mirror: main (80/631)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+checkpoints/** filter=lfs diff=lfs merge=lfs -text

checkpoints/pi05_arm_wrist_lora/2999/assets/etri/can_left_v34_wrist/norm_stats.json

@@ -0,0 +1,188 @@
+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.0032608534675091505,
+        0.029264893382787704,
+        -0.014502854086458683,
+        -1.4320429563522339,
+        0.010614034719765186,
+        -0.11142706871032715,
+        -0.18736882507801056,
+        0.23180712759494781,
+        0.2912600040435791,
+        -0.024365421384572983,
+        -0.3926214575767517,
+        -1.4978761672973633,
+        -0.21529774367809296,
+        -0.3724649250507355,
+        0.3645894229412079,
+        0.27662113308906555,
+        0.8939433097839355,
+        -0.0036215842701494694,
+        -0.1649322807788849,
+        0.32054728269577026,
+        0.22786343097686768,
+        0.8698228001594543,
+        0.33430612087249756,
+        0.2382068932056427,
+        0.8731817007064819
+      ],
+      "std": [
+        0.3031662702560425,
+        0.08784931898117065,
+        0.41988083720207214,
+        0.3318437933921814,
+        0.22723686695098877,
+        0.3035730719566345,
+        0.4616680443286896,
+        0.25904905796051025,
+        0.33412742614746094,
+        0.07020525634288788,
+        0.4126068949699402,
+        0.34516441822052,
+        0.3579181730747223,
+        0.3697111904621124,
+        0.3925122022628784,
+        0.24124200642108917,
+        0.0028575926553457975,
+        0.0012231917353346944,
+        0.08039791136980057,
+        0.09022623300552368,
+        0.1386459618806839,
+        0.07842729985713959,
+        0.08630798757076263,
+        0.139774352312088,
+        0.08064553141593933
+      ],
+      "q01": [
+        -0.8835937116384507,
+        -0.0003115898580290377,
+        -1.1508555793762207,
+        -1.8587348253250122,
+        -0.48707196388244633,
+        -0.9571515693664551,
+        -1.5653410577774047,
+        -0.0005384272817755117,
+        -0.857827871131897,
+        -0.371405947595631,
+        -1.249505391550064,
+        -2.0043228214263915,
+        -0.7688962963104248,
+        -1.195994494342804,
+        -0.5350169404506684,
+        0.001408807945251465,
+        0.8912422382235528,
+        -0.004601942491769373,
+        -0.30489451904296877,
+        0.11393722304105758,
+        -0.10100919265747071,
+        0.759862188577652,
+        0.17875352501869202,
+        -0.09163815528154373,
+        0.7849875092506409
+      ],
+      "q99": [
+        0.5797812411069869,
+        0.5184262520531775,
+        0.9514453577995301,
+        -0.020750327110290456,
+        0.7384632995367049,
+        0.4604995861053469,
+        0.7051180472373964,
+        0.5981874769647606,
+        0.866513219833374,
+        -0.000030063628189913594,
+        0.7723616273164748,
+        0.21579422731399545,
+        1.0647979450225833,
+        0.4125222146391867,
+        1.1538143973350525,
+        0.9263918531417847,
+        0.8973775254487991,
+        -0.0015352080153921708,
+        -0.00006341400146486764,
+        0.5165796638064086,
+        0.5200178345441818,
+        1.1133983451128007,
+        0.5257520337879658,
+        0.4941637207195163,
+        1.0700301745057106
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.0006850449135527015,
+        0.0010825060307979584,
+        -0.0038224305026233196,
+        -0.010875909589231014,
+        0.0031081861816346645,
+        0.0058117760345339775,
+        -0.013587351888418198,
+        0.40349242091178894,
+        0.0001075511027011089,
+        -0.0001594664790900424,
+        -0.030678266659379005,
+        -0.003860766999423504,
+        -0.0018850576598197222,
+        -0.011610723100602627,
+        0.011352055706083775,
+        0.28191033005714417
+      ],
+      "std": [
+        0.16707125306129456,
+        0.03833022341132164,
+        0.2248893827199936,
+        0.1861010044813156,
+        0.18565741181373596,
+        0.26522743701934814,
+        0.25142431259155273,
+        0.47937503457069397,
+        0.11978539824485779,
+        0.027590829879045486,
+        0.23960642516613007,
+        0.10581071674823761,
+        0.13652800023555756,
+        0.14381244778633118,
+        0.14104095101356506,
+        0.2489749640226364
+      ],
+      "q01": [
+        -0.5304913787841798,
+        -0.10326114833354949,
+        -0.8282264988899231,
+        -0.8745223711729049,
+        -0.5498045757293701,
+        -0.7166000147104263,
+        -0.8581910180568695,
+        0.0,
+        -0.4868052193641662,
+        -0.0764654545783997,
+        -0.9383846454620364,
+        -0.3260372092962267,
+        -0.3399630498886108,
+        -0.5713309760808944,
+        -0.3757410734176636,
+        0.0
+      ],
+      "q99": [
+        0.5236319046020506,
+        0.1289588111639023,
+        0.7095731077194216,
+        0.5314493577957156,
+        0.5675909670352937,
+        0.9612836936712266,
+        0.7616576413154599,
+        0.9998,
+        0.3788251663208009,
+        0.05900090527534485,
+        0.34910284700393657,
+        0.24013029494285565,
+        0.4795030069351198,
+        0.495145802640915,
+        0.5467494874954224,
+        0.9668
+      ]
+    }
+  }
+}

