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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["fenjian"], "length": 146}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-45.3515625, 98.61328125, 119.619140625, -50.712890625, -106.083984375, -10.01953125], "max": [14.4140625, 134.6484375, 182.021484375, 22.587890625, 3.8671875, 34.8046875], "mean": [-12.588827133178711, 126.87794494628906, 160.80914306640625, -10.213973999023438, -25.851282119750977, 28.2923526763916], "std": [17.568105697631836, 11.55199146270752, 20.65560531616211, 18.640756607055664, 39.09817123413086, 9.975622177124023], "count": [146]}, "observation.state": {"min": [-45.0, 98.525390625, 126.03515625, -47.8125, -105.556640625, -5.361328125], "max": [13.798828125, 131.572265625, 177.1875, 23.466796875, 3.69140625, 33.046875], "mean": [-12.71584701538086, 124.84201049804688, 160.44854736328125, -8.836017608642578, -26.06679344177246, 27.5452823638916], "std": [17.602779388427734, 10.990657806396484, 17.764631271362305, 18.485309600830078, 38.661216735839844, 9.352503776550293], "count": [146]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4697459742647059]], [[0.5532576879084967]], [[0.5201197283496732]]], "std": [[[0.30285614863935634]], [[0.27276407436921024]], [[0.2745366075925506]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.833333333333333], "mean": [2.4166666666666665], "std": [1.4048527008591012], "count": [146]}, "frame_index": {"min": [0], "max": [145], "mean": [72.5], "std": [42.14558102577303], "count": [146]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [146]}, "index": {"min": [0], "max": [145], "mean": [72.5], "std": [42.14558102577303], "count": [146]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [146]}}}

meta/info.json

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+{
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+    "robot_type": "koch",
+    "total_episodes": 1,
+    "total_frames": 146,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "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": {
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+            "names": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+        "observation.state": {
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+            "names": [
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+                "main_shoulder_lift",
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+                "main_wrist_roll",
+                "main_gripper"
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+            "names": [
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+            "info": {
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+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "fenjian"}

videos/chunk-000/observation.images.phone/episode_000000.mp4

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