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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": ["pick up red cube and place in transparent box/container"], "length": 255}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [14.800000190734863, 3.4000000953674316, 24.299999237060547, -8.600000381469727, -6.400000095367432, 9.100000381469727, -4.400000095367432, -7.699999809265137, 84.69999694824219, 9.100000381469727, 0.0, 0.0, 185.88983154296875, 0.0, 0.0, 0.0], "max": [14.800000190734863, 3.4000000953674316, 24.299999237060547, -8.600000381469727, -6.400000095367432, 9.100000381469727, -4.400000095367432, -7.699999809265137, 84.69999694824219, 9.100000381469727, 1000.0, 1000.0, 1000.0, 1000.0, 922.5094604492188, 1000.0], "mean": [14.800032615661621, 3.400007486343384, 24.299955368041992, -8.599990844726562, -6.400015354156494, 9.099996566772461, -4.40001106262207, -7.699980735778809, 84.69991302490234, 9.099996566772461, 661.5475463867188, 655.0916137695312, 635.5266723632812, 626.7788696289062, 600.78857421875, 602.1378784179688], "std": [3.24249267578125e-05, 7.3909759521484375e-06, 4.38690185546875e-05, 9.5367431640625e-06, 1.52587890625e-05, 3.814697265625e-06, 1.0967254638671875e-05, 1.9073486328125e-05, 8.392333984375e-05, 3.814697265625e-06, 202.05410766601562, 169.67189025878906, 195.89089965820312, 187.6071014404297, 183.1845703125, 178.483642578125], "count": [255]}, "observation.state": {"min": [11.524824142456055, -1.175502896308899, 23.258378982543945, -9.459429740905762, -15.392077445983887, 16.666536331176758, -0.1428329199552536, -6.910566806793213, 75.75193786621094, 9.986774444580078, 397.0, 306.0, 349.0, 285.0, 197.0, 319.0], "max": [11.54679012298584, -1.1535370349884033, 23.280399322509766, -9.437463760375977, -15.370057106018066, 16.688501358032227, -0.07688061147928238, -6.80068302154541, 75.79581451416016, 10.008686065673828, 917.0, 1000.0, 916.0, 881.0, 830.0, 845.0], "mean": [11.531296730041504, -1.1744718551635742, 23.262916564941406, -9.438600540161133, -15.377775192260742, 16.666860580444336, -0.1051880270242691, -6.8512163162231445, 75.77511596679688, 9.989371299743652, 672.309814453125, 674.8392333984375, 646.1686401367188, 627.0117797851562, 613.9882202148438, 594.99609375], "std": [0.010008703917264938, 0.004651600494980812, 0.00893514882773161, 0.004831611644476652, 0.010496274568140507, 0.0027294186875224113, 0.011520810425281525, 0.021195117384195328, 0.0067198253236711025, 0.00705972732976079, 115.34019470214844, 115.02182006835938, 118.87102508544922, 117.7377700805664, 107.5350112915039, 103.08321380615234], "count": [255]}, "observation.images.left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.59513374480188]], [[0.606894647929777]], [[0.5367925273246308]]], "std": [[[0.3269133866581963]], [[0.3313245088968697]], [[0.27821570198934403]]], "count": [100]}, "observation.images.right": {"min": [[[0.00392156862745098]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.669762345370716]], [[0.663561423246571]], [[0.5508068095591083]]], "std": [[[0.27064839090382925]], [[0.25511972323056553]], [[0.2171731507280479]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.466666666666667], "mean": [4.233333333333333], "std": [2.4537197763275134], "count": [255]}, "frame_index": {"min": [0], "max": [254], "mean": [127.0], "std": [73.6115932898254], "count": [255]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [255]}, "index": {"min": [0], "max": [254], "mean": [127.0], "std": [73.6115932898254], "count": [255]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [255]}}}
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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": 255,
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"total_tasks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:1"
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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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"shape": [
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"names": [
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"zbot_left_shoulder_pitch.pos",
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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_shoulder_yaw.pos",
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"zbot_right_elbow.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_extra.pos"
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},
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"observation.state": {
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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_shoulder_yaw.pos",
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"zbot_right_elbow.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_index.pos",
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"hand_extra.pos"
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "pick up red cube and place in transparent box/container"}
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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:a10f7ab4723c12814a656f2c232c079c47035f58639c646341ca6030825e8b59
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size 3071884
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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:a05f6388872d7e0a48372d0d8e061c36751447cac93eef6ff1e38a92146f8ee9
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size 3660506
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