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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick and place a wire"], "length": 3558}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-0.25342774391174316, -0.028106361627578735, 0.5298364162445068, -0.4176609218120575, 0.3655034303665161, -0.05055302381515503, -0.029567837715148926], "max": [0.6072394847869873, 1.0688360929489136, 1.6103873252868652, 0.014056473970413208, 0.8426913022994995, 2.7744617462158203, 2.0066909790039062], "mean": [0.2601901888847351, 0.768498957157135, 1.2770729064941406, -0.2753075063228607, 0.6655222773551941, 1.3250226974487305, 0.9442722797393799], "std": [0.2381732016801834, 0.25373730063438416, 0.2296084612607956, 0.06194532662630081, 0.0688723772764206, 0.7771459221839905, 0.9460089802742004], "count": [3558]}, "observation.state": {"min": [-0.2261950522661209, 0.1388099193572998, 0.5329222083091736, -0.40420395135879517, 0.37526601552963257, -0.04314320906996727, -0.029567837715148926, -6.130094051361084, -19.4908390045166, -8.697911262512207, -0.19517287611961365, -2.405355453491211, -0.13371475040912628], "max": [0.5735688209533691, 1.0651291608810425, 1.6070173978805542, 0.003834951901808381, 0.8205998539924622, 2.6976969242095947, 2.0066909790039062, 5.382055759429932, 6.502180576324463, 13.559325218200684, 0.9120021462440491, 0.6033084392547607, 0.09743525087833405], "mean": [0.26490676403045654, 0.7951200604438782, 1.2885686159133911, -0.2750914990901947, 0.6639364361763, 1.3127399682998657, 0.9442759156227112, 0.022739099338650703, -10.476506233215332, 4.843941688537598, 0.1277204006910324, 0.018563617020845413, -0.01690252684056759], "std": [0.2225354164838791, 0.2046971470117569, 0.2110619843006134, 0.06341046839952469, 0.0694773718714714, 0.7777661085128784, 0.9460055828094482, 1.528255581855774, 3.1459195613861084, 2.6590027809143066, 0.11783642321825027, 0.26016226410865784, 0.034333039075136185], "count": [3558]}, "observation.images.gripper": {"min": [[[0.054901960784313725]], [[0.06666666666666667]], [[0.0]]], "max": [[[0.807843137254902]], [[1.0]], [[1.0]]], "mean": [[[0.45970400326797384]], [[0.4500298850880932]], [[0.4217537031116794]]], "std": [[[0.07132555074155253]], [[0.09488691605454398]], [[0.12431257129299957]]], "count": [460]}, "observation.images.fixed": {"min": [[[0.011764705882352941]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46402314977621484]], [[0.4393047305697641]], [[0.3987603656045752]]], "std": [[[0.0913723909903992]], [[0.11778546483523468]], [[0.14697899797064626]]], "count": [460]}, "timestamp": {"min": [0.0], "max": [59.28333333333333], "mean": [29.641666666666666], "std": [17.118434805354873], "count": [3558]}, "frame_index": {"min": [0], "max": [3557], "mean": [1778.5], "std": [1027.1060883212924], "count": [3558]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3558]}, "index": {"min": [0], "max": [3557], "mean": [1778.5], "std": [1027.1060883212924], "count": [3558]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [3558]}}}
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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": "xarm_end_effector",
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"total_episodes": 1,
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"total_frames": 3558,
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"total_tasks": 1,
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"total_videos": 2,
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"chunks_size": 1000,
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"fps": 60,
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"splits": {
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"train": "0:1"
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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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"names": [
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"observation.state": {
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"gripper.pos",
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"observation.images.gripper": {
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"info": {
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meta/tasks.jsonl
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{"task_index": 0, "task": "Pick and place a wire"}
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videos/chunk-000/observation.images.fixed/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:76c9472f32ab7b8c009db114cdb7e1291b4cced0a1cf1c63f22f3f6495956031
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size 13880426
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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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oid sha256:7ee315e478677ab30b9db2e4ca6c29ddb2f3b5e38e49c721372388ebf03def7f
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size 11967139
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