Hugging Face's logo

Datasets:
OpenGraphLabs-Research
/
manus-egocentric-sample

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robotics
egocentric
hand-tracking
manus-gloves
imitation-learning
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
opengraph-labs commited on
Commit
c0fc08f
·
verified ·
1 Parent(s): 4410804

Upload LeRobot dataset

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. README.md +144 -0
  2. conversion_report.json +51 -0
  3. data/chunk-000/episode_000000.parquet +3 -0
  4. data/chunk-000/episode_000001.parquet +3 -0
  5. data/chunk-000/episode_000002.parquet +3 -0
  6. data/chunk-000/episode_000003.parquet +3 -0
  7. data/chunk-000/episode_000004.parquet +3 -0
  8. data/chunk-000/episode_000005.parquet +3 -0
  9. data/chunk-000/episode_000006.parquet +3 -0
  10. data/chunk-000/episode_000007.parquet +3 -0
  11. data/chunk-000/episode_000008.parquet +3 -0
  12. data/chunk-000/episode_000009.parquet +3 -0
  13. data/chunk-000/episode_000010.parquet +3 -0
  14. data/chunk-000/episode_000011.parquet +3 -0
  15. data/chunk-000/episode_000012.parquet +3 -0
  16. data/chunk-000/episode_000013.parquet +3 -0
  17. data/chunk-000/episode_000014.parquet +3 -0
  18. data/chunk-000/episode_000015.parquet +3 -0
  19. data/chunk-000/episode_000016.parquet +3 -0
  20. data/chunk-000/episode_000017.parquet +3 -0
  21. data/chunk-000/episode_000018.parquet +3 -0
  22. data/chunk-000/episode_000019.parquet +3 -0
  23. depth/depth_config.json +17 -0
  24. depth/episode_000001.bin +3 -0
  25. depth/episode_000002.bin +3 -0
  26. depth/episode_000003.bin +3 -0
  27. depth/episode_000004.bin +3 -0
  28. depth/episode_000005.bin +3 -0
  29. depth/episode_000006.bin +3 -0
  30. depth/episode_000007.bin +3 -0
  31. depth/episode_000008.bin +3 -0
  32. depth/episode_000009.bin +3 -0
  33. depth/episode_000010.bin +3 -0
  34. depth/episode_000011.bin +3 -0
  35. depth/episode_000012.bin +3 -0
  36. depth/episode_000013.bin +3 -0
  37. depth/episode_000014.bin +3 -0
  38. depth/episode_000015.bin +3 -0
  39. depth/episode_000016.bin +3 -0
  40. depth/episode_000017.bin +3 -0
  41. meta/episodes.jsonl +20 -0
  42. meta/info.json +87 -0
  43. meta/stats.json +930 -0
  44. meta/tasks.jsonl +2 -0
  45. videos/chunk-000/observation.images.egocentric/episode_000000.mp4 +3 -0
  46. videos/chunk-000/observation.images.egocentric/episode_000001.mp4 +3 -0
  47. videos/chunk-000/observation.images.egocentric/episode_000002.mp4 +3 -0
  48. videos/chunk-000/observation.images.egocentric/episode_000003.mp4 +3 -0
  49. videos/chunk-000/observation.images.egocentric/episode_000004.mp4 +3 -0
  50. videos/chunk-000/observation.images.egocentric/episode_000005.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ - robotics
8
+ - egocentric
9
+ - hand-tracking
10
+ - manus-gloves
11
+ - imitation-learning
12
+ ---
13
+
14
+ # manus-egocentric-sample
15
+
16
+ Egocentric video dataset with Manus glove hand tracking data, converted to LeRobot v3.0 format.
17
+
18
+ ## Dataset Description
19
+
20
+ This dataset contains egocentric (first-person view) recordings of human hands performing various manipulation tasks, captured with:
21
+ - **Manus Metagloves**: High-precision finger tracking (~70Hz)
22
+ - **OAK-D Camera**: RGB video (1920x1080, 30fps) + Depth (640x400, 30fps)
23
+ - **IMU**: Accelerometer and gyroscope data
24
+
25
+ ### Dataset Statistics
26
+
27
+ | Property | Value |
28
+ |----------|-------|
29
+ | Total Episodes | 20 |
30
+ | Total Frames | 96,544 |
31
+ | FPS | 30 |
32
+ | Robot Type | manus_gloves |
33
+ | LeRobot Version | v2.1 |
34
+ | Dataset Size | ~15.3 GB |
35
+
36
+ ### Tasks
37
+
38
+ `Pick_and_pack_task`, `fold_laundry`
39
+
40
+ ### Features
41
+
42
+ | Feature | Type | Shape |
43
+ |---------|------|-------|
44
+ | `episode_index` | int64 | [1] |
45
+ | `frame_index` | int64 | [1] |
46
+ | `timestamp` | float32 | [1] |
47
+ | `task_index` | int64 | [1] |
48
+ | `observation.images.egocentric` | video | [1080, 1920, 3] |
49
+ | `observation.state.hand_joints` | float32 | [150] |
50
+ | `observation.state.finger_angles` | float32 | [40] |
51
+ | `observation.state.gestures` | float32 | [26] |
52
+ | `observation.state.imu` | float32 | [6] |
53
+
54
+
55
+ ### Depth Data
56
+
57
+ This dataset includes raw depth data as a custom extension (LeRobot v3.0 doesn't officially support depth yet).
