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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:d6debb62105c7f16f9e0efbf1e713d46102a2878db15733c0a670c9f2348cbff
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size 8316
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Clean the countertop"], "length": 251}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-2906.0, 10898.0, -2226.0, 1388.0, 12634.0, -12871.0, 0.0, 1564.0, 11808.0, 136.0, 27243.0, 14132.0, 6356.0, -0.699999988079071], "max": [-2906.0, 10898.0, -2226.0, 1513.0, 12634.0, -12871.0, 0.0, 1564.0, 11808.0, 136.0, 27243.0, 14132.0, 6356.0, -0.699999988079071], "mean": [-2906.0, 10898.0, -2226.0, 1436.8087158203125, 12634.0, -12871.0, 0.0, 1564.0, 11808.0, 136.0, 27243.0, 14132.0, 6356.0, -0.6999982595443726], "std": [0.0, 0.0, 0.0, 21.115032196044922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7285346984863281e-06], "count": [251]}, "observation.state": {"min": [-2906.0, 10898.0, -2226.0, 1388.0, 12634.0, -12871.0, 0.0, 1564.0, 11808.0, 136.0, 27243.0, 14132.0, 6356.0, -0.699999988079071], "max": [-2906.0, 10898.0, -2226.0, 1513.0, 12634.0, -12871.0, 0.0, 1564.0, 11808.0, 136.0, 27243.0, 14132.0, 6356.0, -0.699999988079071], "mean": [-2906.0, 10898.0, -2226.0, 1436.8087158203125, 12634.0, -12871.0, 0.0, 1564.0, 11808.0, 136.0, 27243.0, 14132.0, 6356.0, -0.6999982595443726], "std": [0.0, 0.0, 0.0, 21.115032196044922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7285346984863281e-06], "count": [251]}, "observation.images.right": {"min": [[[0.00784313725490196]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42129085375816994]], [[0.4373095710784314]], [[0.42641063929738565]]], "std": [[[0.21452068871948135]], [[0.2036329554213924]], [[0.2071000858432739]]], "count": [100]}, "observation.images.right_depth": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.0]]], "mean": [[[0.23476313112745098]], [[0.41798796977124186]], [[0.0]]], "std": [[[0.14130756408135325]], [[0.3442628580288587]], [[0.0]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.333333333333334], "mean": [4.166666666666667], "std": [2.41522945769824], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [251]}, "index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [251]}}}
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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": "bi_piper",
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"total_episodes": 1,
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"total_frames": 251,
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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": 30,
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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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14
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],
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"names": [
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"left_joint_1.pos",
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"left_joint_2.pos",
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"left_joint_3.pos",
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"left_joint_4.pos",
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"left_joint_5.pos",
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"left_joint_6.pos",
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"left_gripper.pos",
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"right_joint_1.pos",
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"right_joint_2.pos",
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"right_joint_3.pos",
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"right_joint_4.pos",
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"right_joint_5.pos",
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"right_joint_6.pos",
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},
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"observation.state": {
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"names": [
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"left_joint_3.pos",
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"left_joint_4.pos",
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"left_joint_5.pos",
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"left_joint_6.pos",
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"right_joint_2.pos",
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"right_joint_4.pos",
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"right_joint_6.pos",
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},
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"observation.images.right": {
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"channels"
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meta/tasks.jsonl
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{"task_index": 0, "task": "Clean the countertop"}
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videos/chunk-000/observation.images.right/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:9e7af7d2c5dcd2c251711112367ef0c1fdf35b0531fdce9032b84f9a96bb5f76
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size 1277802
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videos/chunk-000/observation.images.right_depth/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:42a2870674be0033d5ee4c79a215ce2f5d4138b20f9676be53a57de9a8441ddf
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size 35719349
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