aryankakad commited on
Commit
9432300
·
verified ·
1 Parent(s): 419c270

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 sha256:2cdeb08222520a32458cc404a3bbd655376b6581c08c0e2adbdaca092e086ff5
3
+ size 13896
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c29b0c25cefec7f242245e98fb3e5411e574f019ed4327e8469a471ff26f288d
3
+ size 52635
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 30,
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
+ "is_depth_map": false,
47
+ "video.height": 480,
48
+ "video.width": 640,
49
+ "video.codec": "av1",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.fps": 30,
52
+ "video.channels": 3,
53
+ "has_audio": false,
54
+ "video.g": 2,
55
+ "video.crf": 30,
56
+ "video.preset": 12,
57
+ "video.fast_decode": 0,
58
+ "video.video_backend": "pyav",
59
+ "video.extra_options": {}
60
+ }
61
+ },
62
+ "observation.images.gripper": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 480,
66
+ 640,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channels"
73
+ ],
74
+ "info": {
75
+ "is_depth_map": false,
76
+ "video.height": 480,
77
+ "video.width": 640,
78
+ "video.codec": "av1",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.fps": 30,
81
+ "video.channels": 3,
82
+ "has_audio": false,
83
+ "video.g": 2,
84
+ "video.crf": 30,
85
+ "video.preset": 12,
86
+ "video.fast_decode": 0,
87
+ "video.video_backend": "pyav",
88
+ "video.extra_options": {}
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
+ "total_episodes": 1,
128
+ "total_frames": 143,
129
+ "total_tasks": 1,
130
+ "chunks_size": 1000,
131
+ "data_files_size_in_mb": 100,
132
+ "video_files_size_in_mb": 200,
133
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
134
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
135
+ "robot_type": "so_follower",
136
+ "splits": {
137
+ "train": "0:1"
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -35.13648223876953,
5
+ -77.67806243896484,
6
+ -45.31915283203125,
7
+ 25.359025955200195,
8
+ -107.04215240478516,
9
+ 1.9774638414382935
10
+ ],
11
+ "max": [
12
+ 8.243906021118164,
13
+ 59.52824401855469,
14
+ 79.17864990234375,
15
+ 57.11027908325195,
16
+ -68.92036437988281,
17
+ 30.67598533630371
18
+ ],
19
+ "mean": [
20
+ -17.719263076782227,
21
+ 19.46012306213379,
22
+ -11.341802597045898,
23
+ 44.19717788696289,
24
+ -93.0466079711914,
25
+ 21.099910736083984
26
+ ],
27
+ "std": [
28
+ 14.550944328308105,
29
+ 34.34424591064453,
30
+ 32.2537727355957,
31
+ 9.354737281799316,
32
+ 9.79207706451416,
33
+ 9.75849723815918
34
+ ],
35
+ "count": [
36
+ 143
37
+ ],
38
+ "q01": [
39
+ -34.95922920227051,
40
+ -75.6081674194336,
41
+ -44.23776393890381,
42
+ 25.4316090965271,
43
+ -106.73389762878418,
44
+ 1.9914112854003907
45
+ ],
46
+ "q10": [
47
+ -33.43336791992188,
48
+ -39.718567276000975,
49
+ -36.14864311218262,
50
+ 29.666400337219237,
51
+ -104.80592575073243,
52
+ 2.2891297817230223
53
+ ],
54
+ "q50": [
55
+ -25.440966606140137,
56
+ 28.697978973388672,
57
+ -22.946897506713867,
58
+ 48.0262451171875,
59
+ -93.81007766723633,
60
+ 24.76696014404297
61
+ ],
62
+ "q90": [
63
+ 4.893637657165527,
64
+ 50.574154663085935,
65
+ 46.702154541015624,
66
+ 54.39046669006348,
67
+ -79.08591995239257,
68
+ 30.459885597229004
69
+ ],
70
+ "q99": [
71
+ 8.049300193786621,
72
+ 59.24202514648437,
73
+ 77.25067832946777,
74
+ 57.075796585083005,
75
+ -69.48784309387207,
76
+ 30.66203905105591
77
+ ]
78
+ },
79
+ "observation.state": {
80
+ "min": [
81
+ -34.68132019042969,
82
+ -89.4065933227539,
83
+ -40.0,
84
+ 26.593406677246094,
85
+ -106.85713958740234,
86
