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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 +99 -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 sha256:03ba9102e802c1dfb3d5854ebf3485c5563197cdd6e5c5cf4633a30c4149148c
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size 238867
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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:d81ae8ea57f735c91806dc76f255f48ec1e5d7864d7a4ed77cdd933e10e25855
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size 327757
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["ZBot teleoperation recording"], "length": 4029}
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{"episode_index": 1, "tasks": ["ZBot teleoperation recording"], "length": 4110}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [3.33984375, -44.47265625, -33.92578125, -69.873046875, -35.771484375, -52.03125, -45.087890625, -31.2890625, 0.87890625, -3.076171875], "max": [105.205078125, 66.533203125, 35.859375, 23.291015625, -6.50390625, 0.52734375, 35.419921875, 44.6484375, 65.654296875, 29.091796875], "mean": [8.530974388122559, 1.833596110343933, 7.767969131469727, -16.99602508544922, -11.613844871520996, -5.4995012283325195, -0.3944716155529022, 10.266268730163574, 15.646886825561523, 1.7762893438339233], "std": [14.121501922607422, 9.465609550476074, 5.248385906219482, 13.043503761291504, 3.4331235885620117, 11.241118431091309, 6.7003679275512695, 6.729963779449463, 12.502158164978027, 8.930440902709961], "count": [4029]}, "observation.state": {"min": [-0.09890113770961761, -185.71405029296875, -20.643619537353516, -165.71055603027344, -32.750701904296875, -175.91506958007812, -64.47972106933594, -183.60882568359375, -30.333690643310547, -60.43351364135742, -32.574974060058594, -94.54435729980469, -27.872745513916016, -85.20709991455078, -30.94895362854004, -146.98719787597656, -4.097949504852295, -113.51971435546875, -2.779613733291626, -74.51309967041016], "max": [82.19001770019531, 106.04988861083984, 45.78073501586914, 134.69122314453125, 33.73955154418945, 147.21800231933594, 12.557494163513184, 128.4451446533203, -8.536479949951172, 49.200748443603516, 4.075929164886475, 55.37677001953125, 19.52303123474121, 137.55880737304688, 42.26504898071289, 145.5254364013672, 55.251041412353516, 99.67115020751953, 28.114425659179688, 48.508331298828125], "mean": [4.715590953826904, 0.039792779833078384, 0.31649303436279297, -0.1308695375919342, 8.663058280944824, 0.12739364802837372, -16.98004722595215, -0.13973289728164673, -12.06651782989502, -0.024026010185480118, -1.6668896675109863, -0.025922609493136406, -0.8581447601318359, 0.005107932258397341, 10.937431335449219, 0.04383956268429756, 12.433792114257812, 0.010567078366875648, 1.8823586702346802, -0.3161359429359436], "std": [10.451679229736328, 17.02907943725586, 6.781781196594238, 21.125661849975586, 5.2426228523254395, 17.07251739501953, 11.884191513061523, 22.475507736206055, 3.1573166847229004, 6.9654998779296875, 6.570290565490723, 8.741658210754395, 4.544494152069092, 13.784204483032227, 6.704562664031982, 18.23666763305664, 10.21132755279541, 16.229753494262695, 8.830227851867676, 9.264854431152344], "count": [4029]}, "timestamp": {"min": [0.0], "max": [33.56666666666667], "mean": [16.783333333333335], "std": [9.692267345481978], "count": [4029]}, "frame_index": {"min": [0], "max": [4028], "mean": [2014.0], "std": [1163.0720814578376], "count": [4029]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4029]}, "index": {"min": [0], "max": [4028], "mean": [2014.0], "std": [1163.0720814578376], "count": [4029]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4029]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-48.515625, -13.359375, -25.83984375, -117.158203125, -21.708984375, -121.904296875, -38.583984375, -33.75, 7.470703125, -17.841796875], "max": [57.744140625, 5.361328125, 8.26171875, 0.0, -11.07421875, 58.53515625, 15.64453125, 45.263671875, 137.197265625, 91.40625], "mean": [-0.21065950393676758, 1.016793966293335, -1.3698961734771729, -45.667945861816406, -15.38383674621582, -26.184263229370117, -3.8729186058044434, -2.751938819885254, 43.77650451660156, 15.82116413116455], "std": [16.003986358642578, 3.1591975688934326, 11.042078971862793, 42.49113082885742, 3.000730037689209, 46.22785186767578, 8.149181365966797, 10.231597900390625, 40.01608657836914, 23.299625396728516], "count": [4110]}, "observation.state": {"min": [-38.6834602355957, -140.4614715576172, -9.283647537231445, -42.92702865600586, -25.455732345581055, -63.3570556640625, -113.21585083007812, -114.98148345947266, -18.182674407958984, -37.506591796875, -89.22134399414062, -146.40647888183594, -37.10142517089844, -97.41194152832031, -37.89241409301758, -242.00355529785156, 5.482237815856934, -184.91671752929688, -16.073238372802734, -181.91603088378906], "max": [39.91393280029297, 123.22076416015625, 1.7688004970550537, 38.170921325683594, 9.50330638885498, 54.355411529541016, -2.7356820106506348, 139.52426147460938, -11.634708404541016, 20.81142234802246, 42.79244613647461, 157.59727478027344, 12.645466804504395, 81.43028259277344, 