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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 +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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size 86773
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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size 27234
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a dice and put it in the bin."], "length": 1297}
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{"episode_index": 1, "tasks": ["Grasp a dice and put it in the bin."], "length": 352}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-75.84405517578125, 37.578521728515625, 46.66630935668945, 70.87548065185547, -71.2834701538086, -1.6759777069091797], "max": [-40.64863586425781, 143.12698364257812, 143.74710083007812, 104.853515625, -9.014938354492188, 38.640594482421875], "mean": [-55.26350021362305, 96.31280517578125, 95.13436889648438, 98.52348327636719, -27.342559814453125, 22.58039665222168], "std": [5.2208571434021, 23.951128005981445, 24.73455047607422, 7.983160018920898, 16.061500549316406, 14.671218872070312], "count": [1297]}, "observation.state": {"min": [-75.05859375, 40.25390625, 46.7578125, 71.982421875, -71.015625, -0.3422313332557678], "max": [-40.95703125, 142.998046875, 141.15234375, 105.46875, -9.052734375, 38.466800689697266], "mean": [-55.38209533691406, 97.4625244140625, 94.18359375, 98.43275451660156, -27.277135848999023, 22.606861114501953], "std": [5.255431175231934, 23.775209426879883, 24.492366790771484, 7.758501052856445, 16.018089294433594, 14.258968353271484], "count": [1297]}, "observation.images.laptop": {"min": [[[0.06666666666666667]], [[0.050980392156862744]], [[0.0392156862745098]]], "max": [[[0.8352941176470589]], [[0.7647058823529411]], [[0.796078431372549]]], "mean": [[[0.5513772590247519]], [[0.5478952981269669]], [[0.5419542332365045]]], "std": [[[0.12226570955476523]], [[0.12472536984806067]], [[0.12834627337537274]]], "count": [216]}, "timestamp": {"min": [0.0], "max": [43.2], "mean": [21.599999999999998], "std": [12.480384609458156], "count": [1297]}, "frame_index": {"min": [0], "max": [1296], "mean": [648.0], "std": [374.4115382837447], "count": [1297]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1297]}, "index": {"min": [0], "max": [1296], "mean": [648.0], "std": [374.4115382837447], "count": [1297]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1297]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-61.916343688964844, 27.468730926513672, 37.1904411315918, 55.20912551879883, -61.165733337402344, -1.4142261743545532], "max": [4.7322235107421875, 152.63638305664062, 162.85899353027344, 104.52842712402344, -26.401397705078125, 29.025508880615234], "mean": [-15.384367942810059, 98.10936737060547, 98.67353820800781, 83.42493438720703, -37.500186920166016, 9.452874183654785], "std": [22.131052017211914, 32.307987213134766, 41.190330505371094, 16.90379524230957, 6.402097225189209, 10.879322052001953], "count": [352]}, "observation.state": {"min": [-61.435546875, -8.26171875, 9.404296875, 55.546875, -60.029296875, -0.20533882081508636], "max": [4.74609375, 152.666015625, 160.83984375, 104.677734375, -3.8671875, 27.44695472717285], "mean": [-14.964377403259277, 97.02454376220703, 96.06021118164062, 83.11531829833984, -36.739280700683594, 10.172825813293457], "std": [21.744020462036133, 35.15230941772461, 42.094276428222656, 16.872922897338867, 7.1310601234436035, 9.390035629272461], "count": [352]}, "observation.images.laptop": {"min": [[[0.06666666666666667]], [[0.047058823529411764]], [[0.03529411764705882]]], "max": [[[0.9215686274509803]], [[0.9215686274509803]], [[0.9529411764705882]]], "mean": [[[0.5559942728758169]], [[0.5505057843137254]], [[0.5452038950163398]]], "std": [[[0.12618447471657468]], [[0.12873232767305634]], [[0.13268786019511722]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [11.7], "mean": [5.85], "std": [3.3871079108879893], "count": [352]}, "frame_index": {"min": [0], "max": [351], "mean": [175.5], "std": [101.61323732663968], "count": [352]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [352]}, "index": {"min": [1297], "max": [1648], "mean": [1472.5], "std": [101.61323732663968], "count": [352]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [352]}}}
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meta/info.json
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{
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"codebase_version": "v2.1",
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"robot_type": "so100",
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"total_episodes": 2,
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"total_frames": 1649,
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"total_tasks": 1,
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"total_videos": 2,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:2"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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]
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},
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"observation.images.laptop": {
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"dtype": "video",
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"shape": [
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640,
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"names": [
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"height",
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"width",
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"channels"
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"info": {
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"video.width": 640,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a dice and put it in the bin."}
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videos/chunk-000/observation.images.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:5a8e65c71d4f21230ae40c3eab1dc7bc121110a1ddacdc86fd27d90bb134f9d7
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size 6395531
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videos/chunk-000/observation.images.laptop/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7f7f1d321d4c3bbaa18e87dd559d79c350725976dfe2d64f07edf2d438cfef67
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size 1736138
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