+ 5.76407527923584
87
+ ],
88
+ "max": [
89
+ 7.780219554901123,
90
+ 59.78022003173828,
91
+ 96.26373291015625,
92
+ 59.64834976196289,
93
+ -73.62637329101562,
94
+ 30.294906616210938
95
+ ],
96
+ "mean": [
97
+ -18.260814666748047,
98
+ 17.374629974365234,
99
+ -4.80135440826416,
100
+ 45.16867446899414,
101
+ -93.94633483886719,
102
+ 21.635210037231445
103
+ ],
104
+ "std": [
105
+ 14.108335494995117,
106
+ 39.373531341552734,
107
+ 36.8843994140625,
108
+ 9.68451976776123,
109
+ 8.784975051879883,
110
+ 7.6455979347229
111
+ ],
112
+ "count": [
113
+ 143
114
+ ],
115
+ "q01": [
116
+ -34.68132019042969,
117
+ -89.4065933227539,
118
+ -39.476337585449215,
119
+ 26.682192573547365,
120
+ -106.85713958740234,
121
+ 5.76407527923584
122
+ ],
123
+ "q10": [
124
+ -32.75101928710937,
125
+ -53.29443244934082,
126
+ -33.58742828369141,
127
+ 29.933938598632814,
128
+ -104.66191635131835,
129
+ 10.990323521874167
130
+ ],
131
+ "q50": [
132
+ -25.72052001953125,
133
+ 30.412797927856445,
134
+ -21.1002197265625,
135
+ 49.36495780944824,
136
+ -93.76089477539062,
137
+ 24.462698936462402
138
+ ],
139
+ "q90": [
140
+ 5.668606185913086,
141
+ 52.938507080078125,
142
+ 61.453799438476565,
143
+ 55.957434844970706,
144
+ -81.97776336669922,
145
+ 29.89449086870466
146
+ ],
147
+ "q99": [
148
+ 7.77414573431015,
149
+ 59.53510986328125,
150
+ 96.2507426961263,
151
+ 59.645198580423994,
152
+ -73.71563362121582,
153
+ 30.293903672354563
154
+ ]
155
+ },
156
+ "observation.images.front": {
157
+ "min": [
158
+ [
159
+ [
160
+ 0.0
161
+ ]
162
+ ],
163
+ [
164
+ [
165
+ 0.0
166
+ ]
167
+ ],
168
+ [
169
+ [
170
+ 0.0
171
+ ]
172
+ ]
173
+ ],
174
+ "max": [
175
+ [
176
+ [
177
+ 1.0
178
+ ]
179
+ ],
180
+ [
181
+ [
182
+ 1.0
183
+ ]
184
+ ],
185
+ [
186
+ [
187
+ 1.0
188
+ ]
189
+ ]
190
+ ],
191
+ "mean": [
192
+ [
193
+ [
194
+ 0.4728429615497589
195
+ ]
196
+ ],
197
+ [
198
+ [
199
+ 0.47636154294013977
200
+ ]
201
+ ],
202
+ [
203
+ [
204
+ 0.48918208479881287
205
+ ]
206
+ ]
207
+ ],
208
+ "std": [
209
+ [
210
+ [
211
+ 0.25461429357528687
212
+ ]
213
+ ],
214
+ [
215
+ [
216
+ 0.2579021155834198
217
+ ]
218
+ ],
219
+ [
220
+ [
221
+ 0.26917609572410583
222
+ ]
223
+ ]
224
+ ],
225
+ "count": [
226
+ 100
227
+ ],
228
+ "q01": [
229
+ [
230
+ [
231
+ -3.921568744649079e-13
232
+ ]
233
+ ],
234
+ [
235
+ [
236
+ -3.921568744649079e-13
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ -3.921568744649079e-13
242
+ ]
243
+ ]
244
+ ],
245
+ "q10": [
246
+ [
247
+ [
248
+ 0.01168383880774506
249
+ ]
250
+ ],
251
+ [
252
+ [
253
+ 0.015702256231893513
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.015612706379828681
259
+ ]
260
+ ]
261
+ ],
262
+ "q50": [
263
+ [
264
+ [
265
+ 0.5724806582528168
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.5765928112026216
271
+ ]
272
+ ],
273
+ [
274
+ [
275
+ 0.6000011593037351
276
+ ]
277
+ ]
278
+ ],
279
+ "q90": [
280
+ [
281
+ [
282
+ 0.7059396646900689
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.7136485025806236
288
+ ]
289
+ ],
290
+ [
291
+ [
292
+ 0.7332584558512061
293
+ ]
294
+ ]
295
+ ],
296
+ "q99": [
297
+ [
298
+ [
299
+ 0.7333048239221431
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.7410035601679797
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.764667239326908
310
+ ]
311
+ ]
312
+ ]
313
+ },
314
+ "observation.images.gripper": {
315
+ "min": [
316
+ [
317
+ [
318
+ 0.0
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.0
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.0
329
+ ]
330
+ ]
331
+ ],
332
+ "max": [
333
+ [
334
+ [
335
+ 1.0
