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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 +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.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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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Put the pen over the paper."], "length": 847}
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{"episode_index": 1, "tasks": ["Put the pen over the paper."], "length": 892}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-18.97446060180664, 94.59033966064453, 106.18572998046875, 29.86773681640625, -92.15678405761719, 4.237932205200195], "max": [-8.78313159942627, 129.89048767089844, 142.2753143310547, 57.309322357177734, -67.49591064453125, 29.862319946289062], "mean": [-13.704560279846191, 106.4640121459961, 119.01946258544922, 42.017879486083984, -77.50578308105469, 17.9304141998291], "std": [2.3566718101501465, 8.098785400390625, 8.291549682617188, 6.539518356323242, 5.345472812652588, 5.273906707763672], "count": [847]}, "observation.state": {"min": [-18.80859375, 94.04296875, 108.6328125, 31.025390625, -93.1640625, -5.975395202636719], "max": [-6.064453125, 175.25390625, 178.41796875, 57.12890625, -68.02734375, 28.64674949645996], "mean": [-13.74829387664795, 105.6298828125, 120.79405975341797, 42.343788146972656, -77.66659545898438, 17.790908813476562], "std": [2.3289949893951416, 10.059463500976562, 9.009313583374023, 6.417473793029785, 5.238907337188721, 5.362639427185059], "count": [847]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5347399775196703]], [[0.5139777876649598]], [[0.5088224236085093]]], "std": [[[0.23246390821663573]], [[0.23674323205532583]], [[0.2627550538736077]]], "count": [157]}, "timestamp": {"min": [0.0], "max": [28.2], "mean": [14.099999999999996], "std": [8.150255619713205], "count": [847]}, "frame_index": {"min": [0], "max": [846], "mean": [423.0], "std": [244.50766859139614], "count": [847]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [847]}, "index": {"min": [0], "max": [846], "mean": [423.0], "std": [244.50766859139614], "count": [847]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [847]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-18.805217742919922, 95.85437774658203, 105.31847381591797, 35.39879608154297, -82.72061920166016, 4.514971733093262], "max": [-1.9346675872802734, 148.24729919433594, 142.6757049560547, 65.00941467285156, -68.00624084472656, 32.45631408691406], "mean": [-9.711544036865234, 118.37916564941406, 122.2944107055664, 54.554893493652344, -74.90791320800781, 20.903770446777344], "std": [3.656926155090332, 9.9677095413208, 7.97579288482666, 5.881703853607178, 2.7327334880828857, 7.5133795738220215], "count": [892]}, "observation.state": {"min": [-18.193359375, 95.712890625, 108.28125, 36.474609375, -90.17578125, 0.17574693262577057], "max": [-2.373046875, 175.166015625, 158.203125, 77.431640625, -68.642578125, 31.546571731567383], "mean": [-9.871338844299316, 117.33625030517578, 123.90448760986328, 54.884178161621094, -75.00432586669922, 20.77336883544922], "std": [3.437915086746216, 10.269796371459961, 7.4336419105529785, 5.800576210021973, 2.610746383666992, 7.502849578857422], "count": [892]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.511027770259433]], [[0.48979229695456916]], [[0.4822632210092626]]], "std": [[[0.20680065201019712]], [[0.21047104867749472]], [[0.2323047834068488]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.7], "mean": [14.850000000000001], "std": [8.583268608170199], "count": [892]}, "frame_index": {"min": [0], "max": [891], "mean": [445.5], "std": [257.498058245106], "count": [892]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [892]}, "index": {"min": [847], "max": [1738], "mean": [1292.5], "std": [257.498058245106], "count": [892]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [892]}}}
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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": "so100",
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"total_episodes": 2,
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"total_tasks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:2"
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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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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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]
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},
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"observation.state": {
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"shape": [
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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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]
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},
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"observation.images.wrist": {
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"dtype": "video",
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"shape": [
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"names": [
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"height",
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"width",
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"channels"
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}
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"timestamp": {
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Put the pen over the paper."}
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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 sha256:6cdfe1cc9e21a51b5b0b1eb7c2fd56248f7a3255b332a5fc63ad93680f206c59
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size 3129459
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 3024788
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