
+ [
178
+ 0.9215686274509803
179
+ ]
180
+ ],
181
+ [
182
+ [
183
+ 0.9215686274509803
184
+ ]
185
+ ]
186
+ ],
187
+ "mean": [
188
+ [
189
+ [
190
+ 0.34046663961971513
191
+ ]
192
+ ],
193
+ [
194
+ [
195
+ 0.33679316855037916
196
+ ]
197
+ ],
198
+ [
199
+ [
200
+ 0.3306424754423254
201
+ ]
202
+ ]
203
+ ],
204
+ "std": [
205
+ [
206
+ [
207
+ 0.007258756117084305
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 0.009234788657879129
213
+ ]
214
+ ],
215
+ [
216
+ [
217
+ 0.009641701408438943
218
+ ]
219
+ ]
220
+ ],
221
+ "count": [
222
+ 1000
223
+ ],
224
+ "q01": [
225
+ [
226
+ [
227
+ 0.13645039812231968
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.08586951367709235
233
+ ]
234
+ ],
235
+ [
236
+ [
237
+ 0.08272933070745557
238
+ ]
239
+ ]
240
+ ],
241
+ "q10": [
242
+ [
243
+ [
244
+ 0.19061232651322682
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.17371366597314714
250
+ ]
251
+ ],
252
+ [
253
+ [
254
+ 0.176506256657473
255
+ ]
256
+ ]
257
+ ],
258
+ "q50": [
259
+ [
260
+ [
261
+ 0.3591928001942291
262
+ ]
263
+ ],
264
+ [
265
+ [
266
+ 0.3596207943804766
267
+ ]
268
+ ],
269
+ [
270
+ [
271
+ 0.3486518754472436
272
+ ]
273
+ ]
274
+ ],
275
+ "q90": [
276
+ [
277
+ [
278
+ 0.4517829219970761
279
+ ]
280
+ ],
281
+ [
282
+ [
283
+ 0.4544928795818649
284
+ ]
285
+ ],
286
+ [
287
+ [
288
+ 0.4435304290507407
289
+ ]
290
+ ]
291
+ ],
292
+ "q99": [
293
+ [
294
+ [
295
+ 0.6125223236566966
296
+ ]
297
+ ],
298
+ [
299
+ [
300
+ 0.6141363307637361
301
+ ]
302
+ ],
303
+ [
304
+ [
305
+ 0.6172614268084156
306
+ ]
307
+ ]
308
+ ]
309
+ },
310
+ "timestamp": {
311
+ "min": [
312
+ 0.0
313
+ ],
314
+ "max": [
315
+ 8.35
316
+ ],
317
+ "mean": [
318
+ 3.9439155107187895
319
+ ],
320
+ "std": [
321
+ 2.2960385568740422
322
+ ],
323
+ "count": [
324
+ 1586
325
+ ],
326
+ "q01": [
327
+ 0.050210494478827895
328
+ ],
329
+ "q10": [
330
+ 0.7659194097554888
331
+ ],
332
+ "q50": [
333
+ 3.9396879949557584
334
+ ],
335
+ "q90": [
336
+ 7.121911611682089
337
+ ],
338
+ "q99": [
339
+ 7.8376205269587516
340
+ ]
341
+ },
342
+ "action": {
343
+ "min": [
344
+ -0.9570406079292297,
345
+ -0.777411699295044,
346
+ 0.8257538080215454,
347
+ 1.34782075881958,
348
+ 0.4108428359031677,
349
+ -1.2158817052841187,
350
+ 0.0
351
+ ],
352
+ "max": [
353
+ 0.8459806442260742,
354
+ 0.13951054215431213,
355
+ 2.061366081237793,
356
+ 1.8944554328918457,
357
+ 1.6920450925827026,
358
+ 0.9058669209480286,
359
+ 1.0
360
+ ],
361
+ "mean": [
362
+ -0.09826915803709517,
363
+ -0.45750865013271685,
364
+ 1.51695271217808,
365
+ 1.5813267577491221,
366
