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- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
+
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|
| 4 |
+
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|
| 5 |
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|
| 6 |
+
"dtype": "video",
|
| 7 |
+
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|
| 8 |
+
224,
|
| 9 |
+
224,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
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|
| 13 |
+
"height",
|
| 14 |
+
"width",
|
| 15 |
+
"channels"
|
| 16 |
+
],
|
| 17 |
+
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
+
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|
| 27 |
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|
| 28 |
+
"video.fast_decode": 0,
|
| 29 |
+
"video.video_backend": "pyav",
|
| 30 |
+
"video.extra_options": {},
|
| 31 |
+
"is_depth_map": false
|
| 32 |
+
}
|
| 33 |
+
},
|
| 34 |
+
"observation.images.wrist": {
|
| 35 |
+
"dtype": "video",
|
| 36 |
+
"shape": [
|
| 37 |
+
224,
|
| 38 |
+
224,
|
| 39 |
+
3
|
| 40 |
+
],
|
| 41 |
+
"names": [
|
| 42 |
+
"height",
|
| 43 |
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"width",
|
| 44 |
+
"channels"
|
| 45 |
+
],
|
| 46 |
+
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|
| 47 |
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"video.height": 224,
|
| 48 |
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|
| 49 |
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|
| 50 |
+
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|
| 51 |
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|
| 52 |
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|
| 53 |
+
"has_audio": false,
|
| 54 |
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|
| 55 |
+
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|
| 56 |
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|
| 57 |
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|
| 58 |
+
"video.video_backend": "pyav",
|
| 59 |
+
"video.extra_options": {},
|
| 60 |
+
"is_depth_map": false
|
| 61 |
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}
|
| 62 |
+
},
|
| 63 |
+
"observation.state": {
|
| 64 |
+
"dtype": "float64",
|
| 65 |
+
"shape": [
|
| 66 |
+
7
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"position.joint_0",
|
| 70 |
+
"position.joint_1",
|
| 71 |
+
"position.joint_2",
|
| 72 |
+
"position.joint_3",
|
| 73 |
+
"position.joint_4",
|
| 74 |
+
"position.joint_5",
|
| 75 |
+
"position.left_carriage_joint"
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"observation.effort": {
|
| 79 |
+
"dtype": "float64",
|
| 80 |
+
"shape": [
|
| 81 |
+
7
|
| 82 |
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],
|
| 83 |
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"names": [
|
| 84 |
+
"effort.joint_0",
|
| 85 |
+
"effort.joint_1",
|
| 86 |
+
"effort.joint_2",
|
| 87 |
+
"effort.joint_3",
|
| 88 |
+
"effort.joint_4",
|
| 89 |
+
"effort.joint_5",
|
| 90 |
+
"effort.left_carriage_joint"
|
| 91 |
+
]
|
| 92 |
+
},
|
| 93 |
+
"observation.base_odom": {
|
| 94 |
+
"dtype": "float64",
|
| 95 |
+
"shape": [
|
| 96 |
+
6
|
| 97 |
+
],
|
| 98 |
+
"names": [
|
| 99 |
+
"pose.pose.position.x",
|
| 100 |
+
"pose.pose.position.y",
|
| 101 |
+
"pose.pose.orientation.z",
|
| 102 |
+
"pose.pose.orientation.w",
|
| 103 |
+
"twist.twist.linear.x",
|
| 104 |
+
"twist.twist.angular.z"
|
| 105 |
+
]
|
| 106 |
+
},
|
| 107 |
+
"action": {
|
| 108 |
+
"dtype": "float64",
|
| 109 |
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"shape": [
|
| 110 |
+
9
|
| 111 |
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],
|
| 112 |
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"names": [
|
| 113 |
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"arm_controller.position.joint_0",
|
| 114 |
+
"arm_controller.position.joint_1",
|
| 115 |
+
"arm_controller.position.joint_2",
|
| 116 |
+
"arm_controller.position.joint_3",
|
| 117 |
+
"arm_controller.position.joint_4",
|
| 118 |
+
"arm_controller.position.joint_5",
|
| 119 |
+
"gripper_controller.gripper",
|
| 120 |
+
"cmd_vel.linear.x",
|
| 121 |
+
"cmd_vel.angular.z"
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"is_first": {
|
| 125 |
+
"dtype": "bool",
|
| 126 |
+
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
+
"dtype": "bool",
|
| 133 |
+
"shape": [
|
| 134 |
+
1
|
| 135 |
+
],
|
| 136 |
+
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|
| 137 |
+
},
|
| 138 |
+
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|
| 139 |
+
"dtype": "bool",
|
| 140 |
+
"shape": [
|
| 141 |
+
1
|
| 142 |
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],
|
| 143 |
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|
| 144 |
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|
| 145 |
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"timestamp": {
|
| 146 |
+
"dtype": "float32",
|
| 147 |
+
"shape": [
|
| 148 |
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1
|
| 149 |
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],
|
| 150 |
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|
| 151 |
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},
|
| 152 |
+
"frame_index": {
|
| 153 |
+
"dtype": "int64",
|
| 154 |
+
"shape": [
|
| 155 |
+
1
|
| 156 |
+
],
|
| 157 |
+
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|
| 158 |
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|
| 159 |
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|
| 160 |
+
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|
| 161 |
+
"shape": [
|
| 162 |
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1
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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"index": {
|
| 167 |
+
"dtype": "int64",
|
| 168 |
+
"shape": [
|
| 169 |
+
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|
| 170 |
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],
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
+
"names": null
|
| 179 |
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}
|
| 180 |
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},
|
| 181 |
+
"total_episodes": 31,
|
| 182 |
+
"total_frames": 67560,
|
| 183 |
+
"total_tasks": 1,
|
| 184 |
+
"chunks_size": 1000,
|
| 185 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 186 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 187 |
+
"robot_type": "widowxai",
|
| 188 |
+
"splits": {
|
| 189 |
+
"train": "0:31"
|
| 190 |
+
},
|
| 191 |
+
"total_chunks": 1,
|
| 192 |
+
"total_videos": 62
|
| 193 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,452 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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