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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.camera1/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.camera1/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.camera2/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.camera2/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": 892}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 892}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-34.541015625, 54.84375, 32.34375, 43.154296875, -7.470703125, -1.2903225421905518], "max": [57.568359375, 195.732421875, 172.265625, 107.05078125, 32.783203125, 16.532258987426758], "mean": [0.012710639275610447, 153.43368530273438, 135.05706787109375, 76.33700561523438, 4.105043888092041, 1.7367689609527588], "std": [21.551502227783203, 57.716434478759766, 51.167232513427734, 15.632847785949707, 10.478642463684082, 5.21844482421875], "count": [892]}, "observation.state": {"min": [-34.1015625, 54.66796875, 34.8046875, 42.802734375, -6.6796875, -0.13477088510990143], "max": [57.216796875, 178.9453125, 172.265625, 88.76953125, 32.6953125, 16.172508239746094], "mean": [0.12020915001630783, 142.6420135498047, 135.5062713623047, 72.8897476196289, 3.9420719146728516, 2.408193826675415], "std": [21.53679847717285, 51.51260757446289, 50.73429489135742, 9.672727584838867, 10.446236610412598, 4.917078971862793], "count": [892]}, "observation.images.camera2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36917057244677015]], [[0.5236756698845182]], [[0.5512112178716068]]], "std": [[[0.31791592480068565]], [[0.27018673921630093]], [[0.2689295450380272]]], "count": [163]}, "observation.images.camera1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[1.0]], [[1.0]]], "mean": [[[0.5505499393520189]], [[0.6211042443562291]], [[0.6452303019367256]]], "std": [[[0.2004970629503705]], [[0.21720528741599113]], [[0.2266580295981373]]], "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": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [892]}, "index": {"min": [0], "max": [891], "mean": [445.5], "std": [257.498058245106], "count": [892]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [892]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-39.90234375, 72.24609375, 33.662109375, 52.3828125, -12.65625, -0.5645161271095276], "max": [50.2734375, 194.58984375, 172.44140625, 107.2265625, 25.83984375, 13.387097358703613], "mean": [0.6933703422546387, 143.61886596679688, 124.1671371459961, 77.23442840576172, 2.2869298458099365, 1.655028223991394], "std": [25.670108795166016, 51.200172424316406, 45.39390182495117, 14.108181953430176, 11.087467193603516, 4.504075050354004], "count": [892]}, "observation.state": {"min": [-39.638671875, 71.982421875, 35.68359375, 52.998046875, -12.216796875, 0.20215632021427155], "max": [50.09765625, 179.033203125, 174.19921875, 88.41796875, 25.576171875, 13.409704208374023], "mean": [0.5970059633255005, 136.81222534179688, 125.18766784667969, 74.04750061035156, 2.284860610961914, 2.4388773441314697], "std": [25.683921813964844, 45.45927047729492, 45.07941436767578, 9.423711776733398, 11.058069229125977, 4.196292877197266], "count": [892]}, "observation.images.camera2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37041569053490514]], [[0.5257040478768195]], [[0.5531595229860861]]], "std": [[[0.31695310759770084]], [[0.2700798097420189]], [[0.2693668936599064]]], "count": [163]}, "observation.images.camera1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[1.0]], [[1.0]]], "mean": [[[0.5504656574541883]], [[0.6192652208889691]], [[0.6442433061670476]]], "std": [[[0.201306448720275]], [[0.21743504170659933]], [[0.2270951954206146]]], "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": [892], "max": [1783], "mean": [1337.5], "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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"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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"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_wrist_flex",
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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.camera1/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:90dc621a0519574c55862c59d078d70a0ebe438e923882844ffb2ae10361d877
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size 7673989
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videos/chunk-000/observation.images.camera1/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:05ab6536807bcc6d40414df6c0869f6e3a4dc44d32bc5f3106fbfa7d54f66687
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size 7882313
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videos/chunk-000/observation.images.camera2/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 9640745
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videos/chunk-000/observation.images.camera2/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 9787986
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