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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.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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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": 519}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 539}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-8.96484375, 32.783203125, 3.427734375, 57.919921875, -33.134765625, 0.08539709448814392], "max": [56.07421875, 203.73046875, 182.28515625, 100.8984375, -15.380859375, 35.69598388671875], "mean": [13.99577808380127, 139.77911376953125, 115.348388671875, 80.39198303222656, -22.357240676879883, 16.965429306030273], "std": [18.228038787841797, 67.39071655273438, 66.44364929199219, 13.018260955810547, 4.319393634796143, 13.453872680664062], "count": [519]}, "observation.state": {"min": [-8.876953125, 31.201171875, 6.064453125, 59.150390625, -32.783203125, 0.5303030610084534], "max": [56.162109375, 198.10546875, 181.669921875, 101.42578125, -15.732421875, 35.378787994384766], "mean": [14.128206253051758, 135.62945556640625, 116.67342376708984, 80.51438903808594, -22.258342742919922, 18.14720344543457], "std": [18.286298751831055, 66.7682113647461, 65.28563690185547, 12.986888885498047, 4.270875453948975, 13.22216510772705], "count": [519]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5440807802287582]], [[0.536899316902687]], [[0.524335160221496]]], "std": [[[0.2298021400642812]], [[0.23741367715243333]], [[0.2552502188695992]]], "count": [108]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5395190253570564]], [[0.5424994439905592]], [[0.5151307416485112]]], "std": [[[0.24982050298844038]], [[0.2522802034632983]], [[0.28278714507631814]]], "count": [108]}, "timestamp": {"min": [0.0], "max": [17.266666666666666], "mean": [8.633333333333333], "std": [4.994070558246123], "count": [519]}, "frame_index": {"min": [0], "max": [518], "mean": [259.0], "std": [149.8221167473837], "count": [519]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [519]}, "index": {"min": [0], "max": [518], "mean": [259.0], "std": [149.8221167473837], "count": [519]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [519]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-25.48828125, 61.875, 38.583984375, 55.810546875, -49.130859375, 0.0], "max": [55.8984375, 203.5546875, 183.8671875, 99.66796875, -14.94140625, 33.134071350097656], "mean": [13.811058044433594, 143.05612182617188, 126.23017120361328, 73.82534790039062, -19.777999877929688, 13.019662857055664], "std": [17.759214401245117, 57.08573532104492, 53.71037292480469, 10.991082191467285, 6.072704315185547, 11.40082836151123], "count": [539]}, "observation.state": {"min": [-24.697265625, 60.205078125, 41.748046875, 56.42578125, -48.427734375, 0.5303030610084534], "max": [55.986328125, 198.193359375, 182.021484375, 99.931640625, -15.205078125, 32.95454788208008], "mean": [13.867640495300293, 139.31396484375, 127.63189697265625, 74.14265441894531, -19.765443801879883, 14.495002746582031], "std": [17.799901962280273, 56.21579360961914, 52.31977462768555, 10.871037483215332, 5.976075649261475, 11.561787605285645], "count": [539]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5486993776865101]], [[0.5419793433139021]], [[0.5286303251781193]]], "std": [[[0.2300926771070428]], [[0.2366145044601465]], [[0.25320588354097395]]], "count": [111]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5435858707972678]], [[0.54703321704057]], [[0.5178861858181711]]], "std": [[[0.24968709316390683]], [[0.251529948346827]], [[0.28147518353681744]]], "count": [111]}, "timestamp": {"min": [0.0], "max": [17.933333333333334], "mean": [8.966666666666667], "std": [5.186520991955976], "count": [539]}, "frame_index": {"min": [0], "max": [538], "mean": [269.0], "std": [155.59562975867928], "count": [539]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [539]}, "index": {"min": [519], "max": [1057], "mean": [788.0], "std": [155.59562975867928], "count": [539]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [539]}}}
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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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"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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"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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"observation.state": {
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"main_shoulder_pan",
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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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"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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],
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"info": {
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"timestamp": {
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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.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:bfa953097409fba82a0a2b527a06e73f994e421ae5033e1ebebfeff7c03bfaf6
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size 8273631
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videos/chunk-000/observation.images.laptop/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 8721754
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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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size 7942753
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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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size 8260187
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