58
+
59
+ | Property | Value |
60
+ |----------|-------|
61
+ | Format | Raw uint16 binary |
62
+ | Resolution | [400, 640] (H, W) |
63
+ | Unit | millimeters |
64
+ | Episodes with depth | 17 |
65
+ | Storage | Episode-based (`depth/episode_XXXXXX.bin`) |
66
+
67
+ To load depth data:
68
+ ```python
69
+ import numpy as np
70
+
71
+ def load_depth(dataset_path, episode_index):
72
+ depth_path = dataset_path / f"depth/episode_{episode_index:06d}.bin"
73
+ if depth_path.exists():
74
+ data = np.fromfile(depth_path, dtype=np.uint16)
75
+ # Reshape based on frame count (need timestamps)
76
+ return data
77
+ return None
78
+ ```
79
+
80
+
81
+ ## Usage
82
+
83
+ ### Load with LeRobot
84
+
85
+ ```python
86
+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
87
+
88
+ dataset = LeRobotDataset("opengraph-labs/manus-egocentric-sample")
89
+
90
+ # Access a sample
91
+ sample = dataset[0]
92
+ print(sample.keys())
93
+ # dict_keys(['observation.images.egocentric', 'observation.state.hand_joints', ...])
94
+
95
+ # Get hand joint positions (25 joints x 3 coords x 2 hands = 150 dims)
96
+ hand_joints = sample["observation.state.hand_joints"]
97
+ print(hand_joints.shape) # torch.Size([150])
98
+ ```
99
+
100
+ ### Data Structure
101
+
102
+ ```
103
+ manus-egocentric-sample/
104
+ ├── meta/
105
+ │ ├── info.json # Dataset schema and features
106
+ │ ├── stats.json # Feature statistics (mean/std/min/max)
107
+ │ ├── tasks.jsonl # Task definitions
108
+ │ ├── episodes.jsonl # Episode metadata
109
+ │ └── episodes/ # Episode info (parquet)
110
+ ├── data/chunk-XXX/ # Time-series data (parquet)
111
+ ├── videos/ # RGB video (mp4)
112
+ └── depth/ # Raw depth data (uint16 binary)
113
+ ```
114
+
115
+ ## Hand Skeleton Structure
116
+
117
+ Each hand has 25 tracked joints:
118
+
119
+ ```
120
+ Hand (Root)
121
+ ├── Thumb: MCP → PIP → DIP → TIP (4 joints)
122
+ ├── Index: MCP → IP → PIP → DIP → TIP (5 joints)
123
+ ├── Middle: MCP → IP → PIP → DIP → TIP (5 joints)
124
+ ├── Ring: MCP → IP → PIP → DIP → TIP (5 joints)
125
+ └── Pinky: MCP → IP → PIP → DIP → TIP (5 joints)
126
+ ```
127
+
128
+ ## Citation
129
+
130
+ If you use this dataset, please cite:
131
+
132
+ ```bibtex
133
+ @dataset{manus_egocentric_2025,
134
+ title = {Manus Egocentric Hand Tracking Dataset},
135
+ author = {OpenGraph Labs},
136
+ year = {2025},
137
+ publisher = {Hugging Face},
138
+ url = {https://huggingface.co/datasets/opengraph-labs/manus-egocentric-sample}
139
+ }
140
+ ```
141
+
142
+ ## License
143
+
144
+ This dataset is released under the Apache 2.0 License.
conversion_report.json ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "config": {
3
+ "input_dir": "../../data/Manus_Recordings",
4
+ "output_dir": "../../data/lerobot_test",
5
+ "fps": 30,
6
+ "chunk_size": 1000,
7
+ "max_episodes": 20,
8
+ "tasks_filter": null,
9
+ "dry_run": false
10
+ },
11
+ "collection": {
12
+ "total": 20,
13
+ "total_duration_seconds": 3318.437334060669,
14
+ "total_duration_formatted": "0h 55m 18s",
15
+ "with_depth": 17,
16
+ "rgb_only": 3,
17
+ "tasks": {
18
+ "Pick_and_pack_task": 1,
19
+ "fold_laundry": 19
20
+ },
21
+ "task_mapping": {
22
+ "Pick_and_pack_task": 0,
23
+ "fold_laundry": 1
24
+ },
25
+ "errors": 0
26
+ },
27
+ "video": {
28
+ "total_videos": 20,
29
+ "total_frames": 96549,
30
+ "total_duration_seconds": 3218.1336588541667,
31
+ "total_size_mb": 5183.153643608093
32
+ },
33
+ "depth": {
34
+ "total_episodes": 17,
35
+ "total_frames": 85460,
36
+ "total_raw_size_mb": 10432.12890625,
37
+ "total_video_size_mb": 0.0,
38
+ "compression_ratio": 0
39
+ },
40
+ "features": {
41
+ "computed": [
42
