Datasets:

azithromycin
/

unitreerobotics_G1_Dex3_GraspSquare_Dataset

@@ -1,60 +1,60 @@
-*.7z filter=lfs diff=lfs merge=lfs -text
-*.arrow filter=lfs diff=lfs merge=lfs -text
-*.avro filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.bz2 filter=lfs diff=lfs merge=lfs -text
-*.ckpt filter=lfs diff=lfs merge=lfs -text
-*.ftz filter=lfs diff=lfs merge=lfs -text
-*.gz filter=lfs diff=lfs merge=lfs -text
-*.h5 filter=lfs diff=lfs merge=lfs -text
-*.joblib filter=lfs diff=lfs merge=lfs -text
-*.lfs.* filter=lfs diff=lfs merge=lfs -text
-*.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mds filter=lfs diff=lfs merge=lfs -text
-*.mlmodel filter=lfs diff=lfs merge=lfs -text
-*.model filter=lfs diff=lfs merge=lfs -text
-*.msgpack filter=lfs diff=lfs merge=lfs -text
-*.npy filter=lfs diff=lfs merge=lfs -text
-*.npz filter=lfs diff=lfs merge=lfs -text
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.ot filter=lfs diff=lfs merge=lfs -text
-*.parquet filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.pickle filter=lfs diff=lfs merge=lfs -text
-*.pkl filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.pth filter=lfs diff=lfs merge=lfs -text
-*.rar filter=lfs diff=lfs merge=lfs -text
-*.safetensors filter=lfs diff=lfs merge=lfs -text
-saved_model/**/* filter=lfs diff=lfs merge=lfs -text
-*.tar.* filter=lfs diff=lfs merge=lfs -text
-*.tar filter=lfs diff=lfs merge=lfs -text
-*.tflite filter=lfs diff=lfs merge=lfs -text
-*.tgz filter=lfs diff=lfs merge=lfs -text
-*.wasm filter=lfs diff=lfs merge=lfs -text
-*.xz filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
-*.zst filter=lfs diff=lfs merge=lfs -text
-*tfevents* filter=lfs diff=lfs merge=lfs -text
-# Audio files - uncompressed
-*.pcm filter=lfs diff=lfs merge=lfs -text
-*.sam filter=lfs diff=lfs merge=lfs -text
-*.raw filter=lfs diff=lfs merge=lfs -text
-# Audio files - compressed
-*.aac filter=lfs diff=lfs merge=lfs -text
-*.flac filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.ogg filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-# Image files - uncompressed
-*.bmp filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.tiff filter=lfs diff=lfs merge=lfs -text
-# Image files - compressed
-*.jpg filter=lfs diff=lfs merge=lfs -text
-*.jpeg filter=lfs diff=lfs merge=lfs -text
-*.webp filter=lfs diff=lfs merge=lfs -text
-# Video files - compressed
-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text

+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+data/g1_dex3_graspsquare_dataset_train.tsfile filter=lfs diff=lfs merge=lfs -text

