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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 +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.hand/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.hand/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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size 33050
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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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size 33570
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a block and put it in the circle."], "length": 442}
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{"episode_index": 1, "tasks": ["Grasp a block and put it in the circle."], "length": 448}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-21.01055908203125, 75.54319763183594, 83.63800811767578, 77.74239349365234, -88.45862579345703, -5.613639831542969], "max": [3.4459800720214844, 122.60880279541016, 111.08978271484375, 105.66049194335938, -65.7931137084961, 58.709075927734375], "mean": [-8.21582317352295, 92.86106872558594, 97.20565032958984, 90.00303649902344, -78.00959777832031, 24.407821655273438], "std": [7.683736801147461, 12.616063117980957, 7.068267822265625, 7.255677700042725, 6.139743328094482, 15.808260917663574], "count": [442]}, "observation.state": {"min": [-20.56640625, 75.146484375, 86.220703125, 78.3984375, -87.890625, -2.472527503967285], "max": [3.251953125, 125.771484375, 115.927734375, 105.46875, -66.796875, 57.41758346557617], "mean": [-8.401707649230957, 91.87727355957031, 99.0331802368164, 90.20027923583984, -77.8798599243164, 24.034320831298828], "std": [7.710390090942383, 13.086590766906738, 7.185830593109131, 7.097774982452393, 6.0583696365356445, 15.56765079498291], "count": [442]}, "observation.images.hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082718484477124]], [[0.5095888378267974]], [[0.5174410641339869]]], "std": [[[0.20160639654382173]], [[0.21007332695827852]], [[0.19074711534278438]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.7], "mean": [7.35], "std": [4.253136097830243], "count": [442]}, "frame_index": {"min": [0], "max": [441], "mean": [220.5], "std": [127.59408293490729], "count": [442]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [442]}, "index": {"min": [0], "max": [441], "mean": [220.5], "std": [127.59408293490729], "count": [442]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [442]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-21.338733673095703, 70.04840850830078, 76.67830657958984, 66.23253631591797, -104.87861633300781, 3.7245121002197266], "max": [21.18353271484375, 109.41880798339844, 111.07548522949219, 104.56399536132812, -54.22313690185547, 49.47419357299805], "mean": [-8.083166122436523, 89.59020233154297, 98.0300064086914, 85.41034698486328, -81.43524169921875, 25.03006935119629], "std": [12.205879211425781, 9.1382417678833, 9.895228385925293, 9.530582427978516, 13.92729663848877, 11.857754707336426], "count": [448]}, "observation.state": {"min": [-38.056640625, 69.609375, 79.365234375, 66.884765625, -104.150390625, 4.578754901885986], "max": [20.654296875, 179.560546875, 166.728515625, 104.326171875, -55.283203125, 48.901100158691406], "mean": [-8.757673263549805, 90.23030853271484, 100.37252044677734, 85.43245697021484, -81.4090576171875, 26.001367568969727], "std": [12.275629997253418, 14.498425483703613, 12.53930377960205, 9.416033744812012, 13.683819770812988, 10.797309875488281], "count": [448]}, "observation.images.hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4977684844771242]], [[0.4980219873366013]], [[0.5047884375]]], "std": [[[0.1990159442822888]], [[0.20734833347418213]], [[0.1903960591553693]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.9], "mean": [7.45], "std": [4.3108712705335], "count": [448]}, "frame_index": {"min": [0], "max": [447], "mean": [223.5], "std": [129.32613811600498], "count": [448]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [448]}, "index": {"min": [442], "max": [889], "mean": [665.5], "std": [129.32613811600498], "count": [448]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [448]}}}
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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": 2,
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"total_frames": 890,
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"total_tasks": 1,
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"total_videos": 2,
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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": "0:2"
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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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6
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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_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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6
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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_roll",
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"main_gripper"
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]
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},
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"observation.images.hand": {
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"dtype": "video",
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"shape": [
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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.width": 640,
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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}
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a block and put it in the circle."}
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videos/chunk-000/observation.images.hand/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7700378b3ab896ef3aeafc9dfa2a8017814cf3060130123a84f316e3d77a8878
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size 3538555
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videos/chunk-000/observation.images.hand/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:c9230259e41bd6d25ab9aafa1cebc282702ad278fae894e376e7ee1bbd2db807
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size 3474771
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