checkpoints/pi05_can1_lora/2999/assets/etri/can1/norm_stats.json

@@ -0,0 +1,164 @@
+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.05850471928715706,
+        0.08489540964365005,
+        -0.1649991273880005,
+        -1.2204562425613403,
+        0.06913580000400543,
+        -0.23293866217136383,
+        -0.03440478444099426,
+        0.2015780508518219,
+        0.2840968668460846,
+        -0.055829379707574844,
+        -0.05929496884346008,
+        -1.2026252746582031,
+        0.08271024376153946,
+        -0.6221596598625183,
+        0.00481982808560133,
+        0.40095505118370056,
+        0.8973907828330994,
+        -0.001676789834164083,
+        -0.16915154457092285
+      ],
+      "std": [
+        0.320492684841156,
+        0.15914252400398254,
+        0.34627509117126465,
+        0.49707114696502686,
+        0.2767947316169739,
+        0.33532992005348206,
+        0.3041962683200836,
+        0.2518012821674347,
+        0.46137452125549316,
+        0.12051019072532654,
+        0.46332457661628723,
+        0.5730468034744263,
+        0.43647637963294983,
+        0.3872605860233307,
+        0.3510908782482147,
+        0.2671973705291748,
+        0.0,
+        0.00045706875971518457,
+        0.07271764427423477
+      ],
+      "q01": [
+        -0.9706331024289131,
+        -0.0003115898580290377,
+        -1.308753031039238,
+        -1.7600687494754792,
+        -0.42612934149503706,
+        -1.3379059649109841,
+        -1.0020129578232766,
+        -0.0001810097834793851,
+        -0.978080043554306,
+        -0.6153886818271247,
+        -2.2333172008037567,
+        -1.785270649290085,
+        -0.5896580147266388,
+        -1.5344348400011658,
+        -0.6354882477283478,
+        0.00040251655578613283,
+        0.8973787426948547,
+        -0.003067961661145091,
+        -0.28017682982748376
+      ],
+      "q99": [
+        0.4987421414256097,
+        0.6927968948713155,
+        0.4367802775025367,
+        0.5136081869602203,
+        0.8900943064808846,
+        0.343680109345913,
+        0.6694789270877839,
+        0.6424802375857718,
+        0.7402580959796907,
+        -0.00008997276379374419,
+        0.8392370524168014,
+        0.7710117752313614,
+        1.562533990907669,
+        -0.00007993411272777529,
+        1.358410513973236,
+        0.9924045682907106,
+        0.8973787426948547,
+        -0.0015339808306760183,
+        -0.008648739845957598
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.005272326059639454,
+        0.006510027684271336,
+        0.004886711947619915,
+        -0.024649716913700104,
+        -0.003773309290409088,
+        -0.016555987298488617,
+        -0.0024161087349057198,
+        0.3577341139316559,
+        0.0017736953450366855,
+        -0.0000739354218239896,
+        -0.057854894548654556,
+        -0.009336560033261776,
+        0.020326342433691025,
+        -0.018307240679860115,
+        0.00786457397043705,
+        0.4090765714645386
+      ],
+      "std": [
+        0.1166900172829628,
+        0.07267177104949951,
+        0.1393216848373413,
+        0.36804208159446716,
+        0.15929895639419556,
+        0.22359617054462433,
+        0.14903683960437775,
+        0.4710808992385864,
+        0.10532576590776443,
+        0.04464046657085419,
+        0.38193458318710327,
+        0.2996996343135834,
+        0.16362814605236053,
+        0.15602415800094604,
+        0.1721929907798767,
+        0.2714114785194397
+      ],
+      "q01": [
+        -0.37208871259689336,
+        -0.18636346554756167,
+        -0.46630820424556735,
+        -1.4258975013732909,
+        -0.5171088420152664,
+        -0.7920202655792237,
+        -0.4680631101608277,
+        0.0,
+        -0.36331856169700616,
+        -0.12014644408226016,
+        -2.3258813871383666,
+        -1.3125819465637207,
+        -0.23568718693256363,
+        -0.6035417079925538,
+        -0.4346638908386229,
+        0.0
+      ],
+      "q99": [
+        0.3739440210342406,
+        0.32969611740112303,
+        0.6156159601211548,
+        1.2034160145759585,
+        0.46739304590225217,
+        0.6107400989532472,
+        0.4143450649261473,
+        0.9998,
+        0.36371491267681133,
+        0.1397277972698211,
+        0.19540442190170282,
+        1.1271550119400024,
+        0.9850240519523621,
+        0.5041706943511961,
+        0.6817017467498778,
+        0.9998
+      ]
+    }
+  }
+}

