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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:de122004467fd55e9e9163fae20e3b89be7aa8e428ef0e2ff0f202c7e107182e
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size 338904
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["playing with folding"], "length": 4711}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-124.541015625, 14.677734375, -5.9765625, 20.830078125, -62.314453125, -2.4390242099761963, -72.333984375, 26.103515625, 1.494140625, 14.765625, -16.962890625, -4.597701072692871], "max": [50.80078125, 188.701171875, 163.564453125, 107.666015625, 5.537109375, 36.34146499633789, 120.322265625, 169.716796875, 147.12890625, 100.01953125, 81.298828125, 32.840721130371094], "mean": [-35.524173736572266, 101.20378875732422, 86.91954040527344, 80.17329406738281, -24.877981185913086, 8.545158386230469, 21.43853187561035, 106.3134994506836, 93.88841247558594, 83.53128051757812, 19.510841369628906, 3.52258563041687], "std": [31.367511749267578, 33.801231384277344, 34.06155014038086, 17.807409286499023, 10.399157524108887, 11.351384162902832, 25.915807723999023, 33.06505584716797, 29.061845779418945, 16.452903747558594, 14.354251861572266, 7.743494987487793], "count": [4711]}, "observation.state": {"min": [-123.662109375, 14.677734375, -4.39453125, 20.56640625, -62.578125, -0.7042253613471985, -71.3671875, 25.224609375, 3.251953125, 15.1171875, -17.666015625, -1.7291066646575928], "max": [50.625, 189.228515625, 163.916015625, 105.380859375, 6.50390625, 36.26760482788086, 120.05859375, 169.62890625, 147.568359375, 100.283203125, 81.03515625, 32.492794036865234], "mean": [-35.54973220825195, 100.19330596923828, 87.79679870605469, 80.0694351196289, -24.861902236938477, 8.788249969482422, 21.481111526489258, 105.37023162841797, 94.86511993408203, 83.64753723144531, 19.49431610107422, 4.425477504730225], "std": [31.29131507873535, 34.19751739501953, 34.083457946777344, 17.53680992126465, 10.390936851501465, 11.161694526672363, 25.830894470214844, 33.41645050048828, 29.080923080444336, 16.42523956298828, 14.363781929016113, 7.123401165008545], "count": [4711]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5303450261926954]], [[0.4444690078276029]], [[0.39931034424479883]]], "std": [[[0.291131335546284]], [[0.2596317545108281]], [[0.24958530286908726]]], "count": [568]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6270964904521081]], [[0.5532780783968517]], [[0.5159942127232348]]], "std": [[[0.26871998059599217]], [[0.2808697064100902]], [[0.27361261445991486]]], "count": [568]}, "timestamp": {"min": [0.0], "max": [392.5], "mean": [196.25], "std": [113.32904403647912], "count": [4711]}, "frame_index": {"min": [0], "max": [4710], "mean": [2355.0], "std": [1359.9485284377495], "count": [4711]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4711]}, "index": {"min": [0], "max": [4710], "mean": [2355.0], "std": [1359.9485284377495], "count": [4711]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4711]}}}
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meta/info.json
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{
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"codebase_version": "v2.1",
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"robot_type": "so100_bimanual",
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"total_episodes": 1,
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"total_frames": 4711,
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"total_tasks": 1,
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"total_videos": 2,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 12,
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"splits": {
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"train": "0:1"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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12
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],
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"names": [
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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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"left_wrist_flex",
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"left_wrist_roll",
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"left_gripper",
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"right_shoulder_pan",
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"right_shoulder_lift",
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"right_elbow_flex",
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"right_wrist_flex",
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"right_wrist_roll",
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"right_gripper"
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]
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},
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"observation.state": {
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"shape": [
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"names": [
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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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"left_wrist_flex",
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"left_wrist_roll",
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"left_gripper",
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"right_shoulder_pan",
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"right_shoulder_lift",
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"right_elbow_flex",
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"right_wrist_flex",
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"right_wrist_roll",
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"right_gripper"
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]
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},
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"observation.images.laptop": {
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"dtype": "video",
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"names": [
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"height",
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"width",
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"channels"
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"info": {
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"video.fps": 12.0,
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}
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"observation.images.phone": {
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"timestamp": {
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meta/tasks.jsonl
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{"task_index": 0, "task": "playing with folding"}
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videos/chunk-000/observation.images.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:95fa5741eb2d3f9373e23b5f746782b5b855af19bb9f77c99a84b3833fa3305b
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size 76914286
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videos/chunk-000/observation.images.phone/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:d4b9b79d18c4b31dbe0a4b3bd194e419cb40d6c91f38743f89c715ccdb5fdc8a
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size 75738877
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