FeelAuthors commited on
Commit
c4658f6
·
verified ·
1 Parent(s): a6f41ab

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. 20260121/Half_coke_2_lerobot/meta/episodes.jsonl +7 -0
  2. 20260121/Half_coke_2_lerobot/meta/info.json +239 -0
  3. 20260121/Half_coke_2_lerobot/meta/modality.json +59 -0
  4. 20260121/Half_coke_2_lerobot/meta/stats.json +84 -0
  5. 20260121/Half_coke_2_lerobot/meta/tasks.jsonl +1 -0
  6. 20260121/Half_water_1_lerobot/meta/episodes.jsonl +8 -0
  7. 20260121/Half_water_1_lerobot/meta/info.json +233 -0
  8. 20260121/Half_water_1_lerobot/meta/modality.json +59 -0
  9. 20260121/Half_water_1_lerobot/meta/stats.json +84 -0
  10. 20260121/Half_water_1_lerobot/meta/tasks.jsonl +1 -0
  11. 20260121/Jelly_5_lerobot/meta/episodes.jsonl +33 -0
  12. 20260121/Jelly_5_lerobot/meta/info.json +233 -0
  13. 20260121/Jelly_5_lerobot/meta/modality.json +59 -0
  14. 20260121/Jelly_5_lerobot/meta/stats.json +84 -0
  15. 20260121/Jelly_5_lerobot/meta/tasks.jsonl +1 -0
  16. 20260121/Jelly_6_lerobot/meta/info.json +222 -0
  17. 20260121/Jelly_6_lerobot/meta/modality.json +59 -0
  18. 20260121/Jelly_6_lerobot/meta/stats.json +84 -0
  19. 20260121/Jelly_6_lerobot/meta/tasks.jsonl +1 -0
  20. 20260506/Chip_2_lerobot/data/chunk-000/episode_000000.parquet +3 -0
  21. 20260506/Chip_2_lerobot/data/chunk-000/episode_000001.parquet +3 -0
  22. 20260506/Chip_2_lerobot/data/chunk-000/episode_000002.parquet +3 -0
  23. 20260506/Chip_2_lerobot/data/chunk-000/episode_000003.parquet +3 -0
  24. 20260506/Chip_2_lerobot/data/chunk-000/episode_000004.parquet +3 -0
  25. 20260506/Chip_2_lerobot/data/chunk-000/episode_000005.parquet +3 -0
  26. 20260506/Chip_2_lerobot/data/chunk-000/episode_000006.parquet +3 -0
  27. 20260506/Chip_2_lerobot/data/chunk-000/episode_000007.parquet +3 -0
  28. 20260506/Chip_2_lerobot/data/chunk-000/episode_000008.parquet +3 -0
  29. 20260506/Chip_2_lerobot/data/chunk-000/episode_000009.parquet +3 -0
  30. 20260506/Chip_2_lerobot/data/chunk-000/episode_000010.parquet +3 -0
  31. 20260506/Chip_2_lerobot/data/chunk-000/episode_000011.parquet +3 -0
  32. 20260506/Chip_2_lerobot/data/chunk-000/episode_000012.parquet +3 -0
  33. 20260506/Chip_2_lerobot/data/chunk-000/episode_000013.parquet +3 -0
  34. 20260506/Chip_2_lerobot/data/chunk-000/episode_000014.parquet +3 -0
  35. 20260506/Chip_2_lerobot/data/chunk-000/episode_000015.parquet +3 -0
  36. 20260506/Chip_2_lerobot/data/chunk-000/episode_000016.parquet +3 -0
  37. 20260506/Chip_2_lerobot/data/chunk-000/episode_000017.parquet +3 -0
  38. 20260506/Chip_2_lerobot/data/chunk-000/episode_000018.parquet +3 -0
  39. 20260506/Chip_2_lerobot/data/chunk-000/episode_000019.parquet +3 -0
  40. 20260506/Chip_2_lerobot/data/chunk-000/episode_000020.parquet +3 -0
  41. 20260506/Chip_2_lerobot/meta/episodes/chunk-000/file-000.parquet +3 -0
  42. 20260506/Chip_2_lerobot/meta/tasks.parquet +3 -0
  43. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
  44. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000001.mp4 +3 -0
  45. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000002.mp4 +3 -0
  46. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000003.mp4 +3 -0
  47. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000004.mp4 +3 -0
  48. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000005.mp4 +3 -0
  49. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000006.mp4 +3 -0
  50. 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000007.mp4 +3 -0
20260121/Half_coke_2_lerobot/meta/episodes.jsonl ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["pick up half cup of coke"], "length": 89}
2
+ {"episode_index": 1, "tasks": ["pick up half cup of coke"], "length": 85}
3
+ {"episode_index": 2, "tasks": ["pick up half cup of coke"], "length": 74}
4
+ {"episode_index": 3, "tasks": ["pick up half cup of coke"], "length": 110}
5
+ {"episode_index": 4, "tasks": ["pick up half cup of coke"], "length": 112}
6
+ {"episode_index": 5, "tasks": ["pick up half cup of coke"], "length": 94}
7
+ {"episode_index": 6, "tasks": ["pick up half cup of coke"], "length": 101}
20260121/Half_coke_2_lerobot/meta/info.json ADDED
@@ -0,0 +1,239 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "total_episodes": 7,
4
+ "total_frames": 665,
5
+ "total_tasks": 1,
6
+ "total_videos": 1,
7
+ "total_chunks": 1,
8
+ "chunks_size": 1000,
9
+ "fps": 9.99999293469887,
10
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
11
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
12
+ "features": {
13
+ "index": {
14
+ "dtype": "int64",
15
+ "shape": [
16
+ 1
17
+ ],
18
+ "names": null
19
+ },
20
+ "episode_index": {
21
+ "dtype": "int64",
22
+ "shape": [
23
+ 1
24
+ ],
25
+ "names": null
26
+ },
27
+ "episode_chunk": {
28
+ "dtype": "int64",
29
+ "shape": [
30
+ 1
31
+ ],
32
+ "names": null
33
+ },
34
+ "frame_index": {
35
+ "dtype": "int64",
36
+ "shape": [
37
+ 1
38
+ ],
39
+ "names": null
40
+ },
41
+ "task_index": {
42
+ "dtype": "int64",
43
+ "shape": [
44
+ 1
45
+ ],
46
+ "names": null
47
+ },
48
+ "timestamp": {
49
+ "dtype": "float64",
50
+ "shape": [
51
+ 1
52
+ ],
53
+ "names": null
54
+ },
55
+ "timestamp_ns": {
56
+ "dtype": "int64",
57
+ "shape": [
58
+ 1
59
+ ],
60
+ "names": null
61
+ },
62
+ "episode_id": {
63
+ "dtype": "int32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "step": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "observation.state": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 7
80
+ ],
81
+ "names": null
82
+ },
83
+ "action": {
84
+ "dtype": "float32",
85
+ "shape": [
86
+ 2
87
+ ],
88
+ "names": null
89
+ },
90
+ "status.hands.valid_right": {
91
+ "dtype": "bool",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ },
97
+ "action.tactile.left.force_total": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 1
101
+ ],
102
+ "names": null
103
+ },
104
+ "action.tactile.right.force_total": {
105
+ "dtype": "float32",
106
+ "shape": [
107
+ 1
108
+ ],
109
+ "names": null
110
+ },
111
+ "observation.images.main": {
112
+ "dtype": "video",
113
