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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
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- videos/chunk-000/gripper_1_image_camera/episode_000000.mp4 +3 -0
- videos/chunk-000/gripper_1_image_camera/episode_000001.mp4 +3 -0
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- videos/chunk-000/gripper_2_image_camera/episode_000000.mp4 +3 -0
- videos/chunk-000/gripper_2_image_camera/episode_000001.mp4 +3 -0
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- videos/chunk-000/gripper_2_image_camera/episode_000009.mp4 +3 -0
- videos/chunk-000/gripper_2_image_camera/episode_000010.mp4 +3 -0
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| 3 |
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|
| 4 |
+
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|
| 5 |
+
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|
| 6 |
+
{"episode_index": 5, "stats": {"gripper_1_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2115414680784928]], [[0.21780945162069387]], [[0.24214756001184667]]], "std": [[[0.23913973372398734]], [[0.2267730519665422]], [[0.23114859587393388]]], "count": [329]}, "gripper_2_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0]], [[0.0]], [[0.0]]], "std": [[[0.0]], [[0.0]], [[0.0]]], "count": [329]}, "gripper_1_trigger": {"min": [0.0], "max": [0.3433345854282379], "mean": [0.2712171971797943], "std": [0.12568125128746033], "count": [2272]}, "gripper_2_trigger": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [2272]}, "gripper_1_load_cell": {"min": [-200304.0], "max": [53827.0], "mean": [16052.3447265625], "std": [75529.171875], "count": [2272]}, "gripper_2_load_cell": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [2272]}, "gripper_1_pose": {"min": [[-0.7220633029937744, 0.03996174782514572, 0.5661244988441467, -0.07755744457244873], [-0.8236456513404846, -0.8728860020637512, -0.40785789489746094, -0.49622276425361633], [0.3555726110935211, -0.7822999954223633, 0.3750258684158325, 1.1772361993789673], [0.0, 0.0, 0.0, 1.0]], "max": [[-0.3736867606639862, 0.5339478850364685, 0.8983442187309265, 0.23399586975574493], [-0.4878712296485901, -0.5578409433364868, 0.0942777469754219, -0.09595658630132675], [0.6075895428657532, -0.2619192898273468, 0.8014031052589417, 1.5154635906219482], [0.0, 0.0, 0.0, 1.0]], "mean": [[-0.5225948095321655, 0.35312721133232117, 0.7647413611412048, 0.0924607515335083], [-0.6810420155525208, -0.7091831564903259, -0.12793777883052826, -0.3063073754310608], [0.5032854080200195, -0.5909682512283325, 0.6140539050102234, 1.3472307920455933], [0.0, 0.0, 0.0, 1.0]], "std": [[0.06633999198675156, 0.09587071090936661, 0.06143162027001381, 0.07009758055210114], [0.058414921164512634, 0.05845113843679428, 0.10022285580635071, 0.07930994033813477], [0.04434590041637421, 0.1025133803486824, 0.08900813013315201, 0.06776809692382812], [0.0, 0.0, 0.0, 0.0]], "count": [2272]}, "gripper_2_pose": {"min": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "max": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mean": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "std": [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]], "count": [2272]}, "timestamp": {"min": [0.0], "max": [75.7], "mean": [37.85000000000001], "std": [21.8623280756851], "count": [2272]}, "frame_index": {"min": [0], "max": [2271], "mean": [1135.5], "std": [655.8698422705529], "count": [2272]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [2272]}, "index": {"min": [18903], "max": [21174], "mean": [20038.5], "std": [655.8698422705529], "count": [2272]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2272]}}}
|
| 7 |
+
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|
| 8 |
+
