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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 +128 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.gripper/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.gripper/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grab the cube"], "length": 888}
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{"episode_index": 1, "tasks": ["Grab the cube"], "length": 889}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-20.104711532592773, -93.60393524169922, -42.818180084228516, 7.081457138061523, -14.383394241333008, 0.32867708802223206], "max": [5.026177883148193, 42.107421875, 99.81818389892578, 48.75153350830078, 1.0012210607528687, 68.61133575439453], "mean": [-7.235025882720947, -37.91474914550781, 48.67668914794922, 37.33303451538086, -3.762988328933716, 16.40822410583496], "std": [3.745985269546509, 50.63789749145508, 46.326786041259766, 13.708213806152344, 4.4548540115356445, 22.133996963500977], "count": [888]}, "observation.state": {"min": [-19.629810333251953, -93.76316833496094, -36.47058868408203, 8.60484504699707, -13.894993782043457, 0.9408602118492126, 0.0], "max": [7.062834739685059, 41.67720031738281, 99.09502410888672, 48.12030029296875, 0.7570207715034485, 67.94355010986328, 0.0], "mean": [-7.276897430419922, -37.44258499145508, 50.78753662109375, 37.67146682739258, -3.9267234802246094, 22.20098304748535, 0.0], "std": [3.8355801105499268, 51.06095886230469, 44.39152526855469, 13.138593673706055, 4.423264980316162, 21.975406646728516, 0.0], "count": [888]}, "observation.images.gripper": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5544669508492698]], [[0.40370770167634956]], [[0.5454751472605504]]], "std": [[[0.18666679831856176]], [[0.1732665587776836]], [[0.22834093195112]]], "count": [162]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4197235788348261]], [[0.3967620430888405]], [[0.3482064169289115]]], "std": [[[0.2250604515950572]], [[0.23012634382092623]], [[0.2427401374637924]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.566666666666666], "mean": [14.783333333333331], "std": [8.544778565927894], "count": [888]}, "frame_index": {"min": [0], "max": [887], "mean": [443.5], "std": [256.3433569778368], "count": [888]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [888]}, "index": {"min": [0], "max": [887], "mean": [443.5], "std": [256.3433569778368], "count": [888]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [888]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-5.863874435424805, -93.43993377685547, -4.545454502105713, 36.7171516418457, -0.21978022158145905, 0.4108463525772095], "max": [9.73822021484375, 24.477245330810547, 93.2727279663086, 56.69259262084961, 7.643467426300049, 65.32456970214844], "mean": [3.8006114959716797, -64.74559783935547, 68.5555191040039, 50.99285888671875, 2.7374331951141357, 11.900124549865723], "std": [2.965864419937134, 47.041175842285156, 38.473018646240234, 7.143681049346924, 2.1728179454803467, 19.990264892578125], "count": [889]}, "observation.state": {"min": [-5.601558685302734, -92.75179290771484, -2.7149322032928467, 14.035087585449219, 0.17094017565250397, 1.2768816947937012, 0.0], "max": [14.856307983398438, 24.905183792114258, 93.6651611328125, 56.39097595214844, 7.203907012939453, 64.51612854003906, 0.0], "mean": [3.589092969894409, -63.94783401489258, 69.99378204345703, 50.82649612426758, 2.78611159324646, 12.424928665161133, 0.0], "std": [3.084491729736328, 47.1026496887207, 37.702022552490234, 7.492036819458008, 2.1162750720977783, 19.601133346557617, 0.0], "count": [889]}, "observation.images.gripper": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5192274343379326]], [[0.3743025296538368]], [[0.5387103569051077]]], "std": [[[0.20025146590783083]], [[0.186519488008486]], [[0.25726976413003777]]], "count": [162]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4251589892815837]], [[0.39708943724952256]], [[0.34694590023938243]]], "std": [[[0.2271466421832646]], [[0.23471956740182176]], [[0.24809317106336626]]], "count": [162]}, "timestamp": {"min": [0.0], "max": [29.6], "mean": [14.8], "std": [8.554401076508967], "count": [889]}, "frame_index": {"min": [0], "max": [888], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [889]}, "index": {"min": [888], "max": [1776], "mean": [1332.0], "std": [256.632032295269], "count": [889]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}}}
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meta/info.json
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{
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grab the cube"}
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videos/chunk-000/observation.images.gripper/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 2784807
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videos/chunk-000/observation.images.gripper/episode_000001.mp4
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videos/chunk-000/observation.images.top/episode_000000.mp4
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videos/chunk-000/observation.images.top/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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