+ "shape": [
114
+ 1408,
115
+ 1408,
116
+ 3
117
+ ],
118
+ "names": [
119
+ "height",
120
+ "width",
121
+ "channels"
122
+ ],
123
+ "info": {
124
+ "video.height": 1408,
125
+ "video.width": 1408,
126
+ "video.codec": "libx264",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "video.fps": 9.99999293469887,
130
+ "video.channels": 3,
131
+ "has_audio": false
132
+ }
133
+ }
134
+ },
135
+ "robot_type": "aria",
136
+ "splits": {
137
+ "train": "0:7"
138
+ },
139
+ "aria_session_info": {
140
+ "capabilities": {
141
+ "has_vrs": true,
142
+ "has_trajectory": true,
143
+ "has_gaze": true,
144
+ "has_hands": true,
145
+ "has_points": true,
146
+ "has_observations": true,
147
+ "has_online_calibration": false,
148
+ "available_cameras": [
149
+ "camera-et-left",
150
+ "camera-et-right",
151
+ "camera-rgb",
152
+ "camera-slam-left",
153
+ "camera-slam-right"
154
+ ],
155
+ "available_streams": [
156
+ "211-1",
157
+ "214-1",
158
+ "231-1",
159
+ "247-1",
160
+ "281-1",
161
+ "282-1",
162
+ "283-1",
163
+ "1201-1",
164
+ "1201-2",
165
+ "1202-1",
166
+ "1202-2",
167
+ "1203-1"
168
+ ],
169
+ "trajectory_source": "closed_loop"
170
+ },
171
+ "mps_directory": "/mnt/zyl/data/IROS_data/20260121/mps_Half_coke_2_vrs",
172
+ "trajectory_count": 225200,
173
+ "trajectory_time_range_ns": [
174
+ 7952221652000,
175
+ 8177420652000
176
+ ],
177
+ "gaze_stats": {
178
+ "count": 2261,
179
+ "source": "general_eye_gaze.csv",
180
+ "valid_yaw_pitch": 2261,
181
+ "has_depth": 2261,
182
+ "has_convergence": 0,
183
+ "time_range_ns": [
184
+ 7951421663000,
185
+ 8177421663000
186
+ ],
187
+ "depth_stats": {
188
+ "mean": 0.2177902866393978,
189
+ "std": 0.030276053953103708,
190
+ "min": 0.1331022407484871,
191
+ "max": 0.3826590451755562
192
+ }
193
+ },
194
+ "hand_stats": {
195
+ "count": 2250,
196
+ "left_valid": 376,
197
+ "right_valid": 2144,
198
+ "both_valid": 370,
199
+ "time_range_ns": [
200
+ 7952521652000,
201
+ 8177421574000
202
+ ],
203
+ "left_confidence": {
204
+ "mean": 0.9997765664893616,
205
+ "std": 0.001046064715587038,
206
+ "min": 0.980022,
207
+ "max": 0.99995
208
+ },
209
+ "right_confidence": {
210
+ "mean": 0.9997240457089553,
211
+ "std": 0.0004103520362075071,
212
+ "min": 0.986682,
213
+ "max": 0.999956
214
+ }
215
+ },
216
+ "point_count": 0,
217
+ "calibration_info": {
218
+ "cameras": [
219
+ "camera-et-left",
220
+ "camera-et-right",
221
+ "camera-rgb",
222
+ "camera-slam-left",
223
+ "camera-slam-right"
224
+ ],
225
+ "imus": [
226
+ "imu-left",
227
+ "imu-right"
228
+ ],
229
+ "et_cameras": [],
230
+ "has_online_calibration": false,
231
+ "online_calibration_count": 0,
232
+ "online_time_range_ns": null
233
+ }
234
+ },
235
+ "conversion_time": 1772421745.5034368,
236
+ "video_shards": 7,
237
+ "parquet_shards": 7,
238
+ "path_format": "groot"
239
+ }
20260121/Half_coke_2_lerobot/meta/modality.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "hand_landmarks": {
4
+ "original_key": "observation.state",
5
+ "start": 0,
6
+ "end": 63,
7
+ "description": "Hand landmarks in world coordinates (21 joints * 3 coords). May contain NaN when hands not detected."
8
+ },
9
+ "gaze": {
10
+ "original_key": "observation.state",
11
+ "start": 63,
12
+ "end": 65,
13
+ "description": "Eye gaze projection in normalized UV coordinates [0-1] on RGB camera image plane"
14
+ },
15
+ "device_pose": {
16
+ "original_key": "observation.state",
17
+ "start": 65,
18
+ "end": 79,
19
+ "description": "Device pose: 4x4 transformation matrix (world_T_device) flattened, last 14 elements [rotation(9) + translation(3) + bottom_row(2)]"
20
+ }
21
+ },
22
+ "action": {
23
+ "ring_tip_force_xyz": {
24
+ "original_key": "action",
25
+ "start": 0,
26
+ "end": 3,
27
+ "description": "Ring finger tip tactile force vector (fx, fy, fz) from sensor"
28
+ },
29
+ "ring_tip_force_magnitude": {
30
+ "original_key": "action",
31
+ "start": 3,
32
+ "end": 4,
33
+ "description": "Ring finger tip tactile force magnitude"
34
+ },
35
+ "little_tip_force_xyz": {
36
+ "original_key": "action",
37
+ "start": 4,
38
+ "end": 7,
39
+ "description": "Little finger tip tactile force vector (fx, fy, fz) from sensor"
40
+ },
41
+ "little_tip_force_magnitude": {
42
+ "original_key": "action",
43
+ "start": 7,
44
+ "end": 8,
45
+ "description": "Little finger tip tactile force magnitude"
46
+ }
47
+ },
48
+ "video": {
49
+ "main": {
50
+ "original_key": "observation.images.main"
51
+ }
52
+ },
53
+ "annotation": {
54
+ "human.task_description": {
55
+ "original_key": "task_index",
56
+ "description": "Task description annotation from tasks.parquet"
57
+ }
58
+ }
59
+ }
20260121/Half_coke_2_lerobot/meta/stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "mean": [
4
+ -0.14983497560024261,
5
+ -0.09822119027376175,
6
+ -0.24819758534431458,
7
+ -0.15556716918945312,
8
+ -0.0917864665389061,
9
+ -0.17937424778938293,
10
+ 0.07299169898033142
11
+ ],
12
+ "std": [
13
+ 0.09367348253726959,
14
+ 0.10221678018569946,
15
+ 0.026999082416296005,
16
+ 0.09928582608699799,
17
+ 0.09446053951978683,
18
+ 0.022717220708727837,
19
+ 0.007539952639490366
20
+ ],
21
+ "min": [
22
+ -0.32933005690574646,
23
+ -0.25721096992492676,
24
+ -0.29585593938827515,
25
+ -0.3659174144268036,
26
+ -0.243829146027565,
27
+ -0.21345758438110352,
28
+ 0.06213061138987541
29
+ ],
30
+ "max": [
31
+ 0.008791962638497353,
32
+ 0.22813555598258972,
33
+ -0.16929282248020172,
34
+ -0.0026414429303258657,
35
+ 0.2344803810119629,
36
+ -0.10428544878959656,
37
+ 0.09188036620616913
38
+ ],
39
+ "q01": [
40
+ -0.3258941173553467,
41
+ -0.2545616030693054,
42
+ -0.29161059856414795,
43
+ -0.3594488799571991,
44
+ -0.23929785192012787,
45
+ -0.20834895968437195,
46
+ 0.06250768154859543
47
+ ],
48
+ "q99": [
49
+ 0.0075752753764390945,
50
+ 0.124449722468853,
51
+ -0.19588573276996613,
52
+ -0.0039121429435908794,
53
+ 0.1440776139497757,
54
+ -0.13100549578666687,
55
+ 0.09144053608179092
56
+ ]
57
+ },
58
+ "action": {
59
+ "mean": [
60
+ 4.7274088859558105,
61
+ 10.030163764953613
62
+ ],
63
+ "std": [
64