checkpoints/pi05_can_left_v3_lora/2999/assets/etri/can_left_v3/norm_stats.json

@@ -0,0 +1,192 @@
+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        0.026860421523451805,
+        0.029714541509747505,
+        -0.029788322746753693,
+        -1.4553114175796509,
+        0.01648888736963272,
+        -0.113111212849617,
+        -0.13633400201797485,
+        0.22188645601272583,
+        0.3068908452987671,
+        -0.023457031697034836,
+        -0.32688117027282715,
+        -1.4691439867019653,
+        -0.17939674854278564,
+        -0.4657575786113739,
+        0.3039487600326538,
+        0.29967910051345825,
+        0.8930032253265381,
+        -0.003772113472223282,
+        -0.1602039784193039,
+        0.31198883056640625,
+        0.22295062243938446,
+        0.8689471483230591,
+        0.3390020430088043,
+        0.23726820945739746,
+        0.8826262354850769
+      ],
+      "std": [
+        0.2921706438064575,
+        0.09490964561700821,
+        0.39715176820755005,
+        0.3154417872428894,
+        0.2290264070034027,
+        0.3142317533493042,
+        0.4218234121799469,
+        0.25681018829345703,
+        0.3531017303466797,
+        0.07498525083065033,
+        0.4116988778114319,
+        0.37081190943717957,
+        0.3868010342121124,
+        0.3405079245567322,
+        0.39457422494888306,
+        0.24806830286979675,
+        0.0024656993336975574,
+        0.001341040711849928,
+        0.08450917154550552,
+        0.08017519861459732,
+        0.12693451344966888,
+        0.08106571435928345,
+        0.06640815734863281,
+        0.13404880464076996,
+        0.08655431121587753
+      ],
+      "q01": [
+        -0.9257254281282425,
+        -0.0003115898580290377,
+        -1.1508555793762207,
+        -1.7562187885284424,
+        -0.47490875675678257,
+        -1.0034268731594085,
+        -1.21715895652771,
+        -0.0005384272817755117,
+        -0.8748553241014481,
+        -0.4096238462548965,
+        -1.2428178490400315,
+        -1.8186588988542556,
+        -0.7908846356868744,
+        -1.4473120748877526,
+        -0.5528277631044387,
+        0.00040251655578613283,
+        0.8912422382235528,
+        -0.004601942491769373,
+        -0.3002018829345703,
+        0.09904765099734067,
+        -0.03771758300065994,
+        0.7483315975666046,
+        0.17875352501869202,
+        -0.03259999677538872,
+        0.7921628952026367
+      ],
+      "q99": [
+        0.5933570164203643,
+        0.5369697311476921,
+        0.9422213683128358,
+        0.16161175751686097,
+        0.769792772436142,
+        0.43919868603944767,
+        0.7388969078063963,
+        0.630244301236025,
+        0.8744039907217027,
+        -0.000054027279521640104,
+        0.7849936520576475,
+        0.5009738035678866,
+        1.0814557778835296,
+        0.13594658579826358,
+        1.1414838278055193,
+        0.9449076147079468,
+        0.8973756846785546,
+        -0.0015352080153921708,
+        -0.00006341400146486764,
+        0.47409405953027306,
+        0.5088507558509707,
+        1.124002370774746,
+        0.43929848559498785,
+        0.4941755283512176,
+        1.070031609582901
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.001095572137273848,
+        0.0012271803570911288,
+        -0.007285721600055695,
+        -0.010486858896911144,
+        0.0011723199859261513,
+        -0.0010023564100265503,
+        -0.0023953495547175407,
+        0.38318443298339844,
+        0.000047475798055529594,
+        -0.0001894997840281576,
+        -0.03087899647653103,
+        -0.004739176947623491,
+        -0.00043207008275203407,
+        -0.015677286311984062,
+        0.012013150379061699,
+        0.30586010217666626,
+        -1.0539034605026245
+      ],
+      "std": [
+        0.16587914526462555,
+        0.03500016778707504,
+        0.22820091247558594,
+        0.17407739162445068,
+        0.18512994050979614,
+        0.23962776362895966,
+        0.24822255969047546,
+        0.47381722927093506,
+        0.12654490768909454,
+        0.026531489565968513,
+        0.25477316975593567,
+        0.11464738845825195,
+        0.14853529632091522,
+        0.15648935735225677,
+        0.14688614010810852,
+        0.25604185461997986,
+        0.08495040982961655
+      ],
+      "q01": [
+        -0.5455834522247316,
+        -0.0748787088394165,
+        -0.8762051848411561,
+        -0.8814929796457289,
+        -0.5569160827636719,
+        -0.7094794485092163,
+        -0.7670005692481996,
+        0.0,
+        -0.5312586938858033,
+        -0.04633110105991367,
+        -1.0183920448303225,
+        -0.44415440175533294,
+        -0.35819028377532947,
+        -0.6231118495941163,
+        -0.39158054046630864,
+        0.0,
+        -1.193338481426239
+      ],
+      "q99": [
+        0.49983286571502683,
+        0.10737877452373512,
+        0.6797932336807251,
+        0.45128736035823813,
+        0.5249219248294832,
+        0.8274184631109236,
+        0.8131698032379147,
+        0.9998,
+        0.38933235120773313,
+        0.03826625835895536,
+        0.33857555761337244,
+        0.25148771729469277,
+        0.5265900278091431,
+        0.5317585414886474,
+        0.5790620002746585,
+        0.9904000000000001,
+        -0.8913656173706055
+      ]
+    }
+  }
+}

