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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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oid sha256:e0e31ff76a77cd1d22031e4e14974942ba252d1d73493e4b812da8455711f4cd
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size 33537
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick and place a wire"], "length": 273}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-0.4304790496826172, 0.15753477811813354, 0.5306133031845093, -0.4092283844947815, 0.3058003783226013, -0.12749868631362915, 0.0], "max": [-0.01863473653793335, 0.7180415391921997, 0.9856959581375122, -0.0192410945892334, 0.39662718772888184, 0.3208322525024414, 0.004479527473449707], "mean": [-0.2936820685863495, 0.4921199381351471, 0.804760754108429, -0.23896566033363342, 0.3534368574619293, 0.10433972626924515, 0.0008011189638637006], "std": [0.09552602469921112, 0.17883369326591492, 0.14112772047519684, 0.10316405445337296, 0.01788816787302494, 0.10680679231882095, 0.0010604859562590718], "count": [273]}, "observation.state": {"min": [-0.4271848797798157, 0.16696231067180634, 0.5355913043022156, -0.3771675229072571, 0.32293492555618286, -0.08398544788360596, 0.0, -5.3856000900268555, -16.7563533782959, -0.6247690320014954, -0.010922876186668873, -0.4114355444908142, -0.10021474957466125], "max": [-1.917476083690417e-06, 0.7112915515899658, 0.9726377725601196, -0.0001917476038215682, 0.39691752195358276, 0.2720898389816284, 0.004479527473449707, 3.9801576137542725, -5.102613925933838, 9.301107406616211, 0.1867271214723587, 0.21336844563484192, 0.03211025148630142], "mean": [-0.26841118931770325, 0.4678930640220642, 0.7856619358062744, -0.22980424761772156, 0.35673877596855164, 0.0964328795671463, 0.0007952220039442182, -0.3983791768550873, -8.268000602722168, 4.242116451263428, 0.07600533217191696, -0.042439207434654236, -0.04272482171654701], "std": [0.11847921460866928, 0.18927377462387085, 0.14866086840629578, 0.10801762342453003, 0.016758639365434647, 0.10172601789236069, 0.0010604483541101217, 1.291724681854248, 1.9832289218902588, 1.236112356185913, 0.03446906432509422, 0.1115134209394455, 0.02620469592511654], "count": [273]}, "observation.images.gripper": {"min": [[[0.058823529411764705]], [[0.07450980392156863]], [[0.01568627450980392]]], "max": [[[0.7607843137254902]], [[0.8274509803921568]], [[0.9882352941176471]]], "mean": [[[0.4880568484477124]], [[0.47545963848039213]], [[0.4381406760620915]]], "std": [[[0.08223979157304852]], [[0.12202216582512827]], [[0.16110643711456987]]], "count": [100]}, "observation.images.fixed": {"min": [[[0.03529411764705882]], [[0.054901960784313725]], [[0.0]]], "max": [[[0.807843137254902]], [[0.9019607843137255]], [[1.0]]], "mean": [[[0.48828782679738564]], [[0.4683692524509804]], [[0.4218399101307189]]], "std": [[[0.08602988526856856]], [[0.12826270783984056]], [[0.17064107273471546]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [4.533333333333333], "mean": [2.266666666666667], "std": [1.3134630505595448], "count": [273]}, "frame_index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [273]}, "index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [273]}}}
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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": 273,
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"total_tasks": 1,
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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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"dtype": "float32",
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"shape": [
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"names": [
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"joint1.pos",
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"gripper.pos"
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"observation.state": {
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"joint6.pos",
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"gripper.pos",
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"joint1.effort",
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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 sha256:971a9c60abdf7eaac1a95ea9c34f03248d7407d3d23328bdbede0e685d5611d7
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size 1103506
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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 sha256:5700d1da5ee46033884a25911ad1d13d3cefcbaa6649a26ccea8366c97afe2ef
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size 791389
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