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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +152 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000000.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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oid sha256:5392156efa1be50ac476ae1708851dc04cc15befa018a445fcd0e8ce27784186
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size 31413
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Move top rectangular frame to the holder."], "length": 534}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-18.017578125, 77.6953125, 63.720703125, 38.056640625, -9.84375, 0.087890625, -10.479042053222656], "max": [61.787109375, 169.365234375, 153.10546875, 95.009765625, 24.697265625, 128.14453125, 100.29940032958984], "mean": [31.811140060424805, 112.063720703125, 108.05921173095703, 78.35647583007812, 6.392808437347412, 76.94003295898438, 49.12124252319336], "std": [22.364229202270508, 31.599531173706055, 31.35034942626953, 17.283273696899414, 6.552078723907471, 44.3145751953125, 51.76169204711914], "count": [534]}, "observation.state": {"min": [-16.875, 76.552734375, 65.302734375, 38.583984375, -9.66796875, 0.17578125, 7.3800740242004395], "max": [62.314453125, 168.046875, 154.423828125, 94.306640625, 24.345703125, 127.96875, 100.36900329589844], "mean": [32.5899772644043, 110.87107849121094, 109.36865997314453, 78.39213562011719, 6.476584434509277, 77.33306884765625, 56.28821563720703], "std": [22.335031509399414, 31.68570899963379, 31.41571617126465, 16.737186431884766, 6.379650115966797, 43.99844741821289, 43.3726921081543], "count": [534]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6005534799505388]], [[0.602622031958429]], [[0.6041641439233351]]], "std": [[[0.33230691785690347]], [[0.32867031864194807]], [[0.3339717396888227]]], "count": [111]}, "observation.images.side": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6093953493935111]], [[0.6179519133103692]], [[0.6122002977241948]]], "std": [[[0.2551660753727469]], [[0.25132120654579143]], [[0.2513188124515124]]], "count": [111]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5685755240534652]], [[0.5787859385120415]], [[0.5769687334393216]]], "std": [[[0.24482258142256133]], [[0.23627895407057292]], [[0.2340891690546079]]], "count": [111]}, "timestamp": {"min": [0.0], "max": [17.766666666666666], "mean": [8.883333333333335], "std": [5.138408385944109], "count": [534]}, "frame_index": {"min": [0], "max": [533], "mean": [266.5], "std": [154.15225157832327], "count": [534]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}, "index": {"min": [0], "max": [533], "mean": [266.5], "std": [154.15225157832327], "count": [534]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}}}
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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": "sam_two",
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"total_episodes": 1,
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"total_frames": 534,
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"total_tasks": 1,
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"total_videos": 3,
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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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7
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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_side",
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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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"shape": [
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7
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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_side",
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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.laptop": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.fps": 30.0,
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"video.height": 480,
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"video.width": 640,
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"video.channels": 3,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.images.side": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.fps": 30.0,
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"video.height": 480,
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"video.width": 640,
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"video.channels": 3,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"observation.images.phone": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.fps": 30.0,
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"video.height": 480,
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"video.width": 640,
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"video.channels": 3,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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"names": null
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"frame_index": {
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"dtype": "int64",
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Move top rectangular frame to the holder."}
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videos/chunk-000/observation.images.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:fa11905678ff35ccc893e27c0eb728fbb68284de6ad77ede059a5b7972adf857
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size 8425411
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videos/chunk-000/observation.images.phone/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:d10dcdb9ae2cd2d75aa4a7af6e1212358b4b23adcd8abd18147afa10b48d256f
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size 4013436
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videos/chunk-000/observation.images.side/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7a67429cc9317164e2e8ee4ac9a6a95c23729eb7b86f7a464ac7ece419757dfb
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size 2467560
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