shutingmi commited on
Commit
d47ffdb
·
verified ·
1 Parent(s): 29ed783

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 sha256:796b315211321565b3e2f8db62b881fe786a3212e3c00a18c8b8eb8ed1fc1624
3
+ size 50618
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2c64d724871d063ccb900edb36473571f37e8609320b5d6a1a9fc920e133096
3
+ size 49414
meta/info.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 10,
4
+ "features": {
5
+ "action": {
6
+ "dtype": "float32",
7
+ "names": [
8
+ "shoulder_pan.pos",
9
+ "shoulder_lift.pos",
10
+ "elbow_flex.pos",
11
+ "wrist_flex.pos",
12
+ "wrist_roll.pos",
13
+ "gripper.pos"
14
+ ],
15
+ "shape": [
16
+ 6
17
+ ]
18
+ },
19
+ "observation.state": {
20
+ "dtype": "float32",
21
+ "names": [
22
+ "shoulder_pan.pos",
23
+ "shoulder_lift.pos",
24
+ "elbow_flex.pos",
25
+ "wrist_flex.pos",
26
+ "wrist_roll.pos",
27
+ "gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 6
31
+ ]
32
+ },
33
+ "observation.images.front": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channels"
44
+ ],
45
+ "info": {
46
+ "video.height": 480,
47
+ "video.width": 640,
48
+ "video.codec": "av1",
49
+ "video.pix_fmt": "yuv420p",
50
+ "video.is_depth_map": false,
51
+ "video.fps": 10,
52
+ "video.channels": 3,
53
+ "has_audio": false
54
+ }
55
+ },
56
+ "timestamp": {
57
+ "dtype": "float32",
58
+ "shape": [
59
+ 1
60
+ ],
61
+ "names": null
62
+ },
63
+ "frame_index": {
64
+ "dtype": "int64",
65
+ "shape": [
66
+ 1
67
+ ],
68
+ "names": null
69
+ },
70
+ "episode_index": {
71
+ "dtype": "int64",
72
+ "shape": [
73
+ 1
74
+ ],
75
+ "names": null
76
+ },
77
+ "index": {
78
+ "dtype": "int64",
79
+ "shape": [
80
+ 1
81
+ ],
82
+ "names": null
83
+ },
84
+ "task_index": {
85
+ "dtype": "int64",
86
+ "shape": [
87
+ 1
88
+ ],
89
+ "names": null
90
+ }
91
+ },
92
+ "total_episodes": 5,
93
+ "total_frames": 846,
94
+ "total_tasks": 1,
95
+ "chunks_size": 1000,
96
+ "data_files_size_in_mb": 100,
97
+ "video_files_size_in_mb": 200,
98
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
99
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
100
+ "robot_type": "so_follower",
101
+ "splits": {
102
+ "train": "0:5"
103
+ }
104
+ }
meta/stats.json ADDED
@@ -0,0 +1,474 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "frame_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 178
8
+ ],
9
+ "mean": [
10
+ 84.5839243498818
11
+ ],
12
+ "std": [
13
+ 49.61408446708736
14
+ ],
15
+ "count": [
16
+ 846
17
+ ],
18
+ "q01": [
19
+ 1.0075332386718825
20
+ ],
21
+ "q10": [
22
+ 16.49161371150343
23
+ ],
24
+ "q50": [
25
+ 84.30924917257647
26
+ ],
27
+ "q90": [
28
+ 152.67623498826015
29
+ ],
30
+ "q99": [
31
+ 168.1603154610917
32
+ ]
33
+ },
34
+ "observation.state": {
35
+ "min": [
36
+ -62.19780349731445,
37
+ -102.68132019042969,
38
+ -94.72527313232422,
39
+ -45.626373291015625,
40
+ -22.0219783782959,
41
+ 2.1607022285461426
42
+ ],
43
+ "max": [
44
+ 4.0,
45
+ 98.02198028564453,
46
+ 96.74725341796875,
47
+ 100.48351287841797,
48
+ 6.8131866455078125,
49
+ 65.96894073486328
50
+ ],
51
+ "mean": [
52
+ -35.769932275686415,
53
+ -36.66921435011194,
54
+ 44.94344000218889,
55
+ 26.239470914746008,
56
+ -4.492349092348811,
57
+ 26.070420909998827
58
+ ],
59
+ "std": [
60
+ 17.999555108140704,
61
+ 64.32321588999571,
62
+ 59.9749453992003,
63
+ 35.660369400833446,
64
+ 5.6454242000782315,
65
