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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +122 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:013551dc1d5ece2b627cf5d79b2e6714ae298b2c824dc8e9b5d9ef89236a0658
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size 95756
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["ZBot teleoperation recording"], "length": 1511}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [3.251953125, -4.21875, -29.443359375, -92.197265625, -9.31640625, -23.642578125, -18.193359375, -18.369140625, 1.845703125, -8.525390625], "max": [12.83203125, 3.603515625, 13.974609375, -10.810546875, -7.20703125, 4.5703125, 3.1640625, 49.306640625, 100.283203125, 5.009765625], "mean": [3.5256879329681396, 2.676912307739258, 13.712508201599121, -11.974762916564941, -7.244665622711182, -4.705783843994141, -4.307745933532715, 1.3103904724121094, 21.720792770385742, -1.9990317821502686], "std": [0.9823510050773621, 0.6883814334869385, 2.723653554916382, 8.931533813476562, 0.256745845079422, 4.720419883728027, 3.502950429916382, 9.651079177856445, 28.0872745513916, 4.025228500366211], "count": [1511]}, "observation.state": {"min": [0.07693525403738022, -15.125099182128906, -1.175502896308899, -11.38302993774414, -19.083494186401367, -79.74469757080078, -87.1064453125, -146.06398010253906, -8.778159141540527, -15.65654182434082, -10.118624687194824, -39.25511932373047, -10.140536308288574, -27.120113372802734, -17.32567596435547, -151.83412170410156, -0.054914720356464386, -143.2171630859375, -8.33873176574707, -52.35509490966797], "max": [6.471085071563721, 27.81952476501465, -0.2087305784225464, 14.18067455291748, 13.634260177612305, 17.656858444213867, -10.552490234375, 14.34864330291748, -8.690240859985352, 17.887664794921875, 4.229799747467041, 32.295867919921875, 0.362546443939209, 30.75705337524414, 49.23052978515625, 142.60166931152344, 89.37521362304688, 212.38304138183594, 4.537431240081787, 35.58320999145508], "mean": [0.21118193864822388, -0.022994177415966988, -0.2279175966978073, -0.21222232282161713, 13.477336883544922, -0.4377593696117401, -11.489367485046387, -1.242967963218689, -8.71313762664795, -0.23261703550815582, 1.1686975955963135, 0.0014470821479335427, -1.6791263818740845, 0.10339752584695816, 0.9268359541893005, 0.4558815658092499, 16.533313751220703, 1.3183271884918213, -2.711501121520996, 0.3565019965171814], "std": [0.6546576023101807, 4.803714752197266, 0.09213244915008545, 3.8848466873168945, 1.6800686120986938, 7.399974346160889, 7.656724452972412, 12.294179916381836, 0.006319805514067411, 4.954537868499756, 2.5085248947143555, 5.947337627410889, 2.129328489303589, 5.641075611114502, 9.675501823425293, 25.03727149963379, 25.512300491333008, 34.53641128540039, 3.631585121154785, 6.73105001449585], "count": [1511]}, "observation.images.front": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3614190720709771]], [[0.3339497363339275]], [[0.34959634952465835]]], "std": [[[0.2483873683247507]], [[0.29485737022787456]], [[0.23953960860402798]]], "count": [242]}, "timestamp": {"min": [0.0], "max": [25.166666666666668], "mean": [12.583333333333332], "std": [7.269800547470337], "count": [1511]}, "frame_index": {"min": [0], "max": [1510], "mean": [755.0], "std": [436.1880328482202], "count": [1511]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1511]}, "index": {"min": [0], "max": [1510], "mean": [755.0], "std": [436.1880328482202], "count": [1511]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1511]}}}
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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": 1,
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"total_frames": 1511,
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"total_tasks": 1,
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"total_videos": 1,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 60,
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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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"dtype": "float32",
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"shape": [
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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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],
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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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"observation.images.front": {
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"dtype": "video",
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"shape": [
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240,
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320,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 240,
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"video.width": 320,
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"video.codec": "libdav1d",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 60,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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"frame_index": {
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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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videos/chunk-000/observation.images.front/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:69da26c269a98947638ad337078f8f27d6ba9250b374d4e27a9cb8c8bcdeb906
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size 7725129
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