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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": ["Grasp a lego block and put it in the bin."], "length": 245}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-18.227785110473633, 63.66614532470703, 66.94469451904297, 46.746585845947266, -12.3407564163208, -1.6101984977722168], "max": [63.111083984375, 186.76953125, 181.76535034179688, 89.50716400146484, 21.345291137695312, 32.144412994384766], "mean": [-3.817763566970825, 111.20853424072266, 105.98744201660156, 66.903076171875, 9.598652839660645, 9.988041877746582], "std": [19.83124542236328, 47.0897102355957, 42.490264892578125, 13.946771621704102, 9.71925163269043, 13.408422470092773], "count": [245]}, "observation.state": {"min": [-18.193359375, 63.193359375, 69.169921875, 45.087890625, -11.6015625, -0.6374502182006836], "max": [61.875, 186.767578125, 179.384765625, 89.296875, 21.181640625, 31.633466720581055], "mean": [-4.3719305992126465, 111.24765014648438, 107.26422882080078, 66.54325103759766, 9.74186897277832, 12.397429466247559], "std": [18.67875099182129, 48.09028625488281, 42.092437744140625, 13.982170104980469, 9.429370880126953, 11.945560455322266], "count": [245]}, "observation.images.lego": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4809642463235294]], [[0.4629951429738562]], [[0.4178886887254902]]], "std": [[[0.3325888426314575]], [[0.29900771467555076]], [[0.30719752078294077]]], "count": [100]}, "observation.images.blackboard": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[1.0]], [[1.0]]], "mean": [[[0.4325426899509804]], [[0.4623028084150327]], [[0.4253077001633987]]], "std": [[[0.19414615220740064]], [[0.19595305869732474]], [[0.1849673315340878]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [8.133333333333333], "mean": [4.066666666666666], "std": [2.357493961344923], "count": [245]}, "frame_index": {"min": [0], "max": [244], "mean": [122.0], "std": [70.7248188403477], "count": [245]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [245]}, "index": {"min": [0], "max": [244], "mean": [122.0], "std": [70.7248188403477], "count": [245]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [245]}}}

meta/info.json

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+{
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+    "robot_type": "so100",
+    "total_episodes": 1,
+    "total_frames": 245,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
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+    "splits": {
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+    "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": {
+        "action": {
+            "dtype": "float32",
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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": [
+                "main_shoulder_pan",
+                "main_shoulder_lift",
+                "main_elbow_flex",
+                "main_wrist_flex",
+                "main_wrist_roll",
+                "main_gripper"
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+        "observation.images.lego": {
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+                640,
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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."}

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

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+size 4707090

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

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