+ 20.20583326211176
66
+ ],
67
+ "count": [
68
+ 846
69
+ ],
70
+ "q01": [
71
+ -58.292261177766406,
72
+ -102.42362516579054,
73
+ -40.32608525747385,
74
+ -30.583699862477907,
75
+ -13.620346620009583,
76
+ 2.313783861221151
77
+ ],
78
+ "q10": [
79
+ -56.8119450187132,
80
+ -102.16323467950792,
81
+ -39.94392846890455,
82
+ -20.024009808627625,
83
+ -10.237513637767284,
84
+ 2.8887555938184115
85
+ ],
86
+ "q50": [
87
+ -39.20803891052255,
88
+ -37.60439436070588,
89
+ 81.16329002162296,
90
+ 33.43957473280783,
91
+ -4.324990174010697,
92
+ 19.840328345358884
93
+ ],
94
+ "q90": [
95
+ -5.456190739889628,
96
+ 63.44310732722001,
97
+ 96.60112268167855,
98
+ 68.13195179306564,
99
+ 0.6633300901169163,
100
+ 58.16857628503969
101
+ ],
102
+ "q99": [
103
+ -1.6650667220308146,
104
+ 67.5420973104525,
105
+ 96.68889959521303,
106
+ 77.14067536963375,
107
+ 1.564926268374025,
108
+ 58.21597909263883
109
+ ]
110
+ },
111
+ "timestamp": {
112
+ "min": [
113
+ 0.0
114
+ ],
115
+ "max": [
116
+ 17.8
117
+ ],
118
+ "mean": [
119
+ 8.458392434988179
120
+ ],
121
+ "std": [
122
+ 4.961408446708739
123
+ ],
124
+ "count": [
125
+ 846
126
+ ],
127
+ "q01": [
128
+ 0.1007533237782656
129
+ ],
130
+ "q10": [
131
+ 1.649161371077895
132
+ ],
133
+ "q50": [
134
+ 8.430924917257345
135
+ ],
136
+ "q90": [
137
+ 15.267623498898462
138
+ ],
139
+ "q99": [
140
+ 16.81603154619809
141
+ ]
142
+ },
143
+ "episode_index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 4
149
+ ],
150
+ "mean": [
151
+ 1.9196217494089836
152
+ ],
153
+ "std": [
154
+ 1.3874369957623944
155
+ ],
156
+ "count": [
157
+ 846
158
+ ],
159
+ "q01": [
160
+ 1.919621749408984
161
+ ],
162
+ "q10": [
163
+ 1.919621749408987
164
+ ],
165
+ "q50": [
166
+ 1.9196217494090033
167
+ ],
168
+ "q90": [
169
+ 1.9196217494090195
170
+ ],
171
+ "q99": [
172
+ 1.9196217494090233
173
+ ]
174
+ },
175
+ "task_index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 0
181
+ ],
182
+ "mean": [
183
+ 0.0
184
+ ],
185
+ "std": [
186
+ 0.0
187
+ ],
188
+ "count": [
189
+ 846
190
+ ],
191
+ "q01": [
192
+ 3.9999999999994176e-16
193
+ ],
194
+ "q10": [
195
+ 3.999999999999417e-15
196
+ ],
197
+ "q50": [
198
+ 1.9999999999997088e-14
199
+ ],
200
+ "q90": [
201
+ 3.5999999999994754e-14
202
+ ],
203
+ "q99": [
204
+ 3.9599999999994235e-14
205
+ ]
206
+ },
207
+ "action": {
208
+ "min": [
209
+ -62.85714340209961,
210
+ -103.82417297363281,
211
+ -96.65933990478516,
212
+ -48.35165023803711,
213
+ -22.549449920654297,
214
+ 1.3097072839736938
215
+ ],
216
+ "max": [
217
+ 3.604395627975464,
218
+ 97.4065933227539,
219
+ 97.0988998413086,
220
+ 101.62637329101562,
221
+ 7.516483306884766,
222
+ 66.64098358154297
223
+ ],
224
+ "mean": [
225
+ -35.72793466374102,
226
+ -37.60881500153959,
227
+ 43.454535827005444,
228
+ 25.855505787734444,
229
+ -4.469382157632927,
230
+ 25.115296224048514
231
+ ],
232
+ "std": [
233
+ 18.020199615923975,
234
+ 63.50492995613645,
235
+ 60.43185700402022,
236
+ 35.81296726289636,
237
+ 5.720147556736676,
238
+ 21.063350648358302
239
+ ],
240
+ "count": [
241
+ 846
242
+ ],
243
+ "q01": [
244
+ -58.864246857555194,
245
+ -102.85315785518493,
246
+ -42.58228756744529,
247
+ -31.813233045257856,
248
+ -13.990054566736198,
249
+ 2.1453802966413957
250
+ ],
251
+ "q10": [
252
+ -56.66612888339187,
253
+ -102.38664422813036,
254
+ -42.40270388561019,
