Saivamsim26 commited on
Commit
3b2c8f4
·
verified ·
1 Parent(s): 4021d57

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 sha256:721c43140f1d9e323e40b5db66c079293faf697506b12df8bf1144c2594dbb9f
3
+ size 1124384
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e1f247036d9364b871441e4d9449dae6897f36567531499dd7035bc1436e145
3
+ size 234073
meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 50,
5
+ "total_frames": 23620,
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": "0:50"
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.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": "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.front": {
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
+ "timestamp": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 58.766666666666666
8
+ ],
9
+ "mean": [
10
+ 9.56029212531753
11
+ ],
12
+ "std": [
13
+ 8.888100085741419
14
+ ],
15
+ "count": [
16
+ 23620
17
+ ],
18
+ "q01": [
19
+ 0.1765005512424815
20
+ ],
21
+ "q10": [
22
+ 1.8984439231487291
23
+ ],
24
+ "q50": [
25
+ 9.552100155235573
26
+ ],
27
+ "q90": [
28
+ 17.219589455344043
29
+ ],
30
+ "q99": [
31
+ 18.944083699392568
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 49
40
+ ],
41
+ "mean": [
42
+ 24.491363251481793
43
+ ],
44
+ "std": [
45
+ 13.9666035050595
46
+ ],
47
+ "count": [
48
+ 23620
49
+ ],
50
+ "q01": [
51
+ 24.491363251481793
52
+ ],
53
+ "q10": [
54
+ 24.491363251481793
55
+ ],
56
+ "q50": [
57
+ 24.49136325148181
58
+ ],
59
+ "q90": [
60
+ 24.49136325148182
61
+ ],
62
+ "q99": [
63
+ 24.491363251481836
64
+ ]
65
+ },
66
+ "action": {
67
+ "min": [
68
+ -91.29669952392578,
69
+ -92.92308044433594,
70
+ -97.53845977783203,
71
+ -103.78022003173828,
72
+ -95.69230651855469,
73
+ 0.23076923191547394
74
+ ],
75
+ "max": [
76
+ 67.12088012695312,
77
+ 94.94505310058594,
78
+ 98.5054931640625,
79
+ 103.16483306884766,
80
+ 122.32967376708984,
81
+ 68.84615325927734
82
+ ],
83
+ "mean": [
84
+ -9.452759348074325,
85
+ 1.8426664747846613,
86
+ 2.4615645837521365,
87
+ 65.32350867050971,
88
+ 10.314328670663214,
89
+ 20.8262375309546
90
+ ],
91
+ "std": [
92
+ 28.97052445795013,
93
+ 45.74015844525061,
94
+ 52.09737716822969,
95
+ 24.57230765942134,
96
+ 31.10703551608685,
97
+ 15.812669814752505
98
+ ],
99
+ "count": [
100
+ 23620
101
+ ],
102
+ "q01": [
103
+ -52.17315236577682,
104
+ -85.78091915209339,
105
+ -62.212370740726314,
106
+ 27.737200812747833,
107
+ -21.43736083533868,
108
+ 1.8137651824867795
109
+ ],
110
+ "q10": [
111
+ -46.40608415699458,
112
+ -69.02687559709067,
113
+ -46.507690095243234,
114
+ 41.27629140689648,
115
+ -14.07215473012739,
116
+ 1.9086080623444854
117
+ ],
118
+ "q50": [
119
+ -4.572074512457783,
120
+ 16.05628384166595,
121
+ -3.9004700939468426,
122
+ 64.66992262931939,
123
+ 7.645157111760608,
124
+ 21.32735218670254
125
+ ],
126
+ "q90": [
127
+ 17.14682546041201,
128
+ 37.88821509859464,
129
+ 76.14560498624881,
130
+ 90.19193987846374,
131
+ 37.96743708320818,
132
+ 38.394305153583936
133
+ ],
134
+ "q99": [
135
+ 23.04329846991836,
136
+ 41.663555591601884,
137
+ 96.50260984817649,
138
+ 97.32624916775089,
139
+ 47.6955186963838,
140
+ 40.85754731325765
141
+ ]
142
+ },
143
+ "index": {
144
+ "min": [
145
+ 0
146
+ ],
147
+ "max": [
148
+ 23619
149
+ ],
150
+ "mean": [
