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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 +189 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.grippeer_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/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 sha256:3829d5638951838da39977c7b197c8388c19251c787c4bd09f00f252b8373268
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size 30746
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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": 239}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-16.505859375, 79.83984375, 61.3828125, 44.912109375, -1.4853515625, -32.8359375, 0.11976048350334167, -28.5380859375, 91.0634765625, 96.4072265625, 33.275390625, -14.58984375, -18.1142578125, -3.9278130531311035], "max": [31.060546875, 174.234375, 168.837890625, 90.0791015625, 19.423828125, 4.5, 61.580841064453125, 20.3203125, 169.98046875, 175.95703125, 57.8671875, 19.177734375, -4.18359375, 91.27388763427734], "mean": [5.515780448913574, 127.98749542236328, 106.19176483154297, 71.8084716796875, 4.129020690917969, -16.913135528564453, 20.402368545532227, 4.381476402282715, 122.33216857910156, 121.13606262207031, 45.181663513183594, 8.366341590881348, -10.343034744262695, 37.55562210083008], "std": [11.612112045288086, 30.914600372314453, 38.82278823852539, 13.971274375915527, 7.118146896362305, 10.386579513549805, 21.91105079650879, 13.017592430114746, 26.333587646484375, 28.075580596923828, 7.548335075378418, 8.302040100097656, 3.751168966293335, 39.679012298583984], "count": [239]}, "observation.state": {"min": [-16.259765625, 76.2890625, 64.072265625, 44.560546875, -0.439453125, -32.255859375, 0.898876428604126, -27.685546875, 90.0, 101.25, 33.486328125, -14.0625, -17.490234375, -1.8617020845413208], "max": [30.9375, 172.705078125, 168.57421875, 89.384765625, 18.28125, 4.658203125, 60.449440002441406, 20.0390625, 167.6953125, 175.693359375, 57.65625, 18.28125, -3.33984375, 92.55319213867188], "mean": [5.125604629516602, 125.38682556152344, 108.55227661132812, 71.73860931396484, 3.5689477920532227, -16.22409439086914, 20.38642120361328, 4.488673686981201, 119.36355590820312, 123.59149932861328, 45.14194869995117, 8.059459686279297, -9.627516746520996, 42.19701385498047], "std": [11.561102867126465, 31.81700897216797, 38.228755950927734, 14.45639705657959, 7.022939205169678, 10.242073059082031, 21.494178771972656, 12.747812271118164, 26.71874237060547, 27.408414840698242, 7.604305744171143, 7.948632717132568, 3.7857666015625, 35.51390838623047], "count": [239]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3592547528594771]], [[0.600261983251634]], [[0.4950410825163399]]], "std": [[[0.23701092189138945]], [[0.2836198527550963]], [[0.2604149469068151]]], "count": [100]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2846017708333333]], [[0.6042639685457516]], [[0.4734029616013072]]], "std": [[[0.2334206743791662]], [[0.21713238852234334]], [[0.22747079927467426]]], "count": [100]}, "observation.images.grippeer_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4335277491830065]], [[0.7285498120915033]], [[0.46592666053921566]]], "std": [[[0.2626067387488573]], [[0.2658711530660905]], [[0.24089466314370891]]], "count": [100]}, "observation.images.gripper_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3692963562091503]], [[0.7163875306372549]], [[0.4640662847222222]]], "std": [[[0.3099232924283968]], [[0.28452944561225174]], [[0.2789080180458697]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.933333333333334], "mean": [3.9666666666666663], "std": [2.2997584414213788], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}, "index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}}}
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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": "so100",
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"total_episodes": 1,
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"total_frames": 239,
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"train": "0:1"
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"features": {
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| 33 |
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| 36 |
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| 51 |
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"right_wrist_flex",
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}
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meta/tasks.jsonl
ADDED
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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.front/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7fc82a84e2c0a1e9220febe83c0023bc13a7adeb7fe80d816260ba8e48f2eeee
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| 3 |
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size 3333859
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videos/chunk-000/observation.images.grippeer_left/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:97aa0874556f6c049e2f506effd013d496ca06b7649bb1daca2ae346886b2a35
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size 1897070
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videos/chunk-000/observation.images.gripper_right/episode_000000.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:a57a8c2c8ebe35597ba772b9bf34d9bfee46e71b05b23ff766a04a63cd60361e
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size 2358221
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videos/chunk-000/observation.images.top/episode_000000.mp4
ADDED
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