{"episode_index": 7, "stats": {"gripper_1_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9450980392156862]], [[1.0]]], "mean": [[[0.2330329764968202]], [[0.2288041773858516]], [[0.26364697937536885]]], "std": [[[0.25977883038062466]], [[0.23889304215611612]], [[0.2451894029458345]]], "count": [438]}, "gripper_2_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0]], [[0.0]], [[0.0]]], "std": [[[0.0]], [[0.0]], [[0.0]]], "count": [438]}, "gripper_1_trigger": {"min": [0.0], "max": [0.34440428018569946], "mean": [0.26302260160446167], "std": [0.13181892037391663], "count": [3327]}, "gripper_2_trigger": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [3327]}, "gripper_1_load_cell": {"min": [-192611.0], "max": [54804.0], "mean": [11209.611328125], "std": [78344.1171875], "count": [3327]}, "gripper_2_load_cell": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [3327]}, "gripper_1_pose": {"min": [[-0.9997167587280273, -0.07178453356027603, -0.12474940717220306, 0.05353578180074692], [-0.4132070541381836, -0.9913598299026489, -0.583927571773529, -0.2706453204154968], [-0.15530648827552795, -0.6148468852043152, 0.756829023361206, 1.2505303621292114], [0.0, 0.0, 0.0, 1.0]], "max": [[-0.8570152521133423, 0.29540306329727173, 0.5043895244598389, 0.3424350321292877], [0.08077044039964676, -0.7745003700256348, 0.23277156054973602, 0.09383596479892731], [0.4740602374076843, 0.22400370240211487, 0.9866819381713867, 1.496514081954956], [0.0, 0.0, 0.0, 1.0]], "mean": [[-0.939655065536499, 0.12734098732471466, 0.3021695911884308, 0.22413308918476105], [-0.23823711276054382, -0.8907808661460876, -0.36066922545433044, -0.12429504096508026], [0.22475837171077728, -0.4143574833869934, 0.8713998198509216, 1.3448376655578613], [0.0, 0.0, 0.0, 1.0]], "std": [[0.02286132425069809, 0.0638834536075592, 0.07015392929315567, 0.06305216252803802], [0.07222036272287369, 0.048616256564855576, 0.10996934771537781, 0.08953744173049927], [0.06352999061346054, 0.11027058959007263, 0.04752589389681816, 0.04509080946445465], [0.0, 0.0, 0.0, 0.0]], "count": [3327]}, "gripper_2_pose": {"min": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "max": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mean": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "std": [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]], "count": [3327]}, "timestamp": {"min": [0.0], "max": [110.86666666666666], "mean": [55.43333333333334], "std": [32.01407098044141], "count": [3327]}, "frame_index": {"min": [0], "max": [3326], "mean": [1663.0], "std": [960.4221294132423], "count": [3327]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [3327]}, "index": {"min": [24962], "max": [28288], "mean": [26625.0], "std": [960.4221294132423], "count": [3327]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3327]}}}
|
| 9 |
+
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|
| 10 |
+
{"episode_index": 9, "stats": {"gripper_1_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.984313725490196]], [[1.0]]], "mean": [[[0.2649971058816568]], [[0.2564248146101224]], [[0.26024061082229283]]], "std": [[[0.24682606578088942]], [[0.24059322317667867]], [[0.24377271255128233]]], "count": [388]}, "gripper_2_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0]], [[0.0]], [[0.0]]], "std": [[[0.0]], [[0.0]], [[0.0]]], "count": [388]}, "gripper_1_trigger": {"min": [0.0], "max": [0.9983404278755188], "mean": [0.3134799301624298], "std": [0.2104293256998062], "count": [2831]}, "gripper_2_trigger": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [2831]}, "gripper_1_load_cell": {"min": [-195670.0], "max": [54264.0], "mean": [16155.4853515625], "std": [75521.796875], "count": [2831]}, "gripper_2_load_cell": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [2831]}, "gripper_1_pose": {"min": [[-0.3549640476703644, 0.4170851409435272, 0.5599640011787415, -0.05975174531340599], [-0.8353508710861206, -0.7575496435165405, 0.13834242522716522, -0.09749943017959595], [0.5353819727897644, -0.718902587890625, 0.24334228038787842, 0.5351135730743408], [0.0, 0.0, 0.0, 1.0]], "max": [[0.17199835181236267, 0.8219623565673828, 0.8753571510314941, 0.2128741592168808], [-0.4705958962440491, -0.3992427885532379, 0.586144208908081, 0.10503198951482773], [0.8604909777641296, -0.21757729351520538, 0.6858961582183838, 0.8251413106918335], [0.0, 0.0, 0.0, 1.0]], "mean": [[-0.17423021793365479, 0.5985470414161682, 0.7654997110366821, 0.07658591121435165], [-0.6934655904769897, -0.6241326332092285, 0.3327425718307495, 0.00333589781075716], [0.6840303540229797, -0.4831104874610901, 0.5316263437271118, 0.6317970752716064], [0.0, 0.0, 0.0, 1.0]], "std": [[0.128815159201622, 0.07319650799036026, 0.058665573596954346, 0.058552615344524384], [0.04727747291326523, 0.0760645717382431, 0.10404252260923386, 0.041776955127716064], [0.04496825858950615, 0.08752276748418808, 