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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["pick up bottle"], "length": 601}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [2.2088239192962646, 1.0300874710083008, 33.900001525878906, 2.136359691619873, -59.19999694824219, -18.680768966674805, -12.083379745483398, -3.741490602493286, 79.31523895263672, 17.064697265625, 233.965576171875, 248.3681640625, 245.85543823242188, 327.0414733886719, 333.4180603027344, 344.11151123046875], "max": [2.266657829284668, 1.0626620054244995, 33.90000534057617, 2.150346517562866, -59.19999313354492, -2.0383529663085938, -5.643315315246582, -0.3783884048461914, 90.49595642089844, 21.090227127075195, 474.38543701171875, 462.7948303222656, 483.9700927734375, 578.7919921875, 629.098876953125, 557.2174682617188], "mean": [2.2335281372070312, 1.041240930557251, 33.900203704833984, 2.1452245712280273, -59.199642181396484, -8.605631828308105, -8.93208122253418, -1.29736328125, 86.60612487792969, 19.767528533935547, 339.7501220703125, 336.605224609375, 342.3379821777344, 441.2024230957031, 442.955810546875, 410.705810546875], "std": [0.02388291247189045, 0.007407574914395809, 0.00020123363356105983, 0.003140013199299574, 0.0003537363081704825, 4.62356424331665, 2.216714859008789, 0.8536802530288696, 3.19942569732666, 0.9441637992858887, 68.03166961669922, 60.418426513671875, 67.64324951171875, 69.3635025024414, 91.61066436767578, 41.67104721069336], "count": [601]}, "observation.state": {"min": [-0.252716988325119, -0.1647988110780716, 33.65163040161133, 1.5270663499832153, -22.906869888305664, -3.5706589221954346, -4.2737860679626465, -8.33873176574707, 49.49417495727539, 2.384063959121704, 0.23499999940395355, 0.25200000405311584, 0.2460000067949295, 0.328000009059906, 0.3400000035762787, 0.3310000002384186], "max": [0.5602940917015076, 0.252716988325119, 59.97529220581055, 1.6369504928588867, -18.446374893188477, 3.5925703048706055, 5.789924144744873, 0.340580552816391, 76.98240661621094, 20.555755615234375, 0.4729999899864197, 0.4580000042915344, 0.4819999933242798, 0.5740000009536743, 0.6259999871253967, 0.5199999809265137], "mean": [0.5387664437294006, 0.24164214730262756, 34.48000717163086, 1.548806071281433, -21.327775955200195, 2.113452911376953, -3.059154510498047, -0.09194403886795044, 74.82083129882812, 19.630298614501953, 0.3396141529083252, 0.3367404043674469, 0.3429819345474243, 0.44136670231819153, 0.44685807824134827, 0.3965369462966919], "std": [0.05587158352136612, 0.0265320036560297, 1.6321921348571777, 0.012020404450595379, 2.0997252464294434, 2.4934401512145996, 1.5259323120117188, 0.7091127634048462, 3.1581532955169678, 1.4519131183624268, 0.0673174113035202, 0.059748366475105286, 0.0662921816110611, 0.06838656216859818, 0.08949455618858337, 0.040015809237957], "count": [601]}, "observation.images.left": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5620519313718756]], [[0.5738292720677539]], [[0.49956709542915056]]], "std": [[[0.3176216752704548]], [[0.330417172075327]], [[0.25724021719756723]]], "count": [121]}, "observation.images.right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6440039518406211]], [[0.6399924912363361]], [[0.5062008982564551]]], "std": [[[0.27777428534627063]], [[0.2611955490094122]], [[0.20452442105134924]]], "count": [121]}, "timestamp": {"min": [0.0], "max": [40.0], "mean": [20.0], "std": [11.566234381931649], "count": [601]}, "frame_index": {"min": [0], "max": [600], "mean": [300.0], "std": [173.49351572897473], "count": [601]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [601]}, "index": {"min": [0], "max": [600], "mean": [300.0], "std": [173.49351572897473], "count": [601]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [601]}}}
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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": "zbot_inspire",
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"total_episodes": 1,
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"total_frames": 601,
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"total_tasks": 1,
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"chunks_size": 1000,
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"fps": 15,
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"splits": {
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"train": "0:1"
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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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"zbot_left_shoulder_pitch.pos",
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"zbot_left_elbow.pos",
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"zbot_left_wrist.pos",
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"zbot_right_shoulder_pitch.pos",
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"hand_pinky.pos",
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"hand_ring.pos",
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"hand_extra.pos"
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"observation.state": {
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"zbot_right_shoulder_pitch.pos",
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"zbot_right_shoulder_roll.pos",
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"zbot_right_elbow.pos",
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"hand_ring.pos",
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "pick up bottle"}
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videos/chunk-000/observation.images.left/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:73b73b4fb58672793e79a3fb173eae7f9360fcb560ff1e980b1ee1ce7a28a0a4
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size 6403116
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videos/chunk-000/observation.images.right/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:4dd118be715aba17878d1078b9e3032e08a87cdba956d5a11dec733de7226cee
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size 7118537
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