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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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size 74798
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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": [2.2669012546539307, 1.0765491724014282, 33.900001525878906, 2.147310256958008, -59.19999694824219, -12.275800704956055, -6.592897891998291, -6.076352119445801, 82.54824829101562, 20.722270965576172, 279.8475036621094, 262.7997741699219, 299.4551086425781, 387.62078857421875, 330.1692810058594, 420.352783203125], "max": [2.2979886531829834, 1.1037179231643677, 33.90000534057617, 2.153857707977295, -59.19999313354492, -6.321359634399414, -3.284174919128418, -0.32030487060546875, 92.21558380126953, 25.7216796875, 495.7210998535156, 569.4572143554688, 596.8991088867188, 633.9412231445312, 560.5094604492188, 635.37890625], "mean": [2.2732832431793213, 1.0860869884490967, 33.900203704833984, 2.1497695446014404, -59.199642181396484, -9.023727416992188, -5.406330108642578, -1.5757033824920654, 88.55326843261719, 22.19169807434082, 360.593505859375, 366.16143798828125, 390.99359130859375, 472.2314453125, 411.68988037109375, 488.21868896484375], "std": [0.004333705175668001, 0.005576098337769508, 0.0002019965322688222, 0.0012554243439808488, 0.0003544889623299241, 0.7249387502670288, 0.3718924820423126, 0.6445799469947815, 1.5546754598617554, 0.9265607595443726, 53.89826202392578, 66.6645736694336, 61.83076095581055, 56.03864288330078, 50.593353271484375, 43.51612091064453], "count": [601]}, "observation.state": {"min": [0.340580552816391, 0.23075111210346222, 33.45388412475586, 0.9997211694717407, -18.490251541137695, 0.8899463415145874, -0.955843985080719, -3.83424973487854, 72.93936920166016, 20.511768341064453, 0.27799999713897705, 0.2630000114440918, 0.30300000309944153, 0.3880000114440918, 0.33899998664855957, 0.40700000524520874], "max": [0.384512335062027, 0.252716988325119, 33.49781799316406, 1.0216870307922363, -18.468339920043945, 3.241006851196289, -0.07688061147928238, 0.27462825179100037, 83.02494049072266, 25.323883056640625, 0.4779999852180481, 0.5960000157356262, 0.621999979019165, 0.6209999918937683, 0.5490000247955322, 0.6039999723434448], "mean": [0.36835771799087524, 0.2484036684036255, 33.4720344543457, 1.0117815732955933, -18.475933074951172, 1.8780592679977417, -0.23060929775238037, -0.4620465040206909, 76.52830505371094, 22.786983489990234, 0.36002156138420105, 0.3656426668167114, 0.39084500074386597, 0.47212469577789307, 0.4153710603713989, 0.4736538231372833], "std": [0.010174114257097244, 0.008725450374186039, 0.01711081713438034, 0.010929860174655914, 0.010412073694169521, 0.6585524678230286, 0.20562829077243805, 0.6091076731681824, 1.3635908365249634, 0.6738194823265076, 0.05204952508211136, 0.06460791081190109, 0.05970282107591629, 0.05443328246474266, 0.04814020171761513, 0.04166007041931152], "count": [601]}, "observation.images.left": {"min": [[[0.0]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5826859837961268]], [[0.5765221369420586]], [[0.4735513887222761]]], "std": [[[0.322389286563287]], [[0.3261434287515503]], [[0.2509122677641216]]], "count": [121]}, "observation.images.right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6295557196073029]], [[0.6357690267452673]], [[0.5216097195605813]]], "std": [[[0.27332428814593396]], [[0.2624881108234714]], [[0.21402853902664662]]], "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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"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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"names": [
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"zbot_left_shoulder_yaw.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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"zbot_right_shoulder_roll.pos",
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"zbot_right_wrist.pos",
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"hand_pinky.pos",
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"hand_ring.pos",
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"hand_middle.pos",
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"hand_thumb.pos",
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"hand_extra.pos"
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},
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"observation.state": {
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"zbot_right_shoulder_roll.pos",
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"hand_ring.pos",
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"hand_middle.pos",
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},
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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 sha256:384e162a175d7caecbfbff707beb329c907aa07ce9263fa78843ba42c501e3bb
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size 6604854
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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 sha256:918585ac14ab788c18e20cc43b118510fae3ce736c2ff152212b47eaf0ebb33d
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size 7269952
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