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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 +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position.."], "length": 465}
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{"episode_index": 1, "tasks": ["Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position.."], "length": 445}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-20.91796875, 38.583984375, 107.314453125, -105.1171875, -154.775390625, 16.785350799560547], "max": [42.1875, 108.984375, 174.462890625, -66.4453125, -73.30078125, 57.57883834838867], "mean": [19.06962013244629, 72.51959228515625, 144.80812072753906, -86.77943420410156, -95.91891479492188, 28.01889419555664], "std": [23.674484252929688, 28.245515823364258, 21.266220092773438, 11.950965881347656, 18.645008087158203, 13.059197425842285], "count": [465]}, "observation.state": {"min": [-19.599609375, 38.408203125, 109.951171875, -103.359375, -154.16015625, 19.658119201660156], "max": [41.66015625, 106.435546875, 172.44140625, -66.62109375, -73.828125, 57.54985809326172], "mean": [19.369203567504883, 70.70564270019531, 145.1615447998047, -85.6933364868164, -95.75794982910156, 29.888547897338867], "std": [23.35600471496582, 27.873455047607422, 21.004243850708008, 11.641246795654297, 18.53862953186035, 11.901270866394043], "count": [465]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47322764093137254]], [[0.4535183619281046]], [[0.4350545363562091]]], "std": [[[0.33907126390872844]], [[0.3417897528188492]], [[0.3603211430532186]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.612135077614379]], [[0.594843431372549]], [[0.563177410130719]]], "std": [[[0.2860412611581351]], [[0.28271265800671563]], [[0.28778338568869066]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [15.466666666666667], "mean": [7.733333333333333], "std": [4.474454239428619], "count": [465]}, "frame_index": {"min": [0], "max": [464], "mean": [232.0], "std": [134.23362718285858], "count": [465]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [465]}, "index": {"min": [0], "max": [464], "mean": [232.0], "std": [134.23362718285858], "count": [465]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [465]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-21.181640625, 39.19921875, 107.138671875, -98.61328125, -153.6328125, 19.53204345703125], "max": [37.705078125, 107.841796875, 174.814453125, -58.88671875, -78.134765625, 55.340789794921875], "mean": [15.098621368408203, 79.31128692626953, 150.90309143066406, -83.98088073730469, -93.6645278930664, 28.61103630065918], "std": [20.792810440063477, 24.01063346862793, 21.63566780090332, 10.96141242980957, 16.673200607299805, 12.04201889038086], "count": [445]}, "observation.state": {"min": [-20.126953125, 39.0234375, 108.45703125, -97.20703125, -152.9296875, 22.57834815979004], "max": [37.79296875, 104.765625, 172.6171875, -59.23828125, -74.70703125, 54.84330749511719], "mean": [15.357948303222656, 78.58840942382812, 151.97640991210938, -83.46035766601562, -93.48677825927734, 30.10838508605957], "std": [20.547136306762695, 23.25977325439453, 20.276355743408203, 10.946456909179688, 16.712074279785156, 10.786970138549805], "count": [445]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4725869873366013]], [[0.45031226511437905]], [[0.4288122549019608]]], "std": [[[0.3397333338749523]], [[0.34141876261150195]], [[0.3552170835187562]]], "count": [100]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6132580943627451]], [[0.5944388541666666]], [[0.5641807209967321]]], "std": [[[0.2865318785824587]], [[0.28318909725880675]], [[0.28934781994094233]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [14.8], "mean": [7.4], "std": [4.282003684673281], "count": [445]}, "frame_index": {"min": [0], "max": [444], "mean": [222.0], "std": [128.46011054019843], "count": [445]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [445]}, "index": {"min": [465], "max": [909], "mean": [687.0], "std": [128.46011054019843], "count": [445]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [445]}}}
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meta/info.json
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{
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"train": "0:2"
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"names": [
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp the black cup, lift it towards the plant pot, tilt the cup to pour out its contents, tilt it back, and return it to its original position.."}
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videos/chunk-000/observation.images.phone/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:6b01c42d84e4b851a4253feccd61c3111cd8ddc54166e2edda33d7a82575dc47
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size 7883867
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videos/chunk-000/observation.images.phone/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 7465946
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 4019479
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 3856426
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