+ 1.1469020301952937,
367
+ -0.12776966446900237,
368
+ 0.46658259669664076
369
+ ],
370
+ "std": [
371
+ 0.667631532399173,
372
+ 0.2360290630625968,
373
+ 0.285724692883214,
374
+ 0.11419329101150855,
375
+ 0.2579369281126944,
376
+ 0.694976475126099,
377
+ 0.49888202699887824
378
+ ],
379
+ "count": [
380
+ 1586
381
+ ],
382
+ "q01": [
383
+ -0.8658262072007984,
384
+ -0.6925624696676954,
385
+ 1.0807360112211082,
386
+ 1.490668798037822,
387
+ 0.7620314449101396,
388
+ -0.923931845759743,
389
+ -9.999999999999999e-11
390
+ ],
391
+ "q10": [
392
+ -0.8450386403814719,
393
+ -0.6899974821573872,
394
+ 1.2145963266548498,
395
+ 1.49209840028043,
396
+ 0.7654640436206774,
397
+ -0.9061277628393412,
398
+ -9.999999999999999e-11
399
+ ],
400
+ "q50": [
401
+ -0.026260857504117156,
402
+ -0.54071918504963,
403
+ 1.5304371026539076,
404
+ 1.5739978740183025,
405
+ 1.1667018997127612,
406
+ -0.04504729068358736,
407
+ -9.999999999999999e-11
408
+ ],
409
+ "q90": [
410
+ 0.6346933114319391,
411
+ -0.09432670852469197,
412
+ 1.858911500172061,
413
+ 1.6907475180634954,
414
+ 1.4145467759105006,
415
+ 0.6190868599247522,
416
+ 0.9999571157238061
417
+ ],
418
+ "q99": [
419
+ 0.6532351930639326,
420
+ 0.05691488471911945,
421
+ 2.0027795757627995,
422
+ 1.6918304321277242,
423
+ 1.526228888169795,
424
+ 0.6400419605160392,
425
+ 0.9999957116623808
426
+ ]
427
+ },
428
+ "index": {
429
+ "min": [
430
+ 0
431
+ ],
432
+ "max": [
433
+ 1585
434
+ ],
435
+ "mean": [
436
+ 792.5
437
+ ],
438
+ "std": [
439
+ 457.8386724600708
440
+ ],
441
+ "count": [
442
+ 1586
443
+ ],
444
+ "q01": [
445
+ 714.6258996770766
446
+ ],
447
+ "q10": [
448
+ 728.9400779822649
449
+ ],
450
+ "q50": [
451
+ 792.4154496847414
452
+ ],
453
+ "q90": [
454
+ 856.0599220177351
455
+ ],
456
+ "q99": [
457
+ 870.3741003229234
458
+ ]
459
+ },
460
+ "episode_index": {
461
+ "min": [
462
+ 0
463
+ ],
464
+ "max": [
465
+ 9
466
+ ],
467
+ "mean": [
468
+ 4.513871374527112
469
+ ],
470
+ "std": [
471
+ 2.903469554484977
472
+ ],
473
+ "count": [
474
+ 1586
475
+ ],
476
+ "q01": [
477
+ 4.513871374527112
478
+ ],
479
+ "q10": [
480
+ 4.513871374527116
481
+ ],
482
+ "q50": [
483
+ 4.513871374527132
484
+ ],
485
+ "q90": [
486
+ 4.513871374527148
487
+ ],
488
+ "q99": [
489
+ 4.513871374527152
490
+ ]
491
+ }
492
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f9ab1e2976ffe3a42fdf66155ca26a6b5127225fa339e831692851017ba7a75
3
+ size 2231
videos/observation.images.base_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:914de903a5f60dfc9e75603311c2b80cd71a828f387415822af736161cffd291
3
+ size 1962564