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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 +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.usbcam/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.usbcam/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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oid sha256:b20866189198cec307de21bef95b17378186415009ba76b129311790a0193098
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size 34086
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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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oid sha256:0b02a5d2a5bb2ca78c83db2ef6c1a23fcf8027be60f09b6b39aee65a8308749b
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size 34562
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick up the golf ball and place it on the gray mark at the back."], "length": 874}
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{"episode_index": 1, "tasks": ["Pick up the golf ball and place it on the gray mark at the back."], "length": 872}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-32.34375, 71.71875, 57.744140625, 51.6796875, 91.845703125, 0.41152262687683105], "max": [9.31640625, 196.435546875, 182.98828125, 95.80078125, 126.298828125, 51.52263641357422], "mean": [-9.929529190063477, 126.20121002197266, 116.98014068603516, 70.42286682128906, 107.48098754882812, 23.271194458007812], "std": [14.34862232208252, 53.3577995300293, 48.19956970214844, 10.721677780151367, 11.495643615722656, 17.408376693725586], "count": [874]}, "observation.state": {"min": [-32.080078125, 70.13671875, 63.28125, 53.525390625, 92.373046875, 0.9716598987579346], "max": [8.876953125, 191.865234375, 179.12109375, 94.921875, 125.771484375, 51.09312057495117], "mean": [-9.812877655029297, 122.60649108886719, 118.73870086669922, 70.9413070678711, 107.61067199707031, 24.61399269104004], "std": [14.320395469665527, 52.76917266845703, 45.69450759887695, 10.220523834228516, 11.42785358428955, 17.409618377685547], "count": [874]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.506648491115196]], [[0.522924666819853]], [[0.43287569444444446]]], "std": [[[0.2847396419522739]], [[0.24262909368585603]], [[0.28302421474491335]]], "count": [160]}, "observation.images.usbcam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.297265616064134]], [[0.41390348371119284]], [[0.34676029667075164]]], "std": [[[0.22365655818613375]], [[0.2052175266258869]], [[0.23691422475983387]]], "count": [160]}, "timestamp": {"min": [0.0], "max": [29.1], "mean": [14.55], "std": [8.41006341632848], "count": [874]}, "frame_index": {"min": [0], "max": [873], "mean": [436.5], "std": [252.3019024898544], "count": [874]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [874]}, "index": {"min": [0], "max": [873], "mean": [436.5], "std": [252.3019024898544], "count": [874]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [874]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-30.5859375, 65.302734375, 45.263671875, 51.240234375, 75.322265625, 0.08230452984571457], "max": [10.634765625, 197.40234375, 182.98828125, 96.85546875, 108.720703125, 43.12757110595703], "mean": [-9.166528701782227, 113.39987182617188, 101.92037200927734, 69.66217041015625, 97.83470916748047, 24.392045974731445], "std": [15.231739044189453, 52.56279373168945, 46.45622253417969, 9.620277404785156, 8.91262435913086, 15.064681053161621], "count": [872]}, "observation.state": {"min": [-30.146484375, 62.9296875, 51.50390625, 53.0859375, 75.76171875, 0.9716598987579346], "max": [9.404296875, 191.6015625, 178.681640625, 95.09765625, 107.9296875, 42.834007263183594], "mean": [-9.219746589660645, 109.67539978027344, 105.35263061523438, 69.60749053955078, 97.86003875732422, 24.865604400634766], "std": [15.047855377197266, 52.25177001953125, 44.7238655090332, 8.804668426513672, 8.791626930236816, 14.909903526306152], "count": [872]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5072732013378268]], [[0.5276488536560457]], [[0.43657728375204247]]], "std": [[[0.2855242245111678]], [[0.24252333491118302]], [[0.2838561469397671]]], "count": [160]}, "observation.images.usbcam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3090784709456699]], [[0.40396993719362745]], [[0.3445546211192811]]], "std": [[[0.23300364470466622]], [[0.21660167840629996]], [[0.24762393576541628]]], "count": [160]}, "timestamp": {"min": [0.0], "max": [29.033333333333335], "mean": [14.516666666666666], "std": [8.390818394729642], "count": [872]}, "frame_index": {"min": [0], "max": [871], "mean": [435.5], "std": [251.72455184188928], "count": [872]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [872]}, "index": {"min": [874], "max": [1745], "mean": [1309.5], "std": [251.72455184188928], "count": [872]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [872]}}}
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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": "so101",
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"total_episodes": 2,
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"total_frames": 1746,
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"total_tasks": 1,
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"total_videos": 4,
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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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6
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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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6
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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.images.phone": {
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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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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.images.usbcam": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 480,
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"video.width": 640,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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"frame_index": {
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Pick up the golf ball and place it on the gray mark at the back."}
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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 sha256:9e055ba8ecdffbc198518f23e79bc73aaf2d78975c7bf362a63efb5efa064493
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size 15728697
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videos/chunk-000/observation.images.phone/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:b27d0409495426a53e1df6604ffd237dd727a8a130c96ddc28068c70497c6add
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size 15698701
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videos/chunk-000/observation.images.usbcam/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:92bf74e4e0816d54dbd14f0b4b5bd867b684f56d0c86c2a2e36cf1ae240f69ab
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size 8522197
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videos/chunk-000/observation.images.usbcam/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:e45f0b9a0fa48c156abce28a6c986bcf4c930b43c2f5712dffe612c76a2d5851
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size 7564599
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