Add files using upload-large-folder tool
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +184 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.side/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist_right/episode_000000.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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size 505704
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["topple the item which is sticking out, so that it fits fully within the container"], "length": 1833}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.state.pose": {"min": [-0.2738529980310763, -0.4216195140293999, 0.10908360917371743, -3.1107328113873023, 0.967422085059432, -3.118441619945929], "max": [0.26097548634201484, 0.3157392822365254, 0.5867137896315595, 2.917144122552768, 1.5695887366980417, 3.062020265660921], "mean": [-0.06899783196829454, -0.009017219568952378, 0.33563178758668977, 0.6584853549083208, 1.4501778698503058, 0.5086148549657191], "std": [0.09611995351915396, 0.11937468445575472, 0.05819247805710496, 1.0630174696026204, 0.13228069078553306, 1.0683581559231026], "count": [1833]}, "observation.state.tool": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1833]}, "observation.state.tcp_force": {"min": [-7.248683, -4.882828, -3.2032939999999996], "max": [9.793123, 8.922639, 3.0090589999999997], "mean": [1.1055890332787799, 1.7016396628477897, -0.07371873977086733], "std": [1.984025635613496, 1.8189749570780678, 0.7586221969597395], "count": [1833]}, "observation.state.tcp_torque": {"min": [-0.721814, -0.608012, -0.11280799999999999], "max": [0.45832999999999996, 0.7966869999999999, 0.143448], "mean": [-0.12026836497545017, 0.08514924168030555, 0.014808335515548289], "std": [0.1636533813570289, 0.17683431407084313, 0.029223912940353616], "count": [1833]}, "observation.state.joints": {"min": [-1.9253125190734863, -2.087781091729635, -3.2558539549456995, -2.079869409600729, 1.2489924430847168, -1.8981812636004847], "max": [-0.8545339107513428, -1.3559421461871644, -2.2793477217303675, -1.0092370075038453, 2.1088027954101562, -0.022254769002095998], "mean": [-1.4988134457840012, -1.6233218752583698, -2.6654253808201798, -1.554122654347303, 1.5821425479679763, -0.9422549496122817], "std": [0.225837809099676, 0.15080369783733136, 0.15765766324792158, 0.1806904339072858, 0.1257656498509883, 0.23188336977717158], "count": [1833]}, "observation.images.side": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36682223271331]], [[0.37400929248103737]], [[0.3663840624639369]]], "std": [[[0.2472438717683152]], [[0.23630987337858203]], [[0.24054395755258245]]], "count": [280]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22056806665052853]], [[0.21829830088413965]], [[0.2750973948427108]]], "std": [[[0.24677795726453586]], [[0.23219268880982016]], [[0.2842776340326785]]], "count": [280]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22591185231294164]], [[0.21447067353690447]], [[0.26589213496098024]]], "std": [[[0.2430402628920731]], [[0.22253417397846093]], [[0.2690760861462323]]], "count": [280]}, "action.pose": {"min": [-0.007891915538041777, -0.010003245462098062, -0.009036302626384246, -0.02759922926937239, -0.014104044431782592, -0.02082033120881973], "max": [0.005322589744828687, 0.01411124377377923, 0.009909502788826546, 0.029766112977365936, 0.01008987903160774, 0.021352567605398], "mean": [5.9444883764103615e-05, -7.630472352066011e-05, -6.779182787659906e-05, 5.3848274695725635e-05, 1.4219962094246529e-05, -2.3904668185310877e-05], "std": [0.001779757871962777, 0.0032867847355675895, 0.0024114824454854983, 0.007440455869627933, 0.002991781932284004, 0.0043951104044635154], "count": [1833]}, "action.tool": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [1833]}, "action.joints": {"min": [-0.02100914716720581, -0.016624927520751953, -0.015057086944580078, -0.017145514488220215, -0.019305706024169922, -0.03144407272338867], "max": [0.021266937255859375, 0.013995170593261719, 0.020932435989379883, 0.020264625549316406, 0.014554381370544434, 0.028748035430908203], "mean": [-0.0002799026964794269, 0.00018933257106407538, 2.5337924738757545e-05, 7.454544701143974e-05, -3.436063068262944e-05, 6.487326614205069e-05], "std": [0.005742221998516587, 0.003886297355005528, 0.0045768710709722235, 0.005584048903620842, 0.003868688342337508, 0.007966908597601309], "count": [1833]}, "timestamp": {"min": [0.0], "max": [36.64], "mean": [18.32], "std": [10.582828859367739], "count": [1833]}, "frame_index": {"min": [0], "max": [1832], "mean": [916.0], "std": [529.141442968387], "count": [1833]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1833]}, "index": {"min": [0], "max": [1832], "mean": [916.0], "std": [529.141442968387], "count": [1833]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1833]}}}
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meta/info.json
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meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
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|
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|
| 1 |
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{"task_index": 0, "task": "topple the item which is sticking out, so that it fits fully within the container"}
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videos/chunk-000/observation.images.side/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
|
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+
oid sha256:79de98724ad6a844c15afdc5922d89ac7b7ab803666e675abd48f8022be1fe61
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| 3 |
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size 16361883
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videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1b14c5b98938cf03f4bb08bae111e840b5805569af27a316ab68cde705e81328
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| 3 |
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size 8227615
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videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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