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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.gripper/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.gripper/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.right/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": ["Pick the green tool and scan the toy's belly, simulating an ultrasound scan."], "length": 1561}
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{"episode_index": 1, "tasks": ["Pick the green tool and scan the toy's belly, simulating an ultrasound scan."], "length": 1689}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [0.31948041915893555, -103.42889404296875, 3.821413040161133, -28.26144027709961, -6.085203170776367, 0.7045383453369141], "max": [37.81841278076172, 30.159387588500977, 103.03126525878906, 53.68013381958008, -0.37433433532714844, 29.325542449951172], "mean": [30.44180679321289, -6.492135047912598, 36.75151062011719, -7.432135581970215, -3.6733386516571045, 19.010778427124023], "std": [9.281148910522461, 44.0545539855957, 31.281583786010742, 22.60763168334961, 1.2143166065216064, 11.038275718688965], "count": [1561]}, "observation.state": {"min": [-4.470854759216309, -99.23760986328125, 7.5102410316467285, -27.34443473815918, -6.031745910644531, 1.3879250288009644], "max": [36.842105865478516, 30.792037963867188, 99.81793212890625, 53.54951858520508, -0.3174603283405304, 29.077030181884766], "mean": [30.296913146972656, -5.040694236755371, 38.618507385253906, -6.9465203285217285, -3.6955742835998535, 20.267345428466797], "std": [9.54692268371582, 44.340492248535156, 30.040327072143555, 22.70954132080078, 1.262054443359375, 9.480295181274414], "count": [1561]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4756707757923958]], [[0.4498270422640382]], [[0.3626719705355261]]], "std": [[[0.2740197414912339]], [[0.28121253250308176]], [[0.27189996924706206]]], "count": [248]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5147933764231499]], [[0.5259656632142105]], [[0.5006905911782276]]], "std": [[[0.302350611714266]], [[0.26469830566212627]], [[0.2750523459245924]]], "count": [248]}, "timestamp": {"min": [0.0], "max": [52.0], "mean": [26.0], "std": [15.020726421256139], "count": [1561]}, "frame_index": {"min": [0], "max": [1560], "mean": [780.0], "std": [450.6217926376841], "count": [1561]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1561]}, "index": {"min": [0], "max": [1560], "mean": [780.0], "std": [450.6217926376841], "count": [1561]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1561]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-3.7808456420898438, -103.30704498291016, 9.223945617675781, -24.96845245361328, -6.108366966247559, 0.7245688438415527], "max": [37.701297760009766, 30.16788673400879, 102.15577697753906, 49.8181037902832, -0.2368166446685791, 27.652278900146484], "mean": [11.445996284484863, -21.19367790222168, 46.08641052246094, -5.99493408203125, -3.9519197940826416, 4.783042907714844], "std": [12.842365264892578, 28.427392959594727, 22.383102416992188, 13.88668441772461, 1.1079107522964478, 8.165629386901855], "count": [1689]}, "observation.state": {"min": [-4.6972270011901855, -99.23760986328125, 13.3363676071167, -24.014022827148438, -5.982905864715576, 1.7349063158035278], "max": [37.40803527832031, 31.046167373657227, 99.72689819335938, 49.43032455444336, -0.3174603283405304, 27.41152000427246], "mean": [11.2298583984375, -20.083948135375977, 48.739166259765625, -5.231874942779541, -3.931837320327759, 12.009135246276855], "std": [12.898117065429688, 28.849123001098633, 21.34275245666504, 14.044319152832031, 1.1033577919006348, 5.504246711730957], "count": [1689]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4763663371770339]], [[0.4399765950528923]], [[0.3477006117613924]]], "std": [[[0.2760879645159391]], [[0.276982779713909]], [[0.2638047799475496]]], "count": [263]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5499692742115857]], [[0.5539499739059122]], [[0.5415430687061474]]], "std": [[[0.32242830977481607]], [[0.30435702164203743]], [[0.3079811389473608]]], "count": [263]}, "timestamp": {"min": [0.0], "max": [56.266666666666666], "mean": [28.133333333333333], "std": [16.252407229107348], "count": [1689]}, "frame_index": {"min": [0], "max": [1688], "mean": [844.0], "std": [487.5722168732204], "count": [1689]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1689]}, "index": {"min": [1561], "max": [3249], "mean": [2405.0], "std": [487.5722168732204], "count": [1689]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1689]}}}
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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": "so101_follower",
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"total_episodes": 2,
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"total_frames": 3250,
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"total_tasks": 1,
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"total_videos": 4,
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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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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"names": [
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"shoulder_pan.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"names": [
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"observation.images.gripper": {
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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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"channels"
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"info": {
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meta/tasks.jsonl
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{"task_index": 0, "task": "Pick the green tool and scan the toy's belly, simulating an ultrasound scan."}
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videos/chunk-000/observation.images.gripper/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:fa74189bfcc1cfd6b810b2c0c09d0f4a7c8b7c56e6400bfcbdc242da46f6b56c
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size 33143358
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videos/chunk-000/observation.images.gripper/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:05fe4645329bd2727c947b0d4033b47b203b16b88fc1afcb9cf9ae984d2d8786
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size 32558534
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videos/chunk-000/observation.images.right/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:341da54d4ea45fc4794f58659c5711d562e0c14f44a98f3cdfd57cdbd264ccec
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size 56880025
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videos/chunk-000/observation.images.right/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:bfce1f2026a72ca4148cf8374eaac757849ed93b964c09bb5aa487fcee6c3739
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size 71978275
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