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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
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- data/chunk-000/episode_000005.parquet +3 -0
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- data/chunk-000/episode_000007.parquet +3 -0
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- data/chunk-000/episode_000009.parquet +3 -0
- data/chunk-000/episode_000010.parquet +3 -0
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- data/chunk-000/episode_000013.parquet +3 -0
- data/chunk-000/episode_000014.parquet +3 -0
- data/chunk-000/episode_000015.parquet +3 -0
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- data/chunk-000/episode_000017.parquet +3 -0
- data/chunk-000/episode_000018.parquet +3 -0
- data/chunk-000/episode_000019.parquet +3 -0
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- data/chunk-000/episode_000021.parquet +3 -0
- data/chunk-000/episode_000022.parquet +3 -0
- data/chunk-000/episode_000023.parquet +3 -0
- data/chunk-000/episode_000024.parquet +3 -0
- data/chunk-000/episode_000025.parquet +3 -0
- data/chunk-000/episode_000026.parquet +3 -0
- data/chunk-000/episode_000027.parquet +3 -0
- data/chunk-000/episode_000028.parquet +3 -0
- meta/episodes.jsonl +29 -0
- meta/episodes_stats.jsonl +0 -0
- meta/info.json +123 -0
- meta/modality.json +35 -0
- meta/stats.json +626 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000005.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000006.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000007.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000008.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000009.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000010.mp4 +3 -0
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- videos/chunk-000/observation.images.front/episode_000012.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000013.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000014.mp4 +3 -0
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meta/episodes.jsonl
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{"episode_index":0,"tasks":["Pick the marker and place it in the box."],"length":299}
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meta/episodes_stats.jsonl
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meta/info.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"robot_type": "so101_follower",
|
| 3 |
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|
| 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": "0:29"
|
| 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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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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"shoulder_lift.pos",
|
| 25 |
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"elbow_flex.pos",
|
| 26 |
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"wrist_flex.pos",
|
| 27 |
+
"wrist_roll.pos",
|
| 28 |
+
"gripper.pos"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.state": {
|
| 32 |
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"dtype": "float32",
|
| 33 |
+
"shape": [
|
| 34 |
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6
|
| 35 |
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],
|
| 36 |
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"names": [
|
| 37 |
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"shoulder_pan.pos",
|
| 38 |
+
"shoulder_lift.pos",
|
| 39 |
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"elbow_flex.pos",
|
| 40 |
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"wrist_flex.pos",
|
| 41 |
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"wrist_roll.pos",
|
| 42 |
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"gripper.pos"
|
| 43 |
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]
|
| 44 |
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},
|
| 45 |
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"timestamp": {
|
| 46 |
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|
| 47 |
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"shape": [
|
| 48 |
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1
|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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"dtype": "int64",
|
| 54 |
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"shape": [
|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"names": null
|
| 58 |
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|
| 59 |
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"frame_index": {
|
| 60 |
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"dtype": "int64",
|
| 61 |
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"shape": [
|
| 62 |
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1
|
| 63 |
+
],
|
| 64 |
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"names": null
|
| 65 |
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},
|
| 66 |
+
"task_index": {
|
| 67 |
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"dtype": "int64",
|
| 68 |
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"shape": [
|
| 69 |
+
1
|
| 70 |
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],
|
| 71 |
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"names": null
|
| 72 |
+
},
|
| 73 |
+
"index": {
|
| 74 |
+
"dtype": "int64",
|
| 75 |
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"shape": [
|
| 76 |
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|
| 77 |
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],
|
| 78 |
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"names": null
|
| 79 |
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},
|
| 80 |
+
"observation.images.front": {
|
| 81 |
+
"dtype": "video",
|
| 82 |
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"shape": [
|
| 83 |
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480,
|
| 84 |
+
640,
|
| 85 |
+
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|
| 86 |
+
],
|
| 87 |
+
"names": [
|
| 88 |
+
"height",
|
| 89 |
+
"width",
|
| 90 |
+
"channels"
|
| 91 |
+
],
|
| 92 |
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"info": {
|
| 93 |
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"video.fps": 30,
|
| 94 |
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"video.codec": "av1",
|
| 95 |
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"video.pix_fmt": "yuv420p",
|
| 96 |
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"video.is_depth_map": false,
|
| 97 |
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"video.channels": 3,
|
| 98 |
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"has_audio": false
|
| 99 |
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}
|
| 100 |
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},
|
| 101 |
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"observation.images.wrist": {
|
| 102 |
+
"dtype": "video",
|
| 103 |
+
"shape": [
|
| 104 |
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480,
|
| 105 |
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640,
|
| 106 |
+
3
|
| 107 |
+
],
|
| 108 |
+
"names": [
|
| 109 |
+
"height",
|
| 110 |
+
"width",
|
| 111 |
+
"channels"
|
| 112 |
+
],
|
| 113 |
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"info": {
|
| 114 |
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"video.fps": 30,
|
| 115 |
+
"video.codec": "av1",
|
| 116 |
+
"video.pix_fmt": "yuv420p",
|
| 117 |
+
"video.is_depth_map": false,
|
| 118 |
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"video.channels": 3,
|
| 119 |
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"has_audio": false
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
}
|
meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,626 @@
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
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