+ "observation.state.hand_joints",
43
+ "observation.state.finger_angles",
44
+ "observation.state.gestures",
45
+ "observation.state.imu"
46
+ ]
47
+ },
48
+ "errors": [],
49
+ "warnings": [],
50
+ "success": true
51
+ }
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:95bdc135952972c9a97339dd12ab754455f40199bce5a4ab8fd3c12464e7b6d8
3
+ size 23018
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7bff5dfe4abfc6943f7b53196bc671ae8785494ff3879a8be572b5ae85035bbd
3
+ size 30115
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d3825bd0b67d26dd763522c72f18130e9ec03efca62a49274ce73484144ae68
3
+ size 117860
data/chunk-000/episode_000003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:36f705b9676ddbc8970599107f4eba4a2a44adfa4a0231ecbf168febdf65a70d
3
+ size 201447
data/chunk-000/episode_000004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:65aeea339fedfa00d4601ba957e40b97b061950f61d9ba5af59d94909b060f0b
3
+ size 231597
data/chunk-000/episode_000005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b380d605e9c74e6e4e00432020e1d828bf3d052b3bb91d68478faedf025b1a3a
3
+ size 248476
data/chunk-000/episode_000006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c24772e030e2c520382a652a184e9ad7dd455a61882fab8650c34c1ca1da8cbf
3
+ size 239953
data/chunk-000/episode_000007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9399529c44bc5a23fa21e72bfb836aa02c6c99e048e95d33ae2ae93b3197099
3
+ size 113678
data/chunk-000/episode_000008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d16d74f991a47cac50af6172807b621673fb06aa1fa3d50890e1359f8d23b12
3
+ size 140866
data/chunk-000/episode_000009.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8bc4d890b1ad56e08adea1b2500142b96c270cf1445beede9d9c4b7337e277f
3
+ size 161984
data/chunk-000/episode_000010.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa161e6aa6216844bb712afbc820882fe5e18259311ea5027d409c3d101ce509
3
+ size 149990
data/chunk-000/episode_000011.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c2c56e317c7f1924b81e91af782d97bc65aa20bcf14ac7b8230d61ca4a69dc61
3
+ size 125713
data/chunk-000/episode_000012.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f40ebe28baf1641c517605ba171e4da05a23ec624015322734897e638e17e0b
3
+ size 138936
data/chunk-000/episode_000013.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:729d8a5e10a418f2767345203645d3a2f7335536d2d524f3268e4f8e508c41f4
3
+ size 144666
data/chunk-000/episode_000014.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:19c1058e46a29654d108036ee7b4155fe4c2959d53850c4c4255c70e23fdfad3
3
+ size 126723
data/chunk-000/episode_000015.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c741b2c4f680d65e2b11305f68fdc28ea76d5eab757350c069e8647c2a87ad2
3
+ size 131912
data/chunk-000/episode_000016.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37c8d87955dfb096b875ff1c1fce80eff718ada33e614e1cb19f54d13466517a
3
+ size 23848
data/chunk-000/episode_000017.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0b44a23b5019e37ebfb46d91894083a9711b07107aa06a9b566d619346f7dd76
3
+ size 109815
data/chunk-000/episode_000018.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed0346557b77cfae5eb31af368147545b0d67133907683700c4a456d3cd7b138
3
+ size 88828
data/chunk-000/episode_000019.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10eb73468e41c433437cdd94b679cc639921973ddf8e0897f325607d276f3e73
3
+ size 84153
depth/depth_config.json ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "path_template": "episode_{episode_index:06d}.bin",
3
+ "resolution": [
4
+ 400,
5
+ 640
6
+ ],
7
+ "dtype": "uint16",
8
+ "unit": "mm",
9
+ "fps": 30,
10
+ "storage": "episode-based",
11
