simheo commited on
Commit
133d587
·
verified ·
1 Parent(s): 71d1365

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 sha256:03603dc18264bdfde865246cb9bdc84a7db956e464337fc1402c49b4b7b932cc
3
+ size 95455
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6852c34f711ab2134ecf0431ba1b7a274f9edc33e5ab5796e0ee7fb29fadf03
3
+ size 44170
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": 894,
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
+ -36.934749603271484,
5
+ -10.619132995605469,
6
+ -0.5076999664306641,
7
+ -115.44444274902344,
8
+ -27.175905227661133,
9
+ -7.6309919357299805,
10
+ -33.56046676635742,
11
+ -12.414779663085938
12
+ ],
13
+ "max": [
14
+ 35.21096420288086,
15
+ 6.835145473480225,
16
+ 39.5428466796875,
17
+ -43.280540466308594,
18
+ 9.948895454406738,
19
+ 13.747758865356445,
20
+ -10.583115577697754,
21
+ 134.4781494140625
22
+ ],
23
+ "mean": [
24
+ 4.65714168548584,
25
+ -4.555529594421387,
26
+ 11.637236595153809,
27
+ -89.61189270019531,
28
+ -9.797130584716797,
29
+ 2.863551378250122,
30
+ -20.47882652282715,
31
+ 90.2921371459961
32
+ ],
33
+ "std": [
34
+ 23.51477813720703,
35
+ 4.513129234313965,
36
+ 10.629759788513184,
37
+ 19.104040145874023,
38
+ 10.009281158447266,
39
+ 5.915676593780518,
40
+ 5.231167316436768,
41
+ 60.78041458129883
42
+ ],
43
+ "count": [
44
+ 894
45
+ ],
46
+ "q01": [
47
+ -35.69470947265625,
48
+ -10.392436656951904,
49
+ 0.228749440908432,
50
+ -113.77110687255859,
51
+ -26.50068000793457,
52
+ -7.01981637954712,
53
+ -33.18391510009766,
54
+ -10.15439157485962
55
+ ],
56
+ "q10": [
57
+ -29.252674102783203,
58
+ -8.600952974955241,
59
+ 1.7968084573745728,
60
+ -110.06967315673828,
61
+ -23.519855117797853,
62
+ -5.667852592468262,
63
+ -28.839080810546875,
64
+ -4.106515884399414
65
+ ],
66
+ "q50": [
67
+ 7.074134826660156,
68
+ -6.643048286437988,
69
+ 6.6172919273376465,
70
+ -94.08392333984375,
71
+ -11.16026496887207,
72
+ 4.148698806762695,
73
+ -20.477161407470703,
74
+ 130.41084967719183
75
+ ],
76
+ "q90": [
77
+ 32.67913080851237,
78
+ 3.2137317657470703,
79
+ 28.26140785217285,
80
+ -62.279852294921874,
81
+ 4.295531845092774,
82
+ 9.877348518371582,
83
+ -14.036149978637695,
84
+ 131.6057586669922
85
+ ],
86
+ "q99": [
87
+ 34.71359046936035,
88
+ 6.255872344970703,
89
+ 38.49400329589844,
90
+ -45.7043798828125,
91
+ 8.360402145385741,
92
+ 12.520874061584472,
93
+ -11.56167308807373,
94
+ 133.61236236572265
95
+ ]
96
+ },
97
+ "observation.state": {
98
+ "min": [
99
+ -36.45707702636719,
100
+ -10.641451835632324,
101
+ -0.1310066133737564,
102
+ -114.78797912597656,
103
+ -27.14803123474121,
104
+ -7.425576686859131,
105
+ -33.49134826660156,
106
+ -4.658202648162842
107
+ ],
108
+ "max": [
109
+ 34.76136779785156,
110
+ 6.382733345031738,
111
+ 38.6217155456543,
112
+ -44.435150146484375,
113
+ 9.818289756774902,
114
+ 13.701868057250977,
115
+ -10.632905960083008,
116
+ 130.693359375
117
+ ],
118
+ "mean": [
119
+ 4.624819755554199,
120
+ -4.556227207183838,
121
+ 11.644686698913574,
122
+ -89.60542297363281,
123
+ -9.817160606384277,
124
+ 2.8852052688598633,
125
+ -20.477466583251953,
126
+ 89.83661651611328
127
+ ],
128
+ "std": [
129
+ 23.33542251586914,
130
+ 4.4365739822387695,
131
+ 10.54145336151123,
132
+ 18.846704483032227,
133
+ 10.004050254821777,
134
+ 5.884685039520264,
135
+ 5.207592487335205,
136
+ 58.6997184753418
137
+ ],
138
+ "count": [
139
+ 894
140
+ ],
141
+ "q01": [
142
+ -35.48936096191406,
143
+ -10.267124366760253,
144
+ 0.41881704449653623,
145
+ -113.73353302001954,
146
+ -26.438721771240235,
147
+ -6.8427127170562745,
148
+ -33.19661128997803,
149
+ -4.658202648162842
150
+ ],
151
+ "q10": [
152
+ -29.030416870117186,
153
+ -8.481423377990723,
154
+ 1.8128300428390502,
155
+ -109.85765380859375,
156
+ -23.52237434387207,
157
+ -5.673266220092773,
158
+ -28.94526138305664,
159
+ -3.9630370426177977
160
+ ],
161
+ "q50": [
162
+ 7.157100677490234,
163
+ -6.599910259246826,
164
+ 6.640385627746582,
165
+ -93.18965911865234,
166
+ -11.222940444946289,
167
+ 4.114234447479248,
168
+ -20.427748680114746,
169
+ 129.90549475097657
