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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.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/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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oid sha256:dd30278b22bbd8c52c97f5445c2c11004d649c1380d03e511849a333def2581e
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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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oid sha256:de1600d2002fe33769d450e2bdf7cb5363eacd56fe656c34c85a74f3d6653794
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size 14655
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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": 286}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 277}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [4.130859375, -39.638671875, 47.197265625, 96.328125, 77.607421875, 3.987730026245117], "max": [39.111328125, -13.7109375, 81.73828125, 177.1875, 191.513671875, 14.928425788879395], "mean": [15.402678489685059, -25.415142059326172, 61.62177658081055, 137.7513427734375, 130.40403747558594, 10.916773796081543], "std": [14.482481002807617, 9.892687797546387, 8.123157501220703, 27.802186965942383, 39.5234489440918, 2.715552806854248], "count": [286]}, "observation.state": {"min": [4.130859375, -38.671875, 47.63671875, 97.998046875, 76.552734375, 2.9439697265625], "max": [38.759765625, -13.0078125, 80.771484375, 177.099609375, 190.283203125, 14.339981079101562], "mean": [18.957332611083984, -24.90623664855957, 61.47580337524414, 137.85853576660156, 128.17910766601562, 10.347402572631836], "std": [12.82616901397705, 9.715953826904297, 8.226297378540039, 26.983911514282227, 39.304134368896484, 2.8044466972351074], "count": [286]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42027569444444446]], [[0.4216053227124183]], [[0.44773737540849673]]], "std": [[[0.2041284216826391]], [[0.20944082738250333]], [[0.2156812036113682]]], "count": [100]}, "observation.images.phone": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4601954554738562]], [[0.45502212826797384]], [[0.46416440155228755]]], "std": [[[0.21840951428494015]], [[0.22068307698195197]], [[0.2251296936787997]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.5], "mean": [4.75], "std": [2.7520194605255086], "count": [286]}, "frame_index": {"min": [0], "max": [285], "mean": [142.5], "std": [82.56058381576526], "count": [286]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [286]}, "index": {"min": [0], "max": [285], "mean": [142.5], "std": [82.56058381576526], "count": [286]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [286]}}}
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{"episode_index": 1, "stats": {"action": {"min": [4.130859375, -20.302734375, 52.998046875, 116.54296875, 92.8125, 4.192229270935059], "max": [40.25390625, -13.271484375, 76.640625, 174.990234375, 191.6015625, 5.01022481918335], "mean": [10.368555068969727, -16.801071166992188, 63.73117446899414, 149.2390594482422, 150.68141174316406, 4.522611618041992], "std": [11.150070190429688, 1.7973554134368896, 5.046276569366455, 24.01915168762207, 39.12110137939453, 0.3372374176979065], "count": [277]}, "observation.state": {"min": [4.130859375, -19.775390625, 53.173828125, 117.7734375, 91.7578125, 3.608736991882324], "max": [39.638671875, -13.0078125, 75.849609375, 174.287109375, 190.37109375, 5.128205299377441], "mean": [12.188240051269531, -16.358760833740234, 63.24729919433594, 149.56016540527344, 149.46511840820312, 4.4168219566345215], "std": [10.89936637878418, 1.7405014038085938, 5.006070613861084, 23.48695945739746, 39.310203552246094, 0.20360317826271057], "count": [277]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45245953635620917]], [[0.45129099673202616]], [[0.4753584946895425]]], "std": [[[0.21093762356920945]], [[0.2214412757827095]], [[0.22934336552225756]]], "count": [100]}, "observation.images.phone": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47680541666666665]], [[0.4741294566993464]], [[0.47838400939542486]]], "std": [[[0.2280093834504189]], [[0.22924974854447833]], [[0.23086967859506557]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [9.2], "mean": [4.600000000000001], "std": [2.665416373560507], "count": [277]}, "frame_index": {"min": [0], "max": [276], "mean": [138.0], "std": [79.96249120681522], "count": [277]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [277]}, "index": {"min": [286], "max": [562], "mean": [424.0], "std": [79.96249120681522], "count": [277]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [277]}}}
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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_frames": 563,
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"total_tasks": 1,
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"total_videos": 4,
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"total_chunks": 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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6
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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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"dtype": "float32",
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"shape": [
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6
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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.laptop": {
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"dtype": "video",
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"shape": [
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3
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"names": [
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"height",
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"width",
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"channels"
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"info": {
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.images.phone": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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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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"info": {
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"video.fps": 30.0,
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"video.height": 480,
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"video.width": 640,
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"video.channels": 3,
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"video.codec": "av1",
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"video.is_depth_map": false,
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"has_audio": false
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}
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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": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:d2c3f657536c186b852f5c7439b653e8a24754b7c068de932f1a0847a27f3997
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size 1886883
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videos/chunk-000/observation.images.laptop/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:eefa6f91095b3a88e29e908c5b932a5b7bd9635a0a9133e857abdb2f80a41804
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size 1988110
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videos/chunk-000/observation.images.phone/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7ee00c61daaefb8117473d970492d06c7efa92d430a7fc3ece4766a4c96e159f
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size 2089508
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videos/chunk-000/observation.images.phone/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:adcee3cb12591438f78983627cefafa8f236c10a581b67240c248d25b4084e54
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size 2145343
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