+ 3.535518169403076,
65
+ 6.224477291107178
66
+ ],
67
+ "min": [
68
+ 0.0,
69
+ 0.0
70
+ ],
71
+ "max": [
72
+ 12.409673690795898,
73
+ 19.646883010864258
74
+ ],
75
+ "q01": [
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "q99": [
80
+ 11.045360565185547,
81
+ 19.51922035217285
82
+ ]
83
+ }
84
+ }
20260121/Half_coke_2_lerobot/meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick up half cup of coke"}
20260121/Half_water_1_lerobot/meta/episodes.jsonl ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["pick up half cup of water"], "length": 97}
2
+ {"episode_index": 1, "tasks": ["pick up half cup of water"], "length": 80}
3
+ {"episode_index": 2, "tasks": ["pick up half cup of water"], "length": 76}
4
+ {"episode_index": 3, "tasks": ["pick up half cup of water"], "length": 61}
5
+ {"episode_index": 4, "tasks": ["pick up half cup of water"], "length": 59}
6
+ {"episode_index": 5, "tasks": ["pick up half cup of water"], "length": 66}
7
+ {"episode_index": 6, "tasks": ["pick up half cup of water"], "length": 54}
8
+ {"episode_index": 7, "tasks": ["pick up half cup of water"], "length": 71}
20260121/Half_water_1_lerobot/meta/info.json ADDED
@@ -0,0 +1,233 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "total_episodes": 8,
4
+ "total_frames": 564,
5
+ "total_tasks": 1,
6
+ "total_videos": 1,
7
+ "total_chunks": 1,
8
+ "chunks_size": 1000,
9
+ "fps": 9.99999956530614,
10
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
11
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
12
+ "features": {
13
+ "index": {
14
+ "dtype": "int64",
15
+ "shape": [
16
+ 1
17
+ ],
18
+ "names": null
19
+ },
20
+ "episode_index": {
21
+ "dtype": "int64",
22
+ "shape": [
23
+ 1
24
+ ],
25
+ "names": null
26
+ },
27
+ "episode_chunk": {
28
+ "dtype": "int64",
29
+ "shape": [
30
+ 1
31
+ ],
32
+ "names": null
33
+ },
34
+ "frame_index": {
35
+ "dtype": "int64",
36
+ "shape": [
37
+ 1
38
+ ],
39
+ "names": null
40
+ },
41
+ "task_index": {
42
+ "dtype": "int64",
43
+ "shape": [
44
+ 1
45
+ ],
46
+ "names": null
47
+ },
48
+ "timestamp": {
49
+ "dtype": "float64",
50
+ "shape": [
51
+ 1
52
+ ],
53
+ "names": null
54
+ },
55
+ "timestamp_ns": {
56
+ "dtype": "int64",
57
+ "shape": [
58
+ 1
59
+ ],
60
+ "names": null
61
+ },
62
+ "episode_id": {
63
+ "dtype": "int32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "step": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "observation.state": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 7
80
+ ],
81
+ "names": null
82
+ },
83
+ "action": {
84
+ "dtype": "float32",
85
+ "shape": [
86
+ 2
87
+ ],
88
+ "names": null
89
+ },
90
+ "status.hands.valid_right": {
91
+ "dtype": "bool",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ },
97
+ "action.tactile.left.force_total": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 1
101
+ ],
102
+ "names": null
103
+ },
104
+ "action.tactile.right.force_total": {
105
+ "dtype": "float32",
106
+ "shape": [
107
+ 1
108
+ ],
109
+ "names": null
110
+ },
111
+ "observation.images.main": {
112
+ "dtype": "video",
113
+ "shape": [
114
+ 1408,
115
+ 1408,
116
+ 3
117
+ ],
118
+ "names": [
119
+ "height",
120
+ "width",
121
+ "channels"
122
+ ],
123
+ "info": {
124
+ "video.height": 1408,
125
+ "video.width": 1408,
126
+ "video.codec": "libx264",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "video.fps": 9.99999956530614,
130
+ "video.channels": 3,
131
+ "has_audio": false
132
+ }
133
+ }
134
+ },
135
+ "robot_type": "aria",
136
+ "splits": {
137
+ "train": "0:8"
138
+ },
139
+ "aria_session_info": {
140
+ "capabilities": {
141
+ "has_vrs": true,
142
+ "has_trajectory": false,
143
+ "has_gaze": true,
144
+ "has_hands": true,
145
+ "has_points": false,
146
+ "has_observations": false,
147
+ "has_online_calibration": false,
148
+ "available_cameras": [
149
+ "camera-et-left",
150
+ "camera-et-right",
151
+ "camera-rgb",
152
+ "camera-slam-left",
153
+ "camera-slam-right"
154
+ ],
155
+ "available_streams": [
156
+ "211-1",
157
+ "214-1",
158
+ "231-1",
159
+ "247-1",
160
+ "281-1",
161
+ "282-1",
162
+ "283-1",
163
+ "1201-1",
164
+ "1201-2",
165
+ "1202-1",
166
+ "1202-2",
167
+ "1203-1"
168
+ ],
169
+ "trajectory_source": null
170
+ },
171
+ "mps_directory": "/mnt/zyl/data/IROS_data/20260121/mps_Half_water_1_vrs",
172
+ "gaze_stats": {
173
+ "count": 1448,
174
+ "source": "general_eye_gaze.csv",
175
+ "valid_yaw_pitch": 1448,
176
+ "has_depth": 1448,
177
+ "has_convergence": 0,
178
+ "time_range_ns": [
179
+ 2343456964000,
180
+ 2488156964000
181
+ ],
182
+ "depth_stats": {
183
+ "mean": 0.46679675015335936,
184
+ "std": 0.05030818281454047,
185
+ "min": 0.3199748310637683,
186
+ "max": 0.6900663798157284
187
+ }
188
+ },
189
+ "hand_stats": {
190
+ "count": 1440,
191
+ "left_valid": 161,
192
+ "right_valid": 1330,
193
+ "both_valid": 161,
194
+ "time_range_ns": [
195
+ 2344256952000,
196
+ 2488156873000
197
+ ],
198
+ "left_confidence": {
199
+ "mean": 0.9959272546583852,
200
+ "std": 0.016838161353528103,
201
+ "min": 0.834328,
202
+ "max": 0.999955
203
+ },
204
+ "right_confidence": {
205
+ "mean": 0.9996282360902254,
206
+ "std": 0.0008844184707927877,
207
+ "min": 0.9839,
208
+ "max": 0.999941
209
+ }
210
+ },
211
+ "calibration_info": {
212
+ "cameras": [
213
+ "camera-et-left",
214
+ "camera-et-right",
215
+ "camera-rgb",
216
+ "camera-slam-left",
217
+ "camera-slam-right"
218
+ ],
219
+ "imus": [
220
+ "imu-left",
221
+ "imu-right"
222
+ ],
223
+ "et_cameras": [],
224
+ "has_online_calibration": false,
225
+ "online_calibration_count": 0,
226
+ "online_time_range_ns": null
227
+ }
228
+ },
229
+ "conversion_time": 1772422251.9343731,
230
+ "video_shards": 8,
231
+ "parquet_shards": 8,
232
+ "path_format": "groot"
233
+ }
20260121/Half_water_1_lerobot/meta/modality.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "hand_landmarks": {
4
+ "original_key": "observation.state",
5
+ "start": 0,
6
+ "end": 63,
7
+ "description": "Hand landmarks in world coordinates (21 joints * 3 coords). May contain NaN when hands not detected."
