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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 sha256:6fbfe8bb750836782d5f4dc68214bc1b4443fb14c46e5d4bf287fd2ba8b6f17c
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size 28115
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Fold a blue cloth"], "length": 595}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-6.767578125, 162.158203125, 121.025390625, 28.4765625, 20.302734375, 18.10546875, 0.7423117756843567, -7.470703125, 54.4921875, -3.427734375, 35.15625, -5.9765625, -50.361328125, -0.8537886738777161], "max": [-5.625, 180.263671875, 178.330078125, 34.8046875, 21.357421875, 19.16015625, 1.9088016748428345, 75.146484375, 178.76953125, 174.287109375, 36.650390625, 11.953125, -33.92578125, 0.5336179137229919], "mean": [-5.970063209533691, 165.66583251953125, 170.5858154296875, 33.61616897583008, 20.491071701049805, 18.33738136291504, 1.01018488407135, 16.08871078491211, 123.62567138671875, 71.6474380493164, 36.14033126831055, 4.0203680992126465, -35.736328125, -0.5454577803611755], "std": [0.21865974366664886, 6.554749011993408, 11.218375205993652, 2.429760694503784, 0.27560970187187195, 0.1996856927871704, 0.44374096393585205, 13.404106140136719, 48.290000915527344, 73.5997314453125, 0.5395594239234924, 7.848659992218018, 3.7374541759490967, 0.3941277861595154], "count": [595]}, "observation.state": {"min": [-6.064453125, 162.333984375, 125.068359375, 29.35546875, 20.21484375, 18.369140625, 2.0703933238983154, -6.064453125, 52.119140625, -1.142578125, 34.189453125, -4.74609375, -49.658203125, 1.495726466178894], "max": [-5.888671875, 180.87890625, 177.802734375, 34.8046875, 21.005859375, 19.51171875, 2.277432680130005, 74.267578125, 178.9453125, 173.232421875, 38.056640625, 12.216796875, -33.57421875, 2.136752128601074], "mean": [-6.048647403717041, 165.60894775390625, 172.4884796142578, 33.919132232666016, 20.685317993164062, 18.6335506439209, 2.1459028720855713, 16.236574172973633, 123.05403137207031, 71.0118179321289, 35.9929084777832, 4.156118869781494, -35.64607238769531, 1.9977819919586182], "std": [0.05015534162521362, 6.39203405380249, 10.897768020629883, 1.7824552059173584, 0.07625429332256317, 0.1077914610505104, 0.09965755045413971, 13.415376663208008, 48.813507080078125, 72.5223159790039, 0.9482126235961914, 7.528706073760986, 3.7551777362823486, 0.2498147040605545], "count": [595]}, "observation.images.laptop": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3418253336056645]], [[0.3428901892701525]], [[0.32075334456699345]]], "std": [[[0.29918122990802304]], [[0.30214569933537605]], [[0.32780065356332794]]], "count": [120]}, "observation.images.phone": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32424672691993467]], [[0.32663242442810453]], [[0.28543235294117647]]], "std": [[[0.31661367389034073]], [[0.3187051474434839]], [[0.317204639470171]]], "count": [120]}, "timestamp": {"min": [0.0], "max": [19.8], "mean": [9.899999999999999], "std": [5.725382083319854], "count": [595]}, "frame_index": {"min": [0], "max": [594], "mean": [297.0], "std": [171.76146249959564], "count": [595]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [595]}, "index": {"min": [0], "max": [594], "mean": [297.0], "std": [171.76146249959564], "count": [595]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [595]}}}
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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_bimanual",
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"total_episodes": 1,
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"total_frames": 595,
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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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14
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],
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"names": [
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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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"left_wrist_flex",
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"left_wrist_pan",
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"left_wrist_roll",
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"left_gripper",
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"right_shoulder_pan",
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"right_shoulder_lift",
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"right_elbow_flex",
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"right_wrist_flex",
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"right_wrist_pan",
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"right_wrist_roll",
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"right_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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"left_shoulder_pan",
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"left_shoulder_lift",
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"left_elbow_flex",
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"left_wrist_flex",
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"left_wrist_pan",
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"left_wrist_roll",
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"left_gripper",
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"right_shoulder_pan",
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"right_shoulder_lift",
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"right_elbow_flex",
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"right_wrist_flex",
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"right_wrist_pan",
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"right_wrist_roll",
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"right_gripper"
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]
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},
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"observation.images.laptop": {
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"height",
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"observation.images.phone": {
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}
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meta/tasks.jsonl
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{"task_index": 0, "task": "Fold a blue cloth"}
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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 sha256:4bb2b4c9c4d4a88326f008308b6416c7f3e63f8c98a1963b9c2d8db7c1874a1c
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size 2573363
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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 sha256:925b2a95e454bdd8a6ee8e1cbe497507d64ed8144024c674ca4a9a14ae4420bd
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size 2529362
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