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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 +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.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:f1c7f3210655309c360b402ac86dddfe07abedb35f2f2d06aaab096251270c73
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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 sha256:99b6f234359fc9ecfe8af896c3ca2af91e41a32e6e3df5c68cbfe27bf4c680ce
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size 42267
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 890}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 891}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-47.63671875, 62.314453125, 40.166015625, 46.58203125, -23.642578125, -1.18389892578125], "max": [4.74609375, 196.34765625, 180.087890625, 94.833984375, 0.17578125, 26.124704360961914], "mean": [-15.47990894317627, 143.53857421875, 137.1084442138672, 59.72921371459961, -12.177098274230957, 4.281368732452393], "std": [14.213101387023926, 49.690311431884766, 43.20365905761719, 11.032198905944824, 3.7196059226989746, 7.016246795654297], "count": [890]}, "observation.state": {"min": [-46.845703125, 61.611328125, 42.71484375, 47.548828125, -21.708984375, 0.4045853018760681], "max": [3.955078125, 195.29296875, 180.087890625, 94.658203125, -0.791015625, 25.691165924072266], "mean": [-15.442679405212402, 143.0717010498047, 138.20120239257812, 59.78818130493164, -12.033806800842285, 4.902518272399902], "std": [14.350564002990723, 50.157772064208984, 42.460357666015625, 10.896554946899414, 3.591775894165039, 6.431765556335449], "count": [890]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5815026123618171]], [[0.6687519428810619]], [[0.6695284863430969]]], "std": [[[0.19102237488757765]], [[0.22409180759196848]], [[0.23206682715185642]]], "count": [162]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5430151761579117]], [[0.5427353420277576]], [[0.5330518929536836]]], "std": [[[0.32134280487980665]], [[0.33795837390789685]], [[0.3338751294652808]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.633333333333333], "mean": [14.816666666666665], "std": [8.564023587076345], "count": [890]}, "frame_index": {"min": [0], "max": [889], "mean": [444.5], "std": [256.92070761229036], "count": [890]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [890]}, "index": {"min": [0], "max": [889], "mean": [444.5], "std": [256.92070761229036], "count": [890]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [890]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-39.375, 69.609375, 47.021484375, 40.166015625, -20.21484375, -1.3417521715164185], "max": [6.591796875, 196.5234375, 180.439453125, 87.1875, 0.615234375, 28.492502212524414], "mean": [-9.28720760345459, 142.47396850585938, 133.44879150390625, 59.68019485473633, -7.496054172515869, 8.012940406799316], "std": [13.2983980178833, 51.40412902832031, 46.811302185058594, 11.325272560119629, 4.406282901763916, 8.4407320022583], "count": [891]}, "observation.state": {"min": [-38.671875, 68.994140625, 49.74609375, 41.30859375, -19.6875, 0.4720161557197571], "max": [5.80078125, 195.29296875, 180.3515625, 87.01171875, 0.0, 28.05124855041504], "mean": [-9.226049423217773, 141.9020233154297, 134.5675506591797, 59.669403076171875, -7.42069149017334, 8.438180923461914], "std": [13.195025444030762, 51.960548400878906, 46.12514114379883, 11.276164054870605, 4.356312274932861, 7.821314334869385], "count": [891]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5510230261838887]], [[0.6807748944925619]], [[0.7154862188740526]]], "std": [[[0.18411909134002577]], [[0.2283760463344569]], [[0.24096942763813808]]], "count": [163]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5403909363847789]], [[0.5428297959521231]], [[0.5323594019407354]]], "std": [[[0.3161415679233395]], [[0.33454078634300755]], [[0.3316031618539217]]], "count": [163]}, "timestamp": {"min": [0.0], "max": [29.666666666666668], "mean": [14.833333333333334], "std": [8.573646097630075], "count": [891]}, "frame_index": {"min": [0], "max": [890], "mean": [445.0], "std": [257.20938292890224], "count": [891]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [891]}, "index": {"min": [890], "max": [1780], "mean": [1335.0], "std": [257.20938292890224], "count": [891]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [891]}}}
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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": "so101",
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"total_episodes": 2,
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"total_frames": 1781,
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"total_tasks": 1,
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"total_videos": 4,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:2"
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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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6
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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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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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6
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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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]
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},
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"observation.images.laptop": {
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"dtype": "video",
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"shape": [
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3
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"names": [
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"height",
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"width",
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"channels"
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"info": {
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"video.fps": 30,
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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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"observation.images.phone": {
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"dtype": "video",
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"shape": [
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480,
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640,
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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": 480,
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"video.width": 640,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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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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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:3dd5e1399fbf9fd89fc27f1090f09c14920744767b66ffcf80d1fdc1b8090eb2
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size 4124769
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videos/chunk-000/observation.images.laptop/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:2cd50b4be52ccc1205946b2cc36e42c5f7c91a4fd041271898ab052fc54da37c
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size 4251298
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videos/chunk-000/observation.images.phone/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:ddd27c40caf7317a74b674ffee249d3cb650c42d788e1a6bc9dc0000c7d4b23d
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size 10086826
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videos/chunk-000/observation.images.phone/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:00692af80a53e139bf4e86edce2a3923b97d6b54acb4c7ed87dda6ed28e62a94
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size 10250390
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