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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": ["Grasp an object test"], "length": 112}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-3.69140625, 57.041015625, 63.193359375, 59.765625, -0.615234375, 2.4166665077209473], "max": [7.998046875, 99.931640625, 96.15234375, 80.771484375, 0.087890625, 46.58333206176758], "mean": [-0.8428083062171936, 72.0098876953125, 75.24849700927734, 66.88240814208984, -0.0667027086019516, 25.987346649169922], "std": [2.515038251876831, 12.463005065917969, 9.38031005859375, 6.324871063232422, 0.19307591021060944, 17.818645477294922], "count": [112]}, "observation.state": {"min": [-3.427734375, 56.337890625, 67.060546875, 60.029296875, 3.33984375, 10.51136302947998], "max": [7.119140625, 94.04296875, 96.064453125, 80.33203125, 3.33984375, 46.022727966308594], "mean": [-0.2165876179933548, 68.170166015625, 77.25899505615234, 66.92478942871094, 3.33984375, 28.0819149017334], "std": [2.6133596897125244, 10.284821510314941, 8.566919326782227, 6.162323951721191, 0.0, 14.910883903503418], "count": [112]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5642787132352941]], [[0.5415136580882353]], [[0.5435665032679738]]], "std": [[[0.3312508273241386]], [[0.33924359348580263]], [[0.3362672179300089]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [3.7], "mean": [1.8499999999999999], "std": [1.077677544021814], "count": [112]}, "frame_index": {"min": [0], "max": [111], "mean": [55.5], "std": [32.33032632065442], "count": [112]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [112]}, "index": {"min": [0], "max": [111], "mean": [55.5], "std": [32.33032632065442], "count": [112]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [112]}}}

meta/info.json

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+{
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+    "robot_type": "so101",
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+    "total_frames": 112,
+    "total_tasks": 1,
+    "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_shoulder_lift",
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+                "main_wrist_roll",
+                "main_gripper"
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+                "main_shoulder_lift",
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+                "video.codec": "av1",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Grasp an object test"}

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

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