README.md CHANGED Viewed

@@ -1,3 +1,96 @@
 ---
 license: apache-2.0
 ---

 ---
 license: apache-2.0
+authors:
+  - Henry-Ellis
+  - lv-1
+task_categories:
+  - robotics
+tags:
+  - tsfile
+  - timeseries
+  - tabular
+modality:
+  - timeseries
+  - tabular
+pretty_name: G1 Dex3 Grasp Square Dataset TsFile
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path: data/g1_dex3_graspsquare_dataset_train.tsfile
+size_categories:
+  - 100K<n<1M
 ---
+# G1 Dex3 Grasp Square Dataset TsFile
+This repository is an Apache TsFile conversion of [unitreerobotics/G1_Dex3_GraspSquare_Dataset](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset), a LeRobot v3 robot-manipulation dataset. It contains numeric trajectories and metadata; camera videos remain in the original Hugging Face dataset.
+## Source dataset
+- Original dataset: [unitreerobotics/G1_Dex3_GraspSquare_Dataset](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset)
+- Original uploader/contributors: [Henry-Ellis](https://huggingface.co/Henry-Ellis) and [lv-1](https://huggingface.co/lv-1); hosted by [Unitree Robotics](https://huggingface.co/unitreerobotics).
+- License: Apache-2.0. The source card provides no paper or formal citation.
+- Task: stack three 5 cm cubic blocks from bottom to top in red, yellow, blue order on black tape.
+- Robot: 7-DOF dual-arm `Unitree_G1` with three-finger dexterous hands.
+- Sampling: 30 Hz; 301 episodes, 281,196 frames, one task, one source Parquet shard.
+- Source numeric layout: `data/chunk-000/file-000.parquet`.
+## Converted files
+- TsFile: `data/g1_dex3_graspsquare_dataset_train.tsfile`
+- Table: `g1_dex3_graspsquare_dataset_train`
+- Rows: 281,196; devices: 301 (one per `episode_index`/`task_index` TAG combination).
+- Time precision: milliseconds; `Time = round(timestamp * 1000)` and restarts at the first frame of each episode.
+- Size: source Parquet 63,247,041 bytes; flattened/staged Parquet 74,725,871 bytes; TsFile 51,443,386 bytes. The TsFile is smaller than both source and staged representations.
+## TsFile schema
+| Role | Columns | Source/type |
+| --- | --- | --- |
+| TIME | `Time` | `int64`, milliseconds from `timestamp` |
+| TAG/device | `episode_index`, `task_index` | source `int64`, stored by TsFile device/tag mechanism as string segments |
+| FIELD | `frame_index`, `sample_index` | `int64`; `sample_index` is renamed from source `index` |
+| FIELD | `observation_state_0` … `observation_state_27` | 28 FLOAT dimensions from `observation.state` |
+| FIELD | `action_0` … `action_27` | 28 FLOAT dimensions from `action` |
+Vector names retain their source prefix (`.` becomes `_`) and are flattened row-major to scalar fields. `frame_index` is preserved for video/frame alignment. The redundant source `timestamp` column is dropped after deriving `Time`; no numeric rows or vector dimensions are dropped. The four video columns are intentionally omitted from TsFile.
+### Encoding and compression
+| TsFile type | Encoding | Compression |
+| --- | --- | --- |
+| FLOAT/DOUBLE | GORILLA | LZ4 |
+| INT32/INT64 | TS_2DIFF | LZ4 |
+| Time | TS_2DIFF | LZ4 |
+| BOOLEAN (if present) | RLE | LZ4 |
+| TAG | TsFile device/tag mechanism | TsFile-managed |
+## Videos and frame alignment
+Videos are not copied or uploaded with this TsFile dataset. The original repository's `videos/` tree is about 9.12 GB and contains four streams:
+- [cam_left_high](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset/tree/main/videos/observation.images.cam_left_high)
+- [cam_right_high](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset/tree/main/videos/observation.images.cam_right_high)
+- [cam_left_wrist](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset/tree/main/videos/observation.images.cam_left_wrist)
+- [cam_right_wrist](https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset/tree/main/videos/observation.images.cam_right_wrist)
+The source path template is `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`. Numeric rows remain frame-aligned through `episode_index` and `frame_index`, with episode metadata under `meta/episodes/`.
+## Validation
+Local validation read the TsFile with the bundled TsFile Python SDK and compared it with the staged Parquet: 281,196 metadata rows and 281,196 query rows, 301 devices, unique `(episode_index, task_index, Time)` keys, monotonic Time within each episode, and all 28 action plus 28 observation-state dimensions present. Detailed local reports are `validation_report.json` and `VALIDATION.md`.
+## Usage
+```python
+from tsfile import TsFileReader
+path = "data/g1_dex3_graspsquare_dataset_train.tsfile"
+reader = TsFileReader(path)
+table = "g1_dex3_graspsquare_dataset_train"
+columns = ["episode_index", "task_index", "frame_index", "sample_index", "action_0", "observation_state_0"]
+with reader.query_table(table, columns, batch_size=65536) as result:
+    batch = result.read_arrow_batch()
+    print(batch.to_pandas().head())
+```

data/g1_dex3_graspsquare_dataset_train.tsfile ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:cac9f6b5b39c3beb1408df9e0e4e301971e5c09e581bc3db55bb073d6c454db4
+size 51443386

