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- data/chunk-000/episode_000085.parquet +3 -0
- data/chunk-000/episode_000086.parquet +3 -0
- data/chunk-000/episode_000087.parquet +3 -0
- data/chunk-000/episode_000088.parquet +3 -0
- data/chunk-000/episode_000089.parquet +3 -0
- data/chunk-000/episode_000090.parquet +3 -0
- data/chunk-000/episode_000091.parquet +3 -0
- data/chunk-000/episode_000092.parquet +3 -0
- data/chunk-000/episode_000093.parquet +3 -0
- data/chunk-000/episode_000094.parquet +3 -0
- data/chunk-000/episode_000095.parquet +3 -0
- data/chunk-000/episode_000096.parquet +3 -0
- data/chunk-000/episode_000097.parquet +3 -0
- data/chunk-000/episode_000098.parquet +3 -0
- data/chunk-000/episode_000099.parquet +3 -0
- data/chunk-000/episode_000100.parquet +3 -0
- data/chunk-000/episode_000101.parquet +3 -0
- data/chunk-000/episode_000102.parquet +3 -0
- data/chunk-000/episode_000103.parquet +3 -0
- data/chunk-000/episode_000104.parquet +3 -0
- data/chunk-000/episode_000105.parquet +3 -0
- data/chunk-000/episode_000106.parquet +3 -0
- data/chunk-000/episode_000107.parquet +3 -0
- data/chunk-000/episode_000108.parquet +3 -0
- data/chunk-000/episode_000109.parquet +3 -0
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- data/chunk-000/episode_000123.parquet +3 -0
- data/chunk-000/episode_000124.parquet +3 -0
- meta/episodes.jsonl +40 -0
- meta/episodes_stats.jsonl +40 -0
- meta/info.json +5 -5
- meta/tasks.jsonl +2 -0
- videos/chunk-000/observation.images.front/episode_000085.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000086.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000087.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000088.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000089.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000090.mp4 +3 -0
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meta/episodes.jsonl
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{"episode_index": 82, "tasks": ["Grab the scissors"], "length": 215}
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{"episode_index": 83, "tasks": ["Grab the scissors"], "length": 213}
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| 85 |
{"episode_index": 84, "tasks": ["Grab the scissors"], "length": 239}
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| 83 |
{"episode_index": 82, "tasks": ["Grab the scissors"], "length": 215}
|
| 84 |
{"episode_index": 83, "tasks": ["Grab the scissors"], "length": 213}
|
| 85 |
{"episode_index": 84, "tasks": ["Grab the scissors"], "length": 239}
|
| 86 |
+
{"episode_index": 85, "tasks": ["Pick up the scissors"], "length": 177}
|
| 87 |
+
{"episode_index": 86, "tasks": ["Pick up the scissors"], "length": 141}
|
| 88 |
+
{"episode_index": 87, "tasks": ["Pick up the scissors"], "length": 120}
|
| 89 |
+
{"episode_index": 88, "tasks": ["Pick up the scissors"], "length": 142}
|
| 90 |
+
{"episode_index": 89, "tasks": ["Pick up the scissors"], "length": 136}
|
| 91 |
+
{"episode_index": 90, "tasks": ["Pick up the scissors"], "length": 128}
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| 92 |
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{"episode_index": 91, "tasks": ["Pick up the scissors"], "length": 158}
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| 93 |
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{"episode_index": 92, "tasks": ["Pick up the scissors"], "length": 195}
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| 94 |
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{"episode_index": 93, "tasks": ["Pick up the scissors"], "length": 156}
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| 95 |
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{"episode_index": 94, "tasks": ["Pick up the scissors"], "length": 138}
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| 96 |
+
