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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.fixed/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.fixed/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.grip/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.grip/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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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["抓住黑色方塊"], "length": 1502}
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{"episode_index": 1, "tasks": ["抓住黑色方塊"], "length": 1502}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-39.119388580322266, -99.4611587524414, -63.73991394042969, 24.05063247680664, -4.744333267211914, 0.3974562883377075], "max": [10.160881042480469, 55.99460983276367, 99.90507507324219, 61.763423919677734, -2.055877685546875, 45.230525970458984], "mean": [-3.4530651569366455, -75.84980010986328, 74.69284057617188, 56.41891098022461, -2.7507505416870117, 3.081570863723755], "std": [11.745210647583008, 47.193668365478516, 46.69594955444336, 9.081255912780762, 0.2827232778072357, 9.139253616333008], "count": [1502]}, "observation.state": {"min": [-38.520408630371094, -99.21190643310547, -60.398860931396484, 26.681127548217773, -4.404824256896973, 1.0245901346206665], "max": [9.863945960998535, 57.18038558959961, 99.71510314941406, 60.17353439331055, -1.9926586151123047, 44.74043655395508], "mean": [-3.4616267681121826, -75.24671936035156, 75.41905212402344, 56.07974624633789, -2.716304063796997, 3.859804153442383], "std": [11.804059028625488, 47.72776794433594, 45.8954963684082, 8.502253532409668, 0.26641249656677246, 9.00932788848877], "count": [1502]}, "observation.images.grip": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3979511083651995]], [[0.42936820980120954]], [[0.4059521923222954]]], "std": [[[0.14538170777113416]], [[0.14938818194943143]], [[0.14722560555797262]]], "count": [241]}, "observation.images.fixed": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3002708875735633]], [[0.3186761587069129]], [[0.2980010576844846]]], "std": [[[0.1840579309102462]], [[0.1984353614216872]], [[0.20050813382220375]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.03333333333333], "mean": [25.016666666666666], "std": [14.452998535482754], "count": [1502]}, "frame_index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}, "index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-42.08298110961914, -99.73057556152344, -58.32938003540039, 25.185508728027344, -3.5318925380706787, 0.3974562883377075], "max": [11.515665054321289, 49.348899841308594, 98.19648742675781, 66.21562957763672, -2.4248814582824707, 36.645469665527344], "mean": [1.3879104852676392, -70.2129898071289, 69.34960174560547, 58.15224838256836, -3.155299186706543, 2.679039716720581], "std": [13.927027702331543, 51.10991668701172, 49.6610221862793, 9.631786346435547, 0.19688905775547028, 7.393013954162598], "count": [1502]}, "observation.state": {"min": [-41.49659729003906, -99.21190643310547, -54.89078903198242, 27.72234344482422, -3.4084949493408203, 1.0245901346206665], "max": [11.139455795288086, 50.2626953125, 98.48052978515625, 65.03253936767578, -2.6219191551208496, 36.202186584472656], "mean": [1.4711453914642334, -69.6151351928711, 70.23688507080078, 57.971580505371094, -3.247035264968872, 3.5874111652374268], "std": [13.9788236618042, 51.58624267578125, 48.74708938598633, 8.98403549194336, 0.2466631382703781, 7.352019786834717], "count": [1502]}, "observation.images.grip": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.397661471469639]], [[0.4314916190369647]], [[0.4075258691996854]]], "std": [[[0.1519969219081471]], [[0.15584801092629763]], [[0.15333196502448312]]], "count": [241]}, "observation.images.fixed": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[0.9607843137254902]]], "mean": [[[0.2972480058240447]], [[0.3157943286754536]], [[0.2952599818973232]]], "std": [[[0.18225449309697403]], [[0.1969383360009007]], [[0.19880400066768328]]], "count": [241]}, "timestamp": {"min": [0.0], "max": [50.03333333333333], "mean": [25.016666666666666], "std": [14.452998535482754], "count": [1502]}, "frame_index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1502]}, "index": {"min": [1502], "max": [3003], "mean": [2252.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1502]}}}
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meta/info.json
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{
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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meta/tasks.jsonl
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{"task_index": 0, "task": "抓住黑色方塊"}
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videos/chunk-000/observation.images.fixed/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:4cb5155748dad37a256091d52922aa30e052fb3960efc59ee5c9ced5d16f9c70
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size 8647982
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videos/chunk-000/observation.images.fixed/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.grip/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.grip/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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