151
+ 11809.5
152
+ ],
153
+ "std": [
154
+ 6818.50667301866
155
+ ],
156
+ "count": [
157
+ 23620
158
+ ],
159
+ "q01": [
160
+ 11527.9862527806
161
+ ],
162
+ "q10": [
163
+ 11579.644553937267
164
+ ],
165
+ "q50": [
166
+ 11809.255269280275
167
+ ],
168
+ "q90": [
169
+ 12039.278919898472
170
+ ],
171
+ "q99": [
172
+ 12091.013747219402
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
+ 23620
190
+ ],
191
+ "q01": [
192
+ 3.999999999999417e-16
193
+ ],
194
+ "q10": [
195
+ 3.999999999999418e-15
196
+ ],
197
+ "q50": [
198
+ 1.9999999999997088e-14
199
+ ],
200
+ "q90": [
201
+ 3.599999999999477e-14
202
+ ],
203
+ "q99": [
204
+ 3.959999999999423e-14
205
+ ]
206
+ },
207
+ "observation.state": {
208
+ "min": [
209
+ -90.94505310058594,
210
+ -92.04395294189453,
211
+ -95.95604705810547,
212
+ -102.10989379882812,
213
+ -87.42857360839844,
214
+ 3.0721004009246826
215
+ ],
216
+ "max": [
217
+ 66.68132019042969,
218
+ 93.53845977783203,
219
+ 97.0988998413086,
220
+ 102.02198028564453,
221
+ 120.30769348144531,
222
+ 67.71160125732422
223
+ ],
224
+ "mean": [
225
+ -9.374775211418411,
226
+ 2.000913532232199,
227
+ 4.25669791913204,
228
+ 65.35637666288824,
229
+ 10.301978097668046,
230
+ 21.958777427511844
231
+ ],
232
+ "std": [
233
+ 28.794885870967857,
234
+ 46.624037683041294,
235
+ 52.044612779696166,
236
+ 24.40701668029112,
237
+ 30.99471730385139,
238
+ 13.358095318894096
239
+ ],
240
+ "count": [
241
+ 23620
242
+ ],
243
+ "q01": [
244
+ -52.11882682439704,
245
+ -86.0356554475432,
246
+ -59.80674031578242,
247
+ 26.250942532321147,
248
+ -20.81183766678369,
249
+ 6.139041966398866
250
+ ],
251
+ "q10": [
252
+ -46.172779061332726,
253
+ -72.05972060715405,
254
+ -44.63072987225611,
255
+ 41.66800872737786,
256
+ -14.165383632262417,
257
+ 8.123212646464218
258
+ ],
259
+ "q50": [
260
+ -4.428358401850554,
261
+ 17.047518366582594,
262
+ -2.208447303933443,
263
+ 64.82699373717688,
264
+ 7.724686519607296,
265
+ 21.667790627824175
266
+ ],
267
+ "q90": [
268
+ 17.047401834572874,
269
+ 39.07357166710134,
270
+ 78.1640771862612,
271
+ 89.87281816601738,
272
+ 37.93674647058016,
273
+ 37.100623771873806
274
+ ],
275
+ "q99": [
276
+ 22.372622612437578,
277
+ 42.2133768133373,
278
+ 96.50420270846692,
279
+ 96.93941163104786,
280
+ 47.526436833266324,
281
+ 39.66695637261594
282
+ ]
283
+ },
284
+ "frame_index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 1763
290
+ ],
291
+ "mean": [
292
+ 286.80876375952585
293
+ ],
294
+ "std": [
295
+ 266.64300257224255
296
+ ],
297
+ "count": [
298
+ 23620
299
+ ],
300
+ "q01": [
301
+ 5.2950165401219635
302
+ ],
303
+ "q10": [
304
+ 56.95331769678688
305
+ ],
306
+ "q50": [
307
+ 286.5473411176968
308
+ ],
309
+ "q90": [
310
+ 516.5876836579971
311
+ ],
312
+ "q99": [
313
+ 568.3225109789299
314
+ ]
315
+ },
316
+ "observation.images.front": {
317
+ "min": [
318
+ [
319
+ [
320
+ 0.0
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
+ 0.4939469476761607
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.45629203081532144
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.41887587561233314
365
+ ]
366
+ ]
367
+ ],
368
+ "std": [
369
+ [
370
+ [
371
+ 0.04842992603080259
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.04849258790862548
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.04411613619720101