8
+ },
9
+ "gaze": {
10
+ "original_key": "observation.state",
11
+ "start": 63,
12
+ "end": 65,
13
+ "description": "Eye gaze projection in normalized UV coordinates [0-1] on RGB camera image plane"
14
+ },
15
+ "device_pose": {
16
+ "original_key": "observation.state",
17
+ "start": 65,
18
+ "end": 79,
19
+ "description": "Device pose: 4x4 transformation matrix (world_T_device) flattened, last 14 elements [rotation(9) + translation(3) + bottom_row(2)]"
20
+ }
21
+ },
22
+ "action": {
23
+ "ring_tip_force_xyz": {
24
+ "original_key": "action",
25
+ "start": 0,
26
+ "end": 3,
27
+ "description": "Ring finger tip tactile force vector (fx, fy, fz) from sensor"
28
+ },
29
+ "ring_tip_force_magnitude": {
30
+ "original_key": "action",
31
+ "start": 3,
32
+ "end": 4,
33
+ "description": "Ring finger tip tactile force magnitude"
34
+ },
35
+ "little_tip_force_xyz": {
36
+ "original_key": "action",
37
+ "start": 4,
38
+ "end": 7,
39
+ "description": "Little finger tip tactile force vector (fx, fy, fz) from sensor"
40
+ },
41
+ "little_tip_force_magnitude": {
42
+ "original_key": "action",
43
+ "start": 7,
44
+ "end": 8,
45
+ "description": "Little finger tip tactile force magnitude"
46
+ }
47
+ },
48
+ "video": {
49
+ "main": {
50
+ "original_key": "observation.images.main"
51
+ }
52
+ },
53
+ "annotation": {
54
+ "human.task_description": {
55
+ "original_key": "task_index",
56
+ "description": "Task description annotation from tasks.parquet"
57
+ }
58
+ }
59
+ }
20260121/Half_water_1_lerobot/meta/stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "mean": [
4
+ NaN,
5
+ NaN,
6
+ NaN,
7
+ NaN,
8
+ NaN,
9
+ NaN,
10
+ NaN
11
+ ],
12
+ "std": [
13
+ NaN,
14
+ NaN,
15
+ NaN,
16
+ NaN,
17
+ NaN,
18
+ NaN,
19
+ NaN
20
+ ],
21
+ "min": [
22
+ NaN,
23
+ NaN,
24
+ NaN,
25
+ NaN,
26
+ NaN,
27
+ NaN,
28
+ NaN
29
+ ],
30
+ "max": [
31
+ NaN,
32
+ NaN,
33
+ NaN,
34
+ NaN,
35
+ NaN,
36
+ NaN,
37
+ NaN
38
+ ],
39
+ "q01": [
40
+ NaN,
41
+ NaN,
42
+ NaN,
43
+ NaN,
44
+ NaN,
45
+ NaN,
46
+ NaN
47
+ ],
48
+ "q99": [
49
+ NaN,
50
+ NaN,
51
+ NaN,
52
+ NaN,
53
+ NaN,
54
+ NaN,
55
+ NaN
56
+ ]
57
+ },
58
+ "action": {
59
+ "mean": [
60
+ 7.407862663269043,
61
+ 10.79461669921875
62
+ ],
63
+ "std": [
64
+ 5.377622604370117,
65
+ 6.503617286682129
66
+ ],
67
+ "min": [
68
+ 0.0,
69
+ 0.0
70
+ ],
71
+ "max": [
72
+ 27.53179931640625,
73
+ 22.045408248901367
74
+ ],
75
+ "q01": [
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "q99": [
80
+ 19.996158599853516,
81
+ 20.688159942626953
82
+ ]
83
+ }
84
+ }
20260121/Half_water_1_lerobot/meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick up half cup of water"}
20260121/Jelly_5_lerobot/meta/episodes.jsonl ADDED
@@ -0,0 +1,33 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["pick up the jelly"], "length": 109}
2
+ {"episode_index": 1, "tasks": ["pick up the jelly"], "length": 91}
3
+ {"episode_index": 2, "tasks": ["pick up the jelly"], "length": 123}
4
+ {"episode_index": 3, "tasks": ["pick up the jelly"], "length": 95}
5
+ {"episode_index": 4, "tasks": ["pick up the jelly"], "length": 105}
6
+ {"episode_index": 5, "tasks": ["pick up the jelly"], "length": 108}
7
+ {"episode_index": 6, "tasks": ["pick up the jelly"], "length": 119}
8
+ {"episode_index": 7, "tasks": ["pick up the jelly"], "length": 94}
9
+ {"episode_index": 8, "tasks": ["pick up the jelly"], "length": 125}
10
+ {"episode_index": 9, "tasks": ["pick up the jelly"], "length": 75}
11
+ {"episode_index": 10, "tasks": ["pick up the jelly"], "length": 103}
12
+ {"episode_index": 11, "tasks": ["pick up the jelly"], "length": 92}
13
+ {"episode_index": 12, "tasks": ["pick up the jelly"], "length": 87}
14
+ {"episode_index": 13, "tasks": ["pick up the jelly"], "length": 91}
15
+ {"episode_index": 14, "tasks": ["pick up the jelly"], "length": 91}
16
+ {"episode_index": 15, "tasks": ["pick up the jelly"], "length": 93}
17
+ {"episode_index": 16, "tasks": ["pick up the jelly"], "length": 89}
18
+ {"episode_index": 17, "tasks": ["pick up the jelly"], "length": 83}
19
+ {"episode_index": 18, "tasks": ["pick up the jelly"], "length": 87}
20
+ {"episode_index": 19, "tasks": ["pick up the jelly"], "length": 120}
21
+ {"episode_index": 20, "tasks": ["pick up the jelly"], "length": 98}
22
+ {"episode_index": 21, "tasks": ["pick up the jelly"], "length": 85}
23
+ {"episode_index": 22, "tasks": ["pick up the jelly"], "length": 114}
24
+ {"episode_index": 23, "tasks": ["pick up the jelly"], "length": 111}
25
+ {"episode_index": 24, "tasks": ["pick up the jelly"], "length": 77}
26
+ {"episode_index": 25, "tasks": ["pick up the jelly"], "length": 113}
27
+ {"episode_index": 26, "tasks": ["pick up the jelly"], "length": 97}
28
+ {"episode_index": 27, "tasks": ["pick up the jelly"], "length": 88}
29
+ {"episode_index": 28, "tasks": ["pick up the jelly"], "length": 89}
30
+ {"episode_index": 29, "tasks": ["pick up the jelly"], "length": 79}
31
+ {"episode_index": 30, "tasks": ["pick up the jelly"], "length": 77}
32
+ {"episode_index": 31, "tasks": ["pick up the jelly"], "length": 95}