checkpoints/pi05_lift_head_lora/2999/assets/etri/can_left_v34_head/norm_stats.json

@@ -0,0 +1,128 @@
+{
+  "norm_stats": {
+    "state": {
+      "mean": [
+        -0.0032608534675091505,
+        0.029264893382787704,
+        -0.014502854086458683,
+        -1.4320429563522339,
+        0.010614034719765186,
+        -0.11142706871032715,
+        -0.18736882507801056,
+        0.23180712759494781,
+        0.2912600040435791,
+        -0.024365421384572983,
+        -0.3926214575767517,
+        -1.4978761672973633,
+        -0.21529774367809296,
+        -0.3724649250507355,
+        0.3645894229412079,
+        0.27662113308906555,
+        0.8939433097839355,
+        -0.0036215842701494694,
+        -0.1649322807788849,
+        0.32054728269577026,
+        0.22786343097686768,
+        0.8698228001594543,
+        0.33430612087249756,
+        0.2382068932056427,
+        0.8731817007064819
+      ],
+      "std": [
+        0.3031662702560425,
+        0.08784931898117065,
+        0.41988083720207214,
+        0.3318437933921814,
+        0.22723686695098877,
+        0.3035730719566345,
+        0.4616680443286896,
+        0.25904905796051025,
+        0.33412742614746094,
+        0.07020525634288788,
+        0.4126068949699402,
+        0.34516441822052,
+        0.3579181730747223,
+        0.3697111904621124,
+        0.3925122022628784,
+        0.24124200642108917,
+        0.0028575926553457975,
+        0.0012231917353346944,
+        0.08039791136980057,
+        0.09022623300552368,
+        0.1386459618806839,
+        0.07842729985713959,
+        0.08630798757076263,
+        0.139774352312088,
+        0.08064553141593933
+      ],
+      "q01": [
+        -0.8835937116384507,
+        -0.0003115898580290377,
+        -1.1508555793762207,
+        -1.8587348253250122,
+        -0.48707196388244633,
+        -0.9571515693664551,
+        -1.5653410577774047,
+        -0.0005384272817755117,
+        -0.857827871131897,
+        -0.371405947595631,
+        -1.249505391550064,
+        -2.0043228214263915,
+        -0.7688962963104248,
+        -1.195994494342804,
+        -0.5350169404506684,
+        0.001408807945251465,
+        0.8912422382235528,
+        -0.004601942491769373,
+        -0.30489451904296877,
+        0.11393722304105758,
+        -0.10100919265747071,
+        0.759862188577652,
+        0.17875352501869202,
+        -0.09163815528154373,
+        0.7849875092506409
+      ],
+      "q99": [
+        0.5797812411069869,
+        0.5184262520531775,
+        0.9514453577995301,
+        -0.020750327110290456,
+        0.7384632995367049,
+        0.4604995861053469,
+        0.7051180472373964,
+        0.5981874769647606,
+        0.866513219833374,
+        -0.000030063628189913594,
+        0.7723616273164748,
+        0.21579422731399545,
+        1.0647979450225833,
+        0.4125222146391867,
+        1.1538143973350525,
+        0.9263918531417847,
+        0.8973775254487991,
+        -0.0015352080153921708,
+        -0.00006341400146486764,
+        0.5165796638064086,
+        0.5200178345441818,
+        1.1133983451128007,
+        0.5257520337879658,
+        0.4941637207195163,
+        1.0700301745057106
+      ]
+    },
+    "actions": {
+      "mean": [
+        -0.1625058799982071
+      ],
+      "std": [
+        0.2926979660987854
+      ],
+      "q01": [
+        -0.7433642862200737
+      ],
+      "q99": [
+        0.728611609709263
+      ]
+    }
+  }
+}

