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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 +97 -0
- meta/tasks.jsonl +1 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:53a4f43b2a2b16946f6b6c909e86328da3c34f240f36663cf3ec14ce6dd0c8d8
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size 230359
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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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oid sha256:2be72df003cda22cbeef650031f5e0fd8fa83837af4569ae837e7140d531a637
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size 4806
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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": 4453}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 40}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [449.93438720703125, -31.201171875, -4.108572006225586, 7.97470760345459, 56.57927322387695, -8.239432334899902, 1000.0, -80.83708190917969, -25.072166442871094, -71.52068328857422, 0.7254118919372559, 30.124197006225586, -112.33588409423828, 10.0], "max": [449.93438720703125, -31.201171875, -4.020681381225586, 8.062588691711426, 56.66716384887695, -8.151540756225586, 1000.0, 30.080881118774414, 24.146583557128906, -7.096853256225586, 215.7937774658203, 79.69451141357422, 4.734424114227295, 1000.0], "mean": [449.9075927734375, -31.202661514282227, -4.079469203948975, 7.976289749145508, 56.58856201171875, -8.235868453979492, 1000.0, 15.64773178100586, 11.775433540344238, -57.622779846191406, 188.326904296875, 50.302696228027344, -94.22404479980469, 386.84716796875], "std": [0.026794297620654106, 0.0014896466163918376, 0.041085194796323776, 0.011392030864953995, 0.027606479823589325, 0.01760740578174591, 0.0, 24.47872543334961, 12.192399978637695, 12.89713191986084, 48.87336730957031, 6.475640296936035, 30.307382583618164, 336.487060546875], "count": [4453]}, "observation.state": {"min": [89.14334869384766, -31.201160430908203, -4.109425067901611, 8.062603950500488, 56.75507736206055, -8.327310562133789, 0.0, -89.9999771118164, -30.000015258789062, -71.52066040039062, 0.7254218459129333, 30.124174118041992, -112.33588409423828, 0.0], "max": [89.14334869384766, -31.201160430908203, -4.109425067901611, 8.062603950500488, 56.75507736206055, -8.327310562133789, 0.0, 30.080856323242188, 24.146560668945312, -4.999973297119141, 215.7937774658203, 79.69452667236328, 4.734407424926758, 0.0], "mean": [89.14645385742188, -31.20174217224121, -4.109378337860107, 8.062506675720215, 56.753231048583984, -8.327714920043945, 0.0, 15.623291015625, 11.764594078063965, -57.60984802246094, 188.28273010253906, 50.303916931152344, -94.20091247558594, 0.0], "std": [0.0031051679980009794, 0.0005817383644171059, 4.673004150390625e-05, 9.72747802734375e-05, 0.0018462666776031256, 0.00040435791015625, 0.0, 24.5301570892334, 12.208114624023438, 12.921088218688965, 48.950340270996094, 6.4759368896484375, 30.339923858642578, 0.0], "count": [4453]}, "timestamp": {"min": [0.0], "max": [89.04], "mean": [44.519999999999996], "std": [25.709406838742897], "count": [4453]}, "frame_index": {"min": [0], "max": [4452], "mean": [2226.0], "std": [1285.470341937145], "count": [4453]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4453]}, "index": {"min": [0], "max": [4452], "mean": [2226.0], "std": [1285.470341937145], "count": [4453]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4453]}}}
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{"episode_index": 1, "stats": {"action": {"min": [449.93438720703125, -31.201171875, -4.108572006225586, 7.97470760345459, 56.57927322387695, -8.239432334899902, 1000.0, -88.04411315917969, -23.578025817871094, -6.657400131225586, 7.580880165100098, 56.13982009887695, -6.603466510772705, 1000.0], "max": [449.93438720703125, -31.201171875, -4.020681381225586, 8.062588691711426, 56.66716384887695, -8.151549339294434, 1000.0, -88.04411315917969, -23.490142822265625, -6.569518566131592, 7.580880165100098, 56.13982009887695, -6.603466510772705, 1000.0], "mean": [449.9344177246094, -31.201171875, -4.0778326988220215, 7.979098320007324, 56.59244918823242, -8.230642318725586, 1000.0, -88.04413604736328, -23.571428298950195, -6.6486101150512695, 7.580881595611572, 56.139808654785156, -6.603468418121338, 1000.0], "std": [3.0517578125e-05, 0.0, 0.041661784052848816, 0.019054163247346878, 0.031138939782977104, 0.026148375123739243, 0.0, 2.288818359375e-05, 0.022983066737651825, 0.026220208033919334, 1.430511474609375e-06, 1.1444091796875e-05, 1.9073486328125e-06, 0.0], "count": [40]}, "observation.state": {"min": [89.14334869384766, -31.201160430908203, -4.109425067901611, 8.062603950500488, 56.75507736206055, -8.327310562133789, 0.0, -88.04412841796875, -23.578014373779297, -6.657425880432129, 7.580861568450928, 56.139835357666016, -6.603453159332275, 0.0], "max": [89.14334869384766, -31.201160430908203, -4.109425067901611, 8.062603950500488, 56.75507736206055, -8.327310562133789, 0.0, -88.04412841796875, -23.491039276123047, -6.5703935623168945, 7.580861568450928, 56.139835357666016, -6.603453159332275, 0.0], "mean": [89.14332580566406, -31.201168060302734, -4.1094255447387695, 8.062602996826172, 56.755096435546875, -8.327310562133789, 0.0, -88.04417419433594, -23.57139778137207, -6.648011207580566, 7.580861568450928, 56.139862060546875, -6.603453636169434, 0.0], "std": [2.288818359375e-05, 7.62939453125e-06, 4.76837158203125e-07, 9.5367431640625e-07, 1.9073486328125e-05, 0.0, 0.0, 4.57763671875e-05, 0.022885441780090332, 0.025874437764286995, 0.0, 2.6702880859375e-05, 4.76837158203125e-07, 0.0], "count": [40]}, "timestamp": {"min": [0.0], "max": [0.78], "mean": [0.39], "std": [0.2308679276123039], "count": [40]}, "frame_index": {"min": [0], "max": [39], "mean": [19.5], "std": [11.543396380615196], "count": [40]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [40]}, "index": {"min": [4453], "max": [4492], "mean": [4472.5], "std": [11.543396380615196], "count": [40]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [40]}}}
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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": "xarm6",
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"total_episodes": 2,
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"total_frames": 4493,
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"total_tasks": 1,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 50,
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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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14
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],
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"names": [
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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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"left_wrist_yaw",
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"left_wrist_flex",
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"left_wrist_roll",
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"left_gripper",
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"right_shoulder_pan",
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"right_shoulder_lift",
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"right_elbow_flex",
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"right_wrist_yaw",
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"right_wrist_flex",
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"right_wrist_roll",
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"right_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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14
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],
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"names": [
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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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"left_wrist_yaw",
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"left_wrist_flex",
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"left_wrist_roll",
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"left_gripper",
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"right_shoulder_pan",
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"right_shoulder_lift",
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"right_elbow_flex",
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"right_wrist_yaw",
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"right_wrist_flex",
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"right_wrist_roll",
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"right_gripper"
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]
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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"names": null
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}
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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 lego block and put it in the bin."}
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