Datasets:
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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +185 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:f0bcf843d2bf3e5ee267ce37b29c6db4c4e1f369d2b2ceeba192b0f7b5000bd3
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size 40720
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Put the block into the box."], "length": 650}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-16.962890625, 81.03515625, 59.677734375, -21.97265625, -8.61328125, 14.501953125, -31.640625, 51.85546875, 101.337890625, -70.3125, -22.1484375, -10.37109375], "max": [31.552734375, 136.40625, 178.2421875, 66.533203125, 4.04296875, 36.5625, 20.390625, 135.791015625, 178.681640625, 6.767578125, -0.52734375, 34.892578125], "mean": [-4.766781806945801, 130.15438842773438, 165.2426300048828, 3.45112681388855, -0.8579477071762085, 32.6300048828125, -2.059750556945801, 121.23353576660156, 165.68771362304688, -21.618118286132812, -8.092292785644531, 24.511207580566406], "std": [8.561052322387695, 12.986452102661133, 27.849754333496094, 16.843408584594727, 4.1587443351745605, 5.1965556144714355, 19.177141189575195, 22.817771911621094, 20.72704315185547, 28.186872482299805, 3.479991912841797, 13.641751289367676], "count": [650]}, "observation.state": {"min": [-16.435546875, 80.244140625, 66.884765625, -16.083984375, -7.734375, 20.21484375, -31.025390625, 53.349609375, 106.962890625, -70.224609375, -21.357421875, 0.0], "max": [31.46484375, 130.341796875, 176.396484375, 66.884765625, 4.39453125, 36.123046875, 21.26953125, 130.78125, 176.572265625, -2.4609375, -0.791015625, 33.75], "mean": [-4.625345706939697, 125.23306274414062, 164.9202117919922, 3.484795570373535, -0.2840895354747772, 33.556236267089844, -2.350736141204834, 117.95472717285156, 165.3013458251953, -24.496334075927734, -7.7135515213012695, 25.3538761138916], "std": [8.657404899597168, 11.44356918334961, 25.47830581665039, 16.77347183227539, 3.8922252655029297, 2.8940799236297607, 18.911569595336914, 21.47752571105957, 19.093095779418945, 24.831689834594727, 3.4306793212890625, 10.983416557312012], "count": [650]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4811964358660131]], [[0.5192216780918096]], [[0.5620575533598856]]], "std": [[[0.281726533245]], [[0.27117462608000875]], [[0.30707569443606003]]], "count": [128]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48112656058517156]], [[0.4946124355341095]], [[0.5159137098524306]]], "std": [[[0.293833677924339]], [[0.2798751349672329]], [[0.2758380513840755]]], "count": [128]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42802587731055963]], [[0.43224145667381536]], [[0.4199328453712214]]], "std": [[[0.287318844714037]], [[0.27674483179566456]], [[0.30013797153629246]]], "count": [128]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4626259845409518]], [[0.4559784342447917]], [[0.43615099220026554]]], "std": [[[0.30252095090534303]], [[0.3070067830581003]], [[0.31847849353670116]]], "count": [128]}, "timestamp": {"min": [0.0], "max": [21.633333333333333], "mean": [10.816666666666666], "std": [6.254620514290038], "count": [650]}, "frame_index": {"min": [0], "max": [649], "mean": [324.5], "std": [187.63861542870114], "count": [650]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [650]}, "index": {"min": [0], "max": [649], "mean": [324.5], "std": [187.63861542870114], "count": [650]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [650]}}}
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meta/info.json
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{
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"codebase_version": "v2.1",
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"robot_type": "koch_bimanual",
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"total_episodes": 1,
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"total_frames": 650,
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"total_tasks": 1,
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"total_videos": 4,
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"fps": 30,
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"splits": {
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"train": "0:1"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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12
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],
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"names": [
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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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"left_wrist_flex",
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"left_wrist_roll",
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"left_gripper",
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"right_shoulder_pan",
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"right_shoulder_lift",
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"right_elbow_flex",
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"right_wrist_flex",
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"right_wrist_roll",
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"right_gripper"
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]
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"observation.state": {
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"names": [
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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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| 46 |
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"left_wrist_flex",
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| 47 |
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"left_wrist_roll",
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| 48 |
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"left_gripper",
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| 49 |
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"right_shoulder_pan",
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| 50 |
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"right_shoulder_lift",
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| 51 |
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"right_elbow_flex",
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| 52 |
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"right_wrist_flex",
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| 53 |
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"right_wrist_roll",
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| 54 |
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"right_gripper"
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]
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},
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"observation.images.top": {
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640,
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3
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"names": [
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"height",
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"width",
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],
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"info": {
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},
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"observation.images.laptop": {
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"dtype": "video",
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"names": [
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"width",
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"channels"
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],
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640,
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"width",
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Put the block into the box."}
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videos/chunk-000/observation.images.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:cb17bfe76e5740224c8fd8fe3c0ba5c45d50fe04c22297dd7891875825e87d16
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size 11326221
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videos/chunk-000/observation.images.left/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:47b4355654c4d065e5a2ef903c9147591e7194d52a3f97e7ba0c71ce8c68a65f
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size 7243975
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videos/chunk-000/observation.images.right/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7d25d17511bd05b4f492742696290b499fd76450c2f83c4510ccd9ba3a1081f5
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size 8104679
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videos/chunk-000/observation.images.top/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:b505b5c1d82afac3ffd453f71da56c56dc6254ac889f0a219262558eb4e12e9a
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size 8565817
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