HyeonseokE commited on
Commit
96a9e9d
·
verified ·
1 Parent(s): 6ea741e

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 sha256:72b46e34317cf1069d35d37680c8c53a7a1546df29a5740254d46a51bdf46401
3
+ size 213798
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ba3485b6846a7c94fda07f6f1bcdbf81132b330eb4a8cbdb0043a5b549f934b
3
+ size 202906
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99ca4a9ce269bdb693dff4d7e3749ac1de61ba872bad809d12dc1715dbd7f5e8
3
+ size 191376
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 40,
5
+ "total_frames": 12372,
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": "0:40"
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.left_wrist": {
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": "h264",
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.topview": {
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": "h264",
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
+ -66.95182037353516,
5
+ -100.0,
6
+ -52.527076721191406,
7
+ -55.854644775390625,
8
+ -2.808302879333496,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 56.235931396484375,
13
+ 58.55481719970703,
14
+ 100.0,
15
+ 86.45132446289062,
16
+ 5.299145221710205,
17
+ 57.37704849243164
18
+ ],
19
+ "mean": [
20
+ -5.247267750737122,
21
+ -31.332803557769328,
22
+ 45.417579149220934,
23
+ 31.0353485857288,
24
+ 1.257555974255362,
25
+ 10.337030227886524
26
+ ],
27
+ "std": [
28
+ 18.882416582353898,
29
+ 49.45450762316283,
30
+ 46.358297268285426,
31
+ 32.551392693200995,
32
+ 1.802291192872225,
33
+ 12.34405737003509
34
+ ],
35
+ "count": [
36
+ 12372
37
+ ],
38
+ "q01": [
39
+ -27.884313080443086,
40
+ -98.5343650278589,
41
+ -18.543025994408826,
42
+ -5.827016073112017,
43
+ 0.8340280779957308,
44
+ 0.40326680488577493
45
+ ],
46
+ "q10": [
47
+ -25.764795812050785,
48
+ -97.82243256097087,
49
+ -16.206439894150286,
50
+ -4.971249758786175,
51
+ 0.9136990397988707,
52
+ 0.5636091370270662
53
+ ],
54
+ "q50": [
55
+ -3.277151103563047,
56
+ -21.14299439489745,
57
+ 47.06170544409404,
58
+ 27.499499761720468,
59
+ 1.3742967686724357,
60
+ 3.363024007488721
61
+ ],
62
+ "q90": [
63
+ 11.813682493004206,
64
+ 30.729933603353338,
65
+ 99.30092943119041,
66
+ 76.52247650005192,
67
+ 1.475571550526951,
68
+ 28.431754118998857
69
+ ],
70
+ "q99": [
71
+ 13.705608063369564,
72
+ 36.036157434177966,
73
+ 99.41142557957762,
74
+ 77.23312019268515,
75
+ 1.4978232653700225,
76
+ 32.13223725827727
77
+ ]
78
+ },
79
+ "timestamp": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 15.0
85
+ ],
86
+ "mean": [
87
+ 5.323332255630994
88
+ ],
89
+ "std": [
90
+ 3.2868054364940873
91
+ ],
92
+ "count": [
93
+ 12372
94
+ ],
95
+ "q01": [
96
+ 0.09036199994479527
97
+ ],
98
+ "q10": [
99
+ 1.0509863598723057
100
+ ],
101
+ "q50": [
102
+ 5.319250293134954
103
+ ],
104
+ "q90": [
105
+ 9.59207217553014
106
+ ],
107
+ "q99": [
108
+ 10.55552915211899
109
+ ]
110
+ },
111
+ "observation.images.left_wrist": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5606906265829248
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.41188969909109485
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.45971304202410124
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.005256436353885821
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.0024676524324268524
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.004190937183732342
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 4000
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.05890162491850575
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.0470536537008107
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.06617222601082559
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.3786879761362104
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.14928583382381821
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.1994160550934721
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.6093796265374645
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.3048083522980417
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.3963915891644117
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.6756985812419836
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.7939984935767083
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.7769200137188411
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9587790784605494
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9536957808903084
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.9764372673815113
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "index": {
270
+ "min": [
271
+ 412
272
+ ],
273
+ "max": [
274
+ 31287
275
+ ],
276
+ "mean": [
277
+ 19155.724458454573
278
+ ],
279
+ "std": [
280
+ 8423.863141800668
281
+ ],
282
+ "count": [
283
+ 12372
284
+ ],
285
+ "q01": [
286
+ 18998.73535078684
287
+ ],
288
+ "q10": [
289
+ 19027.55408158414
290
+ ],
291
+ "q50": [
292
+ 19155.612407662462
293
+ ],
294
+ "q90": [
295
+ 19283.786656049226
296
+ ],
297
+ "q99": [
298
+ 19312.690365346363
299
+ ]
300
+ },
301
+ "observation.images.topview": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0196078431372549
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.5035888556474675
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.5136312881944446