datasets/can1/meta/info.json

@@ -0,0 +1,196 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 6,
+    "total_frames": 6903,
+    "total_tasks": 1,
+    "total_videos": 24,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:6"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                19
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_l_joint1",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ]
+        },
+        "observation.images.cam_head_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_head_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

datasets/can1/meta/modality.json

@@ -0,0 +1,65 @@
+{
+    "state": {
+        "left_arm": {
+            "start": 0,
+            "end": 7
+        },
+        "right_arm": {
+            "start": 7,
+            "end": 14
+        },
+        "left_gripper": {
+            "start": 14,
+            "end": 15
+        },
+        "right_gripper": {
+            "start": 15,
+            "end": 16
+        },
+        "head": {
+            "start": 16,
+            "end": 18
+        },
+        "lift": {
+            "start": 18,
+            "end": 19
+        }
+    },
+    "action": {
+        "left_arm": {
+            "start": 0,
+            "end": 7
+        },
+        "left_gripper": {
+            "start": 7,
+            "end": 8
+        },
+        "right_arm": {
+            "start": 8,
+            "end": 15
+        },
+        "right_gripper": {
+            "start": 15,
+            "end": 16
+        }
+    },
+    "video": {
+        "head_left": {
+            "original_key": "observation.images.cam_head_l"
+        },
+        "head_right": {
+            "original_key": "observation.images.cam_head_r"
+        },
+        "wrist_left": {
+            "original_key": "observation.images.cam_wrist_l"
+        },
+        "wrist_right": {
+            "original_key": "observation.images.cam_wrist_r"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

