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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.arm/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.arm/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.webcam/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.webcam/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 389}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 456}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-35.244140625, 27.7734375, 19.16015625, 73.65234375, -106.083984375, -0.11778563261032104], "max": [23.115234375, 170.244140625, 148.447265625, 83.759765625, -57.919921875, 55.594818115234375], "mean": [-9.10989761352539, 78.58596801757812, 70.54724884033203, 77.73146057128906, -100.49674987792969, 32.07131576538086], "std": [19.250057220458984, 40.111873626708984, 36.778404235839844, 3.130312919616699, 6.439133644104004, 23.6750545501709], "count": [389]}, "observation.state": {"min": [-35.15625, 27.421875, 20.7421875, 74.267578125, -106.5234375, 9.818181991577148], "max": [23.203125, 169.716796875, 148.7109375, 83.583984375, -57.48046875, 55.3636360168457], "mean": [-8.946542739868164, 76.67021942138672, 71.91960906982422, 77.83268737792969, -100.23489379882812, 35.21488571166992], "std": [19.555803298950195, 40.0538215637207, 36.057552337646484, 3.0048904418945312, 7.507201194763184, 19.482513427734375], "count": [389]}, "observation.images.webcam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48452055555555557]], [[0.4875100142973856]], [[0.4848762030228758]]], "std": [[[0.3004645163190359]], [[0.30290956233111055]], [[0.3043138607319063]]], "count": [100]}, "observation.images.arm": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4754881699346405]], [[0.4575742871732026]], [[0.45313038194444444]]], "std": [[[0.18534010494378278]], [[0.20574743658389064]], [[0.22710157748161366]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.933333333333334], "mean": [6.466666666666665], "std": [3.7431418769679454], "count": [389]}, "frame_index": {"min": [0], "max": [388], "mean": [194.0], "std": [112.29425630903836], "count": [389]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [389]}, "index": {"min": [0], "max": [388], "mean": [194.0], "std": [112.29425630903836], "count": [389]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [389]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-37.44140625, 37.6171875, 35.771484375, 55.283203125, -100.986328125, -0.11778563261032104], "max": [26.982421875, 179.912109375, 161.19140625, 85.869140625, -92.021484375, 43.34511184692383], "mean": [-4.0714945793151855, 107.71088409423828, 98.53347778320312, 68.43460845947266, -96.58737182617188, 29.037029266357422], "std": [20.308425903320312, 49.35342788696289, 41.64722442626953, 9.229377746582031, 2.739232301712036, 19.145580291748047], "count": [456]}, "observation.state": {"min": [-37.001953125, 37.08984375, 38.3203125, 55.8984375, -100.8984375, 9.272727012634277], "max": [26.54296875, 180.17578125, 161.455078125, 85.60546875, -92.4609375, 42.81818389892578], "mean": [-4.1410746574401855, 106.37564849853516, 100.01324462890625, 68.83050537109375, -96.63131713867188, 31.45281410217285], "std": [20.2279052734375, 50.26316833496094, 40.95446014404297, 9.110001564025879, 2.697598934173584, 15.346226692199707], "count": [456]}, "observation.images.webcam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47653810866013074]], [[0.4842382516339869]], [[0.4869971629901961]]], "std": [[[0.3013577787874608]], [[0.3052218395498117]], [[0.30670985345664614]]], "count": [100]}, "observation.images.arm": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47789141135620916]], [[0.46971278390522875]], [[0.46743239379084967]]], "std": [[[0.18869102398451337]], [[0.20693387576135194]], [[0.2263354652860647]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [15.166666666666666], "mean": [7.583333333333333], "std": [4.387851494836709], "count": [456]}, "frame_index": {"min": [0], "max": [455], "mean": [227.5], "std": [131.63554484510126], "count": [456]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [456]}, "index": {"min": [389], "max": [844], "mean": [616.5], "std": [131.63554484510126], "count": [456]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [456]}}}
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meta/info.json
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{
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"train": "0:2"
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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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"names": [
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"main_shoulder_lift",
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"main_wrist_roll",
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.arm/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:89259c841db5ddf7dbdcbd51c79e35e7916f23ab9e6cecc89d5af67577964294
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size 2446972
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videos/chunk-000/observation.images.arm/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:5c6c3d88e3160b7b8345331aab2e6751509d6ccba69d4c28b20bddc64cc60e8f
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size 2997003
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videos/chunk-000/observation.images.webcam/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 4509749
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videos/chunk-000/observation.images.webcam/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 5237528
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