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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +104 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.up/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:4a4a9b7483276cdcafe836e13ead7cf3720660748f02eb86ca7ef0a6c4744e7d
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size 38233
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["insert plate into groove"], "length": 1233}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [0.5147058963775635, -94.98956298828125, 19.5545654296875, -89.42430877685547, -64.82884979248047, 0.22189348936080933], "max": [6.838235378265381, 56.49269485473633, 100.0, 70.49040222167969, -55.840084075927734, 0.5917159914970398], "mean": [3.0543711185455322, -28.610950469970703, 63.691795349121094, 3.4147651195526123, -57.87181854248047, 0.3998137414455414], "std": [1.9664169549942017, 64.95442962646484, 36.826290130615234, 61.75374221801758, 3.4041194915771484, 0.0773719772696495], "count": [1233]}, "observation.state": {"min": [1.328125, -99.35536193847656, 24.0253849029541, -86.68384552001953, -64.88630676269531, 1.5017064809799194], "max": [20.390625, 56.809024810791016, 100.0, 68.98625183105469, -55.8963508605957, 3.0716724395751953], "mean": [3.5208206176757812, -27.690256118774414, 64.8238754272461, 3.6658809185028076, -58.132450103759766, 1.5365300178527832], "std": [2.018038749694824, 65.88584899902344, 35.18613052368164, 60.32322311401367, 3.471757173538208, 0.10969394445419312], "count": [1233]}, "observation.images.up": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6842484180571268]], [[0.6378825846845149]], [[0.6253399733691554]]], "std": [[[0.11456148022711928]], [[0.12243823436887911]], [[0.13868577749346592]]], "count": [208]}, "timestamp": {"min": [0.0], "max": [41.06666666666667], "mean": [20.53333333333333], "std": [11.864544129776222], "count": [1233]}, "frame_index": {"min": [0], "max": [1232], "mean": [616.0], "std": [355.93632389328667], "count": [1233]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1233]}, "index": {"min": [0], "max": [1232], "mean": [616.0], "std": [355.93632389328667], "count": [1233]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1233]}}}
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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": "so101_follower",
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"total_episodes": 1,
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"total_frames": 1233,
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"total_tasks": 1,
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"total_videos": 1,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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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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6
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],
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"names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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],
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"names": [
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"shoulder_pan.pos",
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"shoulder_lift.pos",
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"elbow_flex.pos",
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"wrist_flex.pos",
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"wrist_roll.pos",
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"gripper.pos"
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]
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},
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"observation.images.up": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 480,
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"video.width": 640,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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"shape": [
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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"names": null
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"index": {
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"dtype": "int64",
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"shape": [
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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"shape": [
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],
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"names": null
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}
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}
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "insert plate into groove"}
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videos/chunk-000/observation.images.up/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:bec7c7f742c89019c9bb9cc41ef553c8280c6b9d900333ec4343ac7998f911c9
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size 3898597
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