simheo commited on
Commit
b5ef27b
·
verified ·
1 Parent(s): 32d4899

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 sha256:323d9efd6c54c2c3cfc56bcca2696c39e7a7ec4d8c07fcc902231c4ece613ddc
3
+ size 95255
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:80d15af6e57cd5d976b6a39cf545c5177b833a85d10c92aae51e00ebb68ec286
3
+ size 44181
meta/info.json ADDED
@@ -0,0 +1,108 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "reachy2",
4
+ "total_episodes": 1,
5
+ "total_frames": 893,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 500,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:1"
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
+ "r_shoulder_pitch.pos",
21
+ "r_shoulder_roll.pos",
22
+ "r_elbow_yaw.pos",
23
+ "r_elbow_pitch.pos",
24
+ "r_wrist_roll.pos",
25
+ "r_wrist_pitch.pos",
26
+ "r_wrist_yaw.pos",
27
+ "r_gripper.pos"
28
+ ],
29
+ "shape": [
30
+ 8
31
+ ]
32
+ },
33
+ "observation.state": {
34
+ "dtype": "float32",
35
+ "names": [
36
+ "r_shoulder_pitch.pos",
37
+ "r_shoulder_roll.pos",
38
+ "r_elbow_yaw.pos",
39
+ "r_elbow_pitch.pos",
40
+ "r_wrist_roll.pos",
41
+ "r_wrist_pitch.pos",
42
+ "r_wrist_yaw.pos",
43
+ "r_gripper.pos"
44
+ ],
45
+ "shape": [
46
+ 8
47
+ ]
48
+ },
49
+ "observation.images.torso_rgb": {
50
+ "dtype": "video",
51
+ "shape": [
52
+ 480,
53
+ 640,
54
+ 3
55
+ ],
56
+ "names": [
57
+ "height",
58
+ "width",
59
+ "channels"
60
+ ],
61
+ "info": {
62
+ "video.height": 480,
63
+ "video.width": 640,
64
+ "video.codec": "av1",
65
+ "video.pix_fmt": "yuv420p",
66
+ "video.is_depth_map": false,
67
+ "video.fps": 15,
68
+ "video.channels": 3,
69
+ "has_audio": false
70
+ }
71
+ },
72
+ "timestamp": {
73
+ "dtype": "float32",
74
+ "shape": [
75
+ 1
76
+ ],
77
+ "names": null
78
+ },
79
+ "frame_index": {
80
+ "dtype": "int64",
81
+ "shape": [
82
+ 1
83
+ ],
84
+ "names": null
85
+ },
86
+ "episode_index": {
87
+ "dtype": "int64",
88
+ "shape": [
89
+ 1
90
+ ],
91
+ "names": null
92
+ },
93
+ "index": {
94
+ "dtype": "int64",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "task_index": {
101
+ "dtype": "int64",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ }
107
+ }
108
+ }
meta/stats.json ADDED
@@ -0,0 +1,510 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -43.86857986450195,
5
+ -13.556747436523438,
6
+ -0.8790102005004883,
7
+ -110.65281677246094,
8
+ -23.100997924804688,
9
+ -5.30869197845459,
10
+ -33.993831634521484,
11
+ -14.833694458007812
12
+ ],
13
+ "max": [
14
+ 27.11318588256836,
15
+ 4.4392805099487305,
16
+ 32.48835754394531,
17
+ -1.9234771728515625,
18
+ 10.868162155151367,
19
+ 15.334022521972656,
20
+ -11.104578018188477,
21
+ 133.87167358398438
22
+ ],
23
+ "mean": [
24
+ -1.678015112876892,
25
+ -5.9559807777404785,
26
+ 10.33314323425293,
27
+ -83.69066619873047,
28
+ -8.412765502929688,
29
+ 6.023721218109131,
30
+ -21.675064086914062,
31
+ 93.2848129272461
32
+ ],
33
+ "std": [
34
+ 21.337114334106445,
35
+ 3.66438889503479,
36
+ 6.672760009765625,
37
+ 24.636775970458984,
38
+ 10.201781272888184,
39
+ 4.6411213874816895,
40
+ 5.666992664337158,
41
+ 59.83715057373047
42
+ ],
43
+ "count": [
44
+ 893
45
+ ],
46
+ "q01": [
47
+ -41.69753089904785,
48
+ -12.36206262588501,
49
+ 1.5162996363639831,
50
+ -109.30609512329102,
51
+ -22.0416361618042,
52
+ -4.508043794631958,
53
+ -32.2042121887207,
54
+ -9.006526012420654
55
+ ],
56
+ "q10": [
57
+ -28.02119083404541,
58
+ -9.67932300567627,
59
+ 3.627586269378662,
60
+ -105.03585815429688,
61
+ -19.797156715393065,
62
+ 0.5055353164672852,
63
+ -28.709617614746094,
64
+ -5.343318367004394
65
+ ],
66
+ "q50": [
67
+ -1.3576011657714844,
68
+ -6.692461967468262,