{"episode_index": 95, "tasks": ["Pick up the scissors"], "length": 130}
|
| 97 |
+
{"episode_index": 96, "tasks": ["Pick up the scissors"], "length": 125}
|
| 98 |
+
{"episode_index": 97, "tasks": ["Pick up the scissors"], "length": 151}
|
| 99 |
+
{"episode_index": 98, "tasks": ["Pick up the scissors"], "length": 136}
|
| 100 |
+
{"episode_index": 99, "tasks": ["Pick up the scissors"], "length": 149}
|
| 101 |
+
{"episode_index": 100, "tasks": ["Pick up the scissors"], "length": 148}
|
| 102 |
+
{"episode_index": 101, "tasks": ["Pick up the scissors"], "length": 111}
|
| 103 |
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{"episode_index": 102, "tasks": ["Pick up the scissors"], "length": 112}
|
| 104 |
+
{"episode_index": 103, "tasks": ["Pick up the scissors"], "length": 102}
|
| 105 |
+
{"episode_index": 104, "tasks": ["Pick up the scissors"], "length": 128}
|
| 106 |
+
{"episode_index": 105, "tasks": ["Pick up the forceps"], "length": 104}
|
| 107 |
+
{"episode_index": 106, "tasks": ["Pick up the forceps"], "length": 111}
|
| 108 |
+
{"episode_index": 107, "tasks": ["Pick up the forceps"], "length": 122}
|
| 109 |
+
{"episode_index": 108, "tasks": ["Pick up the forceps"], "length": 99}
|
| 110 |
+
{"episode_index": 109, "tasks": ["Pick up the forceps"], "length": 118}
|
| 111 |
+
{"episode_index": 110, "tasks": ["Pick up the forceps"], "length": 106}
|
| 112 |
+
{"episode_index": 111, "tasks": ["Pick up the forceps"], "length": 101}
|
| 113 |
+
{"episode_index": 112, "tasks": ["Pick up the forceps"], "length": 100}
|
| 114 |
+
{"episode_index": 113, "tasks": ["Pick up the forceps"], "length": 101}
|
| 115 |
+
{"episode_index": 114, "tasks": ["Pick up the forceps"], "length": 103}
|
| 116 |
+
{"episode_index": 115, "tasks": ["Pick up the forceps"], "length": 111}
|
| 117 |
+
{"episode_index": 116, "tasks": ["Pick up the forceps"], "length": 125}
|
| 118 |
+
{"episode_index": 117, "tasks": ["Pick up the forceps"], "length": 117}
|
| 119 |
+
{"episode_index": 118, "tasks": ["Pick up the forceps"], "length": 125}
|
| 120 |
+
{"episode_index": 119, "tasks": ["Pick up the forceps"], "length": 116}
|
| 121 |
+
{"episode_index": 120, "tasks": ["Pick up the forceps"], "length": 113}
|
| 122 |
+
{"episode_index": 121, "tasks": ["Pick up the forceps"], "length": 88}
|
| 123 |
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{"episode_index": 122, "tasks": ["Pick up the forceps"], "length": 105}
|
| 124 |
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{"episode_index": 123, "tasks": ["Pick up the forceps"], "length": 111}
|
| 125 |
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{"episode_index": 124, "tasks": ["Pick up the forceps"], "length": 117}
|
meta/episodes_stats.jsonl
CHANGED
|
@@ -83,3 +83,43 @@
|
|
| 83 |
{"episode_index": 82, "stats": {"action": {"min": [0.52734375, 88.2421875, 71.71875, 67.32421875, -91.58203125, 0.5010020136833191], "max": [56.865234375, 188.61328125, 175.517578125, 102.041015625, -52.55859375, 23.34669303894043], "mean": [31.074445724487305, 119.5439224243164, 105.70503234863281, 82.15933990478516, -68.90052795410156, 5.713277816772461], "std": [21.749359130859375, 31.010364532470703, 30.072357177734375, 10.971722602844238, 12.497262001037598, 8.813674926757812], "count": [215]}, "observation.state": {"min": [0.52734375, 87.71484375, 74.53125, 67.939453125, -90.966796875, 0.8076358437538147], "max": [56.865234375, 188.4375, 175.693359375, 100.986328125, -53.173828125, 22.980911254882812], "mean": [30.99759292602539, 119.18173217773438, 108.70189666748047, 81.92877960205078, -68.82408142089844, 7.255386829376221], "std": [21.828283309936523, 32.57711410522461, 30.68480682373047, 10.825118064880371, 12.353550910949707, 