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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +152 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.bottom_camera/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top_camera/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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oid sha256:5c064905d80519a4d53c9c916b67cef1152f0a45623870f13da816dc6c476942
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size 350199
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick a pink cube"], "length": 8930}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-24.78515625, 33.486328125, 46.23046875, 5.712890625, -17.9296875, -55.8984375, -4.415010929107666], "max": [29.091796875, 183.1640625, 180.3515625, 42.890625, 72.861328125, 9.228515625, 94.59161376953125], "mean": [-3.4885590076446533, 123.74295806884766, 132.95680236816406, 28.23285675048828, 24.954193115234375, -18.716896057128906, 27.22576904296875], "std": [8.870637893676758, 58.513423919677734, 48.21390151977539, 12.736736297607422, 23.81768798828125, 16.04615592956543, 32.65814971923828], "count": [8930]}, "observation.state": {"min": [-24.9609375, 32.16796875, 49.306640625, 7.20703125, -17.40234375, -55.8984375, 0.0], "max": [28.388671875, 180.439453125, 178.41796875, 42.626953125, 71.630859375, 9.052734375, 91.25], "mean": [-3.462792158126831, 121.85365295410156, 133.83827209472656, 28.620746612548828, 24.68277931213379, -18.752328872680664, 28.752058029174805], "std": [8.861884117126465, 59.14327621459961, 46.06943893432617, 12.223323822021484, 23.635290145874023, 15.899880409240723, 31.500864028930664], "count": [8930]}, "observation.images.top_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4216358449652555]], [[0.4212270710072337]], [[0.42240348107743464]]], "std": [[[0.3095416131517168]], [[0.31017730070847915]], [[0.292351166167199]]], "count": [918]}, "observation.images.bottom_camera": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41933635322774715]], [[0.4105104168891594]], [[0.41082262119626356]]], "std": [[[0.2933718676918278]], [[0.2910730436587988]], [[0.2752596792486794]]], "count": [918]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37320444794203084]], [[0.36438612886603444]], [[0.3569499217715409]]], "std": [[[0.3001669299690309]], [[0.2914749704862241]], [[0.27550351668198314]]], "count": [918]}, "timestamp": {"min": [0.0], "max": [297.6333333333333], "mean": [148.81666666666666], "std": [85.92896452561526], "count": [8930]}, "frame_index": {"min": [0], "max": [8929], "mean": [4464.5], "std": [2577.8689357684575], "count": [8930]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8930]}, "index": {"min": [0], "max": [8929], "mean": [4464.5], "std": [2577.8689357684575], "count": [8930]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [8930]}}}
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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": "sam",
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"total_episodes": 1,
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"total_frames": 8930,
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"total_tasks": 1,
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"total_videos": 3,
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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": "0:1"
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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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7
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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_pan",
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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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7
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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_pan",
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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.top_camera": {
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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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"info": {
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"video.height": 480,
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"video.width": 640,
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"video.codec": "h264",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.channels": 3,
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"observation.images.bottom_camera": {
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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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},
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"observation.images.right": {
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"dtype": "video",
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480,
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640,
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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.height": 480,
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"timestamp": {
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Pick a pink cube"}
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videos/chunk-000/observation.images.bottom_camera/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:4379691690d6958d99730cadfef850446c4d79a41a9fdcf40c0622339752034a
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size 69530429
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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 sha256:2978b72e995324c01f29cd6a3c2f7030c0d7f7c0c36f2e634ab3d27606e8e5d0
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size 32176380
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videos/chunk-000/observation.images.top_camera/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:8970b279f26010a541e39722456b6e6c233730c0d1f967323b91e31ba0f948e4
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size 44017449
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