49.49417495727539, 194.84136962890625, 127.32243347167969, 155.75782775878906, 60.173091888427734, 163.75909423828125], "mean": [-2.7658915519714355, -0.08419500291347504, -0.45687371492385864, -0.05104536935687065, -2.0398571491241455, -0.09068965166807175, -44.5954475402832, -0.10793393850326538, -16.159778594970703, -0.09263763576745987, -14.457453727722168, -0.7747366428375244, -2.732174873352051, 0.20295101404190063, -2.8360421657562256, -0.3898855745792389, 38.56621551513672, 1.8691860437393188, 13.863774299621582, 1.429916262626648], "std": [11.999258041381836, 24.954763412475586, 2.2512693405151367, 5.93743896484375, 10.79723834991455, 7.574611186981201, 41.60070037841797, 30.26890754699707, 1.8852189779281616, 4.983745098114014, 33.04612350463867, 33.879058837890625, 7.797518730163574, 15.512245178222656, 11.246402740478516, 36.634925842285156, 37.80449295043945, 40.24413299560547, 19.50651741027832, 27.676937103271484], "count": [4110]}, "timestamp": {"min": [0.0], "max": [34.24166666666667], "mean": [17.120833333333334], "std": [9.887123067217091], "count": [4110]}, "frame_index": {"min": [0], "max": [4109], "mean": [2054.5], "std": [1186.454768066051], "count": [4110]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [4110]}, "index": {"min": [4029], "max": [8138], "mean": [6083.5], "std": [1186.454768066051], "count": [4110]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [4110]}}}
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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",
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"total_episodes": 2,
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"total_frames": 8139,
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"total_tasks": 1,
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"chunks_size": 1000,
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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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10
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],
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"names": [
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"left_shoulder_pitch.pos",
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"left_shoulder_roll.pos",
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"left_shoulder_yaw.pos",
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"left_elbow.pos",
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"left_wrist.pos",
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"right_shoulder_pitch.pos",
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"right_shoulder_roll.pos",
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"right_shoulder_yaw.pos",
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"right_elbow.pos",
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"right_wrist.pos"
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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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20
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],
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"names": [
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"left_shoulder_pitch.pos",
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"left_shoulder_pitch.vel",
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"left_shoulder_roll.pos",
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"left_shoulder_roll.vel",
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"left_shoulder_yaw.pos",
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"left_shoulder_yaw.vel",
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"left_elbow.pos",
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"left_elbow.vel",
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"left_wrist.pos",
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"left_wrist.vel",
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"right_shoulder_pitch.pos",
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"right_shoulder_pitch.vel",
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"right_shoulder_roll.pos",
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"right_shoulder_roll.vel",
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"right_shoulder_yaw.pos",
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"right_shoulder_yaw.vel",
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"right_elbow.pos",
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"right_elbow.vel",
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"right_wrist.pos",
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"right_wrist.vel"
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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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"shape": [
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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},
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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": "ZBot teleoperation recording"}
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