33
+ {"episode_index": 32, "tasks": ["pick up the jelly"], "length": 94}
20260121/Jelly_5_lerobot/meta/info.json ADDED
@@ -0,0 +1,233 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "total_episodes": 33,
4
+ "total_frames": 3197,
5
+ "total_tasks": 1,
6
+ "total_videos": 1,
7
+ "total_chunks": 1,
8
+ "chunks_size": 1000,
9
+ "fps": 10.000010026540664,
10
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
11
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
12
+ "features": {
13
+ "index": {
14
+ "dtype": "int64",
15
+ "shape": [
16
+ 1
17
+ ],
18
+ "names": null
19
+ },
20
+ "episode_index": {
21
+ "dtype": "int64",
22
+ "shape": [
23
+ 1
24
+ ],
25
+ "names": null
26
+ },
27
+ "episode_chunk": {
28
+ "dtype": "int64",
29
+ "shape": [
30
+ 1
31
+ ],
32
+ "names": null
33
+ },
34
+ "frame_index": {
35
+ "dtype": "int64",
36
+ "shape": [
37
+ 1
38
+ ],
39
+ "names": null
40
+ },
41
+ "task_index": {
42
+ "dtype": "int64",
43
+ "shape": [
44
+ 1
45
+ ],
46
+ "names": null
47
+ },
48
+ "timestamp": {
49
+ "dtype": "float64",
50
+ "shape": [
51
+ 1
52
+ ],
53
+ "names": null
54
+ },
55
+ "timestamp_ns": {
56
+ "dtype": "int64",
57
+ "shape": [
58
+ 1
59
+ ],
60
+ "names": null
61
+ },
62
+ "episode_id": {
63
+ "dtype": "int32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "step": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "observation.state": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 7
80
+ ],
81
+ "names": null
82
+ },
83
+ "action": {
84
+ "dtype": "float32",
85
+ "shape": [
86
+ 2
87
+ ],
88
+ "names": null
89
+ },
90
+ "status.hands.valid_right": {
91
+ "dtype": "bool",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ },
97
+ "action.tactile.left.force_total": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 1
101
+ ],
102
+ "names": null
103
+ },
104
+ "action.tactile.right.force_total": {
105
+ "dtype": "float32",
106
+ "shape": [
107
+ 1
108
+ ],
109
+ "names": null
110
+ },
111
+ "observation.images.main": {
112
+ "dtype": "video",
113
+ "shape": [
114
+ 1408,
115
+ 1408,
116
+ 3
117
+ ],
118
+ "names": [
119
+ "height",
120
+ "width",
121
+ "channels"
122
+ ],
123
+ "info": {
124
+ "video.height": 1408,
125
+ "video.width": 1408,
126
+ "video.codec": "libx264",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "video.fps": 10.000010026540664,
130
+ "video.channels": 3,
131
+ "has_audio": false
132
+ }
133
+ }
134
+ },
135
+ "robot_type": "aria",
136
+ "splits": {
137
+ "train": "0:33"
138
+ },
139
+ "aria_session_info": {
140
+ "capabilities": {
141
+ "has_vrs": true,
142
+ "has_trajectory": false,
143
+ "has_gaze": true,
144
+ "has_hands": true,
145
+ "has_points": false,
146
+ "has_observations": false,
147
+ "has_online_calibration": false,
148
+ "available_cameras": [
149
+ "camera-et-left",
150
+ "camera-et-right",
151
+ "camera-rgb",
152
+ "camera-slam-left",
153
+ "camera-slam-right"
154
+ ],
155
+ "available_streams": [
156
+ "211-1",
157
+ "214-1",
158
+ "231-1",
159
+ "247-1",
160
+ "281-1",
161
+ "282-1",
162
+ "283-1",
163
+ "1201-1",
164
+ "1201-2",
165
+ "1202-1",
166
+ "1202-2",
167
+ "1203-1"
168
+ ],
169
+ "trajectory_source": null
170
+ },
171
+ "mps_directory": "/mnt/zyl/data/IROS_data/20260121/mps_Jelly_5_vrs",
172
+ "gaze_stats": {
173
+ "count": 6965,
174
+ "source": "general_eye_gaze.csv",
175
+ "valid_yaw_pitch": 6965,
176
+ "has_depth": 6965,
177
+ "has_convergence": 0,
178
+ "time_range_ns": [
179
+ 650417136000,
180
+ 1346817136000
181
+ ],
182
+ "depth_stats": {
183
+ "mean": 0.24838204287742985,
184
+ "std": 0.03550808193467854,
185
+ "min": 0.1624540741155007,
186
+ "max": 0.4105738492769098
187
+ }
188
+ },
189
+ "hand_stats": {
190
+ "count": 6955,
191
+ "left_valid": 474,
192
+ "right_valid": 6193,
193
+ "both_valid": 396,
194
+ "time_range_ns": [
195
+ 651417125000,
196
+ 1346817125000
197
+ ],
198
+ "left_confidence": {
199
+ "mean": 0.9968180316455697,
200
+ "std": 0.01752754801947346,
201
+ "min": 0.676565,
202
+ "max": 0.999954
203
+ },
204
+ "right_confidence": {
205
+ "mean": 0.999392872436622,
206
+ "std": 0.008475593699455348,
207
+ "min": 0.531966,
208
+ "max": 0.999921
209
+ }
210
+ },
211
+ "calibration_info": {
212
+ "cameras": [
213
+ "camera-et-left",
214
+ "camera-et-right",
215
+ "camera-rgb",
216
+ "camera-slam-left",
217
+ "camera-slam-right"
218
+ ],
219
+ "imus": [
220
+ "imu-left",
221
+ "imu-right"
222
+ ],
223
+ "et_cameras": [],
224
+ "has_online_calibration": false,
225
+ "online_calibration_count": 0,
226
+ "online_time_range_ns": null
227
+ }
228
+ },
229
+ "conversion_time": 1776941771.5329745,
230
+ "video_shards": 33,
231
+ "parquet_shards": 33,
232
+ "path_format": "groot"
233
+ }
20260121/Jelly_5_lerobot/meta/modality.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "hand_landmarks": {
4
+ "original_key": "observation.state",
5
+ "start": 0,
6
+ "end": 63,
7
+ "description": "Hand landmarks in world coordinates (21 joints * 3 coords). May contain NaN when hands not detected."
