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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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data/chunk-000/episode_000002.parquet
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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": 313}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 1}
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{"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 336}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [86.42840576171875, 73.64156341552734, 89.58687591552734, 31.19252586364746, -90.03534698486328, -0.5982056260108948], "max": [112.22453308105469, 188.7890625, 176.484375, 84.80867004394531, -73.2847900390625, 43.22895050048828], "mean": [96.55025482177734, 119.38371276855469, 118.95732879638672, 54.20536422729492, -83.2908706665039, 16.49583625793457], "std": [8.332413673400879, 39.78749084472656, 31.5683536529541, 12.94908332824707, 3.860521078109741, 16.94205093383789], "count": [313]}, "observation.state": {"min": [86.572265625, 73.828125, 91.845703125, 32.16796875, -89.736328125, -0.0693962499499321], "max": [111.796875, 188.61328125, 176.923828125, 83.408203125, -73.828125, 42.74808883666992], "mean": [96.68670654296875, 118.5066909790039, 120.19988250732422, 54.578392028808594, -83.22540283203125, 16.755325317382812], "std": [8.274608612060547, 40.00724411010742, 31.340280532836914, 12.897025108337402, 3.772470235824585, 16.743375778198242], "count": [313]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46465246527777776]], [[0.466207506127451]], [[0.481212397875817]]], "std": [[[0.249813700349085]], [[0.2303481710809741]], [[0.22191759729572344]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [10.4], "mean": [5.199999999999999], "std": [3.0118285328204046], "count": [313]}, "frame_index": {"min": [0], "max": [312], "mean": [156.0], "std": [90.35485598461214], "count": [313]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [313]}, "index": {"min": [0], "max": [312], "mean": [156.0], "std": [90.35485598461214], "count": [313]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [313]}}}
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{"episode_index": 2, "stats": {"action": {"min": [85.4471206665039, 74.67757415771484, 87.20748901367188, 13.434819221496582, -90.7684326171875, -0.59820556640625], "max": [111.12383270263672, 188.7890625, 176.484375, 84.25746154785156, -77.49365997314453, 61.414058685302734], "mean": [92.73075866699219, 128.72190856933594, 127.75205993652344, 55.22244644165039, -83.87362670898438, 18.82887840270996], "std": [7.259232997894287, 43.58909606933594, 33.87269592285156, 17.8270206451416, 3.991288900375366, 21.33502960205078], "count": [336]}, "observation.state": {"min": [85.60546875, 74.619140625, 89.912109375, 14.4140625, -90.439453125, 0.1387924998998642], "max": [110.91796875, 188.876953125, 177.01171875, 81.5625, -77.51953125, 61.068702697753906], "mean": [92.75337982177734, 127.98897552490234, 128.99319458007812, 55.30543899536133, -83.80475616455078, 20.259733200073242], "std": [7.236896514892578, 43.959922790527344, 33.566471099853516, 17.21161460876465, 3.8867642879486084, 20.15494155883789], "count": [336]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47214703227124183]], [[0.4686015522875817]], [[0.4821327308006536]]], "std": [[[0.23978870819570788]], [[0.22668327064250543]], [[0.2241867050109374]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.166666666666666], "mean": [5.583333333333333], "std": [3.2331471882270906], "count": [336]}, "frame_index": {"min": [0], "max": [335], "mean": [167.5], "std": [96.99441564681271], "count": [336]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [336]}, "index": {"min": [314], "max": [649], "mean": [481.5], "std": [96.99441564681271], "count": [336]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [336]}}}
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meta/info.json
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{
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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"observation.images.wrist": {
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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.wrist/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 3974651
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
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videos/chunk-000/observation.images.wrist/episode_000002.mp4
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