Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-005.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +2 -2
- meta/info.json +3 -3
- meta/initial_state_targets/target_0073.png +3 -0
- meta/initial_state_targets/target_0074.png +3 -0
- meta/initial_state_targets/target_0075.png +3 -0
- meta/initial_state_targets/target_0076.png +3 -0
- meta/initial_state_targets/target_0077.png +3 -0
- meta/initial_state_targets/target_0078.png +3 -0
- meta/initial_state_targets/target_0079.png +3 -0
- meta/initial_state_targets/target_0080.png +3 -0
- meta/initial_state_targets/target_0081.png +3 -0
- meta/initial_state_targets/target_0082.png +3 -0
- meta/initial_state_targets/target_0083.png +3 -0
- meta/mug_tree_placement_ledger.jsonl +11 -0
- meta/reset_timing.jsonl +115 -0
- meta/stats.json +1193 -1193
- meta/teleop_manifest_ledger.jsonl +11 -0
- videos/observation.images.side_1/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.side_1/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.side_right/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.side_right/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.wrist_left/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.wrist_left/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.wrist_right/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.wrist_right/chunk-000/file-006.mp4 +3 -0
data/chunk-000/file-005.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:cec56f3ac544da4db2c4a77839093fc454d6364b823fbdca0a3296d00321629d
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size 1215052
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meta/episodes/chunk-000/file-000.parquet
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meta/info.json
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"names": null
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}
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},
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"total_episodes":
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"total_frames":
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"total_tasks": 1,
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"chunks_size": 1000,
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"data_files_size_in_mb": 100,
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"robot_type": "franka",
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"splits": {
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"train": "0:
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"names": null
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},
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"total_episodes": 84,
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"total_frames": 28434,
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"total_tasks": 1,
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"chunks_size": 1000,
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"data_files_size_in_mb": 100,
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"robot_type": "franka",
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"splits": {
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"train": "0:84"
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}
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meta/initial_state_targets/target_0073.png
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meta/initial_state_targets/target_0074.png
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meta/initial_state_targets/target_0080.png
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meta/initial_state_targets/target_0083.png
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meta/mug_tree_placement_ledger.jsonl
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{"dataset_name": "mug_tree_session1", "episode_index": 70, "grid": [9, 9], "manifest_idx": 70, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 5, "sampler": "ours_sobol", "steps": 430, "success": true, "task_name": "mug_tree", "tree": {"col": 5, "row": 8, "xy": [4.0, 1.0], "yaw": 5.497787143782138}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.6182754050241783, -0.10219087055884302, 0.26887660120682844], "written_at": "2026-06-30T16:42:28"}
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| 72 |
{"dataset_name": "mug_tree_session1", "episode_index": 71, "grid": [9, 9], "manifest_idx": 71, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 6, "sampler": "ours_sobol", "steps": 466, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 8, "xy": [4.0, -2.0], "yaw": 3.141592653589793}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.5915207404759713, -1.7211253456771374, 1.9350391122260886], "written_at": "2026-06-30T16:45:28"}
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| 73 |
{"dataset_name": "mug_tree_session1", "episode_index": 72, "grid": [9, 9], "manifest_idx": 72, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 7, "sampler": "ours_sobol", "steps": 208, "success": true, "task_name": "mug_tree", "tree": {"col": 0, "row": 8, "xy": [4.0, -4.0], "yaw": 3.141592653589793}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.090459070983343, -3.034665090730414, -1.4462906577083108], "written_at": "2026-06-30T16:46:33"}
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{"dataset_name": "mug_tree_session1", "episode_index": 70, "grid": [9, 9], "manifest_idx": 70, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 5, "sampler": "ours_sobol", "steps": 430, "success": true, "task_name": "mug_tree", "tree": {"col": 5, "row": 8, "xy": [4.0, 1.0], "yaw": 5.497787143782138}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.6182754050241783, -0.10219087055884302, 0.26887660120682844], "written_at": "2026-06-30T16:42:28"}
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| 72 |
{"dataset_name": "mug_tree_session1", "episode_index": 71, "grid": [9, 9], "manifest_idx": 71, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 6, "sampler": "ours_sobol", "steps": 466, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 8, "xy": [4.0, -2.0], "yaw": 3.141592653589793}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.5915207404759713, -1.7211253456771374, 1.9350391122260886], "written_at": "2026-06-30T16:45:28"}
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| 73 |
{"dataset_name": "mug_tree_session1", "episode_index": 72, "grid": [9, 9], "manifest_idx": 72, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 7, "sampler": "ours_sobol", "steps": 208, "success": true, "task_name": "mug_tree", "tree": {"col": 0, "row": 8, "xy": [4.0, -4.0], "yaw": 3.141592653589793}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.090459070983343, -3.034665090730414, -1.4462906577083108], "written_at": "2026-06-30T16:46:33"}
