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- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- data/chunk-000/episode_000005.parquet +3 -0
- data/chunk-000/episode_000006.parquet +3 -0
- data/chunk-000/episode_000007.parquet +3 -0
- data/chunk-000/episode_000008.parquet +3 -0
- data/chunk-000/episode_000009.parquet +3 -0
- data/chunk-000/episode_000010.parquet +3 -0
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- data/chunk-000/episode_000012.parquet +3 -0
- data/chunk-000/episode_000013.parquet +3 -0
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- data/chunk-000/episode_000015.parquet +3 -0
- data/chunk-000/episode_000016.parquet +3 -0
- data/chunk-000/episode_000017.parquet +3 -0
- data/chunk-000/episode_000018.parquet +3 -0
- data/chunk-000/episode_000019.parquet +3 -0
- meta/episodes.jsonl +20 -0
- meta/info.json +127 -0
- meta/stats.json +280 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.world/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000005.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000006.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000007.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000008.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000009.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000010.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000011.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000012.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000013.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000014.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000015.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000016.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000017.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000018.mp4 +3 -0
- videos/chunk-000/observation.images.world/episode_000019.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
- videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000005.mp4 +3 -0
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data/chunk-000/episode_000014.parquet
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data/chunk-000/episode_000015.parquet
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data/chunk-000/episode_000016.parquet
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data/chunk-000/episode_000017.parquet
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data/chunk-000/episode_000018.parquet
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data/chunk-000/episode_000019.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a cup and place on blue target."], "length": 598}
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{"episode_index": 1, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 6, "tasks": ["Grasp a cup and place on blue target."], "length": 598}
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{"episode_index": 8, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 9, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 10, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 11, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 12, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 13, "tasks": ["Grasp a cup and place on blue target."], "length": 598}
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{"episode_index": 14, "tasks": ["Grasp a cup and place on blue target."], "length": 598}
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{"episode_index": 15, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 16, "tasks": ["Grasp a cup and place on blue target."], "length": 598}
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{"episode_index": 17, "tasks": ["Grasp a cup and place on blue target."], "length": 598}
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{"episode_index": 18, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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{"episode_index": 19, "tasks": ["Grasp a cup and place on blue target."], "length": 599}
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meta/info.json
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{
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| 2 |
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"codebase_version": "v2.0",
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| 3 |
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"robot_type": "so100",
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| 4 |
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"total_episodes": 20,
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| 5 |
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"total_frames": 11973,
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| 6 |
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"total_tasks": 1,
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"total_videos": 40,
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| 8 |
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"total_chunks": 1,
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"chunks_size": 1000,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:20"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"action": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"shape": [
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| 20 |
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6
|
| 21 |
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],
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| 22 |
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"names": [
|
| 23 |
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"left_shoulder_pan",
|
| 24 |
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"left_shoulder_lift",
|
| 25 |
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"left_elbow_flex",
|
| 26 |
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"left_wrist_flex",
|
| 27 |
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"left_wrist_roll",
|
| 28 |
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"left_gripper"
|
| 29 |
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]
|
| 30 |
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},
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| 31 |
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"observation.state": {
|
| 32 |
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"dtype": "float32",
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| 33 |
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"shape": [
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| 34 |
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6
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| 35 |
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],
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| 36 |
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"names": [
|
| 37 |
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"left_shoulder_pan",
|
| 38 |
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"left_shoulder_lift",
|
| 39 |
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"left_elbow_flex",
|
| 40 |
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"left_wrist_flex",
|
| 41 |
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"left_wrist_roll",
|
| 42 |
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"left_gripper"
|
| 43 |
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]
|
| 44 |
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},
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| 45 |
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"observation.images.wrist": {
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| 46 |
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"dtype": "video",
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| 47 |
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"shape": [
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| 48 |
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480,
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| 49 |
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640,
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| 50 |
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3
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| 51 |
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],
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| 52 |
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"names": [
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| 53 |
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"height",
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| 54 |
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"width",
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| 55 |
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"channels"
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| 56 |
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],
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| 57 |
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"info": {
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| 58 |
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"video.fps": 30.0,
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| 59 |
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"video.height": 480,
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| 60 |
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"video.width": 640,
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| 61 |
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"video.channels": 3,
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| 62 |
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"video.codec": "av1",
|
| 63 |
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"video.pix_fmt": "yuv420p",
|
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