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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.camera1/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.camera1/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.camera2/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.camera2/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": ["Grasp a lego block and put it in the bin."], "length": 830}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 832}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-16.799423217773438, 40.9046630859375, 84.61386108398438, -58.78784942626953, -1.3669471740722656, -1.9237394332885742], "max": [25.346393585205078, 204.9346923828125, 190.33770751953125, 74.1406021118164, 100.28289794921875, 45.10017013549805], "mean": [-7.37034273147583, 98.4950942993164, 133.5386505126953, -22.380094528198242, 76.2466812133789, 15.736152648925781], "std": [8.581676483154297, 53.15726089477539, 27.82430076599121, 40.16947555541992, 31.96385955810547, 15.864439010620117], "count": [830]}, "observation.state": {"min": [-16.34765625, 39.7265625, 87.890625, -57.83203125, -0.52734375, -1.5569709539413452], "max": [24.78515625, 198.017578125, 185.361328125, 80.947265625, 99.755859375, 44.72753143310547], "mean": [-7.371164321899414, 96.2978515625, 134.7752685546875, -21.804393768310547, 76.24127197265625, 16.785900115966797], "std": [8.554320335388184, 52.963531494140625, 27.651119232177734, 40.219886779785156, 31.922639846801758, 15.419054985046387], "count": [830]}, "observation.images.camera1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4409139650178253]], [[0.507471126708259]], [[0.48724183537051186]]], "std": [[[0.2881732171242164]], [[0.2848810855590763]], [[0.28681700401366855]]], "count": [154]}, "observation.images.camera2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4090145798849843]], [[0.4545294886894152]], [[0.42322968391902216]]], "std": [[[0.2290630178022749]], [[0.22354409799042152]], [[0.2417562098031463]]], "count": [154]}, "timestamp": {"min": [0.0], "max": [27.633333333333333], "mean": [13.816666666666665], "std": [7.98667292709827], "count": [830]}, "frame_index": {"min": [0], "max": [829], "mean": [414.5], "std": [239.6001878129481], "count": [830]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [830]}, "index": {"min": [0], "max": [829], "mean": [414.5], "std": [239.6001878129481], "count": [830]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [830]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-15.576510429382324, 41.76435089111328, 96.6683349609375, -58.31237030029297, -8.636871337890625, -2.777740478515625], "max": [26.672649383544922, 203.6248779296875, 187.98245239257812, 74.06422424316406, 100.97492980957031, 41.77873229980469], "mean": [-4.6169304847717285, 113.91679382324219, 142.17984008789062, -13.343644142150879, 75.60372161865234, 10.126165390014648], "std": [12.040789604187012, 52.84520721435547, 29.32052230834961, 38.04341125488281, 28.757049560546875, 13.058109283447266], "count": [832]}, "observation.state": {"min": [-15.556640625, 40.78125, 99.228515625, -56.77734375, -8.7890625, -2.1231422424316406], "max": [26.015625, 197.9296875, 185.09765625, 72.158203125, 100.283203125, 41.4720458984375], "mean": [-4.66094970703125, 112.33905792236328, 143.645263671875, -12.832453727722168, 75.42437744140625, 11.194060325622559], "std": [11.966207504272461, 53.36478805541992, 29.20073127746582, 38.02260971069336, 28.968048095703125, 12.93805980682373], "count": [832]}, "observation.images.camera1": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4456606824548001]], [[0.5117889464497921]], [[0.4880737177446736]]], "std": [[[0.2918884681161511]], [[0.28890476852907165]], [[0.29593856631258697]]], "count": [154]}, "observation.images.camera2": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4552008424581954]], [[0.502996705500382]], [[0.47247106304643066]]], "std": [[[0.2433292783082218]], [[0.23543105501147976]], [[0.2543743085292442]]], "count": [154]}, "timestamp": {"min": [0.0], "max": [27.7], "mean": [13.850000000000001], "std": [8.005917950005621], "count": [832]}, "frame_index": {"min": [0], "max": [831], "mean": [415.5], "std": [240.17753850016865], "count": [832]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [832]}, "index": {"min": [830], "max": [1661], "mean": [1245.5], "std": [240.17753850016865], "count": [832]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [832]}}}
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meta/info.json
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{
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"train": "0:2"
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"features": {
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"names": [
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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.camera1/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:c3bfb32c2ea79b28e7f5d308408b767cd4bb1574ba379bf5d39684561eb09484
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size 19125145
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videos/chunk-000/observation.images.camera1/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.camera2/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.camera2/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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size 4748118
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