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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:8b0dc0e20726c1ed3a40982326e094c778c2d971078fdbc881b4e00361fd8312
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size 3172723
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Open the drawer"], "length": 17926}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-0.37613552808761597, 1.8382420539855957, 0.12121523171663284, 0.2818893790245056, -0.37777358293533325, -0.043673429638147354, -0.0006625745445489883], "max": [0.8331355452537537, 2.9076223373413086, 2.435542106628418, 1.5370031595230103, 0.8077945709228516, 0.21962870657444, 0.041815683245658875], "mean": [0.14394867420196533, 2.34474778175354, 1.2716381549835205, 0.8847751617431641, 0.13343797624111176, 0.0547419972717762, 0.009434699080884457], "std": [0.2681516706943512, 0.26033273339271545, 0.5463454723358154, 0.28142762184143066, 0.26348116993904114, 0.051814526319503784, 0.014096259139478207], "count": [17926]}, "observation.state": {"min": [-0.3713664412498474, 1.8575952053070068, 0.12417028844356537, 0.2977416515350342, -0.3717479109764099, -0.042153049260377884, -2.6170164346694946e-06], "max": [0.8276112079620361, 2.88338303565979, 2.369535446166992, 1.5234225988388062, 0.7990005612373352, 0.20962081849575043, 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meta/info.json
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| 1 |
+
{
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| 2 |
+
"codebase_version": "v2.1",
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| 3 |
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"trossen_subversion": "v1.0",
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| 4 |
+
"robot_type": "trossen_ai_stationary",
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| 5 |
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"total_episodes": 1,
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| 6 |
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"total_frames": 17926,
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| 7 |
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"total_tasks": 1,
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| 8 |
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"total_videos": 2,
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| 9 |
+
"total_chunks": 1,
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| 10 |
+
"chunks_size": 1000,
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| 11 |
+
"fps": 30,
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| 12 |
+
"splits": {
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| 13 |
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"train": "0:1"
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| 14 |
+
},
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| 15 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 16 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 17 |
+
"features": {
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| 18 |
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"action": {
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| 19 |
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"dtype": "float32",
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| 20 |
+
"shape": [
|
| 21 |
+
7
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| 22 |
+
],
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| 23 |
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"names": [
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| 24 |
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"right_joint_0",
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| 25 |
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"right_joint_1",
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| 26 |
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"right_joint_2",
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| 27 |
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"right_joint_3",
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| 28 |
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"right_joint_4",
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| 29 |
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"right_joint_5",
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| 30 |
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"right_joint_6"
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]
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| 32 |
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},
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| 33 |
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"observation.state": {
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| 34 |
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"dtype": "float32",
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| 35 |
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"shape": [
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| 36 |
+
7
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| 37 |
+
],
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| 38 |
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"names": [
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| 39 |
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"right_joint_0",
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| 40 |
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"right_joint_1",
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| 41 |
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"right_joint_2",
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| 42 |
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"right_joint_3",
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| 43 |
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"right_joint_4",
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| 44 |
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"right_joint_5",
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| 45 |
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"right_joint_6"
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| 46 |
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]
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| 47 |
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},
|
| 48 |
+
"observation.images.cam_high": {
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| 49 |
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"dtype": "video",
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| 50 |
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"shape": [
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| 51 |
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480,
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| 52 |
+
640,
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| 53 |
+
3
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| 54 |
+
],
|
| 55 |
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"names": [
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| 56 |
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"height",
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| 57 |
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"width",
|
| 58 |
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"channels"
|
| 59 |
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],
|
| 60 |
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"info": {
|
| 61 |
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"video.fps": 30.0,
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| 62 |
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