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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["pick the boat"], "length": 626}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-34.716796875, 85.95703125, 118.212890625, -38.84765625, -101.513671875, -0.6018916368484497], "max": [29.794921875, 196.962890625, 179.560546875, 67.060546875, -89.560546875, 41.70249557495117], "mean": [-3.8938636779785156, 127.42891693115234, 145.90126037597656, 16.25078010559082, -95.53500366210938, 20.618370056152344], "std": [11.310996055603027, 37.31489944458008, 19.546281814575195, 32.70320510864258, 3.46639084815979, 16.653226852416992], "count": [626]}, "observation.state": {"min": [-34.453125, 85.341796875, 122.607421875, -37.08984375, -100.72265625, 13.196229934692383], "max": [29.443359375, 193.623046875, 176.30859375, 67.060546875, -89.912109375, 41.4738655090332], "mean": [-3.9003219604492188, 125.5769271850586, 147.2196502685547, 16.91473388671875, -95.53849029541016, 25.345518112182617], "std": [11.224533081054688, 37.1796760559082, 17.95271873474121, 32.25537109375, 3.3694522380828857, 11.321589469909668], "count": [626]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7775948986928104]], [[0.7783409836601307]], [[0.788115]]], "std": [[[0.22482109515723744]], [[0.22706397807832673]], [[0.21928126642070028]]], "count": [125]}, "timestamp": {"min": [0.0], "max": [20.833333333333332], "mean": [10.416666666666664], "std": [6.023680122833733], "count": [626]}, "frame_index": {"min": [0], "max": [625], "mean": [312.5], "std": [180.710403685012], "count": [626]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [626]}, "index": {"min": [0], "max": [625], "mean": [312.5], "std": [180.710403685012], "count": [626]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [626]}}}

meta/info.json

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+{
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+    "robot_type": "so101",
+    "total_episodes": 1,
+    "total_frames": 626,
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+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+    "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": {
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+                "main_wrist_roll",
+                "main_gripper"
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meta/tasks.jsonl

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+{"task_index": 0, "task": "pick the boat"}

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

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