datasets/can2/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"min": [-1.274370551109314, 0.0, -1.5399622917175293, -2.251497507095337, -1.2528882026672363, -1.2317252159118652, -1.684369444847107, 0.0, -0.5047203898429871, -0.32060521841049194, -1.2237792015075684, -2.228914976119995, -0.5106634497642517, -1.3013010025024414, -0.8303118348121643, 0.0], "max": [0.8436093926429749, 1.182073950767517, 0.5476185083389282, 0.0, 0.6305217146873474, 1.327633261680603, 0.8558605313301086, 1.0, 0.5985377430915833, 0.0, 0.33107849955558777, 0.0, 1.4964064359664917, 0.3782940208911896, 1.182354211807251, 0.27047666907310486], "mean": [-0.1292538344860077, 0.23029233515262604, -0.32014840841293335, -1.2909197807312012, -0.18028736114501953, 0.02262616530060768, -0.04042482376098633, 0.13432428240776062, -0.05597071349620819, -0.0454084575176239, -0.4621984362602234, -1.0938622951507568, -0.015451457351446152, -0.4998195171356201, 0.4036155045032501, 0.050593532621860504], "std": [0.36205750703811646, 0.3093670606613159, 0.4706079661846161, 0.5373865365982056, 0.28294768929481506, 0.46328476071357727, 0.4436052739620209, 0.3016122877597809, 0.16749240458011627, 0.10532334446907043, 0.5375127196311951, 0.5677458047866821, 0.2429390847682953, 0.40072232484817505, 0.5317698121070862, 0.058144327253103256], "count": [2433]}, "observation.state": {"min": [-1.1675151586532593, -0.0004194478678982705, -1.5272456407546997, -2.1669037342071533, -0.7712327837944031, -1.1471539735794067, -1.4801115989685059, -0.3339284360408783, -0.31437018513679504, -1.2179088592529297, -1.8377089500427246, -0.3066403567790985, -1.1847964525222778, -0.24352902173995972, 0.0, 0.0, 0.8958447575569153, -0.003067961661145091, -0.27511000633239746], "max": [0.5108156204223633, 1.129573106765747, 0.4324028193950653, -0.0003355582884978503, 0.26389262080192566, 1.0603761672973633, 0.7612428069114685, 0.5761056542396545, 9.58738019107841e-05, 0.31427431106567383, 0.0, 0.8506043553352356, 4.793690095539205e-05, 1.1808561086654663, 0.5445631742477417, 0.25770875811576843, 0.8989127278327942, -2.0694557179012918e-13, -0.007230000104755163], "mean": [-0.14303220808506012, 0.22143805027008057, -0.330933541059494, -1.2144907712936401, -0.17350120842456818, 0.03950671851634979, -0.03186864033341408, -0.047570664435625076, -0.04571982100605965, -0.46914345026016235, -1.0321077108383179, -0.01186647079885006, -0.5116706490516663, 0.4072597026824951, 0.08703146874904633, 0.049960535019636154, 0.8973726630210876, -0.0015320935053750873, -0.10226691514253616], "std": [0.33720266819000244, 0.29029983282089233, 0.4534335136413574, 0.4457623362541199, 0.24417264759540558, 0.40158960223197937, 0.41871488094329834, 0.1573849320411682, 0.1050904393196106, 0.5320677161216736, 0.4881199896335602, 0.22815945744514465, 0.3773738145828247, 0.5231404900550842, 0.1659376174211502, 0.055892642587423325, 0.00017336955352220684, 8.225937199313194e-05, 0.07409562170505524], "count": [2433]}, "observation.images.cam_head_l": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5268174273442517]], [[0.5147290001983452]], [[0.5013401898211115]]], "std": [[[0.25516805153478883]], [[0.25468888211130236]], [[0.23519527839727336]]], "count": [346]}, "observation.images.cam_head_r": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5339499880756734]], [[0.5208865270457894]], [[0.5069118910329063]]], "std": [[[0.25911717708247634]], [[0.2605350934897206]], [[0.24215683413112463]]], "count": [346]}, "observation.images.cam_wrist_l": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43859663427027845]], [[0.4058899892326873]], [[0.40415273645585403]]], "std": [[[0.25876616428261145]], [[0.25202878536798473]], [[0.2504887199534227]]], "count": [346]}, "observation.images.cam_wrist_r": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42508622586799655]], [[0.415885255511164]], [[0.4080109951735993]]], "std": [[[0.23719465932628442]], [[0.22835026124416558]], [[0.22958341305718413]]], "count": [346]}, "timestamp": {"min": [0.0], "max": [243.2], "mean": [121.60000000000002], "std": [70.23465431442422], "count": [2433]}, "frame_index": {"min": [0], "max": [2432], "mean": [1216.0], "std": [702.3465431442421], "count": [2433]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2433]}, "index": {"min": [0], "max": [2432], "mean": [1216.0], "std": [702.3465431442421], "count": [2433]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2433]}}}

datasets/can2/meta/info.json

@@ -0,0 +1,196 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 1,
+    "total_frames": 2433,
+    "total_tasks": 1,
+    "total_videos": 4,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                19
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_l_joint1",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ]
+        },
+        "observation.images.cam_head_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_head_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

