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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.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/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": ["Pick red cube"], "length": 851}
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{"episode_index": 1, "tasks": ["Pick red cube"], "length": 501}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-5.366680145263672, -84.0770263671875, 10.460784912109375, 62.00367736816406, 0.25682830810546875, 8.457727432250977], "max": [38.70623779296875, 13.871711730957031, 92.8450927734375, 77.83058166503906, 14.457901954650879, 31.824932098388672], "mean": [28.953048706054688, -0.3698205351829529, 21.452573776245117, 66.13960266113281, 12.569581985473633, 27.836923599243164], "std": [8.286195755004883, 25.36427879333496, 19.01325798034668, 2.862623929977417, 3.002545118331909, 5.347836494445801], "count": [851]}, "observation.state": {"min": [-4.654255390167236, -91.77631378173828, 13.21092700958252, 62.4053840637207, -4.572175025939941, 4.669887065887451], "max": [38.29787063598633, 14.391447067260742, 98.83564758300781, 77.54415130615234, 14.3696928024292, 31.40096664428711], "mean": [28.864999771118164, 0.7269095778465271, 23.67693328857422, 66.26824951171875, 12.337644577026367, 27.51873207092285], "std": [8.092050552368164, 26.39565086364746, 19.731430053710938, 2.8335258960723877, 3.2558538913726807, 5.589800834655762], "count": [851]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9803921568627451]], [[0.9450980392156862]]], "mean": [[[0.45943022511552395]], [[0.4380276619936722]], [[0.41716567794846177]]], "std": [[[0.11197247416848259]], [[0.11947439406537533]], [[0.1324270067993291]]], "count": [157]}, "observation.images.top": {"min": [[[0.0]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4713713183256318]], [[0.455369153553141]], [[0.4149791341430415]]], "std": [[[0.15961924415620826]], [[0.13321688124324646]], [[0.14584309996807454]]], "count": [157]}, "timestamp": {"min": [0.0], "max": [28.333333333333332], "mean": [14.16666666666667], "std": [8.188745664358832], "count": [851]}, "frame_index": {"min": [0], "max": [850], "mean": [425.0], "std": [245.66236993076492], "count": [851]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [851]}, "index": {"min": [0], "max": [850], "mean": [425.0], "std": [245.66236993076492], "count": [851]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [851]}}}
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{"episode_index": 1, "stats": {"action": {"min": [-81.7649917602539, -94.16266632080078, 11.109687805175781, 57.19060134887695, 1.7313175201416016, -1.5030078887939453], "max": [38.82646942138672, 16.66354751586914, 93.72892761230469, 81.26243591308594, 17.14067840576172, 32.12809753417969], "mean": [4.256534099578857, -33.311248779296875, 45.65279769897461, 66.6204833984375, 9.79401683807373, 18.642854690551758], "std": [37.97045135498047, 32.67973327636719, 26.035316467285156, 4.288506984710693, 3.035127878189087, 10.093342781066895], "count": [501]}, "observation.state": {"min": [-81.51596069335938, -93.91447448730469, 13.927452087402344, 58.031959533691406, -2.87393856048584, 2.17391300201416], "max": [38.164894104003906, 17.351974487304688, 94.2677993774414, 80.40370178222656, 16.91704750061035, 31.7230281829834], "mean": [3.8757591247558594, -31.83485221862793, 47.32199478149414, 66.8095474243164, 9.588906288146973, 18.621055603027344], "std": [38.25670623779297, 33.17145538330078, 25.80788230895996, 4.214725971221924, 3.209580421447754, 10.0029878616333], "count": [501]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4703157796451914]], [[0.4344290246654217]], [[0.4048668884220355]]], "std": [[[0.1317760224488756]], [[0.13216752463954873]], [[0.14876114762729403]]], "count": [105]}, "observation.images.top": {"min": [[[0.0]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4822586542950514]], [[0.464753518907563]], [[0.422998461328976]]], "std": [[[0.17166932591534162]], [[0.13995133265820767]], [[0.15237130290860323]]], "count": [105]}, "timestamp": {"min": [0.0], "max": [16.666666666666668], "mean": [8.333333333333334], "std": [4.82086514442592], "count": [501]}, "frame_index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [501]}, "index": {"min": [851], "max": [1351], "mean": [1101.0], "std": [144.62595433277758], "count": [501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}}}
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meta/info.json
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meta/tasks.jsonl
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{"task_index": 0, "task": "Pick red cube"}
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videos/chunk-000/observation.images.top/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.top/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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