7.898716449737549], "count": [215]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6156076531862745]], [[0.61804866625817]], [[0.6132356678921569]]], "std": [[[0.2005819378622627]], [[0.20545762553879576]], [[0.2034251099463736]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.471699170751634]], [[0.4566396160130719]], [[0.4748350694444444]]], "std": [[[0.19701756838573659]], [[0.16643650549128297]], [[0.18390946225358318]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.133333333333334], "mean": [3.566666666666667], "std": [2.06881608655772], "count": [215]}, "frame_index": {"min": [0], "max": [214], "mean": [107.0], "std": [62.0644825967316], "count": [215]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [215]}, "index": {"min": [20239], "max": [20453], "mean": [20346.0], "std": [62.0644825967316], "count": [215]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [215]}}}
|
| 84 |
{"episode_index": 83, "stats": {"action": {"min": [-2.197265625, 94.130859375, 62.9296875, 71.54296875, -91.669921875, 0.5010020136833191], "max": [56.865234375, 188.701171875, 175.517578125, 102.65625, -43.505859375, 20.64128303527832], "mean": [28.616031646728516, 122.44277954101562, 104.60882568359375, 87.95211029052734, -68.537353515625, 5.695891857147217], "std": [22.940866470336914, 32.15384292602539, 33.982547760009766, 10.660311698913574, 14.333972930908203, 8.274310111999512], "count": [213]}, "observation.state": {"min": [-3.69140625, 93.69140625, 65.654296875, 72.509765625, -90.966796875, 0.8076358437538147], "max": [56.953125, 188.61328125, 175.517578125, 101.25, -44.12109375, 20.26431655883789], "mean": [28.595813751220703, 122.28309631347656, 107.29051971435547, 87.40619659423828, -68.41109466552734, 6.949880599975586], "std": [23.112939834594727, 33.78855514526367, 34.741310119628906, 10.1390962600708, 14.054910659790039, 7.436625003814697], "count": [213]}, "observation.images.front": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.619326039624183]], [[0.6208573897058823]], [[0.6155466074346405]]], "std": [[[0.19858179161379952]], [[0.20252273844398866]], [[0.20068421656183474]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47253936274509806]], [[0.4583980596405229]], [[0.4733852961601307]]], "std": [[[0.20446012085279042]], [[0.17319302305998166]], [[0.19031188792980822]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.066666666666666], "mean": [3.5333333333333337], "std": [2.0495708674600013], "count": [213]}, "frame_index": {"min": [0], "max": [212], "mean": [106.0], "std": [61.48712602380003], "count": [213]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [213]}, "index": {"min": [20454], "max": [20666], "mean": [20560.0], "std": [61.48712602380003], "count": [213]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [213]}}}
|
| 85 |
{"episode_index": 84, "stats": {"action": {"min": [-5.185546875, 107.578125, 80.419921875, 15.380859375, -131.044921875, 0.5010020136833191], "max": [52.3828125, 188.7890625, 175.517578125, 90.439453125, -77.51953125, 19.739479064941406], "mean": [30.212678909301758, 133.56175231933594, 119.5316162109375, 59.23828125, -103.93011474609375, 5.532810211181641], "std": [20.066085815429688, 27.410905838012695, 29.74006462097168, 26.851726531982422, 20.535852432250977, 7.884501934051514], "count": [239]}, "observation.state": {"min": [-5.361328125, 107.314453125, 83.583984375, 15.732421875, -130.95703125, 0.8076358437538147], "max": [52.294921875, 188.701171875, 175.517578125, 90.087890625, -76.728515625, 19.456682205200195], "mean": [30.236581802368164, 133.478271484375, 122.31175994873047, 59.37434768676758, -103.78080749511719, 6.4872002601623535], "std": [20.073659896850586, 28.693544387817383, 30.016695022583008, 26.505294799804688, 20.706079483032227, 7.1337666511535645], "count": [239]}, "observation.images.front": {"min": [[[0.0196078431372549]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6208340441176471]], [[0.6242100469771241]], [[0.6187103901143791]]], "std": [[[0.19965986267997407]], [[0.20379122195867086]], [[0.20156975974834998]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48505945465686273]], [[0.4827997691993464]], [[0.48303699550653595]]], "std": [[[0.22627926620156436]], [[0.2089340212233802]], [[0.21961372746906532]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.933333333333334], "mean": [3.9666666666666663], "std": [2.2997584414213788], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [239]}, "index": {"min": [20667], "max": [20905], "mean": [20786.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}}}
