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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.realsense2/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.realsense2/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 898}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 897}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-8.701171875, 42.802734375, 46.40625, 76.904296875, -90.966796875, 0.4269854724407196], "max": [7.294921875, 173.056640625, 177.1875, 109.072265625, -36.38671875, 47.30998992919922], "mean": [-2.513104200363159, 120.67904663085938, 113.71159362792969, 91.61186218261719, -57.77272033691406, 21.252092361450195], "std": [3.5135536193847656, 51.11908721923828, 54.40327072143555, 12.802787780761719, 23.240827560424805, 17.836158752441406], "count": [898]}, "observation.state": {"min": [-8.9208984375, 42.5390625, 47.9443359375, 76.46484375, -90.7470703125, 1.3224180936813354], "max": [7.0751953125, 173.14453125, 176.0009765625, 103.7109375, -35.9912109375, 47.103275299072266], "mean": [-2.582300901412964, 119.76492309570312, 113.56781005859375, 90.39376831054688, -57.57871627807617, 21.70053482055664], "std": [3.4542341232299805, 51.37361526489258, 53.10031509399414, 11.687488555908203, 23.30082130432129, 17.394166946411133], "count": [898]}, "observation.images.realsense2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4263827838554121]], [[0.43193863582018177]], [[0.42235139810497374]]], "std": [[[0.15777013013109306]], [[0.15227659319982442]], [[0.15642360613510228]]], "count": [164]}, "timestamp": {"min": [0.0], "max": [29.9], "mean": [14.950000000000001], "std": [8.64100367112782], "count": [898]}, "frame_index": {"min": [0], "max": [897], "mean": [448.5], "std": [259.23011013383456], "count": [898]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [898]}, "index": {"min": [0], "max": [897], "mean": [448.5], "std": [259.23011013383456], "count": [898]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [898]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-17.138671875, 53.0859375, 61.083984375, 64.86328125, -91.0546875, 0.4269854724407196], "max": [42.978515625, 173.056640625, 177.275390625, 108.369140625, -26.455078125, 52.860801696777344], "mean": [2.2977960109710693, 95.26421356201172, 97.1513671875, 88.76884460449219, -49.894283294677734, 20.666332244873047], "std": [14.190089225769043, 41.93742370605469, 42.33235549926758, 12.67263126373291, 22.934402465820312, 19.1318302154541], "count": [897]}, "observation.state": {"min": [-16.7431640625, 52.734375, 62.5341796875, 64.423828125, -90.7470703125, 1.3224180936813354], "max": [42.1435546875, 173.14453125, 176.0009765625, 103.623046875, -26.4990234375, 52.518890380859375], "mean": [2.173994779586792, 93.46539306640625, 96.79656982421875, 88.29638671875, -50.3477897644043, 20.800085067749023], "std": [14.086874961853027, 42.26042175292969, 41.23246383666992, 11.677334785461426, 23.205923080444336, 18.66844367980957], "count": [897]}, "observation.images.realsense2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.42477500726773326]], [[0.42962710764264805]], [[0.4197988379145114]]], "std": [[[0.15714808102326167]], [[0.15193613409333714]], [[0.15582788112449167]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.866666666666667], "mean": [14.933333333333332], "std": [8.631381160668363], "count": [897]}, "frame_index": {"min": [0], "max": [896], "mean": [448.0], "std": [258.9414348200509], "count": [897]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [897]}, "index": {"min": [898], "max": [1794], "mean": [1346.0], "std": [258.9414348200509], "count": [897]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [897]}}}
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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",
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"total_episodes": 2,
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"total_frames": 1795,
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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": "0:2"
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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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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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]
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},
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"observation.images.realsense2": {
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"dtype": "video",
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"shape": [
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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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"timestamp": {
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.realsense2/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:d7815b93d357ed91d2d8962bfb3c912a6494cb4754d3508b029e30bcb5c879d9
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size 7925036
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videos/chunk-000/observation.images.realsense2/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:2986567df5c9e05e9f1f7b4d3b7dcbd95675238423b26abd55db7b1190873767
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size 8020689
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