170
+ ],
171
+ "q90": [
172
+ 32.57068939208985,
173
+ 3.0752750396728517,
174
+ 28.558410263061525,
175
+ -62.40889053344726,
176
+ 4.262991333007813,
177
+ 9.791601181030273,
178
+ -14.159507369995117,
179
+ 130.01179502209501
180
+ ],
181
+ "q99": [
182
+ 34.24190147399902,
183
+ 5.7700665664672846,
184
+ 37.95563453674316,
185
+ -46.4886116027832,
186
+ 8.391833419799804,
187
+ 12.347726726531983,
188
+ -11.597257957458496,
189
+ 130.0941738455636
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
+ 0.984313725490196
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 1.0
224
+ ]
225
+ ]
226
+ ],
227
+ "mean": [
228
+ [
229
+ [
230
+ 0.3836886365231164
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.4028269615361482
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.40286111236416855
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
+ 0.03535774917698922
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 0.05894807219019758
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 0.05490147260911487
278
+ ]
279
+ ]
280
+ ],
281
+ "q10": [
282
+ [
283
+ [
284
+ 0.058833641926535896
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.06680967269977403
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.08221593470333027
295
+ ]
296
+ ]
297
+ ],
298
+ "q50": [
299
+ [
300
+ [
301
+ 0.4471819542525335
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.4626835694808824
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.44310803745481453
312
+ ]
313
+ ]
314
+ ],
315
+ "q90": [
316
+ [
317
+ [
318
+ 0.5921573585949702
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.6079167059768815
324
+ ]
325
+ ],
326
+ [
327
+ [
328
+ 0.6117299973241443
329
+ ]
330
+ ]
331
+ ],
332
+ "q99": [
333
+ [
334
+ [
335
+ 0.81565796553508
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 0.9293018011812519
341
+ ]
342
+ ],
343
+ [
344
+ [
345
+ 0.9725105925929631
346
+ ]
347
+ ]
348
+ ]
349
+ },
350
+ "timestamp": {
351
+ "min": [
352
+ 0.0
353
+ ],
354
+ "max": [
355
+ 59.53333333333333
356
+ ],
357
+ "mean": [
358
+ 29.76666666666667
359
+ ],
360
+ "std": [
361
+ 17.20502725841964
362
+ ],
363
+ "count": [
364
+ 894
365
+ ],
366
+ "q01": [
367
+ 0.5350855999017976
368
+ ],
369
+ "q10": [
370
+ 5.934282666586602
371
+ ],
372
+ "q50": [
373
+ 29.742853333333255
374
+ ],
375
+ "q90": [
376
+ 53.599050666746734
377
+ ],
378
+ "q99": [
379
+ 58.99824773343153
380
+ ]
381
+ },
382
+ "frame_index": {
383
+ "min": [
384
+ 0
385
+ ],
386
+ "max": [
387
+ 893
388
+ ],
389
+ "mean": [
390
+ 446.5
391
+ ],
392
+ "std": [
393
+ 258.0754088762947
394
+ ],
395
+ "count": [
396
+ 894
397
+ ],
398
+ "q01": [
399
+ 8.026283999901798
400
+ ],
401
+ "q10": [
402
+ 89.01423999991994
403
+ ],
404
+ "q50": [
405
+ 446.14279999999997
406
+ ],
407
+ "q90": [
408
+ 803.9857600000801
409
+ ],
410
+ "q99": [
411
+ 884.9737160000982
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
+ 894
429
+ ],
430
+ "q01": [
431
+ 3.9999999999994176e-16
432
+ ],
433
+ "q10": [
434
+ 3.999999999999417e-15
435
+ ],
436
+ "q50": [
437
+ 1.9999999999997088e-14
438
+ ],
439
+ "q90": [
440
+ 3.599999999999476e-14
441
+ ],
442
+ "q99": [
443
+ 3.9599999999994235e-14
444
+ ]
445
+ },
446
+ "index": {
447
+ "min": [
448
+ 0
449
+ ],
450
+ "max": [
451
+ 893
452
+ ],
453
+ "mean": [
454
+ 446.5
455
+ ],
456
+ "std": [
457
+ 258.0754088762947
458
+ ],
459
+ "count": [
460
+ 894
461
+ ],
462
+ "q01": [
463
+ 8.026283999901798
464
+ ],
465
+ "q10": [
466
+ 89.01423999991994
467
+ ],
468
+ "q50": [
469
+ 446.14279999999997
470
+ ],
471
+ "q90": [
472
+ 803.9857600000801
473
+ ],
474
+ "q99": [
475
+ 884.9737160000982
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
+ 894
493
+ ],
494
+ "q01": [
495
+ 3.9999999999994176e-16
496
+ ],
497
+ "q10": [
498
+ 3.999999999999417e-15
499
+ ],
500
+ "q50": [
501
+ 1.9999999999997088e-14
502
+ ],
503
+ "q90": [
504
+ 3.599999999999476e-14
505
+ ],
506
+ "q99": [
507
+ 3.9599999999994235e-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:d2dd352040b955673feb99e7befcceea8c07514e135db70a90d2a53636fb241e
3
+ size 10577981