+ "description": "Raw depth data preserved from OAK-D camera",
12
+ "visualization": {
13
+ "colormap": "turbo",
14
+ "min_depth_mm": 200,
15
+ "max_depth_mm": 10000
16
+ }
17
+ }
depth/episode_000001.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c92eeb2c64b985f6abe0b6b409ab1e661012ca7397db762510f48423cfabfabc
3
+ size 107648000
depth/episode_000002.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:53882f090d209c6057e80331e1423ac11a6b5248b3fc78f5f9ce0e169908c34f
3
+ size 528768000
depth/episode_000003.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fbfc341245e9f57a212894e40dd517e36721344ec397337dfa503f4b6b9a3a32
3
+ size 955776000
depth/episode_000004.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a060dc6c636a9fdac9b628009276d7df1bb0cbf7f063053b0d8bf3103ba772c
3
+ size 1098624000
depth/episode_000005.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a018fbb942bc71f7956de51a13ac1aa2b2846bc6a9e7806bd3ba968b947ef6c5
3
+ size 1186816000
depth/episode_000006.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a025941cc56dd7428bda865a3c5b6b0646dddb64d2355938ee4a5deb7e89f95
3
+ size 1116288000
depth/episode_000007.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d90513cdf60a920af8a9789e03ff002c3c35718e239565819e307f41b4aa487e
3
+ size 512640000
depth/episode_000008.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8ed327641e3c30f05024cd64a7123b8e0400d4e47697bcfc51104216e575e157
3
+ size 633600000
depth/episode_000009.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:41590a7e4fa21b95a691b01e8f1745d41246b51a68812258cbeb8dbe4bc502eb
3
+ size 648448000
depth/episode_000010.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:54f2d7105d702495582c3499aadba357d423715c79e2c35fee421041bdbbeacc
3
+ size 678400000
depth/episode_000011.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f42d8d3d16ba8d516c25b668631a65d54cfaf2cf77c95c2f324cfe6536d79f81
3
+ size 559104000
depth/episode_000012.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1e0274b7f9247a8feae6cd7af05a05eb60845b5c9e1fee29c4369620f74d9dd9
3
+ size 622592000
depth/episode_000013.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:270052eac0cf5ee12c7627ff35386c762c6f4d95e4ade2fc35988762e5e1c2fe
3
+ size 651136000
depth/episode_000014.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6a7ea8af7bcaa6a249ed2d130e8d060241e4f0f529500c1b2711a4938329c20c
3
+ size 554240000
depth/episode_000015.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b277952bf52a93196c923c9a1a1313eddc0ec61c833ce7b134ee75c0fd23e5d8
3
+ size 585088000
depth/episode_000016.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5826583b8230b94b5d184ab5eed0bfb38ccf94311613e9f5675712ea8865ec32
3
+ size 74368000
depth/episode_000017.bin ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cc5db4fa40842b04bb870c109dda86b8c407f48a55a1ce0b427e022f0116b838
3
+ size 425344000
meta/episodes.jsonl ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"episode_index": 0, "task": "Pick_and_pack_task", "task_index": 0, "length": 1158}
2
+ {"episode_index": 1, "task": "fold_laundry", "task_index": 1, "length": 852}
3
+ {"episode_index": 2, "task": "fold_laundry", "task_index": 1, "length": 4190}
4
+ {"episode_index": 3, "task": "fold_laundry", "task_index": 1, "length": 7516}
5
+ {"episode_index": 4, "task": "fold_laundry", "task_index": 1, "length": 8635}
6
+ {"episode_index": 5, "task": "fold_laundry", "task_index": 1, "length": 9355}
7
+ {"episode_index": 6, "task": "fold_laundry", "task_index": 1, "length": 8780}
8
+ {"episode_index": 7, "task": "fold_laundry", "task_index": 1, "length": 4017}
9
+ {"episode_index": 8, "task": "fold_laundry", "task_index": 1, "length": 4971}
