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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:1d4bca94c405e634f9cb5694f8a2e315e177dd265e8a0ab33e1edac0070a79fd
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["pick the lego block."], "length": 160}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.images.primary": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9803921568627451]], [[0.9254901960784314]]], "mean": [[[0.5180010103485838]], [[0.5395192075163399]], [[0.49492596405228756]]], "std": [[[0.20579556107429506]], [[0.2029930566276182]], [[0.18941131957222085]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.4505677805010893]], [[0.4624512854030501]], [[0.448960144335512]]], "std": [[[0.16394481831368668]], [[0.16478238046079452]], [[0.17822985948269918]]], "count": [100]}, "observation.state.joint": {"min": [-0.12715597450733185, -0.784224271774292, -0.2115338146686554, -2.3544018268585205, -0.03441276773810387, 1.5779415369033813, 0.5435591340065002], "max": [0.16420985758304596, 0.496575266122818, 0.3352968990802765, -2.1714837551116943, 0.17967072129249573, 2.667346715927124, 1.9906086921691895], "mean": [0.008571518585085869, 0.07583282887935638, 0.00526608619838953, -2.240673542022705, 0.08712024986743927, 2.332149028778076, 1.2392972707748413], "std": [0.09717642515897751, 0.41209495067596436, 0.1485164910554886, 0.07377416640520096, 0.06865675002336502, 0.36529698967933655, 0.5238563418388367], "count": [160]}, "observation.state": {"min": [0.30890366435050964, -0.17541031539440155, 0.049987997859716415, -3.1412644386291504, -0.10608449578285217, -1.063338041305542, 0.016372796148061752], "max": [0.5773388147354126, 0.16446122527122498, 0.4883851110935211, 3.1407675743103027, 0.08146986365318298, -0.01137794740498066, 0.4722921848297119], "mean": [0.4964451193809509, 0.002172943204641342, 0.21807947754859924, -0.2736755311489105, 0.004856536630541086, -0.5113683938980103, 0.14811860024929047], "std": [0.07507194578647614, 0.10532336682081223, 0.14854909479618073, 3.0985565185546875, 0.05315364897251129, 0.41513457894325256, 0.1950199455022812], "count": [160]}, "action": {"min": [-0.00892491452395916, -0.022895364090800285, -0.014290846884250641, -0.01648930087685585, -0.024336332455277443, -0.05975233018398285, 0.43579766154289246], "max": [0.011796495877206326, 0.014925217255949974, 0.019017692655324936, 0.030642898753285408, 0.03142556548118591, 0.0628073513507843, 1.0], "mean": [0.0006730250315740705, 0.00036158511647954583, -0.00031585487886331975, -0.0011059687240049243, 7.016809831839055e-05, -0.0004269151540938765, 0.8468374013900757], "std": [0.0038319211453199387, 0.007547035347670317, 0.008363436907529831, 0.007758153602480888, 0.009141068905591965, 0.02314223349094391, 0.23381468653678894], "count": [160]}, "timestamp": {"min": [0.0], "max": [10.6], "mean": [5.299999999999999], "std": [3.079141294437641], "count": [160]}, "frame_index": {"min": [0], "max": [159], "mean": [79.5], "std": [46.18711941656461], "count": [160]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [160]}, "index": {"min": [0], "max": [159], "mean": [79.5], "std": [46.18711941656461], "count": [160]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [160]}}}
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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": "franka",
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"total_episodes": 1,
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"total_frames": 160,
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"total_tasks": 1,
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"total_videos": 2,
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"chunks_size": 1000,
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"fps": 15,
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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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"observation.images.primary": {
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"names": [
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"height",
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"width",
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"channels"
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"video_info": {
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"info": {
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"observation.images.wrist": {
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"yaw",
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "pick the lego block."}
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videos/chunk-000/observation.images.primary/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:06e38037cbc8ba6ce8534e9c65b8a0d77286e74bcda380fe579ceda294094309
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size 642952
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:577301204caab838d81b9409656a342f88ba064c9dbdac18daae42c4f2676990
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size 258210
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