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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.hand/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.hand/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 747}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 747}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-4.5703125, 21.533203125, 9.140625, 58.0078125, -35.15625, 0.09930486232042313], "max": [40.869140625, 193.18359375, 170.947265625, 98.7890625, 8.7890625, 29.890764236450195], "mean": [8.24536418914795, 134.2526092529297, 117.96293640136719, 76.57795715332031, -9.840690612792969, 6.786016941070557], "std": [14.767350196838379, 70.44377899169922, 65.15151977539062, 10.153362274169922, 14.865428924560547, 9.898212432861328], "count": [747]}, "observation.state": {"min": [-3.69140625, 19.86328125, 11.25, 58.53515625, -34.716796875, 0.6958942413330078], "max": [39.90234375, 188.349609375, 170.244140625, 96.416015625, 7.55859375, 28.879610061645508], "mean": [8.477032661437988, 130.4182891845703, 117.96951293945312, 76.11994171142578, -9.801275253295898, 7.031368732452393], "std": [14.32296085357666, 69.935546875, 64.5028076171875, 9.92949104309082, 14.522809028625488, 9.452962875366211], "count": [747]}, "observation.images.hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5324835781436988]], [[0.5790437249723833]], [[0.5398584573207217]]], "std": [[[0.16826172122945263]], [[0.1409370736129233]], [[0.14806578856914568]]], "count": [142]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.513575187850962]], [[0.5450389208206757]], [[0.5022102607474914]]], "std": [[[0.20381129207549237]], [[0.21400522026390498]], [[0.21990093123692658]]], "count": [142]}, "timestamp": {"min": [0.0], "max": [29.84], "mean": [14.920000000000002], "std": [8.625605292770281], "count": [747]}, "frame_index": {"min": [0], "max": [746], "mean": [373.0], "std": [215.640132319257], "count": [747]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [747]}, "index": {"min": [0], "max": [746], "mean": [373.0], "std": [215.640132319257], "count": [747]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [747]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-5.361328125, 61.611328125, 72.509765625, 48.251953125, -62.314453125, 0.09930486232042313], "max": [45.17578125, 193.18359375, 171.03515625, 71.3671875, -1.58203125, 33.167823791503906], "mean": [5.927499294281006, 160.96096801757812, 148.6805877685547, 66.45954895019531, -14.029790878295898, 7.046830654144287], "std": [16.462034225463867, 51.541343688964844, 36.023460388183594, 7.538641929626465, 20.408126831054688, 8.471702575683594], "count": [747]}, "observation.state": {"min": [-4.833984375, 59.853515625, 74.970703125, 48.603515625, -61.611328125, 0.6958942413330078], "max": [45.0, 188.525390625, 171.03515625, 71.19140625, -1.23046875, 32.15031433105469], "mean": [6.63297700881958, 155.3233642578125, 147.55992126464844, 65.92996978759766, -13.902132034301758, 7.614716529846191], "std": [16.088237762451172, 51.44031524658203, 35.678138732910156, 7.429489612579346, 20.350759506225586, 8.14091968536377], "count": [747]}, "observation.images.hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.523351935756697]], [[0.5743860610558778]], [[0.533950117370892]]], "std": [[[0.16035735419772168]], [[0.1278280635271697]], [[0.12970614456649834]]], "count": [142]}, "observation.images.top": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.508353621524901]], [[0.5409682681464605]], [[0.49692389303139095]]], "std": [[[0.19670003704247732]], [[0.2061599309689007]], [[0.21196995990094453]]], "count": [142]}, "timestamp": {"min": [0.0], "max": [29.84], "mean": [14.920000000000002], "std": [8.625605292770281], "count": [747]}, "frame_index": {"min": [0], "max": [746], "mean": [373.0], "std": [215.640132319257], "count": [747]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [747]}, "index": {"min": [747], "max": [1493], "mean": [1120.0], "std": [215.640132319257], "count": [747]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [747]}}}
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meta/info.json
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{
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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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"shape": [
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_wrist_flex",
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}
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videos/chunk-000/observation.images.hand/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:27cc7c671ae4fe3612aa9171209ffef836533cab22b6a290065784cf834ba87c
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size 8941684
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videos/chunk-000/observation.images.hand/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:21d26eb2c088990f3f3290081c98a151be18fd727507ed9686e7350b145acd3f
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size 8646100
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videos/chunk-000/observation.images.top/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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size 14492608
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videos/chunk-000/observation.images.top/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 14263912
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