10
+ {"episode_index": 9, "task": "fold_laundry", "task_index": 1, "length": 5093}
11
+ {"episode_index": 10, "task": "fold_laundry", "task_index": 1, "length": 5312}
12
+ {"episode_index": 11, "task": "fold_laundry", "task_index": 1, "length": 4382}
13
+ {"episode_index": 12, "task": "fold_laundry", "task_index": 1, "length": 4896}
14
+ {"episode_index": 13, "task": "fold_laundry", "task_index": 1, "length": 5095}
15
+ {"episode_index": 14, "task": "fold_laundry", "task_index": 1, "length": 4347}
16
+ {"episode_index": 15, "task": "fold_laundry", "task_index": 1, "length": 4575}
17
+ {"episode_index": 16, "task": "fold_laundry", "task_index": 1, "length": 582}
18
+ {"episode_index": 17, "task": "fold_laundry", "task_index": 1, "length": 3334}
19
+ {"episode_index": 18, "task": "fold_laundry", "task_index": 1, "length": 4861}
20
+ {"episode_index": 19, "task": "fold_laundry", "task_index": 1, "length": 4593}
meta/info.json ADDED
@@ -0,0 +1,87 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "manus_gloves",
4
+ "fps": 30,
5
+ "total_episodes": 20,
6
+ "total_frames": 96544,
7
+ "total_tasks": 2,
8
+ "total_videos": 20,
9
+ "total_chunks": 1,
10
+ "chunks_size": 1000,
11
+ "features": {
12
+ "episode_index": {
13
+ "dtype": "int64",
14
+ "shape": [
15
+ 1
16
+ ]
17
+ },
18
+ "frame_index": {
19
+ "dtype": "int64",
20
+ "shape": [
21
+ 1
22
+ ]
23
+ },
24
+ "timestamp": {
25
+ "dtype": "float32",
26
+ "shape": [
27
+ 1
28
+ ]
29
+ },
30
+ "task_index": {
31
+ "dtype": "int64",
32
+ "shape": [
33
+ 1
34
+ ]
35
+ },
36
+ "observation.images.egocentric": {
37
+ "dtype": "video",
38
+ "shape": [
39
+ 1080,
40
+ 1920,
41
+ 3
42
+ ],
43
+ "video_info": {
44
+ "video.fps": 30.0,
45
+ "video.codec": "av1",
46
+ "video.pix_fmt": "yuv420p",
47
+ "video.is_depth_map": false,
48
+ "has_audio": false
49
+ }
50
+ },
51
+ "observation.state.hand_joints": {
52
+ "dtype": "float32",
53
+ "shape": [
54
+ 150
55
+ ]
56
+ },
57
+ "observation.state.finger_angles": {
58
+ "dtype": "float32",
59
+ "shape": [
60
+ 40
61
+ ]
62
+ },
63
+ "observation.state.gestures": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 26
67
+ ]
68
+ },
69
+ "observation.state.imu": {
70
+ "dtype": "float32",
71
+ "shape": [
72
+ 6
73
+ ]
74
+ }
75
+ },
76
+ "depth": {
77
+ "path": "depth/episode_{episode_index:06d}.bin",
78
+ "dtype": "uint16",
79
+ "shape": [
80
+ 400,
81
+ 640
82
+ ],
83
+ "unit": "mm",
84
+ "storage": "episode-based",
85
+ "description": "Raw 16-bit depth preserved per episode"
86
+ }
87
+ }
meta/stats.json ADDED
@@ -0,0 +1,930 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state.hand_joints": {
3
+ "mean": [
4
+ 0.0,
5
+ 0.0,
6
+ 0.0,
7
+ 0.0,
8
+ 0.0,
9
+ 0.0,
10
+ 0.0,
11
+ 0.0,
12
+ 0.0,
13
+ 0.0,
14
+ 0.0,
15
+ 0.0,
16
+ 0.0,
17
+ 0.0,
18
+ 0.0,
19
+ 0.0,
20
+ 0.0,
21
+ 0.0,
22
+ 0.0,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0,
26
+ 0.0,
27
+ 0.0,
28
+ 0.0,
29
+ 0.0,
30
+ 0.0,
31
+ 0.0,
32
+ 0.0,
33
+ 0.0,
34
+ 0.0,
35
+ 0.0,
36
+ 0.0,
37
+ 0.0,
38
+ 0.0,
39
+ 0.0,
40
+ 0.0,
41
+ 0.0,
42
+ 0.0,
43
+ 0.0,
44
+ 0.0,
45
+ 0.0,
46
+ 0.0,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0,
50
+ 0.0,
51
+ 0.0,
52
+ 0.0,
53
+ 0.0,
54
+ 0.0,
55
+ 0.0,
56
+ 0.0,
57
+ 0.0,
58
+ 0.0,
59
+ 0.0,
60
+ 0.0,
61
+ 0.0,
62
+ 0.0,
63
+ 0.0,
64
+ 0.0,
65
+ 0.0,
66
+ 0.0,
67
+ 0.0,
68
+ 0.0,
69
+ 0.0,
70
+ 0.0,
71
+ 0.0,
72
+ 0.0,
73
+ 0.0,
74
+ 0.0,
75
+ 0.0,
76
+ 0.0,
77
+ 0.0,
78
+ 0.0,
79
+ 0.0,
80
+ 0.0,
81
+ 0.0,
82
+ 0.0,
83
+ 0.0,
84
+ 0.0,
85
+ 0.0,
86
+ 0.0,
87
+ 0.0,
88
+ 0.0,
89
+ 0.0,
90
+ 0.0,
91
+ 0.0,
92
+ 0.0,
93
+ 0.0,
94
+ 0.0,
95
+ 0.0,
96
+ 0.0,
