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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": ["Pick and place a wire"], "length": 2349}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-0.22849324345588684, -0.39190083742141724, 0.355171799659729, -0.3131520748138428, 0.35092106461524963, -0.03080543875694275, -0.016566753387451172], "max": [0.41678136587142944, 1.0134906768798828, 1.538604497909546, 0.01470234990119934, 0.7624711394309998, 0.8241246938705444, 2.03987455368042], "mean": [0.09022098779678345, 0.5514549016952515, 1.0395619869232178, -0.15651625394821167, 0.5795539021492004, 0.38705283403396606, 1.284270167350769], "std": [0.1824624240398407, 0.4244048297405243, 0.34500712156295776, 0.07481072098016739, 0.10885658860206604, 0.17701613903045654, 0.8673245310783386], "count": [2349]}, "observation.state": {"min": [-0.2222277969121933, -0.3915581703186035, 0.35555756092071533, -0.31734228134155273, 0.3560912609100342, -0.022242721170186996, -0.016566753387451172, -9.400341033935547, -25.709714889526367, -6.502532958984375, -0.3057228624820709, -0.9179555773735046, -0.24761474132537842, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4160175025463104, 1.013269066810608, 1.53763747215271, 0.008436894044280052, 0.7617972493171692, 0.8237476944923401, 2.03987455368042, 16.71621322631836, 17.59168815612793, 20.34123420715332, 0.4329521358013153, 0.430448442697525, 0.1007852554321289, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.09000665694475174, 0.5523604154586792, 1.0399097204208374, -0.15707002580165863, 0.577556312084198, 0.38672077655792236, 1.2834184169769287, 0.12066889554262161, -9.132148742675781, 5.147654056549072, 0.0851803570985794, -0.04388880729675293, -0.07821384817361832, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.1824674755334854, 0.4221931993961334, 0.34364399313926697, 0.07553297281265259, 0.10883330553770065, 0.17842411994934082, 0.8676028847694397, 1.3832967281341553, 3.9957504272460938, 2.647047758102417, 0.07976356893777847, 0.13149334490299225, 0.040157999843358994, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2349]}, "observation.images.gripper": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8]], [[0.9058823529411765]], [[1.0]]], "mean": [[[0.4603132024446772]], [[0.4501704764744671]], [[0.4186519541174531]]], "std": [[[0.078684542728506]], [[0.10007573629803146]], [[0.12896696315819145]]], "count": [337]}, "observation.images.fixed": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078431372549]], [[0.8862745098039215]], [[1.0]]], "mean": [[[0.4426761402755959]], [[0.4457884489973042]], [[0.4285047158947654]]], "std": [[[0.07448912799403028]], [[0.09600194525617217]], [[0.1269917046281774]]], "count": [337]}, "timestamp": {"min": [0.0], "max": [39.13333333333333], "mean": [19.56666666666667], "std": [11.301630495280397], "count": [2349]}, "frame_index": {"min": [0], "max": [2348], "mean": [1174.0], "std": [678.0978297168239], "count": [2349]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2349]}, "index": {"min": [0], "max": [2348], "mean": [1174.0], "std": [678.0978297168239], "count": [2349]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2349]}}}
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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",
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"total_episodes": 1,
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"total_frames": 2349,
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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": 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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"names": [
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"joint2.pos",
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"joint4.pos",
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"joint5.pos",
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"joint6.pos",
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"gripper.pos"
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},
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"observation.state": {
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"gripper.pos",
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"joint1.effort",
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}
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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:fdf1779a38ad4aea53c4048a3a6e021b338ae78ffdeaa2a23a3975852c4dc26e
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size 13872783
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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:d306a4bee384cf2a50f166655069543c74e2bea0526e43334f882cbf575b905a
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size 12241598
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