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 1.0
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 1.0
346
+ ]
347
+ ]
348
+ ],
349
+ "mean": [
350
+ [
351
+ [
352
+ 0.5915939807891846
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.5781881213188171
358
+ ]
359
+ ],
360
+ [
361
+ [
362
+ 0.582619309425354
363
+ ]
364
+ ]
365
+ ],
366
+ "std": [
367
+ [
368
+ [
369
+ 0.22244223952293396
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.22874410450458527
375
+ ]
376
+ ],
377
+ [
378
+ [
379
+ 0.23755039274692535
380
+ ]
381
+ ]
382
+ ],
383
+ "count": [
384
+ 100
385
+ ],
386
+ "q01": [
387
+ [
388
+ [
389
+ 0.03524030583298624
390
+ ]
391
+ ],
392
+ [
393
+ [
394
+ 0.015684649020820753
395
+ ]
396
+ ],
397
+ [
398
+ [
399
+ -3.921568679809537e-13
400
+ ]
401
+ ]
402
+ ],
403
+ "q10": [
404
+ [
405
+ [
406
+ 0.13327161822296288
407
+ ]
408
+ ],
409
+ [
410
+ [
411
+ 0.12152840796588794
412
+ ]
413
+ ],
414
+ [
415
+ [
416
+ 0.11367697732817708
417
+ ]
418
+ ]
419
+ ],
420
+ "q50": [
421
+ [
422
+ [
423
+ 0.6588669851943065
424
+ ]
425
+ ],
426
+ [
427
+ [
428
+ 0.6508144610296105
429
+ ]
430
+ ],
431
+ [
432
+ [
433
+ 0.6548726724824706
434
+ ]
435
+ ]
436
+ ],
437
+ "q90": [
438
+ [
439
+ [
440
+ 0.8001026419558375
441
+ ]
442
+ ],
443
+ [
444
+ [
445
+ 0.7921380042266369
446
+ ]
447
+ ],
448
+ [
449
+ [
450
+ 0.8079550553601632
451
+ ]
452
+ ]
453
+ ],
454
+ "q99": [
455
+ [
456
+ [
457
+ 0.8666774075579996
458
+ ]
459
+ ],
460
+ [
461
+ [
462
+ 0.86260139364318
463
+ ]
464
+ ],
465
+ [
466
+ [
467
+ 0.8785883955263887
468
+ ]
469
+ ]
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 4.733333333333333
478
+ ],
479
+ "mean": [
480
+ 2.3666666666666667
481
+ ],
482
+ "std": [
483
+ 1.3759844960366867
484
+ ],
485
+ "count": [
486
+ 143
487
+ ],
488
+ "q01": [
489
+ 0.033540399901417196
490
+ ],
491
+ "q10": [
492
+ 0.466043999919692
493
+ ],
494
+ "q50": [
495
+ 2.36714000000002
496
+ ],
497
+ "q90": [
498
+ 4.267289333413641
499
+ ],
500
+ "q99": [
501
+ 4.699792933431916
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0.0
507
+ ],
508
+ "max": [
509
+ 142.0
510
+ ],
511
+ "mean": [
512
+ 71.0
513
+ ],
514
+ "std": [
515
+ 41.27953488110059
516
+ ],
517
+ "count": [
518
+ 143
519
+ ],
520
+ "q01": [
521
+ 1.006211999901417
522
+ ],
523
+ "q10": [
524
+ 13.981319999919688
525
+ ],
526
+ "q50": [
527
+ 71.0142
528
+ ],
529
+ "q90": [
530
+ 128.0186800000803
531
+ ],
532
+ "q99": [
533
+ 140.99378800009856
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0.0
539
+ ],
540
+ "max": [
541
+ 0.0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 143
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 142.0
574
+ ],
575
+ "mean": [
576
+ 71.0
577
+ ],
578
+ "std": [
579
+ 41.27953488110059
580
+ ],
581
+ "count": [
582
+ 143
583
+ ],
584
+ "q01": [
585
+ 1.006211999901417
586
+ ],
587
+ "q10": [
588
+ 13.981319999919688
589
+ ],
590
+ "q50": [
591
+ 71.0142
592
+ ],
593
+ "q90": [
594
+ 128.0186800000803
595
+ ],
596
+ "q99": [
597
+ 140.99378800009856
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 0.0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 143
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cce762492cd355c66b4a73963858217078332f33c50858c4af357d981a518ac0
3
+ size 2055
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:b60d65a30ba47194396cd9f54837e67a8ce670387ad604b6e160ef107bee389a
3
+ size 931802
videos/observation.images.gripper/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c00ecda2fc29c2915a976a0f19a504e85f35a592ff486148e9e12d28a691d3f6
3
+ size 423488