382
+ ]
383
+ ]
384
+ ],
385
+ "count": [
386
+ 5453
387
+ ],
388
+ "q01": [
389
+ [
390
+ [
391
+ 0.2169399345551655
392
+ ]
393
+ ],
394
+ [
395
+ [
396
+ 0.17184810134118314
397
+ ]
398
+ ],
399
+ [
400
+ [
401
+ 0.15336881462700624
402
+ ]
403
+ ]
404
+ ],
405
+ "q10": [
406
+ [
407
+ [
408
+ 0.33597434757104044
409
+ ]
410
+ ],
411
+ [
412
+ [
413
+ 0.2901046752811236
414
+ ]
415
+ ],
416
+ [
417
+ [
418
+ 0.2503727690458318
419
+ ]
420
+ ]
421
+ ],
422
+ "q50": [
423
+ [
424
+ [
425
+ 0.46918903672886186
426
+ ]
427
+ ],
428
+ [
429
+ [
430
+ 0.4243877889317633
431
+ ]
432
+ ],
433
+ [
434
+ [
435
+ 0.37986346979902885
436
+ ]
437
+ ]
438
+ ],
439
+ "q90": [
440
+ [
441
+ [
442
+ 0.738402411955285
443
+ ]
444
+ ],
445
+ [
446
+ [
447
+ 0.7327380346354527
448
+ ]
449
+ ],
450
+ [
451
+ [
452
+ 0.708949162787318
453
+ ]
454
+ ]
455
+ ],
456
+ "q99": [
457
+ [
458
+ [
459
+ 0.9999263203399358
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.9999121202606316
465
+ ]
466
+ ],
467
+ [
468
+ [
469
+ 0.9974134785131181
470
+ ]
471
+ ]
472
+ ]
473
+ },
474
+ "observation.images.wrist": {
475
+ "min": [
476
+ [
477
+ [
478
+ 0.0
479
+ ]
480
+ ],
481
+ [
482
+ [
483
+ 0.0
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.0
489
+ ]
490
+ ]
491
+ ],
492
+ "max": [
493
+ [
494
+ [
495
+ 1.0
496
+ ]
497
+ ],
498
+ [
499
+ [
500
+ 1.0
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 1.0
506
+ ]
507
+ ]
508
+ ],
509
+ "mean": [
510
+ [
511
+ [
512
+ 0.4926106138807684
513
+ ]
514
+ ],
515
+ [
516
+ [
517
+ 0.4591548167031038
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.45312152661663746
523
+ ]
524
+ ]
525
+ ],
526
+ "std": [
527
+ [
528
+ [
529
+ 0.043000159324399836
530
+ ]
531
+ ],
532
+ [
533
+ [
534
+ 0.04321577271708908
535
+ ]
536
+ ],
537
+ [
538
+ [
539
+ 0.03998473218813455
540
+ ]
541
+ ]
542
+ ],
543
+ "count": [
544
+ 5453
545
+ ],
546
+ "q01": [
547
+ [
548
+ [
549
+ 0.0982164769549011
550
+ ]
551
+ ],
552
+ [
553
+ [
554
+ 0.11217780182104425
555
+ ]
556
+ ],
557
+ [
558
+ [
559
+ 0.09439121301455353
560
+ ]
561
+ ]
562
+ ],
563
+ "q10": [
564
+ [
565
+ [
566
+ 0.21452389367714403
567
+ ]
568
+ ],
569
+ [
570
+ [
571
+ 0.215930040064142
572
+ ]
573
+ ],
574
+ [
575
+ [
576
+ 0.20261933374367805
577
+ ]
578
+ ]
579
+ ],
580
+ "q50": [
581
+ [
582
+ [
583
+ 0.45750811173039035
584
+ ]
585
+ ],
586
+ [
587
+ [
588
+ 0.43668782893956565
589
+ ]
590
+ ],
591
+ [
592
+ [
593
+ 0.43160878344576226
594
+ ]
595
+ ]
596
+ ],
597
+ "q90": [
598
+ [
599
+ [
600
+ 0.8644488959833115
601
+ ]
602
+ ],
603
+ [
604
+ [
605
+ 0.7481755674967491
606
+ ]
607
+ ],
608
+ [
609
+ [
610
+ 0.7476533335189014
611
+ ]
612
+ ]
613
+ ],
614
+ "q99": [
615
+ [
616
+ [
617
+ 0.9979239194177655
618
+ ]
619
+ ],
620
+ [
621
+ [
622
+ 0.9997056595549829
623
+ ]
624
+ ],
625
+ [
626
+ [
627
+ 0.9911896780830158
628
+ ]
629
+ ]
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7cce6f44218491f082f52955145327b9ac5f62d97db49b43a39afb3aefc454d3
3
+ size 2203
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 sha256:7bd1e8540d681e83987e64e19dc4939aad89dd0da19bddbaf3f4dde5293024ad
3
+ size 195498258
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cae7dab82b3bcd1e9de1cf084b7b0d991bafabab0db15141c7faf800be649367
3
+ size 102819331