255
+ -20.636558365774356,
256
+ -10.412544498840967,
257
+ 2.6307296898413868
258
+ ],
259
+ "q50": [
260
+ -39.023787986208255,
261
+ -38.52262037052411,
262
+ 79.0049090976744,
263
+ 32.638409907654385,
264
+ -4.270060268968938,
265
+ 17.617100433417175
266
+ ],
267
+ "q90": [
268
+ -5.387797182171663,
269
+ 60.665710315749436,
270
+ 96.01496507496135,
271
+ 67.70745682072749,
272
+ 0.6443717335501375,
273
+ 58.38505529076025
274
+ ],
275
+ "q99": [
276
+ -1.439434250747417,
277
+ 66.7636952785773,
278
+ 96.94507237286655,
279
+ 77.60891905886965,
280
+ 1.9156822996511527,
281
+ 58.625901259685925
282
+ ]
283
+ },
284
+ "index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 845
290
+ ],
291
+ "mean": [
292
+ 422.5
293
+ ],
294
+ "std": [
295
+ 244.2189932553704
296
+ ],
297
+ "count": [
298
+ 846
299
+ ],
300
+ "q01": [
301
+ 338.9236088887901
302
+ ],
303
+ "q10": [
304
+ 354.4076893616217
305
+ ],
306
+ "q50": [
307
+ 422.22532482269463
308
+ ],
309
+ "q90": [
310
+ 490.5923106383783
311
+ ],
312
+ "q99": [
313
+ 506.07639111121
314
+ ]
315
+ },
316
+ "observation.images.front": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.00784313725490196
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 0.0
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.0
331
+ ]
332
+ ]
333
+ ],
334
+ "max": [
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 1.0
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 1.0
348
+ ]
349
+ ]
350
+ ],
351
+ "mean": [
352
+ [
353
+ [
354
+ 0.6027796483644682
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.5775603959521157
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.5611566374924674
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.007590494574785092
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.007241612735376648
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.006450373090948727
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 16243200
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.01565807637892518
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ -1.0000000000000002e-10
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ -1.0000000000000002e-10
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.07156163961613121
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.03546155533264968
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ -1.0000000000000002e-10
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.7368218945822597
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.7197359440271996
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.6978017201002283
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.9131814457007592
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.9132005733819811
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.9193880035193304
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.9597581111815178
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.9536136376610976
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9581818139402375
470
+ ]
471
+ ]
472
+ ]
473
+ }
474
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72e0134d986253ded918b15c9d26fd0e487c9d1410ad06ee525cada2ff214503
3
+ size 2145
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 sha256:478b58a3f99e69a8449fb520dd6f54ee63a7588d41e999a1b440b874b4bf53aa
3
+ size 4194489