meta/info.json ADDED Viewed

	@@ -0,0 +1,657 @@

+{
+  "codebase_version": "v3.0",
+  "robot_type": "Unitree_G1",
+  "total_episodes": 301,
+  "total_frames": 281196,
+  "total_tasks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:301"
+  },
+  "data_path": "data/g1_dex3_graspsquare_dataset_train.tsfile",
+  "features": {
+    "Time": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TIME",
+      "unit": "ms"
+    },
+    "episode_index": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG",
+      "source_dtype": "int64"
+    },
+    "task_index": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG",
+      "source_dtype": "int64"
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "sample_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_6": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_7": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_8": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_9": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_10": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_11": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_12": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_13": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_14": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_15": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_16": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_17": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_18": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_19": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_20": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_21": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_22": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_23": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_24": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_25": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_26": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_27": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_6": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_7": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_8": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_9": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_10": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_11": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_12": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_13": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_14": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_15": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_16": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_17": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_18": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_19": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_20": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_21": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_22": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_23": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_24": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_25": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_26": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_27": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    }
+  },
+  "data_files_size_in_mb": 100,
+  "video_files_size_in_mb": 500,
+  "video_path_original": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "unitreerobotics/G1_Dex3_GraspSquare_Dataset",
+    "source_data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "converted_data_path": "data/g1_dex3_graspsquare_dataset_train.tsfile",
+    "table_name": "g1_dex3_graspsquare_dataset_train",
+    "granularity": "per_split",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 281196,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5",
+        "observation_state_6",
+        "observation_state_7",
+        "observation_state_8",
+        "observation_state_9",
+        "observation_state_10",
+        "observation_state_11",
+        "observation_state_12",
+        "observation_state_13",
+        "observation_state_14",
+        "observation_state_15",
+        "observation_state_16",
+        "observation_state_17",
+        "observation_state_18",
+        "observation_state_19",
+        "observation_state_20",
+        "observation_state_21",
+        "observation_state_22",
+        "observation_state_23",
+        "observation_state_24",
+        "observation_state_25",
+        "observation_state_26",
+        "observation_state_27"
+      ],
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5",
+        "action_6",
+        "action_7",
+        "action_8",
+        "action_9",
+        "action_10",
+        "action_11",
+        "action_12",
+        "action_13",
+        "action_14",
+        "action_15",
+        "action_16",
+        "action_17",
+        "action_18",
+        "action_19",
+        "action_20",
+        "action_21",
+        "action_22",
+        "action_23",
+        "action_24",
+        "action_25",
+        "action_26",
+        "action_27"
+      ]
+    },
+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.cam_left_high",
+      "observation.images.cam_right_high",
+      "observation.images.cam_left_wrist",
+      "observation.images.cam_right_wrist"
+    ],
+    "original_video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "original_video_features": {
+      "observation.images.cam_left_high": {
+        "dtype": "video",
+        "shape": [
+          3,
+          480,
+          640
+        ],
+        "names": [
+          "channels",
+          "height",
+          "width"
+        ],
+        "info": {
+          "video.fps": 30,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_right_high": {
+        "dtype": "video",
+        "shape": [
+          3,
+          480,
+          640
+        ],
+        "names": [
+          "channels",
+          "height",
+          "width"
+        ],
+        "info": {
+          "video.fps": 30,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_left_wrist": {
+        "dtype": "video",
+        "shape": [
+          3,
+          480,
+          640
+        ],
+        "names": [
+          "channels",
+          "height",
+          "width"
+        ],
+        "info": {
+          "video.fps": 30,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.cam_right_wrist": {
+        "dtype": "video",
+        "shape": [
+          3,
+          480,
+          640
+        ],
+        "names": [
+          "channels",
+          "height",
+          "width"
+        ],
+        "info": {
+          "video.fps": 30,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/unitreerobotics/G1_Dex3_GraspSquare_Dataset/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
+    "actual_tag_storage": "TsFile TAG columns are stored as STRING device segments; source integer dtype is recorded as source_dtype.",
+    "episode_file_count": 1,
+    "frame_video_alignment": "episode_index + frame_index; source video path template retained.",
+    "encoding": {
+      "float": "GORILLA",
+      "double": "GORILLA",
+      "int32": "TS_2DIFF",
+      "int64": "TS_2DIFF",
+      "time": "TS_2DIFF",
+      "boolean": "RLE"
+    },
+    "compression": {
+      "default": "LZ4",
+      "time": "LZ4"
+    },
+    "source_contributors": [
+      "Henry-Ellis",
+      "lv-1"
+    ]
+  }
+}