97
+ 0.0,
98
+ 0.0,
99
+ 0.0,
100
+ 0.0,
101
+ 0.0,
102
+ 0.0,
103
+ 0.0,
104
+ 0.0,
105
+ 0.0,
106
+ 0.0,
107
+ 0.0,
108
+ 0.0,
109
+ 0.0,
110
+ 0.0,
111
+ 0.0,
112
+ 0.0,
113
+ 0.0,
114
+ 0.0,
115
+ 0.0,
116
+ 0.0,
117
+ 0.0,
118
+ 0.0,
119
+ 0.0,
120
+ 0.0,
121
+ 0.0,
122
+ 0.0,
123
+ 0.0,
124
+ 0.0,
125
+ 0.0,
126
+ 0.0,
127
+ 0.0,
128
+ 0.0,
129
+ 0.0,
130
+ 0.0,
131
+ 0.0,
132
+ 0.0,
133
+ 0.0,
134
+ 0.0,
135
+ 0.0,
136
+ 0.0,
137
+ 0.0,
138
+ 0.0,
139
+ 0.0,
140
+ 0.0,
141
+ 0.0,
142
+ 0.0,
143
+ 0.0,
144
+ 0.0,
145
+ 0.0,
146
+ 0.0,
147
+ 0.0,
148
+ 0.0,
149
+ 0.0,
150
+ 0.0,
151
+ 0.0,
152
+ 0.0,
153
+ 0.0
154
+ ],
155
+ "std": [
156
+ 0.0,
157
+ 0.0,
158
+ 0.0,
159
+ 0.0,
160
+ 0.0,
161
+ 0.0,
162
+ 0.0,
163
+ 0.0,
164
+ 0.0,
165
+ 0.0,
166
+ 0.0,
167
+ 0.0,
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 0.0,
174
+ 0.0,
175
+ 0.0,
176
+ 0.0,
177
+ 0.0,
178
+ 0.0,
179
+ 0.0,
180
+ 0.0,
181
+ 0.0,
182
+ 0.0,
183
+ 0.0,
184
+ 0.0,
185
+ 0.0,
186
+ 0.0,
187
+ 0.0,
188
+ 0.0,
189
+ 0.0,
190
+ 0.0,
191
+ 0.0,
192
+ 0.0,
193
+ 0.0,
194
+ 0.0,
195
+ 0.0,
196
+ 0.0,
197
+ 0.0,
198
+ 0.0,
199
+ 0.0,
200
+ 0.0,
201
+ 0.0,
202
+ 0.0,
203
+ 0.0,
204
+ 0.0,
205
+ 0.0,
206
+ 0.0,
207
+ 0.0,
208
+ 0.0,
209
+ 0.0,
210
+ 0.0,
211
+ 0.0,
212
+ 0.0,
213
+ 0.0,
214
+ 0.0,
215
+ 0.0,
216
+ 0.0,
217
+ 0.0,
218
+ 0.0,
219
+ 0.0,
220
+ 0.0,
221
+ 0.0,
222
+ 0.0,
223
+ 0.0,
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ 0.0,
229
+ 0.0,
230
+ 0.0,
231
+ 0.0,
232
+ 0.0,
233
+ 0.0,
234
+ 0.0,
235
+ 0.0,
236
+ 0.0,
237
+ 0.0,
238
+ 0.0,
239
+ 0.0,
240
+ 0.0,
241
+ 0.0,
242
+ 0.0,
243
+ 0.0,
244
+ 0.0,
245
+ 0.0,
246
+ 0.0,
247
+ 0.0,
248
+ 0.0,
249
+ 0.0,
250
+ 0.0,
251
+ 0.0,
252
+ 0.0,
253
+ 0.0,
254
+ 0.0,
255
+ 0.0,
256
+ 0.0,
257
+ 0.0,
258
+ 0.0,
259
+ 0.0,
260
+ 0.0,
261
+ 0.0,
262
+ 0.0,
263
+ 0.0,
264
+ 0.0,
265
+ 0.0,
266
+ 0.0,
267
+ 0.0,
268
+ 0.0,
269
+ 0.0,
270
+ 0.0,
271
+ 0.0,
272
+ 0.0,
273
+ 0.0,
274
+ 0.0,
275
+ 0.0,
276
+ 0.0,
277
+ 0.0,
278
+ 0.0,
279
+ 0.0,
280
+ 0.0,
281
+ 0.0,
282
+ 0.0,
283
+ 0.0,
284
+ 0.0,
285
+ 0.0,
286
+ 0.0,
287
+ 0.0,
288
+ 0.0,
289
+ 0.0,
290
+ 0.0,
291
+ 0.0,
292
+ 0.0,
293
+ 0.0,
294
+ 0.0,
295
+ 0.0,
296
+ 0.0,
297
+ 0.0,
298
+ 0.0,
299
+ 0.0,
300
+ 0.0,
301
+ 0.0,
302
+ 0.0,
303
+ 0.0,
304
+ 0.0,
305
+ 0.0
306
+ ],
307
+ "min": [
308
+ 0.0,
309
+ 0.0,
310
+ 0.0,
311
+ 0.0,
312
+ 0.0,
313
+ 0.0,
314
+ 0.0,
315
+ 0.0,
316
+ 0.0,
317
+ 0.0,
318
+ 0.0,
319
+ 0.0,
320
+ 0.0,
321
+ 0.0,
322
+ 0.0,
323
+ 0.0,
324
+ 0.0,
325
+ 0.0,
326
+ 0.0,
327
+ 0.0,
328
+ 0.0,
329
+ 0.0,
330
+ 0.0,
331
+ 0.0,
332
+ 0.0,
333
+ 0.0,
334
+ 0.0,
335
+ 0.0,
336
+ 0.0,
337
+ 0.0,
338
+ 0.0,
339
+ 0.0,
340
+ 0.0,
341
+ 0.0,
342
+ 0.0,
343
+ 0.0,
344
+ 0.0,
345
+ 0.0,
346
+ 0.0,
347
+ 0.0,
348
+ 0.0,
349
+ 0.0,
350
+ 0.0,
351
+ 0.0,
352
+ 0.0,
353
+ 0.0,
354
+ 0.0,
355
+ 0.0,
356
+ 0.0,
357
+ 0.0,
358
+ 0.0,
359
+ 0.0,
360
+ 0.0,
361
+ 0.0,
362
+ 0.0,
363
+ 0.0,
364
+ 0.0,
365
+ 0.0,
366
+ 0.0,
367
+ 0.0,
368
+ 0.0,
369
+ 0.0,
370
+ 0.0,
371
+ 0.0,
372
+ 0.0,
373
+ 0.0,
374
+ 0.0,
375
+ 0.0,
376
+ 0.0,
377
+ 0.0,
378
+ 0.0,
379
+ 0.0,
380
+ 0.0,
381
+ 0.0,
382
+ 0.0,
383
+ 0.0,
384
+ 0.0,
385
+ 0.0,
386
+ 0.0,
387
+ 0.0,
388
+ 0.0,
389
+ 0.0,
390
+ 0.0,
391
+ 0.0,
392
+ 0.0,
393
+ 0.0,
394
+ 0.0,
395
+ 0.0,
396
+ 0.0,
397
+ 0.0,
398
+ 0.0,
399
+ 0.0,
400
+ 0.0,
401
+ 0.0,
402
+ 0.0,
403
+ 0.0,
404
+ 0.0,
405
+ 0.0,
406
+ 0.0,
407
+ 0.0,
408
+ 0.0,
409
+ 0.0,
410
+ 0.0,
411
+ 0.0,
412
+ 0.0,
413
+ 0.0,
414
+ 0.0,
415
+ 0.0,
416
+ 0.0,
417
+ 0.0,
418
+ 0.0,
419
+ 0.0,
420
+ 0.0,
421
+ 0.0,
422
+ 0.0,
423
+ 0.0,
424
+ 0.0,
425
+ 0.0,
426
+ 0.0,
427
+ 0.0,
428
+ 0.0,