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| 83 |
{"episode_index": 82, "stats": {"action": {"min": [0.52734375, 88.2421875, 71.71875, 67.32421875, -91.58203125, 0.5010020136833191], "max": [56.865234375, 188.61328125, 175.517578125, 102.041015625, -52.55859375, 23.34669303894043], "mean": [31.074445724487305, 119.5439224243164, 105.70503234863281, 82.15933990478516, -68.90052795410156, 5.713277816772461], "std": [21.749359130859375, 31.010364532470703, 30.072357177734375, 10.971722602844238, 12.497262001037598, 8.813674926757812], "count": [215]}, "observation.state": {"min": [0.52734375, 87.71484375, 74.53125, 67.939453125, -90.966796875, 0.8076358437538147], "max": [56.865234375, 188.4375, 175.693359375, 100.986328125, -53.173828125, 22.980911254882812], "mean": [30.99759292602539, 119.18173217773438, 108.70189666748047, 81.92877960205078, -68.82408142089844, 7.255386829376221], "std": [21.828283309936523, 32.57711410522461, 30.68480682373047, 10.825118064880371, 12.353550910949707, 7.898716449737549], "count": [215]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6156076531862745]], [[0.61804866625817]], [[0.6132356678921569]]], "std": [[[0.2005819378622627]], [[0.20545762553879576]], [[0.2034251099463736]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.471699170751634]], [[0.4566396160130719]], [[0.4748350694444444]]], "std": [[[0.19701756838573659]], [[0.16643650549128297]], [[0.18390946225358318]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.133333333333334], "mean": [3.566666666666667], "std": [2.06881608655772], "count": [215]}, "frame_index": {"min": [0], "max": [214], "mean": [107.0], "std": [62.0644825967316], "count": [215]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [215]}, "index": {"min": [20239], "max": [20453], "mean": [20346.0], "std": [62.0644825967316], "count": [215]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [215]}}}
|
| 84 |
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|
| 85 |
{"episode_index": 84, "stats": {"action": {"min": [-5.185546875, 107.578125, 80.419921875, 15.380859375, -131.044921875, 0.5010020136833191], "max": [52.3828125, 188.7890625, 175.517578125, 90.439453125, -77.51953125, 19.739479064941406], "mean": [30.212678909301758, 133.56175231933594, 119.5316162109375, 59.23828125, -103.93011474609375, 5.532810211181641], "std": [20.066085815429688, 27.410905838012695, 29.74006462097168, 26.851726531982422, 20.535852432250977, 7.884501934051514], "count": [239]}, "observation.state": {"min": [-5.361328125, 107.314453125, 83.583984375, 15.732421875, -130.95703125, 0.8076358437538147], "max": [52.294921875, 188.701171875, 175.517578125, 90.087890625, -76.728515625, 19.456682205200195], "mean": [30.236581802368164, 133.478271484375, 122.31175994873047, 59.37434768676758, -103.78080749511719, 6.4872002601623535], "std": [20.073659896850586, 28.693544387817383, 30.016695022583008, 26.505294799804688, 20.706079483032227, 7.1337666511535645], "count": [239]}, "observation.images.front": {"min": [[[0.0196078431372549]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6208340441176471]], [[0.6242100469771241]], [[0.6187103901143791]]], "std": [[[0.19965986267997407]], [[0.20379122195867086]], [[0.20156975974834998]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48505945465686273]], [[0.4827997691993464]], [[0.48303699550653595]]], "std": [[[0.22627926620156436]], [[0.2089340212233802]], [[0.21961372746906532]]], "count": [100]}, "timestamp": {"min": [0.0], "max": [7.933333333333334], "mean": [3.9666666666666663], "std": [2.2997584414213788], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [239]}, "index": {"min": [20667], "max": [20905], "mean": [20786.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [239]}}}
