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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.eye/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.eye/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/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 toy and put it in the cup."], "length": 390}
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{"episode_index": 1, "tasks": ["Grasp a toy and put it in the cup."], "length": 471}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-20.320415496826172, 72.39216613769531, 97.66921997070312, 16.944713592529297, -82.98179626464844, -0.10958719253540039], "max": [38.78562545776367, 194.68658447265625, 181.59043884277344, 73.82025146484375, -30.959165573120117, 16.703781127929688], "mean": [7.617115020751953, 120.58319091796875, 125.37015533447266, 33.094966888427734, -58.324607849121094, 5.6937689781188965], "std": [21.441499710083008, 30.83300018310547, 21.612077713012695, 15.551108360290527, 16.918663024902344, 5.991767406463623], "count": [390]}, "observation.state": {"min": [-19.599609375, 72.333984375, 98.876953125, 18.017578125, -82.177734375, 1.0373444557189941], "max": [38.759765625, 194.501953125, 178.2421875, 73.740234375, -31.552734375, 16.182573318481445], "mean": [7.815279483795166, 120.06314086914062, 126.74525451660156, 33.8671875, -58.467323303222656, 6.024576663970947], "std": [21.521072387695312, 31.893299102783203, 21.191267013549805, 15.845316886901855, 16.90285301208496, 5.468959331512451], "count": [390]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5057598774509804]], [[0.5312330800653595]], [[0.5109076858660131]]], "std": [[[0.23317473030132047]], [[0.2053320610584399]], [[0.20541329420826512]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.537082595996732]], [[0.5279252267156863]], [[0.5307904064542484]]], "std": [[[0.22435751043016253]], [[0.2236760823860027]], [[0.22470399781105058]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [12.966666666666667], "mean": [6.483333333333333], "std": [3.752764413168077], "count": [390]}, "frame_index": {"min": [0], "max": [389], "mean": [194.5], "std": [112.5829323950423], "count": [390]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [390]}, "index": {"min": [0], "max": [389], "mean": [194.5], "std": [112.5829323950423], "count": [390]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [390]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-8.25820541381836, 94.14698791503906, 111.41646575927734, -6.915882110595703, -78.1244888305664, -0.06669425964355469], "max": [27.80738067626953, 129.773681640625, 143.77938842773438, 21.58896255493164, -49.17921829223633, 10.041788101196289], "mean": [12.734330177307129, 112.75373077392578, 128.2222137451172, 8.962329864501953, -60.32589340209961, 4.134105205535889], "std": [9.222746849060059, 9.318971633911133, 8.113434791564941, 7.51806116104126, 10.31325912475586, 2.3391060829162598], "count": [471]}, "observation.state": {"min": [-7.734375, 93.69140625, 114.169921875, -2.8125, -80.15625, 0.7607192397117615], "max": [25.927734375, 192.568359375, 177.626953125, 73.125, -49.306640625, 9.54356861114502], "mean": [12.693197250366211, 113.50450897216797, 130.75433349609375, 10.427448272705078, -60.47621536254883, 4.071122646331787], "std": [9.175025939941406, 13.267388343811035, 9.43498706817627, 9.618743896484375, 10.40883731842041, 2.1160590648651123], "count": [471]}, "observation.images.eye": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4995206937973209]], [[0.5353143281239889]], [[0.5128035474503333]]], "std": [[[0.23562312307273506]], [[0.20228833754320727]], [[0.20846300618181943]]], "count": [101]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.9764705882352941]], [[0.9215686274509803]]], "mean": [[[0.5360603280916326]], [[0.5225738185950949]], [[0.4988509472270756]]], "std": [[[0.20200961788866997]], [[0.19846990195262826]], [[0.20068693981003546]]], "count": [101]}, "timestamp": {"min": [0.0], "max": [15.666666666666666], "mean": [7.833333333333333], "std": [4.532189398154135], "count": [471]}, "frame_index": {"min": [0], "max": [470], "mean": [235.0], "std": [135.96568194462407], "count": [471]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [471]}, "index": {"min": [390], "max": [860], "mean": [625.0], "std": [135.96568194462407], "count": [471]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [471]}}}
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meta/info.json
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{
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a toy and put it in the cup."}
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videos/chunk-000/observation.images.eye/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 3574035
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videos/chunk-000/observation.images.eye/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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