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Browse files- 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
- meta/episodes.jsonl +5 -0
- meta/episodes_stats.jsonl +5 -0
- meta/info.json +131 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000004.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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meta/episodes.jsonl
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-0.39623937010765076, -0.9457574486732483, -1.0, -1.0, -1.0], "max": [1.0, 0.0, 1.0, 0.3333333432674408, 1.0], "mean": [0.5967978239059448, -0.35454443097114563, 0.4000000059604645, -0.3697652220726013, 0.10000000149011612], "std": [0.5079903602600098, 0.3142945170402527, 0.9165151119232178, 0.5374142527580261, 0.7842193245887756], "count": [10]}, "observation.state": {"min": [-0.4017217755317688, -0.949079155921936, -1.0, -1.0, -1.0, -0.7833371162414551, -0.9153445959091187, -1.0, 0.8169228434562683, -0.9153580665588379, 0.0], "max": [1.0, -0.009360719472169876, 1.0, 0.3429981470108032, 1.0, 0.9352012276649475, -0.26641616225242615, 0.30435124039649963, 0.8169228434562683, -0.9153580665588379, 0.0], "mean": [0.47983893752098083, -0.3744400143623352, 0.2115904837846756, -0.5002120137214661, -0.04829741269350052, 0.31744319200515747, -0.46131032705307007, -0.39598655700683594, 0.8169227838516235, -0.9153579473495483, 0.0], "std": [0.5332344174385071, 0.29562410712242126, 0.9628545641899109, 0.5104612708091736, 0.7356469631195068, 0.773980438709259, 0.29723381996154785, 0.5932647585868835, 5.960464477539063e-08, 1.1920928955078125e-07, 0.0], "count": [10]}, "observation.images.top_view": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6537665030429067]], [[0.652212966338969]], [[0.6541487625812492]]], "std": [[[0.18865231587031783]], [[0.18980296431915444]], [[0.19034593110458406]]], "count": [10]}, "observation.images.gripper_cam": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43554704239363334]], [[0.42807583409856137]], [[0.43253556059705794]]], "std": [[[0.3030961041216591]], [[0.30621534500934117]], [[0.31769266464775386]]], "count": [10]}, "timestamp": {"min": [0.0], "max": [0.9], "mean": [0.45], "std": [0.2872281323269014], "count": [10]}, "frame_index": {"min": [0], "max": [9], "mean": [4.5], "std": [2.8722813232690143], "count": [10]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [10]}, "index": {"min": [0], "max": [9], "mean": [4.5], "std": [2.8722813232690143], "count": [10]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [10]}}}
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|
| 1 |
+
{
|
| 2 |
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"codebase_version": "v2.1",
|
| 3 |
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"robot_type": "hepha_follower",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"train": "0:5"
|
| 13 |
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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",
|
| 16 |
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"features": {
|
| 17 |
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"action": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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5
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"z_slide_1",
|
| 24 |
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"x_slide",
|
| 25 |
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"y_slide",
|
| 26 |
+
"rotate_arm_1",
|
| 27 |
+
"slide_gripper_finger_0"
|
| 28 |
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]
|
| 29 |
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},
|
| 30 |
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"observation.state": {
|
| 31 |
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"dtype": "float32",
|
| 32 |
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"shape": [
|
| 33 |
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11
|
| 34 |
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|
| 35 |
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"names": [
|
| 36 |
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"z_slide_1",
|
| 37 |
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"x_slide",
|
| 38 |
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"y_slide",
|
| 39 |
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"rotate_arm_1",
|
| 40 |
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"slide_gripper_finger_0",
|
| 41 |
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"bucket_pos_x",
|
| 42 |
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"bucket_pos_y",
|
| 43 |
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"bucket_pos_z",
|
| 44 |
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"bin_pos_x",
|
| 45 |
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"bin_pos_y",
|
| 46 |
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"bin_pos_z"
|
| 47 |
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]
|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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264,
|
| 53 |
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264,
|
| 54 |
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|
| 55 |
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| 56 |
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| 57 |
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"height",
|
| 58 |
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"width",
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| 59 |
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|
| 60 |
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| 61 |
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| 62 |
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|
| 63 |
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| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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|
| 68 |
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"video.channels": 3,
|
| 69 |
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"has_audio": false
|
| 70 |
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}
|
| 71 |
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},
|
| 72 |
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"observation.images.gripper_cam": {
|
| 73 |
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"dtype": "video",
|
| 74 |
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"shape": [
|
| 75 |
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264,
|
| 76 |
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264,
|
| 77 |
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3
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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"has_audio": false
|
| 93 |
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|
| 94 |
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| 95 |
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"timestamp": {
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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| 105 |
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| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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| 114 |
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| 115 |
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| 122 |
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|
| 129 |
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|
| 130 |
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| 131 |
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meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
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| 1 |
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{"task_index": 0, "task": "Hepha test"}
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videos/chunk-000/observation.images.gripper_cam/episode_000000.mp4
ADDED
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videos/chunk-000/observation.images.gripper_cam/episode_000001.mp4
ADDED
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