8
+ },
9
+ "gaze": {
10
+ "original_key": "observation.state",
11
+ "start": 63,
12
+ "end": 65,
13
+ "description": "Eye gaze projection in normalized UV coordinates [0-1] on RGB camera image plane"
14
+ },
15
+ "device_pose": {
16
+ "original_key": "observation.state",
17
+ "start": 65,
18
+ "end": 79,
19
+ "description": "Device pose: 4x4 transformation matrix (world_T_device) flattened, last 14 elements [rotation(9) + translation(3) + bottom_row(2)]"
20
+ }
21
+ },
22
+ "action": {
23
+ "ring_tip_force_xyz": {
24
+ "original_key": "action",
25
+ "start": 0,
26
+ "end": 3,
27
+ "description": "Ring finger tip tactile force vector (fx, fy, fz) from sensor"
28
+ },
29
+ "ring_tip_force_magnitude": {
30
+ "original_key": "action",
31
+ "start": 3,
32
+ "end": 4,
33
+ "description": "Ring finger tip tactile force magnitude"
34
+ },
35
+ "little_tip_force_xyz": {
36
+ "original_key": "action",
37
+ "start": 4,
38
+ "end": 7,
39
+ "description": "Little finger tip tactile force vector (fx, fy, fz) from sensor"
40
+ },
41
+ "little_tip_force_magnitude": {
42
+ "original_key": "action",
43
+ "start": 7,
44
+ "end": 8,
45
+ "description": "Little finger tip tactile force magnitude"
46
+ }
47
+ },
48
+ "video": {
49
+ "main": {
50
+ "original_key": "observation.images.main"
51
+ }
52
+ },
53
+ "annotation": {
54
+ "human.task_description": {
55
+ "original_key": "task_index",
56
+ "description": "Task description annotation from tasks.parquet"
57
+ }
58
+ }
59
+ }
20260121/Jelly_5_lerobot/meta/stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "mean": [
4
+ NaN,
5
+ NaN,
6
+ NaN,
7
+ NaN,
8
+ NaN,
9
+ NaN,
10
+ NaN
11
+ ],
12
+ "std": [
13
+ NaN,
14
+ NaN,
15
+ NaN,
16
+ NaN,
17
+ NaN,
18
+ NaN,
19
+ NaN
20
+ ],
21
+ "min": [
22
+ NaN,
23
+ NaN,
24
+ NaN,
25
+ NaN,
26
+ NaN,
27
+ NaN,
28
+ NaN
29
+ ],
30
+ "max": [
31
+ NaN,
32
+ NaN,
33
+ NaN,
34
+ NaN,
35
+ NaN,
36
+ NaN,
37
+ NaN
38
+ ],
39
+ "q01": [
40
+ NaN,
41
+ NaN,
42
+ NaN,
43
+ NaN,
44
+ NaN,
45
+ NaN,
46
+ NaN
47
+ ],
48
+ "q99": [
49
+ NaN,
50
+ NaN,
51
+ NaN,
52
+ NaN,
53
+ NaN,
54
+ NaN,
55
+ NaN
56
+ ]
57
+ },
58
+ "action": {
59
+ "mean": [
60
+ 10.862671852111816,
61
+ 14.244694709777832
62
+ ],
63
+ "std": [
64
+ 8.20230484008789,
65
+ 10.323014259338379
66
+ ],
67
+ "min": [
68
+ 0.0,
69
+ 0.0
70
+ ],
71
+ "max": [
72
+ 37.549964904785156,
73
+ 83.4385986328125
74
+ ],
75
+ "q01": [
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "q99": [
80
+ 30.90695571899414,
81
+ 37.77876281738281
82
+ ]
83
+ }
84
+ }
20260121/Jelly_5_lerobot/meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick up the jelly"}
20260121/Jelly_6_lerobot/meta/info.json ADDED
@@ -0,0 +1,222 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "total_episodes": 23,
4
+ "total_frames": 2022,
5
+ "total_tasks": 1,
6
+ "total_videos": 1,
7
+ "total_chunks": 1,
8
+ "chunks_size": 1000,
9
+ "fps": 10.000040994045603,
10
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
11
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
12
+ "features": {
13
+ "index": {
14
+ "dtype": "int64",
15
+ "shape": [
16
+ 1
17
+ ],
18
+ "names": null
19
+ },
20
+ "episode_index": {
21
+ "dtype": "int64",
22
+ "shape": [
23
+ 1
24
+ ],
25
+ "names": null
26
+ },
27
+ "episode_chunk": {
28
+ "dtype": "int64",
29
+ "shape": [
30
+ 1
31
+ ],
32
+ "names": null
33
+ },
34
+ "frame_index": {
35
+ "dtype": "int64",
36
+ "shape": [
37
+ 1
38
+ ],
39
+ "names": null
40
+ },
41
+ "task_index": {
42
+ "dtype": "int64",
43
+ "shape": [
44
+ 1
45
+ ],
46
+ "names": null
47
+ },
48
+ "timestamp": {
49
+ "dtype": "float64",
50
+ "shape": [
51
+ 1
52
+ ],
53
+ "names": null
54
+ },
55
+ "timestamp_ns": {
56
+ "dtype": "int64",
57
+ "shape": [
58
+ 1
59
+ ],
60
+ "names": null
61
+ },
62
+ "episode_id": {
63
+ "dtype": "int32",
64
+ "shape": [
65
+ 1
66
+ ],
67
+ "names": null
68
+ },
69
+ "step": {
70
+ "dtype": "int64",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": null
75
+ },
76
+ "observation.state": {
77
+ "dtype": "float32",
78
+ "shape": [
79
+ 7
80
+ ],
81
+ "names": null
82
+ },
83
+ "action": {
84
+ "dtype": "float32",
85
+ "shape": [
86
+ 2
87
+ ],
88
+ "names": null
89
+ },
90
+ "status.hands.valid_right": {
91
+ "dtype": "bool",
92
+ "shape": [
93
+ 1
94
+ ],
95
+ "names": null
96
+ },
97
+ "action.tactile.left.force_total": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 1
101
+ ],
102
+ "names": null
103
+ },
104
+ "action.tactile.right.force_total": {
105
+ "dtype": "float32",
106
+ "shape": [
107
+ 1
108
+ ],
109
+ "names": null
110
+ },
111
+ "observation.images.main": {
112
+ "dtype": "video",
113
+ "shape": [
114
+ 1408,
115
+ 1408,
116
+ 3
117
+ ],
118
+ "names": [
119
+ "height",
120
+ "width",
121
+ "channels"
122
+ ],
123
+ "info": {
124
+ "video.height": 1408,
125
+ "video.width": 1408,
126
+ "video.codec": "libx264",
127
+ "video.pix_fmt": "yuv420p",
128
+ "video.is_depth_map": false,
129
+ "video.fps": 10.000040994045603,
130
+ "video.channels": 3,
131
+ "has_audio": false
132
+ }
133
+ }
134
+ },
135
+ "robot_type": "aria",
136
+ "splits": {
137
+ "train": "0:23"
138
+ },
139
+ "aria_session_info": {
140
+ "capabilities": {
141
+ "has_vrs": true,
142
+ "has_trajectory": true,
143
+ "has_gaze": false,
144
+ "has_hands": true,