meta/stats.json ADDED Viewed

	@@ -0,0 +1,629 @@

+{
+    "observation.images.cam_left_high": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5047508094244186
+                ]
+            ],
+            [
+                [
+                    0.49904107562727407
+                ]
+            ],
+            [
+                [
+                    0.4707569804598843
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.24257420341280794
+                ]
+            ],
+            [
+                [
+                    0.23630871385769248
+                ]
+            ],
+            [
+                [
+                    0.24121710847897557
+                ]
+            ]
+        ],
+        "count": [
+            50388
+        ]
+    },
+    "action": {
+        "min": [
+            -1.5019830465316772,
+            -0.10465461015701294,
+            -1.0579173564910889,
+            -1.0471996068954468,
+            -0.5072725415229797,
+            -1.550949215888977,
+            -1.3590999841690063,
+            -1.7829570770263672,
+            -1.2025178670883179,
+            -0.5489614605903625,
+            -1.0471985340118408,
+            -1.6240100860595703,
+            -1.6144194602966309,
+            -0.9865021705627441,
+            -1.0471975803375244,
+            0.5694321990013123,
+            0.014022723771631718,
+            -1.6959482431411743,
+            -2.094395160675049,
+            -1.7615234851837158,
+            -2.094395160675049,
+            -1.0471912622451782,
+            -1.0471975803375244,
+            -1.0937144756317139,
+            -0.19198620319366455,
+            2.9761647249808044e-24,
+            -0.19198620319366455,
+            1.3522716746171002e-22
+        ],
+        "max": [
+            0.5354967713356018,
+            1.2286391258239746,
+            0.5269407629966736,
+            1.2704854011535645,
+            1.755934238433838,
+            1.3575888872146606,
+            0.9239657521247864,
+            0.4525030553340912,
+            0.0873638242483139,
+            1.1086024045944214,
+            1.3864336013793945,
+            0.5220990777015686,
+            1.2726393938064575,
+            1.3873311281204224,
+            0.2105439007282257,
+            1.0471975803375244,
+            1.3984010219573975,
+            0.19198620319366455,
+            -5.992518126550274e-23,
+            0.19198620319366455,
+            -1.973005091110833e-21,
+            0.09095222502946854,
+            -0.5916794538497925,
+            -0.014052720740437508,
+            1.8325787782669067,
+            2.094395160675049,
+            1.6477811336517334,
+            2.094395160675049
+        ],
+        "mean": [
+            -0.3863716232279148,
+            0.39396745931167926,
+            0.03431103041024928,
+            0.009708200981389132,
+            0.1722526341176066,
+            -0.019659362631351037,
+            -0.2612263374912693,
+            -0.5985700725298305,
+            -0.3845521863919965,
+            0.06264817118491087,
+            0.22825635141298742,
+            -0.12034727742691051,
+            -0.08447122011764718,
+            0.34836003202886967,
+            -0.6551615797052873,
+            1.0180872826390532,
+            0.3756216246046298,
+            0.03195931616074032,
+            -0.0710212018352759,
+            -0.0193650092538984,
+            -0.4033019803063864,
+            -0.6000273627620766,
+            -0.974619178094293,
+            -0.31548782881519905,
+            0.010893788211935781,
+            0.061587314852270404,
+            0.08377548985850203,
+            0.47268790923342574
+        ],
+        "std": [
+            0.3104076833416323,
+            0.24750707931350968,
+            0.20972880206346728,
+            0.2866169093069513,
+            0.37252944644641034,
+            0.2891084125434007,
+            0.27607984396334756,
+            0.3587734270584708,
+            0.2686221540814786,
+            0.2289337592155076,
+            0.4082793531716458,
+            0.35700841826630403,
+            0.4206615200863807,
+            0.29836216627340867,
+            0.16762746861973923,
+            0.058268190875271485,
+            0.2606954802049171,
+            0.2009716069388043,
+            0.21631555781808606,
+            0.24962205905952237,
+            0.6308774557387031,
+            0.15321309196122707,
+            0.08768955931412543,
+            0.2823158928236974,
+            0.2406561448279678,
+            0.2104461906537746,
+            0.3059273470978774,
+            0.6513390576277714
+        ],
+        "count": [
+            281196
+        ]
+    },
+    "observation.state": {
+        "min": [
+            -1.4550118446350098,
+            -0.06949806213378906,
+            -1.0511047840118408,
+            -1.03071928024292,
+            -0.4975949823856354,
+            -1.5453640222549438,
+            -1.3530008792877197,
+            -1.5718340873718262,
+            -1.1841716766357422,
+            -0.5344080924987793,
+            -1.0334393978118896,
+            -1.6194305419921875,
+            -1.5786588191986084,
+            -0.9749836921691895,
+            -1.0097272396087646,
+            0.5789667367935181,
+            0.017472300678491592,
+            -1.3936595916748047,
+            -2.083012104034424,
+            -1.089174509048462,
+            -2.0832393169403076,
+            -1.006208062171936,
+            -1.0547640323638916,
+            -1.0409409999847412,
+            -0.1988460272550583,
+            0.009620487689971924,
+            -0.17772997915744781,
+            0.008674941025674343
+        ],
+        "max": [
+            0.5277786254882812,
+            1.2103934288024902,
+            0.5151016712188721,
+            1.2654342651367188,
+            1.7501063346862793,
+            1.3493192195892334,
+            0.9137319326400757,
+            0.4504079818725586,
