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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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size 35495
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a Rubber and put it in the cup."], "length": 497}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-34.747230529785156, 62.5245361328125, 53.84607696533203, 40.864253997802734, -40.16044616699219, -0.29651832580566406], "max": [38.24004364013672, 191.35043334960938, 176.31982421875, 101.88994598388672, 3.5122179985046387, 24.373653411865234], "mean": [10.626995086669922, 96.29087829589844, 75.80054473876953, 89.44910430908203, -22.085439682006836, 9.11066722869873], "std": [25.03782081604004, 31.284631729125977, 26.221290588378906, 15.47763442993164, 13.411558151245117, 10.059348106384277], "count": [497]}, "observation.state": {"min": [-34.62890625, 63.28125, 60.8203125, 42.099609375, -39.814453125, 0.5398110747337341], "max": [37.6171875, 186.416015625, 171.826171875, 101.162109375, 3.076171875, 23.68421173095703], "mean": [10.504786491394043, 95.64166259765625, 78.89804077148438, 89.2508316040039, -21.854171752929688, 9.457121849060059], "std": [24.58074188232422, 31.727245330810547, 26.700136184692383, 15.79401683807373, 13.639609336853027, 9.608244895935059], "count": [497]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47122487939620294]], [[0.44930585901027076]], [[0.44703508792405855]]], "std": [[[0.22013060641664633]], [[0.21528506229492958]], [[0.21816872677193067]]], "count": [105]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[1.0]], [[1.0]]], "mean": [[[0.24727128851540617]], [[0.21772353913787737]], [[0.20720461990351696]]], "std": [[[0.22610741438324583]], [[0.2264876077577294]], [[0.24353194800947706]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.533333333333335], "mean": [8.266666666666666], "std": [4.782375049189588], "count": [497]}, "frame_index": {"min": [0], "max": [496], "mean": [248.0], "std": [143.47125147568764], "count": [497]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [497]}, "index": {"min": [0], "max": [496], "mean": [248.0], "std": [143.47125147568764], "count": [497]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [497]}}}
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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": "so100",
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"total_episodes": 1,
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"total_frames": 497,
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"total_tasks": 1,
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"total_videos": 2,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:1"
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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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"shape": [
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],
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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_gripper"
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]
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},
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"observation.state": {
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"dtype": "float32",
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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_gripper"
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]
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},
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"observation.images.front": {
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"dtype": "video",
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"shape": [
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"names": [
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"height",
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"width",
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"channels"
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"observation.images.wrist": {
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp a Rubber and put it in the cup."}
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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 sha256:5e77b2fa0fd4d4c9010010a81c3762dc3bf369afa2b25d8999867e052f57eb3c
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size 3480000
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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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