|
| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
+
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 |
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| 109 |
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| 110 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 118 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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meta/info.json
CHANGED
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@@ -1,15 +1,15 @@
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| 1 |
{
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| 2 |
"codebase_version": "v2.1",
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"robot_type": "so100",
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"total_episodes":
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"total_frames":
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"total_tasks":
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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| 12 |
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"train": "0:
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| 13 |
},
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| 14 |
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 15 |
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
|
|
|
| 1 |
{
|
| 2 |
"codebase_version": "v2.1",
|
| 3 |
"robot_type": "so100",
|
| 4 |
+
"total_episodes": 125,
|
| 5 |
+
"total_frames": 25882,
|
| 6 |
+
"total_tasks": 4,
|
| 7 |
+
"total_videos": 250,
|
| 8 |
"total_chunks": 1,
|
| 9 |
"chunks_size": 1000,
|
| 10 |
"fps": 30,
|
| 11 |
"splits": {
|
| 12 |
+
"train": "0:125"
|
| 13 |
},
|
| 14 |
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
meta/tasks.jsonl
CHANGED
|
@@ -1,2 +1,4 @@
|
|
| 1 |
{"task_index": 0, "task": "Grab the scissors"}
|
| 2 |
{"task_index": 1, "task": "Grab the forceps"}
|
|
|
|
|
|
|
|
|
| 1 |
{"task_index": 0, "task": "Grab the scissors"}
|
| 2 |
{"task_index": 1, "task": "Grab the forceps"}
|
| 3 |
+
{"task_index": 2, "task": "Pick up the scissors"}
|
| 4 |
+
{"task_index": 3, "task": "Pick up the forceps"}
|
videos/chunk-000/observation.images.front/episode_000085.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1725860669cb391f90dbf0dd3921b3ae04213e5148c6bc70590c8adc2a4be8c3
|
| 3 |
+
size 2854351
|
videos/chunk-000/observation.images.front/episode_000086.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ede2ab07d7f06417bdeb9208184b6fdd54656421678a92fb1dfb74c84b05ff8b
|
| 3 |
+
size 2227614
|
videos/chunk-000/observation.images.front/episode_000087.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b54ef22316c9cf2830e7ea8b4e00ebb52dc21a51bd838c1100b75ae20c1f681a
|
| 3 |
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size 1882711
|
videos/chunk-000/observation.images.front/episode_000088.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:04085d333c4cf719a1b1762bc1b7e4eee49f68eae3112bfd2fecd2e11c2eb523
|
| 3 |
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size 2185200
|
videos/chunk-000/observation.images.front/episode_000089.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5addecdaa7f51dce1e5ab8c23ee972c8ac5a65bde1cea70149c9d7f53421b8f7
|
| 3 |
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size 2124949
|
videos/chunk-000/observation.images.front/episode_000090.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c521c77841c1d806957f7035f758256956532623fd9ed19da6cc955b34ed2fef
|
| 3 |
+
size 1976524
|