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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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oid sha256:881a01f183e64c6554e8f5244cfefaf4d64b79646eddae2fb7a8dd70df6c7d1e
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size 24786
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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": 862}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-23.37890625, 192.216796875, 108.017578125, -38.759765625, -182.900390625, 0.0], "max": [-13.18359375, 192.392578125, 182.197265625, 75.322265625, -158.37890625, 0.6185566782951355], "mean": [-15.783912658691406, 192.2994842529297, 174.9219512939453, 56.155887603759766, -180.31285095214844, 0.10931173712015152], "std": [1.9714195728302002, 0.025416551157832146, 18.853971481323242, 36.269004821777344, 5.983072757720947, 0.19809964299201965], "count": [862]}, "observation.state": {"min": [-23.291015625, 191.77734375, 108.80859375, -37.705078125, -175.78125, 0.14114326238632202], "max": [-13.271484375, 192.919921875, 182.021484375, 74.970703125, -158.5546875, 0.35285815596580505], "mean": [-15.605378150939941, 192.6376190185547, 174.91241455078125, 55.643489837646484, -174.4352569580078, 0.1468745619058609], "std": [2.0124242305755615, 0.17207545042037964, 18.57017707824707, 36.295955657958984, 3.9484877586364746, 0.03401990607380867], "count": [862]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6051910017675833]], [[0.6016180439943273]], [[0.5919639675052412]]], "std": [[[0.32347946114238374]], [[0.3232124985212399]], [[0.3114869410814248]]], "count": [159]}, "observation.images.phone": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5062384991470382]], [[0.5221469303654376]], [[0.5650112246680643]]], "std": [[[0.29576565763453005]], [[0.2911903260685761]], [[0.2728788099394175]]], "count": [159]}, "timestamp": {"min": [0.0], "max": [28.7], "mean": [14.349999999999996], "std": [8.294593285856623], "count": [862]}, "frame_index": {"min": [0], "max": [861], "mean": [430.5], "std": [248.8377985756987], "count": [862]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [862]}, "index": {"min": [0], "max": [861], "mean": [430.5], "std": [248.8377985756987], "count": [862]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [862]}}}
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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": 862,
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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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6
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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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"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.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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],
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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": "mpeg4",
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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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"names": [
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"channels"
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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": "mpeg4",
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"timestamp": {
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"dtype": "float32",
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"names": null
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"frame_index": {
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"dtype": "int64",
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"episode_index": {
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}
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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.laptop/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:9638d8f923624116c4c4cd416771f02baa195f80dceb1e335e996b44c3590226
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size 3838973
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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:cf7a2cbe51c0107cc422f2b8e96ccd84c366375424b1e32561cbd467110eeb3c
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size 3625209
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