429
+ 0.0,
430
+ 0.0,
431
+ 0.0,
432
+ 0.0,
433
+ 0.0,
434
+ 0.0,
435
+ 0.0,
436
+ 0.0,
437
+ 0.0,
438
+ 0.0,
439
+ 0.0,
440
+ 0.0,
441
+ 0.0,
442
+ 0.0,
443
+ 0.0,
444
+ 0.0,
445
+ 0.0,
446
+ 0.0,
447
+ 0.0,
448
+ 0.0,
449
+ 0.0,
450
+ 0.0,
451
+ 0.0,
452
+ 0.0,
453
+ 0.0,
454
+ 0.0,
455
+ 0.0,
456
+ 0.0,
457
+ 0.0
458
+ ],
459
+ "max": [
460
+ 0.0,
461
+ 0.0,
462
+ 0.0,
463
+ 0.0,
464
+ 0.0,
465
+ 0.0,
466
+ 0.0,
467
+ 0.0,
468
+ 0.0,
469
+ 0.0,
470
+ 0.0,
471
+ 0.0,
472
+ 0.0,
473
+ 0.0,
474
+ 0.0,
475
+ 0.0,
476
+ 0.0,
477
+ 0.0,
478
+ 0.0,
479
+ 0.0,
480
+ 0.0,
481
+ 0.0,
482
+ 0.0,
483
+ 0.0,
484
+ 0.0,
485
+ 0.0,
486
+ 0.0,
487
+ 0.0,
488
+ 0.0,
489
+ 0.0,
490
+ 0.0,
491
+ 0.0,
492
+ 0.0,
493
+ 0.0,
494
+ 0.0,
495
+ 0.0,
496
+ 0.0,
497
+ 0.0,
498
+ 0.0,
499
+ 0.0,
500
+ 0.0,
501
+ 0.0,
502
+ 0.0,
503
+ 0.0,
504
+ 0.0,
505
+ 0.0,
506
+ 0.0,
507
+ 0.0,
508
+ 0.0,
509
+ 0.0,
510
+ 0.0,
511
+ 0.0,
512
+ 0.0,
513
+ 0.0,
514
+ 0.0,
515
+ 0.0,
516
+ 0.0,
517
+ 0.0,
518
+ 0.0,
519
+ 0.0,
520
+ 0.0,
521
+ 0.0,
522
+ 0.0,
523
+ 0.0,
524
+ 0.0,
525
+ 0.0,
526
+ 0.0,
527
+ 0.0,
528
+ 0.0,
529
+ 0.0,
530
+ 0.0,
531
+ 0.0,
532
+ 0.0,
533
+ 0.0,
534
+ 0.0,
535
+ 0.0,
536
+ 0.0,
537
+ 0.0,
538
+ 0.0,
539
+ 0.0,
540
+ 0.0,
541
+ 0.0,
542
+ 0.0,
543
+ 0.0,
544
+ 0.0,
545
+ 0.0,
546
+ 0.0,
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 0.0,
551
+ 0.0,
552
+ 0.0,
553
+ 0.0,
554
+ 0.0,
555
+ 0.0,
556
+ 0.0,
557
+ 0.0,
558
+ 0.0,
559
+ 0.0,
560
+ 0.0,
561
+ 0.0,
562
+ 0.0,
563
+ 0.0,
564
+ 0.0,
565
+ 0.0,
566
+ 0.0,
567
+ 0.0,
568
+ 0.0,
569
+ 0.0,
570
+ 0.0,
571
+ 0.0,
572
+ 0.0,
573
+ 0.0,
574
+ 0.0,
575
+ 0.0,
576
+ 0.0,
577
+ 0.0,
578
+ 0.0,
579
+ 0.0,
580
+ 0.0,
581
+ 0.0,
582
+ 0.0,
583
+ 0.0,
584
+ 0.0,
585
+ 0.0,
586
+ 0.0,
587
+ 0.0,
588
+ 0.0,
589
+ 0.0,
590
+ 0.0,
591
+ 0.0,
592
+ 0.0,
593
+ 0.0,
594
+ 0.0,
595
+ 0.0,
596
+ 0.0,
597
+ 0.0,
598
+ 0.0,
599
+ 0.0,
600
+ 0.0,
601
+ 0.0,
602
+ 0.0,
603
+ 0.0,
604
+ 0.0,
605
+ 0.0,
606
+ 0.0,
607
+ 0.0,
608
+ 0.0,
609
+ 0.0
610
+ ]
611
+ },
612
+ "observation.state.finger_angles": {
613
+ "mean": [
614
+ 0.0,
615
+ 0.0,
616
+ 0.0,
617
+ 0.0,
618
+ 0.0,
619
+ 0.0,
620
+ 0.0,
621
+ 0.0,
622
+ 0.0,
623
+ 0.0,
624
+ 0.0,
625
+ 0.0,
626
+ 0.0,
627
+ 0.0,
628
+ 0.0,
629
+ 0.0,
630
+ 0.0,
631
+ 0.0,
632
+ 0.0,
633
+ 0.0,
634
+ 0.0,
635
+ 0.0,
636
+ 0.0,
637
+ 0.0,
638
+ 0.0,
639
+ 0.0,
640
+ 0.0,
641
+ 0.0,
642
+ 0.0,
643
+ 0.0,
644
+ 0.0,
645
+ 0.0,
646
+ 0.0,
647
+ 0.0,
648
+ 0.0,
649
+ 0.0,
650
+ 0.0,
651
+ 0.0,
652
+ 0.0,
653
+ 0.0
654
+ ],
655
+ "std": [
656
+ 0.0,
657
+ 0.0,
658
+ 0.0,
659
+ 0.0,
660
+ 0.0,
661
+ 0.0,
662
+ 0.0,
663
+ 0.0,
664
+ 0.0,
665
+ 0.0,
666
+ 0.0,
667
+ 0.0,
668
+ 0.0,
669
+ 0.0,
670
+ 0.0,
671
+ 0.0,
672
+ 0.0,
673
+ 0.0,
674
+ 0.0,
675
+ 0.0,
676
+ 0.0,
677
+ 0.0,
678
+ 0.0,
679
+ 0.0,
680
+ 0.0,
681
+ 0.0,
682
+ 0.0,
683
+ 0.0,
684
+ 0.0,
685
+ 0.0,
686
+ 0.0,
687
+ 0.0,
688
+ 0.0,
689
+ 0.0,
690
+ 0.0,
691
+ 0.0,
692
+ 0.0,
693
+ 0.0,
694
+ 0.0,
695
+ 0.0
696
+ ],
697
+ "min": [
698
+ 0.0,
699
+ 0.0,
700
+ 0.0,
701
+ 0.0,
702
+ 0.0,
703
+ 0.0,
704
+ 0.0,
705
+ 0.0,
706
+ 0.0,
707
+ 0.0,
708
+ 0.0,
709
+ 0.0,
710
+ 0.0,
711
+ 0.0,
712
+ 0.0,
713
+ 0.0,
714
+ 0.0,
715
+ 0.0,
716
+ 0.0,
717
+ 0.0,
718
+ 0.0,
719
+ 0.0,
720
+ 0.0,
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 0.0,
725
+ 0.0,
726
+ 0.0,
727
+ 0.0,
728
+ 0.0,
729
+ 0.0,
730
+ 0.0,
731
+ 0.0,
732
+ 0.0,
733
+ 0.0,
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 0.0
738
+ ],
739
+ "max": [
740
+ 0.0,
741
+ 0.0,
742
+ 0.0,
743
+ 0.0,
744
+ 0.0,
745
+ 0.0,
746
+ 0.0,
747
+ 0.0,
748
+ 0.0,
749
+ 0.0,
750
+ 0.0,
751
+ 0.0,
752
+ 0.0,
753
+ 0.0,
