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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": ["Put the block into the box."], "length": 720}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-15.1171875, 82.529296875, 96.064453125, -17.314453125, -8.349609375, 0.17578125], "max": [29.267578125, 126.9140625, 175.693359375, 67.587890625, 19.599609375, 38.49609375], "mean": [6.9439697265625, 123.71083068847656, 161.10496520996094, 7.3232421875, 4.7232666015625, 28.4462890625], "std": [5.137182712554932, 9.117605209350586, 25.32065200805664, 21.772184371948242, 7.009917259216309, 12.452852249145508], "count": [720]}, "observation.state": {"min": [-14.326171875, 82.353515625, 99.580078125, -13.7109375, -7.55859375, 0.966796875], "max": [28.388671875, 126.650390625, 176.8359375, 67.67578125, 19.86328125, 37.08984375], "mean": [6.98779296875, 123.65882110595703, 161.37890625, 7.3504638671875, 5.353271484375, 28.6527099609375], "std": [5.021740913391113, 9.38808822631836, 24.01618194580078, 22.751108169555664, 7.0489959716796875, 12.33272933959961], "count": [720]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4802513823766221]], [[0.468415926636355]], [[0.45465057544757037]]], "std": [[[0.3482506420384752]], [[0.34710655218]], [[0.3563602741845091]]], "count": [138]}, "timestamp": {"min": [0.0], "max": [23.966666666666665], "mean": [11.983333333333333], "std": [6.928196547977504], "count": [720]}, "frame_index": {"min": [0], "max": [719], "mean": [359.5], "std": [207.84589643932512], "count": [720]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [720]}, "index": {"min": [0], "max": [719], "mean": [359.5], "std": [207.84589643932512], "count": [720]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [720]}}}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "koch",
+    "total_episodes": 1,
+    "total_frames": 720,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
+    },
+    "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": {
+        "action": {
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+            "shape": [
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+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
+            ]
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+        "observation.state": {
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+            "shape": [
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+            "names": [
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+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+            "names": [
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+                "width",
+                "channels"
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Put the block into the box."}

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

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