69
+ 8.307025909423828,
70
+ -90.87494659423828,
71
+ -10.950228691101074,
72
+ 5.022987365722656,
73
+ -23.41098403930664,
74
+ 130.77023077011108
75
+ ],
76
+ "q90": [
77
+ 22.821626281738283,
78
+ 0.4286859512329103,
79
+ 22.135796737670898,
80
+ -45.486976623535156,
81
+ 6.124031829833985,
82
+ 12.979515647888183,
83
+ -13.358253479003906,
84
+ 131.5850735982259
85
+ ],
86
+ "q99": [
87
+ 25.935880813598633,
88
+ 3.5937196540832517,
89
+ 29.158761711120604,
90
+ -6.619060516357424,
91
+ 10.56291835784912,
92
+ 14.698516941070556,
93
+ -11.681066513061523,
94
+ 132.83281600952148
95
+ ]
96
+ },
97
+ "observation.state": {
98
+ "min": [
99
+ -43.39775848388672,
100
+ -13.4874906539917,
101
+ -0.5132887363433838,
102
+ -113.59713745117188,
103
+ -22.986806869506836,
104
+ -5.418204307556152,
105
+ -33.949588775634766,
106
+ -4.74609375
107
+ ],
108
+ "max": [
109
+ 30.859193801879883,
110
+ 4.091309547424316,
111
+ 31.724637985229492,
112
+ -2.652750253677368,
113
+ 10.82595157623291,
114
+ 15.24755859375,
115
+ -11.191289901733398,
116
+ 130.4296875
117
+ ],
118
+ "mean": [
119
+ -1.6628276109695435,
120
+ -5.959662914276123,
121
+ 10.337641716003418,
122
+ -83.71623992919922,
123
+ -8.41915512084961,
124
+ 6.003755569458008,
125
+ -21.636157989501953,
126
+ 96.24230194091797
127
+ ],
128
+ "std": [
129
+ 21.247638702392578,
130
+ 3.59987473487854,
131
+ 6.581132888793945,
132
+ 24.396265029907227,
133
+ 10.210306167602539,
134
+ 4.665777683258057,
135
+ 5.670672416687012,
136
+ 53.123741149902344
137
+ ],
138
+ "count": [
139
+ 893
140
+ ],
141
+ "q01": [
142
+ -41.09683422088623,
143
+ -12.172842111587524,
144
+ 1.6526486682891846,
145
+ -109.95971343994141,
146
+ -22.547714519500733,
147
+ -4.848118667602539,
148
+ -32.07917598724365,
149
+ -4.642085810388838
150
+ ],
151
+ "q10": [
152
+ -27.739937210083006,
153
+ -9.647226238250733,
154
+ 3.7569470882415774,
155
+ -104.84806518554687,
156
+ -19.89530611038208,
157
+ 0.3983814239501954,
158
+ -28.7001594543457,
159
+ -3.60183070898056
160
+ ],
161
+ "q50": [
162
+ -1.5094127655029297,
163
+ -6.710863351821899,
164
+ 8.31667947769165,
165
+ -90.22115325927734,
166
+ -10.790544033050537,
167
+ 5.077937126159668,
168
+ -23.379496574401855,
169
+ 129.90909111209032
170
+ ],
171
+ "q90": [
172
+ 22.775580596923827,
173
+ 0.34597005844116224,
174
+ 21.9610595703125,
175
+ -45.7357852935791,
176
+ 6.13071346282959,
177
+ 12.890421676635743,
178
+ -13.304626083374023,
179
+ 129.9912718314438
180
+ ],
181
+ "q99": [
182
+ 27.102831192016602,
183
+ 3.353245754241943,
184
+ 28.501296367645264,
185
+ -7.754634399414064,
186
+ 10.569448890686035,
187
+ 14.685739879608153,
188
+ -11.696205101013184,
189
+ 129.99685818159796
190
+ ]
191
+ },
192
+ "observation.images.torso_rgb": {
193
+ "min": [
194
+ [
195
+ [
196
+ 0.0
197
+ ]
198
+ ],
199
+ [
200
+ [
201
+ 0.00784313725490196
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.0
207
+ ]
208
+ ]
209
+ ],
210
+ "max": [
211
+ [
212
+ [
213
+ 0.9411764705882353
214
+ ]
215
+ ],
216
+ [
217
+ [
218
+ 0.9803921568627451
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "mean": [
228
+ [
229
+ [
230
+ 0.390904267663098
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.41018288749548903
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.4125437154156141
241
+ ]
242
+ ]
243
+ ],
244
+ "std": [
245
+ [
246
+ [
247
+ 0.0
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.0
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.0
258
+ ]
259
+ ]
260
+ ],
261
+ "count": [
262
+ 163
263
+ ],
264
+ "q01": [
265
+ [
266
+ [
267
+ 0.035366022273682164
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.054898989055576906
