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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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version https://git-lfs.github.com/spec/v1
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oid sha256:53c24f3f99590cd4ba15994a6d5ac6820b73572f4104888bff0576342fd53101
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size 25728
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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 sha256:5469a8147921660b3857f224c00569c756875e1ce2f3d617de6061e4e5fbc7e8
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size 33824
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grab the panda doll and put it in the bowl."], "length": 407}
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{"episode_index": 1, "tasks": ["Grab the panda doll and put it in the bowl."], "length": 754}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-13.53515625, 54.140625, -206.54296875, 14.150390625, -25.6640625, -0.5479452013969421], "max": [45.263671875, 185.2734375, -100.107421875, 69.43359375, 24.9609375, 44.84018325805664], "mean": [11.829818725585938, 104.44671630859375, -165.3482208251953, 46.46282958984375, -0.42152947187423706, 10.084738731384277], "std": [17.866140365600586, 42.67275619506836, 35.880287170410156, 16.106168746948242, 15.264102935791016, 15.633920669555664], "count": [407]}, "observation.state": {"min": [-11.689453125, 53.701171875, -205.6640625, 15.732421875, -25.3125, 0.15885624289512634], "max": [45.0, 184.921875, -99.66796875, 67.32421875, 24.43359375, 44.87688446044922], "mean": [11.8451509475708, 103.25830841064453, -164.1304931640625, 46.54964065551758, -0.5200015306472778, 12.444839477539062], "std": [17.773780822753906, 42.63491439819336, 35.666595458984375, 15.66574764251709, 15.15123176574707, 14.404182434082031], "count": [407]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.46762624183006535]], [[0.532532379493464]], [[0.5461460457516341]]], "std": [[[0.2575571348949702]], [[0.2804433994041772]], [[0.3015620701470112]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5673422834967321]], [[0.6354171977124183]], [[0.6689628656045752]]], "std": [[[0.16581933851463437]], [[0.1690833769557713]], [[0.17811075577426994]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [13.533333333333333], "mean": [6.766666666666666], "std": [3.9163475047265375], "count": [407]}, "frame_index": {"min": [0], "max": [406], "mean": [203.0], "std": [117.49042514179612], "count": [407]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [407]}, "index": {"min": [0], "max": [406], "mean": [203.0], "std": [117.49042514179612], "count": [407]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [407]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-4.04296875, 42.1875, -213.3984375, -5.44921875, -72.861328125, -0.456620991230011], "max": [44.912109375, 185.2734375, -96.767578125, 56.865234375, -0.87890625, 47.76255798339844], "mean": [10.6063232421875, 136.99485778808594, -137.82591247558594, 41.23772048950195, -28.148197174072266, 6.875726699829102], "std": [10.892374038696289, 55.64835739135742, 44.929969787597656, 19.276775360107422, 29.00457763671875, 13.883279800415039], "count": [754]}, "observation.state": {"min": [-3.8671875, 41.572265625, -211.025390625, -4.130859375, -72.24609375, 0.15885624289512634], "max": [44.912109375, 184.921875, -96.50390625, 56.77734375, -1.23046875, 47.41858673095703], "mean": [10.644207000732422, 135.86965942382812, -136.66163635253906, 41.60886764526367, -28.19120979309082, 8.181304931640625], "std": [10.842741012573242, 56.472442626953125, 44.21013641357422, 18.864858627319336, 28.799335479736328, 13.502492904663086], "count": [754]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[1.0]], [[1.0]]], "mean": [[[0.5768619138214726]], [[0.6489349890305772]], [[0.6686749908588144]]], "std": [[[0.1503267538956161]], [[0.1651471336204189]], [[0.19162928656802236]]], "count": [143]}, "observation.images.phone": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.5659561008844097]], [[0.6396988493532612]], [[0.6692249031605649]]], "std": [[[0.16542873632545937]], [[0.16956997828900117]], [[0.17868078419666256]]], "count": [143]}, "timestamp": {"min": [0.0], "max": [25.1], "mean": [12.55], "std": [7.255362001842347], "count": [754]}, "frame_index": {"min": [0], "max": [753], "mean": [376.5], "std": [217.66086005527038], "count": [754]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [754]}, "index": {"min": [407], "max": [1160], "mean": [783.5], "std": [217.66086005527038], "count": [754]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [754]}}}
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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": 1161,
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"total_tasks": 1,
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"total_videos": 4,
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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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"observation.state": {
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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.images.laptop": {
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"observation.images.phone": {
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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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"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.codec": "av1",
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"video.fps": 30,
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"timestamp": {
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grab the panda doll and put it in the bowl."}
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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:ebd5cd145e83a1a45fc2a71ca5e4db898e960566830f7bfdd17247b04f52d518
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size 1640095
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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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oid sha256:794f89a3067ce8322f7d924b2986e5059bfadfa8131c6521c6da07e181aa0512
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size 4017684
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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:be693699977e2e48ce5fd0b23ead1da9075e9fe8521200b004ecba687df422c9
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size 3313853
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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 6216351
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