datasets/can_left/meta/episodes.jsonl

@@ -0,0 +1,19 @@
+{"episode_index": 0, "tasks": ["put the can on the plate"], "length": 645}
+{"episode_index": 1, "tasks": ["put the can on the plate"], "length": 1920}
+{"episode_index": 2, "tasks": ["put the can on the plate"], "length": 1974}
+{"episode_index": 3, "tasks": ["put the can on the plate"], "length": 765}
+{"episode_index": 4, "tasks": ["put the can on the plate"], "length": 1046}
+{"episode_index": 5, "tasks": ["put the can on the plate"], "length": 553}
+{"episode_index": 6, "tasks": ["put the can on the plate"], "length": 2824}
+{"episode_index": 7, "tasks": ["put the can on the plate"], "length": 738}
+{"episode_index": 8, "tasks": ["put the can on the plate"], "length": 634}
+{"episode_index": 9, "tasks": ["put the can on the plate"], "length": 641}
+{"episode_index": 10, "tasks": ["put the can on the plate"], "length": 751}
+{"episode_index": 11, "tasks": ["put the can on the plate"], "length": 740}
+{"episode_index": 12, "tasks": ["put the can on the plate"], "length": 527}
+{"episode_index": 13, "tasks": ["put the can on the plate"], "length": 512}
+{"episode_index": 14, "tasks": ["put the can on the plate"], "length": 588}
+{"episode_index": 15, "tasks": ["put the can on the plate"], "length": 1073}
+{"episode_index": 16, "tasks": ["put the can on the plate"], "length": 372}
+{"episode_index": 17, "tasks": ["put the can on the plate"], "length": 629}
+{"episode_index": 18, "tasks": ["put the can on the plate"], "length": 414}

datasets/can_left/meta/info.json

@@ -0,0 +1,196 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 19,
+    "total_frames": 17346,
+    "total_tasks": 1,
+    "total_videos": 76,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:19"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                19
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_l_joint1",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ]
+        },
+        "observation.images.cam_head_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_head_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

datasets/can_left_v2/meta/episodes.jsonl

@@ -0,0 +1,29 @@
+{"episode_index": 0, "tasks": ["put the can on the plate"], "length": 645}
+{"episode_index": 1, "tasks": ["put the can on the plate"], "length": 1920}
+{"episode_index": 2, "tasks": ["put the can on the plate"], "length": 1974}
+{"episode_index": 3, "tasks": ["put the can on the plate"], "length": 765}
+{"episode_index": 4, "tasks": ["put the can on the plate"], "length": 1046}
+{"episode_index": 5, "tasks": ["put the can on the plate"], "length": 553}
+{"episode_index": 6, "tasks": ["put the can on the plate"], "length": 2824}
+{"episode_index": 7, "tasks": ["put the can on the plate"], "length": 738}
+{"episode_index": 8, "tasks": ["put the can on the plate"], "length": 634}
+{"episode_index": 9, "tasks": ["put the can on the plate"], "length": 641}
+{"episode_index": 10, "tasks": ["put the can on the plate"], "length": 751}
+{"episode_index": 11, "tasks": ["put the can on the plate"], "length": 740}
+{"episode_index": 12, "tasks": ["put the can on the plate"], "length": 527}
+{"episode_index": 13, "tasks": ["put the can on the plate"], "length": 512}
+{"episode_index": 14, "tasks": ["put the can on the plate"], "length": 588}
+{"episode_index": 15, "tasks": ["put the can on the plate"], "length": 1073}
+{"episode_index": 16, "tasks": ["put the can on the plate"], "length": 372}
+{"episode_index": 17, "tasks": ["put the can on the plate"], "length": 629}
+{"episode_index": 18, "tasks": ["put the can on the plate"], "length": 414}
+{"episode_index": 19, "tasks": ["put the can on the plate"], "length": 576}
+{"episode_index": 20, "tasks": ["put the can on the plate"], "length": 566}
+{"episode_index": 21, "tasks": ["put the can on the plate"], "length": 682}
+{"episode_index": 22, "tasks": ["put the can on the plate"], "length": 545}
+{"episode_index": 23, "tasks": ["put the can on the plate"], "length": 528}
+{"episode_index": 24, "tasks": ["put the can on the plate"], "length": 350}
+{"episode_index": 25, "tasks": ["put the can on the plate"], "length": 678}
+{"episode_index": 26, "tasks": ["put the can on the plate"], "length": 462}
+{"episode_index": 27, "tasks": ["put the can on the plate"], "length": 695}
+{"episode_index": 28, "tasks": ["put the can on the plate"], "length": 668}

datasets/can_left_v2/meta/info.json

@@ -0,0 +1,196 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 29,
+    "total_frames": 23096,
+    "total_tasks": 1,
+    "total_videos": 116,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:29"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                19
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_l_joint1",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint"
+            ]
+        },
+        "observation.images.cam_head_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_head_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

