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data/chunk-000/episode_000000.parquet
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size 15164
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick up the can"], "length": 195}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-15.313333511352539, 55.41490936279297, 83.18365478515625, 45.852909088134766, 5.230916500091553, -0.5418834686279297, 0.0, 0.0, 0.0], "max": [-2.7285284996032715, 130.30557250976562, 123.52752685546875, 76.69843292236328, 18.09069061279297, 31.778560638427734, 0.0, 0.0, 0.0], "mean": [-8.853741645812988, 86.96128845214844, 96.01800537109375, 57.221824645996094, 12.228680610656738, 11.456823348999023, 0.0, 0.0, 0.0], "std": [4.003198623657227, 22.915908813476562, 9.662605285644531, 9.273601531982422, 3.2515921592712402, 12.317008018493652, 0.0, 0.0, 0.0], "count": [195]}, "observation.state": {"min": [-14.765625, 53.4375, 86.484375, 46.494140625, 5.185546875, 0.49400144815444946, -7.669903755187988, -6.642331600189209, -2.9296875], "max": [-2.109375, 151.083984375, 124.013671875, 85.869140625, 17.138671875, 30.628087997436523, 6.391586780548096, 13.284663200378418, 3.515625], "mean": [-8.893630027770996, 85.87274932861328, 100.98812866210938, 57.28034973144531, 11.357271194458008, 11.927301406860352, 0.3933284282684326, 1.2489855289459229, 0.24338942766189575], "std": [4.195284366607666, 27.987485885620117, 12.103226661682129, 10.887228965759277, 3.3114099502563477, 11.273825645446777, 3.0629560947418213, 5.2201924324035645, 1.4075982570648193], "count": [195]}, "observation.images.front": {"min": [[[0.058823529411764705]], [[0.0784313725490196]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7221421650326798]], [[0.5821119281045752]], [[0.35148043913398697]]], "std": [[[0.20148284943984676]], [[0.1663202668457103]], [[0.12768106042855165]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0784313725490196]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6692424652777779]], [[0.5777122814542484]], [[0.4780097937091503]]], "std": [[[0.20227958916436195]], [[0.1885419177247977]], [[0.18056883376023156]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [6.466666666666667], "mean": [3.2333333333333334], "std": [1.8763637016156385], "count": [195]}, "frame_index": {"min": [0], "max": [194], "mean": [97.0], "std": [56.290911048469155], "count": [195]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [195]}, "index": {"min": [0], "max": [194], "mean": [97.0], "std": [56.290911048469155], "count": [195]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [195]}}}
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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": "lekiwi",
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"total_episodes": 1,
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"total_frames": 195,
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"total_videos": 2,
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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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"shape": [
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],
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"names": [
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"shoulder_pan",
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"shoulder_lift",
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"elbow_flex",
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"wrist_flex",
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"wrist_roll",
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"gripper",
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"x_mm",
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"y_mm",
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"theta"
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},
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"observation.state": {
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"names": [
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"shoulder_pan",
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"shoulder_lift",
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"elbow_flex",
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"wrist_flex",
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"wrist_roll",
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"gripper",
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"x_mm",
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"y_mm",
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"theta"
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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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meta/tasks.jsonl
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{"task_index": 0, "task": "Pick up the can"}
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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 sha256:88018f8d2ba9560958a9849cde8771f3e4846693ad0328d2f131be36b8ce7ec7
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size 985708
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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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oid sha256:faa7643d6979d98d96b33d5fd773411234b6c79d7ed4baafd94d9ed6d9aef368
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size 3285382
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