145
+ "has_points": true,
146
+ "has_observations": true,
147
+ "has_online_calibration": false,
148
+ "available_cameras": [
149
+ "camera-et-left",
150
+ "camera-et-right",
151
+ "camera-rgb",
152
+ "camera-slam-left",
153
+ "camera-slam-right"
154
+ ],
155
+ "available_streams": [
156
+ "211-1",
157
+ "214-1",
158
+ "231-1",
159
+ "247-1",
160
+ "281-1",
161
+ "282-1",
162
+ "283-1",
163
+ "1201-1",
164
+ "1201-2",
165
+ "1202-1",
166
+ "1202-2",
167
+ "1203-1"
168
+ ],
169
+ "trajectory_source": "closed_loop"
170
+ },
171
+ "mps_directory": "/mnt/zyl/data/IROS_data/20260121/mps_Jelly_6_vrs",
172
+ "trajectory_count": 452500,
173
+ "trajectory_time_range_ns": [
174
+ 1488337756000,
175
+ 1940836756000
176
+ ],
177
+ "hand_stats": {
178
+ "count": 4526,
179
+ "left_valid": 1065,
180
+ "right_valid": 4061,
181
+ "both_valid": 949,
182
+ "time_range_ns": [
183
+ 1488337756000,
184
+ 1940837669000
185
+ ],
186
+ "left_confidence": {
187
+ "mean": 0.9993798976525821,
188
+ "std": 0.0007628538436083985,
189
+ "min": 0.982347,
190
+ "max": 0.999958
191
+ },
192
+ "right_confidence": {
193
+ "mean": 0.9995146340802759,
194
+ "std": 0.006831132703502738,
195
+ "min": 0.684253,
196
+ "max": 0.99995
197
+ }
198
+ },
199
+ "point_count": 0,
200
+ "calibration_info": {
201
+ "cameras": [
202
+ "camera-et-left",
203
+ "camera-et-right",
204
+ "camera-rgb",
205
+ "camera-slam-left",
206
+ "camera-slam-right"
207
+ ],
208
+ "imus": [
209
+ "imu-left",
210
+ "imu-right"
211
+ ],
212
+ "et_cameras": [],
213
+ "has_online_calibration": false,
214
+ "online_calibration_count": 0,
215
+ "online_time_range_ns": null
216
+ }
217
+ },
218
+ "conversion_time": 1776994990.6298888,
219
+ "video_shards": 23,
220
+ "parquet_shards": 23,
221
+ "path_format": "groot"
222
+ }
20260121/Jelly_6_lerobot/meta/modality.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "state": {
3
+ "hand_landmarks": {
4
+ "original_key": "observation.state",
5
+ "start": 0,
6
+ "end": 63,
7
+ "description": "Hand landmarks in world coordinates (21 joints * 3 coords). May contain NaN when hands not detected."
8
+ },
9
+ "gaze": {
10
+ "original_key": "observation.state",
11
+ "start": 63,
12
+ "end": 65,
13
+ "description": "Eye gaze projection in normalized UV coordinates [0-1] on RGB camera image plane"
14
+ },
15
+ "device_pose": {
16
+ "original_key": "observation.state",
17
+ "start": 65,
18
+ "end": 79,
19
+ "description": "Device pose: 4x4 transformation matrix (world_T_device) flattened, last 14 elements [rotation(9) + translation(3) + bottom_row(2)]"
20
+ }
21
+ },
22
+ "action": {
23
+ "ring_tip_force_xyz": {
24
+ "original_key": "action",
25
+ "start": 0,
26
+ "end": 3,
27
+ "description": "Ring finger tip tactile force vector (fx, fy, fz) from sensor"
28
+ },
29
+ "ring_tip_force_magnitude": {
30
+ "original_key": "action",
31
+ "start": 3,
32
+ "end": 4,
33
+ "description": "Ring finger tip tactile force magnitude"
34
+ },
35
+ "little_tip_force_xyz": {
36
+ "original_key": "action",
37
+ "start": 4,
38
+ "end": 7,
39
+ "description": "Little finger tip tactile force vector (fx, fy, fz) from sensor"
40
+ },
41
+ "little_tip_force_magnitude": {
42
+ "original_key": "action",
43
+ "start": 7,
44
+ "end": 8,
45
+ "description": "Little finger tip tactile force magnitude"
46
+ }
47
+ },
48
+ "video": {
49
+ "main": {
50
+ "original_key": "observation.images.main"
51
+ }
52
+ },
53
+ "annotation": {
54
+ "human.task_description": {
55
+ "original_key": "task_index",
56
+ "description": "Task description annotation from tasks.parquet"
57
+ }
58
+ }
59
+ }
20260121/Jelly_6_lerobot/meta/stats.json ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "mean": [
4
+ -0.21219632029533386,
5
+ -0.08279391378164291,
6
+ -0.19266377389431,
7
+ -0.16494643688201904,
8
+ -0.09257131814956665,
9
+ -0.15024146437644958,
10
+ 0.07064882665872574
11
+ ],
12
+ "std": [
13
+ 0.07732704281806946,
14
+ 0.10023380070924759,
15
+ 0.028218591585755348,
16
+ 0.07760807871818542,
17
+ 0.09317410737276077,
18
+ 0.027222054079174995,
19
+ 0.005337644834071398
20
+ ],
21
+ "min": [
22
+ -0.41096246242523193,
23
+ -0.2949962913990021,
24
+ -0.24005180597305298,
25
+ -0.38878652453422546,
26
+ -0.3175497055053711,
27
+ -0.1996397078037262,
28
+ 0.05819061025977135
29
+ ],
30
+ "max": [
31
+ -0.0013663354329764843,
32
+ 0.13556812703609467,
33
+ -0.0629342570900917,
34
+ 0.04705530032515526,
35
+ 0.11056124418973923,
36
+ -0.023109961301088333,
37
+ 0.09430769830942154
38
+ ],
39
+ "q01": [
40
+ -0.3866424858570099,
41
+ -0.28939664363861084,
42
+ -0.23598048090934753,
43
+ -0.3707611560821533,
44
+ -0.307406485080719,
45
+ -0.19295458495616913,
46
+ 0.05948546901345253
47
+ ],
48
+ "q99": [
49
+ -0.008024012669920921,
50
+ 0.10376185923814774,
51
+ -0.12890787422657013,
52
+ 0.038308024406433105,
53
+ 0.0892377644777298,
54
+ -0.08418461680412292,
55
+ 0.08532000333070755
56
+ ]
57
+ },
58
+ "action": {
59
+ "mean": [
60
+ 14.2477388381958,
61
+ 14.141329765319824
62
+ ],
63
+ "std": [
64
+ 10.193469047546387,
65
+ 10.353610038757324
66
+ ],
67
+ "min": [
68
+ 0.0,
69
+ 0.0
70
+ ],
71
+ "max": [
72
+ 61.74949264526367,
73
+ 53.76802062988281
74
+ ],
75
+ "q01": [
76
+ 0.0,
77
+ 0.0
78
+ ],
79
+ "q99": [
80
+ 45.25282287597656,