datasets/can_left_v3/meta/episodes.jsonl

@@ -0,0 +1,29 @@
+{"episode_index": 0, "tasks": ["put the can on the plate"], "length": 624}
+{"episode_index": 1, "tasks": ["put the can on the plate"], "length": 894}
+{"episode_index": 2, "tasks": ["put the can on the plate"], "length": 1931}
+{"episode_index": 3, "tasks": ["put the can on the plate"], "length": 722}
+{"episode_index": 4, "tasks": ["put the can on the plate"], "length": 1026}
+{"episode_index": 5, "tasks": ["put the can on the plate"], "length": 514}
+{"episode_index": 6, "tasks": ["put the can on the plate"], "length": 2310}
+{"episode_index": 7, "tasks": ["put the can on the plate"], "length": 733}
+{"episode_index": 8, "tasks": ["put the can on the plate"], "length": 610}
+{"episode_index": 9, "tasks": ["put the can on the plate"], "length": 493}
+{"episode_index": 10, "tasks": ["put the can on the plate"], "length": 662}
+{"episode_index": 11, "tasks": ["put the can on the plate"], "length": 633}
+{"episode_index": 12, "tasks": ["put the can on the plate"], "length": 508}
+{"episode_index": 13, "tasks": ["put the can on the plate"], "length": 407}
+{"episode_index": 14, "tasks": ["put the can on the plate"], "length": 515}
+{"episode_index": 15, "tasks": ["put the can on the plate"], "length": 935}
+{"episode_index": 16, "tasks": ["put the can on the plate"], "length": 254}
+{"episode_index": 17, "tasks": ["put the can on the plate"], "length": 580}
+{"episode_index": 18, "tasks": ["put the can on the plate"], "length": 387}
+{"episode_index": 19, "tasks": ["put the can on the plate"], "length": 522}
+{"episode_index": 20, "tasks": ["put the can on the plate"], "length": 557}
+{"episode_index": 21, "tasks": ["put the can on the plate"], "length": 593}
+{"episode_index": 22, "tasks": ["put the can on the plate"], "length": 536}
+{"episode_index": 23, "tasks": ["put the can on the plate"], "length": 448}
+{"episode_index": 24, "tasks": ["put the can on the plate"], "length": 311}
+{"episode_index": 25, "tasks": ["put the can on the plate"], "length": 579}
+{"episode_index": 26, "tasks": ["put the can on the plate"], "length": 401}
+{"episode_index": 27, "tasks": ["put the can on the plate"], "length": 635}
+{"episode_index": 28, "tasks": ["put the can on the plate"], "length": 624}

datasets/can_left_v3/meta/info.json

@@ -0,0 +1,203 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 29,
+    "total_frames": 19944,
+    "total_tasks": 1,
+    "total_videos": 116,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:29"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                17
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1",
+                "lift_joint"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                25
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_l_joint1",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint",
+                "can_x",
+                "can_y",
+                "can_z",
+                "plate_x",
+                "plate_y",
+                "plate_z"
+            ]
+        },
+        "observation.images.cam_head_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_head_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

datasets/can_left_v4/meta/info.json

@@ -0,0 +1,203 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 9,
+    "total_frames": 5463,
+    "total_tasks": 1,
+    "total_videos": 36,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:9"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                17
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1",
+                "lift_joint"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                25
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_l_joint1",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint",
+                "can_x",
+                "can_y",
+                "can_z",
+                "plate_x",
+                "plate_y",
+                "plate_z"
+            ]
+        },
+        "observation.images.cam_head_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_head_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_l": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_wrist_r": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 10,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

info.json

@@ -0,0 +1,150 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 0,
+    "total_frames": 0,
+    "total_tasks": 0,
+    "total_videos": 0,
+    "total_chunks": 0,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {},
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.cam_head": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                376,
+                672,
+                3
+            ]
+        },
+        "observation.images.cam_wrist_left": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                240,
+                424,
+                3
+            ]
+        },
+        "observation.images.cam_wrist_right": {
+            "dtype": "video",
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "shape": [
+                240,
+                424,
+                3
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint",
+                "linear_x",
+                "linear_y",
+                "angular_z"
+            ],
+            "shape": [
+                22
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint",
+                "linear_x",
+                "linear_y",
+                "angular_z"
+            ],
+            "shape": [
+                22
+            ]
+        }
+    }
+}