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.5086674617034314
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.004904062866075377
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.004390921769892571
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.003960066976199954
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 4000
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.051311669666729426
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.09099679403307355
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.11774096522196525
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.39245323516463837
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.38630391074281484
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.35676792719140854
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.5277729754784796
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.5284005543269987
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5111728688934148
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.6095120500287318
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.6398019283551823
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.668450348847734
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.7143200641794302
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.797132149535977
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.9109511847704838
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "frame_index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 450
465
+ ],
466
+ "mean": [
467
+ 159.69996766892984
468
+ ],
469
+ "std": [
470
+ 98.60416309482262
471
+ ],
472
+ "count": [
473
+ 12372
474
+ ],
475
+ "q01": [
476
+ 2.7108600011949293
477
+ ],
478
+ "q10": [
479
+ 31.529590798497157
480
+ ],
481
+ "q50": [
482
+ 159.5856496605237
483
+ ],
484
+ "q90": [
485
+ 287.7621652635784
486
+ ],
487
+ "q99": [
488
+ 316.66587456071903
489
+ ]
490
+ },
491
+ "task_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 1
497
+ ],
498
+ "mean": [
499
+ 0.5244099579696088
500
+ ],
501
+ "std": [
502
+ 0.49940379849568817
503
+ ],
504
+ "count": [
505
+ 12372
506
+ ],
507
+ "q01": [
508
+ 0.5244099579696092
509
+ ],
510
+ "q10": [
511
+ 0.5244099579696128
512
+ ],
513
+ "q50": [
514
+ 0.5244099579696287
515
+ ],
516
+ "q90": [
517
+ 0.5244099579696447
518
+ ],
519
+ "q99": [
520
+ 0.5244099579696483
521
+ ]
522
+ },
523
+ "observation.state": {
524
+ "min": [
525
+ -66.3964614868164,
526
+ -97.97039794921875,
527
+ -52.90909194946289,
528
+ -54.33348083496094,
529
+ -2.612942695617676,
530
+ 0.4648074507713318
531
+ ],
532
+ "max": [
533
+ 55.63743591308594,
534
+ 59.23889923095703,
535
+ 98.7272720336914,
536
+ 81.87417602539062,
537
+ 5.103785037994385,
538
+ 56.70650863647461
539
+ ],
540
+ "mean": [
541
+ -5.318151399671472,
542
+ -30.164517210673022,
543
+ 46.577776959903645,
544
+ 31.412156522216204,
545
+ 1.2373234439283523,
546
+ 10.885406034377413
547
+ ],
548
+ "std": [
549
+ 18.837756833820805,
550
+ 50.03882727518232,
551
+ 45.55633145015634,
552
+ 32.187665393612775,
553
+ 1.8128974335411558,
554
+ 11.740228726490875
555
+ ],
556
+ "count": [
557
+ 12372
558
+ ],
559
+ "q01": [
560
+ -27.505200272412736,
561
+ -97.51722988780479,
562
+ -16.84490704086804,
563
+ -4.865136616608489,
564
+ 0.9263341704601864,
565
+ 0.7631839393463573
566
+ ],
567
+ "q10": [
568
+ -25.742654119669375,
569
+ -97.35788066141673,
570
+ -14.515041522173046,
571
+ -4.336802772694227,
572
+ 0.995567986859913,
573
+ 0.8514273731646721
574
+ ],
575
+ "q50": [
576
+ -3.360419426954223,
577
+ -19.494439954026465,
578
+ 48.51474887603144,
579
+ 28.004005501657723,
580
+ 1.3371784233115038,
581
+ 4.463202779269523
582
+ ],
583
+ "q90": [
584
+ 11.610820640065706,
585
+ 32.713776343150684,
586
+ 98.50620703924464,
587
+ 76.15203141726906,
588
+ 1.3771875140781042,
589
+ 28.11136696242514
590
+ ],
591
+ "q99": [
592
+ 13.171617219478394,
593
+ 36.490381520419916,
594
+ 98.5760573421902,
595
+ 76.68326216575862,
596
+ 1.3914980558093806,
597
+ 31.690133010646303
598
+ ]
599
+ },
600
+ "episode_index": {
601
+ "min": [
602
+ 1
603
+ ],
604
+ "max": [
605
+ 96
606
+ ],
607
+ "mean": [
608
+ 54.012932428063365
609
+ ],
610
+ "std": [
611
+ 26.039677766887262
612
+ ],
613
+ "count": [
614
+ 12372
615
+ ],
616
+ "q01": [
617
+ 54.012932428063365
618
+ ],
619
+ "q10": [
620
+ 54.012932428063365
621
+ ],
622
+ "q50": [
623
+ 54.01293242806339
624
+ ],
625
+ "q90": [
626
+ 54.01293242806341
627
+ ],
628
+ "q99": [
629
+ 54.012932428063415
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:66924e631c293fb980005f52e3e0f2c23ed4de72dd33c8d74c64d3a1adfd4dc1
3
+ size 2205
videos/observation.images.left_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:21677b2475b0b76ecfc56c4fc6efcf6d5a871f5eb05c4ceda2335942fd96350f
3
+ size 26412471
videos/observation.images.left_wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f4b6974d232a728028a00af4838a3ce2f679555e29552fd28ed362627564c6e3
3
+ size 25214154
videos/observation.images.topview/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:835118f8579bb2d4a10c1d5e45655c598935cf3678c66442be855cae22704220
3
+ size 30758048
videos/observation.images.topview/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f42ce7a45d263701a117187f47c77c687acb02fee171b4fdc1444b0db61b15b
3
+ size 28955860