81
+ 44.83936309814453
82
+ ]
83
+ }
84
+ }
20260121/Jelly_6_lerobot/meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "pick up the jelly"}
20260506/Chip_2_lerobot/data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ceb826875ec5066632114a344157686d02722e096e64793e5c634d8ab3c57230
3
+ size 7157
20260506/Chip_2_lerobot/data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae7822c90d2aca4590fc6dc208a920281bc0180e8eb7f3da0f7ce25d59ff38d0
3
+ size 6780
20260506/Chip_2_lerobot/data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b13433846b799d6c58b8f6c80dac8effc060ee5e4061a07775fd80efbddd29a2
3
+ size 7014
20260506/Chip_2_lerobot/data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:07ea26695a6cc1b5f54e844381e01d094066f47f544841730671eb97d133528b
3
+ size 6903
20260506/Chip_2_lerobot/data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:daeab27d48b8d9f9a40befa06bc3fb9a13f03bd84adcf6a76115decd01cf5167
3
+ size 7416
20260506/Chip_2_lerobot/data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38d1d36726f317ae2b4bc718315211e863940df958b2d580a41ff779b15d1bfa
3
+ size 6944
20260506/Chip_2_lerobot/data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b9d56319328f25a460244f28d4e3b5669846b945d7405caf6948275fbec5ce4
3
+ size 7043
20260506/Chip_2_lerobot/data/chunk-000/episode_000007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:abf20b102ea2b52dc2875ab6813a64b3caf69ac10b14072f46e9dbd705b96d55
3
+ size 6733
20260506/Chip_2_lerobot/data/chunk-000/episode_000008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6876c682879929e6ed73d042d32266de19ba005981f4ca5a3bfa95f97ec66585
3
+ size 7020
20260506/Chip_2_lerobot/data/chunk-000/episode_000009.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0b56c02e632207aa73d70e4cd208fff07b899e3376634ff79f8b6572d838fc23
3
+ size 7195
20260506/Chip_2_lerobot/data/chunk-000/episode_000010.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:25d2fc59069237f492ef5b824246843243dce24604e298c0cf33d71e8df81e0c
3
+ size 7452
20260506/Chip_2_lerobot/data/chunk-000/episode_000011.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:23713659f455e643ba21d223e3a20d03b0d48555753a28720f473548e4efa988
3
+ size 7163
20260506/Chip_2_lerobot/data/chunk-000/episode_000012.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f9f21a80644754a77200fc3ada4f6f54933bc4519de1f341e6a855acd7f9868
3
+ size 6686
20260506/Chip_2_lerobot/data/chunk-000/episode_000013.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03707953844027cf60dd29def9e5c5b7dc7ef19fa0b073bd3941050bf7857dbd
3
+ size 8156
20260506/Chip_2_lerobot/data/chunk-000/episode_000014.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81c61abf2271f7a7269b02509012398d6973f3059608f986809c5364e4370597
3
+ size 7344
20260506/Chip_2_lerobot/data/chunk-000/episode_000015.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0680e8dadfd2d377c141f7aafc3d10a35c37b4dd67ccd63d149564c3c972b9b9
3
+ size 7140
20260506/Chip_2_lerobot/data/chunk-000/episode_000016.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b32026aeb05757d2c90ffedf7dc6a1d7826793fbe2e3f2a7dabc8cb85cc74621
3
+ size 7147
20260506/Chip_2_lerobot/data/chunk-000/episode_000017.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:86020bdd3eb6108e2a01b095af3b16c9e45f9239f62f40204f108e7aa6c2aa63
3
+ size 6666
20260506/Chip_2_lerobot/data/chunk-000/episode_000018.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5ac6b6a50547082c95e97e15f003e82004e101cab55e37658ea131ea5d5ebab1
3
+ size 7257
20260506/Chip_2_lerobot/data/chunk-000/episode_000019.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a9e328982b27878a53c89c0cb6c261505345140da570717f6262390b0a61877
3
+ size 6931
20260506/Chip_2_lerobot/data/chunk-000/episode_000020.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f7627ad54402de15200f63fc4deae4bd98d32afc5353be7c2c39034396c55100
3
+ size 7443
20260506/Chip_2_lerobot/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8f19278b5fc6e6c0e8fb6f869aa1ebc09be24ce9cdf4fc9155c58acde17f7cc5
3
+ size 9642
20260506/Chip_2_lerobot/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1edbda00efd2028f8fcca03443a8d7d36070884b2251e3a4261b136269dc8d02
3
+ size 2651
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d677a694d8b4ae1ec39bb5b07688fda4ecb4d818672636c268560253916cb3e
3
+ size 1481432
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d297218b8db111a49fb39dda2161e8cacd470691b5c5f7d421f5af3efae185d
3
+ size 1313998
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2be086ceb96571c021a3877158b4f0baf1a77d821247a92bd5e697cbc6ba1ad5
3
+ size 1323755
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2dc63fad8b8f730dd1b47e962d888a45230bbb2997499f64cd9110243c40690a
3
+ size 1409577
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c84dfdd2ddef0634ce2296ca40e64d54a90bd507ddddcb229e2e783bf28fb1cd
3
+ size 1557440
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2a6901e333718f7a4e930cda831c141130b89825aae1cb4fd3c9e3d4b3e760a
3
+ size 1316020
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:70a15601f04cda9bd98ff50e3b0cf93adb217c4b306023c8874e4cc781a4f557
3
+ size 1329149
20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba9f98995dc388f1885a057337219cb352bef6f6f7ecdd9a257e08a2286301d7
3
+ size 1166718