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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": ["Push object to the middle"], "length": 200}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-20.33208656311035, -96.75045013427734, -178.82510375976562, 43.69071578979492, -52.746158599853516, 4.049659252166748], "max": [10.697763442993164, 14.117902755737305, 70.42366027832031, 94.16637420654297, -41.7346305847168, 11.507634162902832], "mean": [-0.5829929113388062, -27.46139907836914, -72.07540893554688, 79.0267105102539, -48.06157302856445, 6.963799953460693], "std": [8.275972366333008, 26.135303497314453, 51.37406539916992, 10.577547073364258, 2.147078514099121, 1.4902980327606201], "count": [200]}, "observation.state": {"min": [-20.12986946105957, -97.954833984375, -99.63931274414062, 41.6230354309082, -52.45781326293945, 2.764423131942749], "max": [10.389610290527344, 15.296122550964355, 98.19657135009766, 93.97905731201172, -41.966251373291016, 10.336538314819336], "mean": [-0.6635561585426331, -28.68939781188965, -62.46482849121094, 78.73909759521484, -48.00035095214844, 6.8659820556640625], "std": [8.0985107421875, 28.0407772064209, 49.3299446105957, 11.401670455932617, 2.1052968502044678, 1.4945436716079712], "count": [200]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6407293484477123]], [[0.6292840400326797]], [[0.6208323835784314]]], "std": [[[0.28088942848043774]], [[0.28467177141306366]], [[0.2928143535942778]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.633333333333334], "mean": [3.3166666666666664], "std": [1.9244768408871828], "count": [200]}, "frame_index": {"min": [0], "max": [199], "mean": [99.5], "std": [57.73430522661548], "count": [200]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [200]}, "index": {"min": [0], "max": [199], "mean": [99.5], "std": [57.73430522661548], "count": [200]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [200]}}}

meta/info.json

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+{
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+    "robot_type": "so101_follower",
+    "total_episodes": 1,
+    "total_frames": 200,
+    "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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+            "dtype": "float32",
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+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
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+                "wrist_roll.pos",
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+            "names": [
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+                "wrist_flex.pos",
+                "wrist_roll.pos",
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+            "names": [
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+            "info": {
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+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Push object to the middle"}

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

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