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data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:087b4fd952b742b98757fd8bbf33a0ae7472381a7352f4f31e9fb4891175bec5
+size 88450

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Pick up the dog toy and place it on the blue mark on the left"], "length": 1771}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-76.628662109375, -98.08333587646484, -61.917564392089844, -23.12925148010254, -14.204102516174316, 0.902255654335022], "max": [99.91856384277344, 58.16666793823242, 99.28315734863281, 98.38435363769531, 24.279407501220703, 76.76691436767578], "mean": [-45.78950881958008, 8.380943298339844, 2.5614514350891113, 80.60355377197266, -1.1083842515945435, 47.60478210449219], "std": [40.18574905395508, 41.49628829956055, 31.98036003112793, 18.892454147338867, 4.919092178344727, 24.443424224853516], "count": [1771]}, "observation.state": {"min": [-76.12831115722656, -98.25798797607422, -54.03401565551758, -21.10321807861328, -57.14285659790039, 2.425015926361084], "max": [96.79224395751953, 57.85980987548828, 100.0, 97.15837860107422, 85.71428680419922, 76.38800048828125], "mean": [-45.85405349731445, 8.878207206726074, 4.246673107147217, 80.29834747314453, -9.276494979858398, 48.31584930419922], "std": [39.72342300415039, 41.838626861572266, 32.20191955566406, 19.020231246948242, 39.159507751464844, 23.474008560180664], "count": [1771]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.46239056178026766]], [[0.431058549701932]], [[0.40417582118317413]]], "std": [[[0.3037477409822965]], [[0.26930325766347024]], [[0.23211531666547583]]], "count": [273]}, "observation.images.ego": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7767729663446575]], [[0.7762606396190955]], [[0.7826484519021284]]], "std": [[[0.24518457259816664]], [[0.2456959155352506]], [[0.23941404442793646]]], "count": [273]}, "timestamp": {"min": [0.0], "max": [59.0], "mean": [29.5], "std": [17.041452728893482], "count": [1771]}, "frame_index": {"min": [0], "max": [1770], "mean": [885.0], "std": [511.24358186680445], "count": [1771]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1771]}, "index": {"min": [0], "max": [1770], "mean": [885.0], "std": [511.24358186680445], "count": [1771]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1771]}}}

meta/info.json

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-{
-  "codebase_version": "v2.0",
-  "data_format": "lerobot_dataset_v2.0",
-  "total_episodes": 0,
-  "total_frames": 0,
-  "total_tasks": 1,
-  "total_videos": 0,
-  "fps": 30,
-  "splits": {},
-  "data_path": "data",
-  "video_path": "videos",
-  "features": {}
+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_follower",
+    "total_episodes": 1,
+    "total_frames": 1771,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.images.front": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.ego": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
 }

meta/tasks.jsonl

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+{"task_index": 0, "task": "Pick up the dog toy and place it on the blue mark on the left"}

videos/chunk-000/observation.images.ego/episode_000000.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3b39c1939d634092cf40e2b1ba29eec7c973ea0125f738eebbf86b15503c1dac
+size 16029978

videos/chunk-000/observation.images.front/episode_000000.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:48ca340bfd76377cfbb6531880d06713f3e0d2deeedb451c61bf335d62521483
+size 16795000