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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 +104 -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
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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size 125319
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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": ["Put sock in box"], "length": 1796}
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{"episode_index": 1, "tasks": ["Put sock in box"], "length": 615}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-36.659027099609375, -99.64588928222656, -57.69736862182617, 59.81621170043945, -3.3936758041381836, -0.59906005859375], "max": [57.818504333496094, 43.8807487487793, 96.40829467773438, 97.74346923828125, 14.106795310974121, 56.51584243774414], "mean": [-0.6759890913963318, -0.8883408308029175, -6.1523637771606445, 81.02283477783203, 3.4565765857696533, 16.59015464782715], "std": [25.066600799560547, 38.8017692565918, 37.21860885620117, 10.921547889709473, 4.505769729614258, 19.46692657470703], "count": [1796]}, "observation.state": {"min": [-36.238712310791016, -99.25, -54.76618576049805, 60.58519744873047, -3.1716907024383545, 0.6775068044662476], "max": [57.51865005493164, 42.16666793823242, 98.29136657714844, 97.41824340820312, 35.779815673828125, 56.16530990600586], "mean": [-0.7872579097747803, 0.027554089203476906, -4.67926549911499, 81.09671783447266, 3.544830799102783, 16.693151473999023], "std": [25.050376892089844, 39.538570404052734, 37.34220504760742, 10.727121353149414, 4.874833106994629, 18.968290328979492], "count": [1796]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43094537730243615]], [[0.4266467446524064]], [[0.4069717981283422]]], "std": [[[0.2471199775666483]], [[0.25026866724404057]], [[0.26115980077111617]]], "count": [275]}, "timestamp": {"min": [0.0], "max": [59.833333333333336], "mean": [29.916666666666668], "std": [17.28201537887163], "count": [1796]}, "frame_index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}, "index": {"min": [0], "max": [1795], "mean": [897.5], "std": [518.4604613661489], "count": [1796]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1796]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-34.135841369628906, -84.21185302734375, -45.27931594848633, 62.9056510925293, 0.668185293674469, -0.20104122161865234], "max": [16.100168228149414, 32.29847717285156, 84.63395690917969, 97.3253173828125, 11.211441993713379, 52.46405792236328], "mean": [-5.101615905761719, 1.6925150156021118, -5.045666694641113, 77.82311248779297, 3.2859179973602295, 14.279887199401855], "std": [11.047922134399414, 27.306589126586914, 27.026987075805664, 8.724559783935547, 2.058332920074463, 18.603759765625], "count": [615]}, "observation.state": {"min": [-33.961524963378906, -96.16666412353516, -42.535972595214844, 63.68330383300781, 0.8125818967819214, 0.6775068044662476], "max": [15.58696460723877, 32.33333206176758, 98.47122192382812, 97.07401275634766, 35.779815673828125, 51.42276382446289], "mean": [-5.148928165435791, 1.9143544435501099, -2.878575086593628, 77.9221420288086, 3.6247522830963135, 14.0858736038208], "std": [11.01298713684082, 28.664772033691406, 28.403902053833008, 8.481180191040039, 3.843506336212158, 18.045202255249023], "count": [615]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4291297209601998]], [[0.4259925524071417]], [[0.4086961730830544]]], "std": [[[0.2521878496827627]], [[0.25559691221079206]], [[0.26501544933845417]]], "count": [123]}, "timestamp": {"min": [0.0], "max": [20.466666666666665], "mean": [10.233333333333333], "std": [5.9178324360141135], "count": [615]}, "frame_index": {"min": [0], "max": [614], "mean": [307.0], "std": [177.5349730804234], "count": [615]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [615]}, "index": {"min": [1796], "max": [2410], "mean": [2103.0], "std": [177.5349730804234], "count": [615]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [615]}}}
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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": 2411,
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"total_tasks": 1,
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"total_videos": 2,
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"chunks_size": 1000,
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"fps": 30,
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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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"dtype": "float32",
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],
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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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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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],
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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.images.front": {
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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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"video.fps": 30,
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"timestamp": {
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Put sock in box"}
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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:af5c2cea6acf564279db7a3c44c0352fe47ff95ff8aa4988a3607ee4313c28a8
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size 9235217
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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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oid sha256:489b0992f7ccdb30f51afcd07cdb7e0f26fe1482bb1c3afd6a52b9f5038e69d7
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size 3184706
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