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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["follow hand"], "length": 1201}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-5.868546009063721, 76.40086364746094, 36.25688552856445, 45.9015007019043], "max": [2.3070192337036133, 135.94285583496094, 133.5201873779297, 101.56777954101562], "mean": [-2.6049258708953857, 121.25411224365234, 100.62259674072266, 72.77989196777344], "std": [1.6689163446426392, 14.929098129272461, 19.789682388305664, 11.452499389648438], "count": [1201]}, "observation.state": {"min": [-5.888671875, 77.431640625, 37.6171875, 46.669921875], "max": [2.373046875, 134.208984375, 133.505859375, 100.986328125], "mean": [-2.6206188201904297, 121.09152221679688, 101.25480651855469, 72.8086166381836], "std": [1.658638834953308, 14.957555770874023, 19.768796920776367, 11.359782218933105], "count": [1201]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6425908244425221]], [[0.5673736653770985]], [[0.5931025056468666]]], "std": [[[0.4127262581831238]], [[0.37459634872200626]], [[0.3899118892357534]]], "count": [204]}, "timestamp": {"min": [0.0], "max": [40.0], "mean": [20.0], "std": [11.556623882239812], "count": [1201]}, "frame_index": {"min": [0], "max": [1200], "mean": [600.0], "std": [346.69871646719434], "count": [1201]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1201]}, "index": {"min": [0], "max": [1200], "mean": [600.0], "std": [346.69871646719434], "count": [1201]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1201]}}}

meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "koch",
+    "total_episodes": 1,
+    "total_frames": 1201,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:1"
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+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex"
+            ]
+        },
+        "observation.state": {
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+            "shape": [
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+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex"
+            ]
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+        "observation.images.laptop": {
+            "dtype": "video",
+            "shape": [
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+                640,
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+            "names": [
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+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "follow hand"}

videos/chunk-000/observation.images.laptop/episode_000000.mp4

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