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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": ["My task description"], "length": 150}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [0.014356410130858421, 0.017234669998288155, -0.0925753116607666, -0.08758632093667984, -0.14393043518066406, -0.06743849813938141, 0.009940000250935555], "max": [0.014356410130858421, 0.017234669998288155, -0.006558939814567566, -0.06110633164644241, 0.21210159361362457, 0.5755124688148499, 0.010080000385642052], "mean": [0.014356397092342377, 0.01723465509712696, -0.025221476331353188, -0.08575102686882019, -0.01958274282515049, 0.22565986216068268, 0.010032860562205315], "std": [1.30385160446167e-08, 1.4901161193847656e-08, 0.03484766557812691, 0.006063373293727636, 0.09982331842184067, 0.1795729547739029, 4.3148407712578773e-05], "count": [150]}, "observation.state": {"min": [0.0, 0.0, -0.10002390295267105, -0.0918077677488327, -0.15600168704986572, -0.0745382085442543, 0.0], "max": [0.014234299771487713, 0.01711256057024002, 0.0, 0.0, 0.22099803388118744, 0.5721282958984375, 0.041510000824928284], "mean": [0.013095559552311897, 0.015743564814329147, -0.026612112298607826, -0.0801859050989151, -0.019545072689652443, 0.17591610550880432, 0.03818925842642784], "std": [0.00386165757663548, 0.00464251171797514, 0.03870901092886925, 0.024737223982810974, 0.10629528015851974, 0.15438313782215118, 0.01126136165112257], "count": [150]}, "observation.images.cam_1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35335164828431376]], [[0.40348710375816993]], [[0.38368866830065357]]], "std": [[[0.35820142402025323]], [[0.3336735747644341]], [[0.3359136069041884]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.966666666666667], "mean": [2.483333333333333], "std": [1.4433435976027125], "count": [150]}, "frame_index": {"min": [0], "max": [149], "mean": [74.5], "std": [43.300307928081374], "count": [150]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [150]}, "index": {"min": [0], "max": [149], "mean": [74.5], "std": [43.300307928081374], "count": [150]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [150]}}}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "piper_follower",
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+    "total_frames": 150,
+    "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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+                "gripper.pos"
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "My task description"}

videos/chunk-000/observation.images.cam_1/episode_000000.mp4

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