0.07998182624578476, 0.0642666146159172], [0.0, 0.0, 0.0, 0.0]], "count": [2831]}, "gripper_2_pose": {"min": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "max": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mean": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "std": [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]], "count": [2831]}, "timestamp": {"min": [0.0], "max": [94.33333333333333], "mean": [47.16666666666667], "std": [27.241308501775183], "count": [2831]}, "frame_index": {"min": [0], "max": [2830], "mean": [1415.0], "std": [817.2392550532555], "count": [2831]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2831]}, "index": {"min": [35359], "max": [38189], "mean": [36774.0], "std": [817.2392550532555], "count": [2831]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2831]}}}
|
| 11 |
+
{"episode_index": 10, "stats": {"gripper_1_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.26586591833036033]], [[0.24865344602849943]], [[0.2655101199260514]]], "std": [[[0.2511000902544244]], [[0.2379210510450565]], [[0.24517351400326967]]], "count": [284]}, "gripper_2_image_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.0]], [[0.0]], [[0.0]]], "std": [[[0.0]], [[0.0]], [[0.0]]], "count": [284]}, "gripper_1_trigger": {"min": [0.0], "max": [0.34440428018569946], "mean": [0.27276769280433655], "std": [0.12395275384187698], "count": [1870]}, "gripper_2_trigger": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1870]}, "gripper_1_load_cell": {"min": [-187227.0], "max": [52905.0], "mean": [17294.90234375], "std": [73730.5], "count": [1870]}, "gripper_2_load_cell": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1870]}, "gripper_1_pose": {"min": [[-0.5387676954269409, -0.6965994238853455, -0.9643877744674683, -0.16989989578723907], [0.47026142477989197, -0.8733503818511963, -0.14626756310462952, -0.3077167868614197], [-0.8075606226921082, -0.808782696723938, 0.2622350752353668, 0.8087321519851685], [0.0, 0.0, 0.0, 1.0]], "max": [[0.14130161702632904, -0.12617217004299164, -0.713062047958374, 0.01258105505257845], [0.9563572406768799, -0.13590271770954132, 0.4022655487060547, -0.03829064220190048], [-0.25794708728790283, -0.41190198063850403, 0.6467742919921875, 1.1398433446884155], [0.0, 0.0, 0.0, 1.0]], "mean": [[-0.26214221119880676, -0.3643484115600586, -0.8771224021911621, -0.07949594408273697], [0.7033054828643799, -0.6843777298927307, 0.07598122954368591, -0.20740601420402527], [-0.6437849402427673, -0.607279896736145, 0.45183706283569336, 1.0072109699249268], [0.0, 0.0, 0.0, 1.0]], "std": [[0.11474234610795975, 0.11723816394805908, 0.04774361848831177, 0.036018937826156616], [0.07137224823236465, 0.10899606347084045, 0.11933304369449615, 0.07003457844257355], [0.06264437735080719, 0.0668051466345787, 0.06487622112035751, 0.057989221066236496], [0.0, 0.0, 0.0, 0.0]], "count": [1870]}, "gripper_2_pose": {"min": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "max": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "mean": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]], "std": [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]], "count": [1870]}, "timestamp": {"min": [0.0], "max": [62.3], "mean": [31.15], "std": [17.99408081688099], "count": [1870]}, "frame_index": {"min": [0], "max": [1869], "mean": [934.5], "std": [539.8224245064297], "count": [1870]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1870]}, "index": {"min": [38190], "max": [40059], "mean": [39124.5], "std": [539.8224245064297], "count": [1870]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1870]}}}
|
meta/info.json
ADDED
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@@ -0,0 +1,127 @@
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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|
| 12 |
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"train": "0:11"
|
| 13 |
+
},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"gripper_1_image_camera": {
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| 18 |
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| 19 |
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224,
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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"dtype": "video",
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