754
+ 0.0,
755
+ 0.0,
756
+ 0.0,
757
+ 0.0,
758
+ 0.0,
759
+ 0.0,
760
+ 0.0,
761
+ 0.0,
762
+ 0.0,
763
+ 0.0,
764
+ 0.0,
765
+ 0.0,
766
+ 0.0,
767
+ 0.0,
768
+ 0.0,
769
+ 0.0,
770
+ 0.0,
771
+ 0.0,
772
+ 0.0,
773
+ 0.0,
774
+ 0.0,
775
+ 0.0,
776
+ 0.0,
777
+ 0.0,
778
+ 0.0,
779
+ 0.0
780
+ ]
781
+ },
782
+ "observation.state.gestures": {
783
+ "mean": [
784
+ 0.0,
785
+ 0.0,
786
+ 0.0,
787
+ 0.0,
788
+ 0.0,
789
+ 0.0,
790
+ 0.0,
791
+ 0.0,
792
+ 0.0,
793
+ 0.0,
794
+ 0.0,
795
+ 0.0,
796
+ 0.0,
797
+ 0.0,
798
+ 0.0,
799
+ 0.0,
800
+ 0.0,
801
+ 0.0,
802
+ 0.0,
803
+ 0.0,
804
+ 0.0,
805
+ 0.0,
806
+ 0.0,
807
+ 0.0,
808
+ 0.0,
809
+ 0.0
810
+ ],
811
+ "std": [
812
+ 0.0,
813
+ 0.0,
814
+ 0.0,
815
+ 0.0,
816
+ 0.0,
817
+ 0.0,
818
+ 0.0,
819
+ 0.0,
820
+ 0.0,
821
+ 0.0,
822
+ 0.0,
823
+ 0.0,
824
+ 0.0,
825
+ 0.0,
826
+ 0.0,
827
+ 0.0,
828
+ 0.0,
829
+ 0.0,
830
+ 0.0,
831
+ 0.0,
832
+ 0.0,
833
+ 0.0,
834
+ 0.0,
835
+ 0.0,
836
+ 0.0,
837
+ 0.0
838
+ ],
839
+ "min": [
840
+ 0.0,
841
+ 0.0,
842
+ 0.0,
843
+ 0.0,
844
+ 0.0,
845
+ 0.0,
846
+ 0.0,
847
+ 0.0,
848
+ 0.0,
849
+ 0.0,
850
+ 0.0,
851
+ 0.0,
852
+ 0.0,
853
+ 0.0,
854
+ 0.0,
855
+ 0.0,
856
+ 0.0,
857
+ 0.0,
858
+ 0.0,
859
+ 0.0,
860
+ 0.0,
861
+ 0.0,
862
+ 0.0,
863
+ 0.0,
864
+ 0.0,
865
+ 0.0
866
+ ],
867
+ "max": [
868
+ 0.0,
869
+ 0.0,
870
+ 0.0,
871
+ 0.0,
872
+ 0.0,
873
+ 0.0,
874
+ 0.0,
875
+ 0.0,
876
+ 0.0,
877
+ 0.0,
878
+ 0.0,
879
+ 0.0,
880
+ 0.0,
881
+ 0.0,
882
+ 0.0,
883
+ 0.0,
884
+ 0.0,
885
+ 0.0,
886
+ 0.0,
887
+ 0.0,
888
+ 0.0,
889
+ 0.0,
890
+ 0.0,
891
+ 0.0,
892
+ 0.0,
893
+ 0.0
894
+ ]
895
+ },
896
+ "observation.state.imu": {
897
+ "mean": [
898
+ -0.22256332581634736,
899
+ -4.724393079566241,
900
+ -8.086252216694492,
901
+ -0.005372958122613232,
902
+ 0.004926110389050018,
903
+ 0.002158086519248436
904
+ ],
905
+ "std": [
906
+ 1.2244349735314621,
907
+ 2.0507630341382628,
908
+ 1.297790262752414,
909
+ 0.15534033628362795,
910
+ 0.16388000351136853,
911
+ 0.1866897165303437
912
+ ],
913
+ "min": [
914
+ -5.499481201171875,
915
+ -11.496956825256348,
916
+ -12.054805755615234,
917
+ -2.207227945327759,
918
+ -2.157160520553589,
919
+ -2.3787355422973633
920
+ ],
921
+ "max": [
922
+ 4.850652694702148,
923
+ 3.1890766620635986,
924
+ -2.3989901542663574,
925
+ 2.146507740020752,
926
+ 2.5204155445098877,
927
+ 1.9313243627548218
928
+ ]
929
+ }
930
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"task_index": 0, "task": "Pick_and_pack_task"}
2
+ {"task_index": 1, "task": "fold_laundry"}
videos/chunk-000/observation.images.egocentric/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42729ce310f40130480860bb7f01ab33fd70fba29c41ece5f653384c293165fd
3
+ size 51841823
videos/chunk-000/observation.images.egocentric/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fa0255572ef07d37662c5f59f8ee84621a14302d5524d625e92575c05b4b1d6e
3
+ size 55469312
videos/chunk-000/observation.images.egocentric/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8d73bff8ce88ccf92701e37a7d2763841b25211db84cc402e3a0008dd85f8c44
3
+ size 246020922
videos/chunk-000/observation.images.egocentric/episode_000003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6368223f2f88fee83abeac2ed99594e6300bd5ed53179153484985efd71583ed
3
+ size 447983410
videos/chunk-000/observation.images.egocentric/episode_000004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b4177a710b49f8d5692de5481e47d19245bb8dbce99d6f5b754f7200823caeef
3
+ size 486412362
videos/chunk-000/observation.images.egocentric/episode_000005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e3790db9983d23ceef7af180f894544c0dd6a4551c04badcc8cda67a1e860f47
3
+ size 504813603