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Browse files- record-test/data/chunk-000/episode_000000.parquet +3 -0
- record-test/data/chunk-000/episode_000001.parquet +3 -0
- record-test/meta/episodes.jsonl +2 -0
- record-test/meta/episodes_stats.jsonl +2 -0
- record-test/meta/info.json +127 -0
- record-test/meta/tasks.jsonl +1 -0
- record-test/videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- record-test/videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- record-test/videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- record-test/videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
record-test/data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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record-test/data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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record-test/meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grab the red block and stack on the green block"], "length": 542}
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{"episode_index": 1, "tasks": ["Grab the red block and stack on the green block"], "length": 532}
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record-test/meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-5.230530738830566, -99.83263397216797, -26.448137283325195, 79.94880676269531, 68.28563690185547, 1.2155591249465942], "max": [42.502906799316406, 26.778242111206055, 50.606197357177734, 100.0, 99.94749450683594, 38.41167068481445], "mean": [19.051380157470703, -27.53431510925293, 10.912184715270996, 88.41946411132812, 81.36906433105469, 8.588011741638184], "std": [15.278599739074707, 49.95795440673828, 27.699512481689453, 7.297030448913574, 12.601648330688477, 10.700270652770996], "count": [542]}, "observation.state": {"min": [-5.977264404296875, -99.74662017822266, -23.308958053588867, 79.81180572509766, 68.20513153076172, 1.8685121536254883], "max": [42.20755386352539, 27.364864349365234, 59.963436126708984, 99.74337005615234, 100.0, 37.71626281738281], "mean": [19.041303634643555, -26.785009384155273, 12.905495643615723, 88.89443969726562, 81.31629943847656, 10.739916801452637], "std": [15.436551094055176, 50.509422302246094, 27.50419807434082, 7.257445812225342, 12.585156440734863, 9.81304931640625], "count": [542]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.5839244281045752]], [[0.5761259811216153]], [[0.5449793946224323]]], "std": [[[0.15183385321575832]], [[0.1657321495555009]], [[0.18394776945856922]]], "count": [112]}, "observation.images.wrist": {"min": [[[0.0]], [[0.08235294117647059]], [[0.06666666666666667]]], "max": [[[0.8823529411764706]], [[0.9450980392156862]], [[1.0]]], "mean": [[[0.5903568656629318]], [[0.588631253282563]], [[0.5838993675595238]]], "std": [[[0.09812863004484719]], [[0.118826556685306]], [[0.13441937917127667]]], "count": [112]}, "timestamp": {"min": [0.0], "max": [18.033333333333335], "mean": [9.016666666666667], "std": [5.2153885548229075], "count": [542]}, "frame_index": {"min": [0], "max": [541], "mean": [270.5], "std": [156.46165664468722], "count": [542]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [542]}, "index": {"min": [0], "max": [541], "mean": [270.5], "std": [156.46165664468722], "count": [542]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [542]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-6.780317783355713, -99.91632080078125, -24.382577896118164, 61.0068244934082, 71.59359741210938, 0.40518638491630554], "max": [41.3405647277832, 25.355648040771484, 52.222721099853516, 100.0, 100.0, 33.225284576416016], "mean": [13.933798789978027, -23.361621856689453, 6.8577351570129395, 87.33827209472656, 88.0950927734375, 8.397224426269531], "std": [15.556072235107422, 50.85276794433594, 27.476938247680664, 10.836740493774414, 12.687847137451172, 8.829007148742676], "count": [532]}, "observation.state": {"min": [-6.417308330535889, -99.74662017822266, -21.206581115722656, 61.93327713012695, -100.0, 1.8685121536254883], "max": [41.1807861328125, 26.097972869873047, 52.28519058227539, 99.74337005615234, 100.0, 32.871971130371094], "mean": [13.884964942932129, -22.420116424560547, 8.615337371826172, 87.75687408447266, 83.49390411376953, 10.641858100891113], "std": [15.564902305603027, 51.47065353393555, 27.00052833557129, 10.671626091003418, 30.605939865112305, 8.311166763305664], "count": [532]}, "observation.images.front": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[0.9450980392156862]], [[1.0]], [[1.0]]], "mean": [[[0.5772445929887107]], [[0.5807057765151515]], [[0.5529453412804516]]], "std": [[[0.14649643400463958]], [[0.1593042286423602]], [[0.179728104242929]]], "count": [110]}, "observation.images.wrist": {"min": [[[0.0196078431372549]], [[0.08627450980392157]], [[0.11372549019607843]]], "max": [[[0.8823529411764706]], [[0.9294117647058824]], [[1.0]]], "mean": [[[0.6039212752525253]], [[0.5973284072341057]], [[0.5862331142305407]]], "std": [[[0.07901824872458799]], [[0.12339585535381303]], [[0.13933997925213448]]], "count": [110]}, "timestamp": {"min": [0.0], "max": [17.7], "mean": [8.850000000000001], "std": [5.119163343099469], "count": [532]}, "frame_index": {"min": [0], "max": [531], "mean": [265.5], "std": [153.57490029298407], "count": [532]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [532]}, "index": {"min": [542], "max": [1073], "mean": [807.5], "std": [153.57490029298407], "count": [532]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [532]}}}
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record-test/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": 2,
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"total_frames": 1074,
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"splits": {
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"train": "0:2"
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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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"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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"observation.state": {
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"names": [
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"shoulder_pan.pos",
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"wrist_flex.pos",
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"gripper.pos"
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"has_audio": false
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}
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"observation.images.wrist": {
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"dtype": "video",
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"names": [
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"height",
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"width",
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"channels"
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"info": {
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"timestamp": {
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record-test/meta/tasks.jsonl
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{"task_index": 0, "task": "Grab the red block and stack on the green block"}
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record-test/videos/chunk-000/observation.images.front/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:2a8b6a859b7be88ff4d1c8db628250467ad0263f82b3a6cccbea747a3bbdc499
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size 3211239
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record-test/videos/chunk-000/observation.images.front/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 3149514
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record-test/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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oid sha256:c37742ce6ea7b6ab09c543c71dc900dbc76c1ca95585aa92d1b2adac062b019d
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size 1429230
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record-test/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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oid sha256:5a2ea9b816d817b488ed647b431063d5cb5837a24d9750630ba7ea6b3da861f8
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size 1332852
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