+            0.0651240348815918,
+            1.0999765396118164,
+            1.3758091926574707,
+            0.5103821754455566,
+            1.2686320543289185,
+            1.3807964324951172,
+            0.1522921770811081,
+            1.102331519126892,
+            1.3545994758605957,
+            0.1950070858001709,
+            -0.008813309483230114,
+            0.2671687602996826,
+            -0.008364483714103699,
+            0.026381712406873703,
+            -0.608210563659668,
+            -0.018412526696920395,
+            1.645692229270935,
+            2.085045099258423,
+            1.453798770904541,
+            2.090496778488159
+        ],
+        "mean": [
+            -0.3879570338915728,
+            0.406045771019502,
+            0.030620826597169505,
+            0.0153625362322646,
+            0.18191544733714546,
+            -0.017870269144278392,
+            -0.2689767563619761,
+            -0.5856638683315999,
+            -0.3806495197225512,
+            0.06649060502480358,
+            0.22811650194986233,
+            -0.12437720100303967,
+            -0.08365296632761351,
+            0.34734994966232746,
+            -0.660358510889526,
+            0.9788968457818484,
+            0.36423653253475763,
+            0.019067380869776798,
+            -0.07370557479993016,
+            -0.003843636020952974,
+            -0.37196278344523265,
+            -0.6061184709097405,
+            -0.9288628173178582,
+            -0.30492653122713365,
+            0.023877166274315405,
+            0.06866707648311189,
+            0.07063117104538347,
+            0.4259628477190553
+        ],
+        "std": [
+            0.3063564384914223,
+            0.2564313158539211,
+            0.20863197237871364,
+            0.27999546581300755,
+            0.37397801500673294,
+            0.28963928888180074,
+            0.2777241946248484,
+            0.3590919183799878,
+            0.2687899695042939,
+            0.2276301639384855,
+            0.4077093638109428,
+            0.3553332059817898,
+            0.41973349729319087,
+            0.29871516780037494,
+            0.1497017626098519,
+            0.07618077620180567,
+            0.2695007548897285,
+            0.2009185129244596,
+            0.20752493898887106,
+            0.2209242762247575,
+            0.5601667997834916,
+            0.14341892347115645,
+            0.11111770760255912,
+            0.28936093047193245,
+            0.2413145127758061,
+            0.20257278038838952,
+            0.2726272910282082,
+            0.5613446105358886
+        ],
+        "count": [
+            281196
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            226.3333282470703
+        ],
+        "mean": [
+            17.958870093682307
+        ],
+        "std": [
+            20.42315269176781
+        ],
+        "count": [
+            281196
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            6790
+        ],
+        "mean": [
+            538.7661026472638
+        ],
+        "std": [
+            612.6945614168259
+        ],
+        "count": [
+            281196
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            300
+        ],
+        "mean": [
+            146.44165635357544
+        ],
+        "std": [
+            86.17670232645737
+        ],
+        "count": [
+            281196
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            281196
+        ]
+    },
+    "observation.images.cam_left_wrist": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.43317515058686185
+                ]
+            ],
+            [
+                [
+                    0.4269818053302466
+                ]
+            ],
+            [
+                [
+                    0.4134873692542161
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.3018915022846747
+                ]
+            ],
+            [
+                [
+                    0.28479098141746156
+                ]
+            ],
+            [
+                [
+                    0.29928073327490484
+                ]
+            ]
+        ],
+        "count": [
+            50388
+        ]
+    },
+    "observation.images.cam_right_high": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.5065798633793634
+                ]
+            ],
+            [
+                [
+                    0.499573790773689
+                ]
+            ],
+            [
+                [
+                    0.4709063408189684
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.23873019810985247
+                ]
+            ],
+            [
+                [
+                    0.23262613650875938
+                ]
+            ],
+            [
+                [
+                    0.23849618785463422
+                ]
+            ]
+        ],
+        "count": [
+            50388
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            281195
+        ],
+        "mean": [
+            140597.5
+        ],
+        "std": [
+            81174.29314700971
+        ],
+        "count": [
+            281196
+        ]
+    },
+    "observation.images.cam_right_wrist": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4179111509412738
+                ]
+            ],
+            [
+                [
+                    0.4164055886421779
+                ]
+            ],
+            [
+                [
+                    0.4026551431567932
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.3065409739465407
+                ]
+            ],
+            [
+                [
+                    0.28548764970782897
+                ]
+            ],
+            [
+                [
+                    0.29872460492143454
+                ]
+            ]
+        ],
+        "count": [
+            50388
+        ]
+    }
+}

meta/tasks.parquet ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:06360066d2bc8f0264fc43cfa556840f121d7e37896a3ac3ffabf53f6f184f42
+size 2126