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.058838223438698774
278
+ ]
279
+ ]
280
+ ],
281
+ "q10": [
282
+ [
283
+ [
284
+ 0.05885953665157837
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.06671543826517165
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.07443475844091749
295
+ ]
296
+ ]
297
+ ],
298
+ "q50": [
299
+ [
300
+ [
301
+ 0.43927364203720337
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.45488445377668363
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.4431132599775756
312
+ ]
313
+ ]
314
+ ],
315
+ "q90": [
316
+ [
317
+ [
318
+ 0.5685570271512627
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.5843198054240222
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.5842599123768458
329
+ ]
330
+ ]
331
+ ],
332
+ "q99": [
333
+ [
334
+ [
335
+ 0.78032177604371
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 0.9057744781120264
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 0.9687494953107739
346
+ ]
347
+ ]
348
+ ]
349
+ },
350
+ "timestamp": {
351
+ "min": [
352
+ 0.0
353
+ ],
354
+ "max": [
355
+ 59.46666666666667
356
+ ],
357
+ "mean": [
358
+ 29.733333333333327
359
+ ],
360
+ "std": [
361
+ 17.185782237393543
362
+ ],
363
+ "count": [
364
+ 893
365
+ ],
366
+ "q01": [
367
+ 0.5343674665684639
368
+ ],
369
+ "q10": [
370
+ 5.926447999919933
371
+ ],
372
+ "q50": [
373
+ 29.727386666666654
374
+ ],
375
+ "q90": [
376
+ 53.54021866674674
377
+ ],
378
+ "q99": [
379
+ 58.93229920009821
380
+ ]
381
+ },
382
+ "frame_index": {
383
+ "min": [
384
+ 0
385
+ ],
386
+ "max": [
387
+ 892
388
+ ],
389
+ "mean": [
390
+ 446.0
391
+ ],
392
+ "std": [
393
+ 257.78673356090303
394
+ ],
395
+ "count": [
396
+ 893
397
+ ],
398
+ "q01": [
399
+ 8.015511999901799
400
+ ],
401
+ "q10": [
402
+ 88.89671999991995
403
+ ],
404
+ "q50": [
405
+ 445.91080000000005
406
+ ],
407
+ "q90": [
408
+ 803.1032800000801
409
+ ],
410
+ "q99": [
411
+ 883.9844880000983
412
+ ]
413
+ },
414
+ "episode_index": {
415
+ "min": [
416
+ 0
417
+ ],
418
+ "max": [
419
+ 0
420
+ ],
421
+ "mean": [
422
+ 0.0
423
+ ],
424
+ "std": [
425
+ 0.0
426
+ ],
427
+ "count": [
428
+ 893
429
+ ],
430
+ "q01": [
431
+ 3.9999999999994176e-16
432
+ ],
433
+ "q10": [
434
+ 3.999999999999418e-15
435
+ ],
436
+ "q50": [
437
+ 1.9999999999997088e-14
438
+ ],
439
+ "q90": [
440
+ 3.599999999999476e-14
441
+ ],
442
+ "q99": [
443
+ 3.959999999999423e-14
444
+ ]
445
+ },
446
+ "index": {
447
+ "min": [
448
+ 0
449
+ ],
450
+ "max": [
451
+ 892
452
+ ],
453
+ "mean": [
454
+ 446.0
455
+ ],
456
+ "std": [
457
+ 257.78673356090303
458
+ ],
459
+ "count": [
460
+ 893
461
+ ],
462
+ "q01": [
463
+ 8.015511999901799
464
+ ],
465
+ "q10": [
466
+ 88.89671999991995
467
+ ],
468
+ "q50": [
469
+ 445.91080000000005
470
+ ],
471
+ "q90": [
472
+ 803.1032800000801
473
+ ],
474
+ "q99": [
475
+ 883.9844880000983
476
+ ]
477
+ },
478
+ "task_index": {
479
+ "min": [
480
+ 0
481
+ ],
482
+ "max": [
483
+ 0
484
+ ],
485
+ "mean": [
486
+ 0.0
487
+ ],
488
+ "std": [
489
+ 0.0
490
+ ],
491
+ "count": [
492
+ 893
493
+ ],
494
+ "q01": [
495
+ 3.9999999999994176e-16
496
+ ],
497
+ "q10": [
498
+ 3.999999999999418e-15
499
+ ],
500
+ "q50": [
501
+ 1.9999999999997088e-14
502
+ ],
503
+ "q90": [
504
+ 3.599999999999476e-14
505
+ ],
506
+ "q99": [
507
+ 3.959999999999423e-14
508
+ ]
509
+ }
510
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:795480cdbd6bd69c2e28879eadba94a85bd39676af09d457ee570967a1736063
3
+ size 2231
videos/observation.images.torso_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc31443ba6c6a8abebbe291fad35f1cda888e762159cb11ec005f987ff761da6
3
+ size 10370434