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{"dataset_name": "mug_tree_session1", "episode_index": 73, "grid": [9, 9], "manifest_idx": 73, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 0, "sampler": "baseline_uniform", "steps": 189, "success": true, "task_name": "mug_tree", "tree": {"col": 5, "row": 8, "xy": [4.0, 1.0], "yaw": 0.0}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.6174727010204046, 0.27249106608266604, -2.800491343368891], "written_at": "2026-06-30T17:09:38"}
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| 75 |
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{"dataset_name": "mug_tree_session1", "episode_index": 74, "grid": [9, 9], "manifest_idx": 74, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 1, "sampler": "baseline_uniform", "steps": 554, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 8, "xy": [4.0, -2.0], "yaw": 5.497787143782138}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.5757230511430635, 1.5776808942228424, 0.6958453902466379], "written_at": "2026-06-30T17:11:15"}
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| 76 |
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{"dataset_name": "mug_tree_session1", "episode_index": 75, "grid": [9, 9], "manifest_idx": 75, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 2, "sampler": "eval_heldout", "steps": 201, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 8, "xy": [4.0, -2.0], "yaw": 1.5707963267948966}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.6631444383529015, 1.8413687873398885, -2.3241577721458744], "written_at": "2026-06-30T17:11:36"}
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{"dataset_name": "mug_tree_session1", "episode_index": 76, "grid": [9, 9], "manifest_idx": 76, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 3, "sampler": "baseline_uniform", "steps": 216, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 8, "xy": [4.0, -2.0], "yaw": 5.497787143782138}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.1289263572314496, -2.9818647125819178, -1.8506771674885174], "written_at": "2026-06-30T17:12:31"}
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{"dataset_name": "mug_tree_session1", "episode_index": 77, "grid": [9, 9], "manifest_idx": 77, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 4, "sampler": "baseline_uniform", "steps": 325, "success": true, "task_name": "mug_tree", "tree": {"col": 5, "row": 8, "xy": [4.0, 1.0], "yaw": 0.7853981633974483}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.12192224538902341, -2.183408633120902, 0.8500321420604564], "written_at": "2026-06-30T17:14:57"}
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{"dataset_name": "mug_tree_session1", "episode_index": 78, "grid": [9, 9], "manifest_idx": 78, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 5, "sampler": "baseline_uniform", "steps": 380, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 7, "xy": [3.0, -2.0], "yaw": 5.497787143782138}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.0773693119743486, 0.1888690996584188, 0.5813757166394637], "written_at": "2026-06-30T17:15:53"}
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{"dataset_name": "mug_tree_session1", "episode_index": 79, "grid": [9, 9], "manifest_idx": 79, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 6, "sampler": "ours_sobol", "steps": 316, "success": true, "task_name": "mug_tree", "tree": {"col": 2, "row": 7, "xy": [3.0, -2.0], "yaw": 2.356194490192345}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-3.0234296005801298, 0.7642245761817321, 0.5846784064081851], "written_at": "2026-06-30T17:16:41"}
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| 81 |
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{"dataset_name": "mug_tree_session1", "episode_index": 80, "grid": [9, 9], "manifest_idx": 80, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 7, "sampler": "ours_sobol", "steps": 334, "success": true, "task_name": "mug_tree", "tree": {"col": 6, "row": 7, "xy": [3.0, 2.0], "yaw": 0.7853981633974483}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.7767525516101159, 1.8450365740573034, -0.07576631208530271], "written_at": "2026-06-30T17:18:46"}
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| 82 |
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{"dataset_name": "mug_tree_session1", "episode_index": 81, "grid": [9, 9], "manifest_idx": 81, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 8, "sampler": "baseline_uniform", "steps": 282, "success": true, "task_name": "mug_tree", "tree": {"col": 6, "row": 7, "xy": [3.0, 2.0], "yaw": 5.497787143782138}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-0.1604409044245121, 1.728193580731035, 1.780487937788008], "written_at": "2026-06-30T17:19:37"}
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| 83 |
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{"dataset_name": "mug_tree_session1", "episode_index": 82, "grid": [9, 9], "manifest_idx": 82, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 9, "sampler": "ours_sobol", "steps": 237, "success": true, "task_name": "mug_tree", "tree": {"col": 6, "row": 8, "xy": [4.0, 2.0], "yaw": 2.356194490192345}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-2.850285613210872, -0.9393455648096278, 2.8105881334886247], "written_at": "2026-06-30T17:20:22"}
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| 84 |
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{"dataset_name": "mug_tree_session1", "episode_index": 83, "grid": [9, 9], "manifest_idx": 83, "mesh_path": "/iris/u/aneeshm/mug_tree_grid_mesh.json", "sample_index": 10, "sampler": "eval_heldout", "steps": 338, "success": true, "task_name": "mug_tree", "tree": {"col": 6, "row": 7, "xy": [3.0, 2.0], "yaw": 1.5707963267948966}, "units": "squares(2in); origin=board center; +x->back, +y->left", "white": [-1.3064898886950687, -0.6470194371649995, 0.6358284066338631], "written_at": "2026-06-30T17:21:59"}
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meta/reset_timing.jsonl
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{"wall": "16:45:37.530", "mono": 697404.336, "phase": "reset_ready_total", "dt_s": 8.879}
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{"wall": "16:46:33.621", "mono": 697460.427, "phase": "save_episode_to_dataset", "dt_s": 64.975, "episode": 72}
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{"wall": "16:46:33.649", "mono": 697460.455, "phase": "background_save_total", "dt_s": 65.003, "episode": 72}
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{"wall": "16:45:37.530", "mono": 697404.336, "phase": "reset_ready_total", "dt_s": 8.879}
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{"wall": "16:46:33.621", "mono": 697460.427, "phase": "save_episode_to_dataset", "dt_s": 64.975, "episode": 72}
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{"wall": "16:46:33.649", "mono": 697460.455, "phase": "background_save_total", "dt_s": 65.003, "episode": 72}
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{"wall": "17:08:12.856", "mono": 698759.663, "phase": "session_start", "dataset": "/scr/aneeshm/sir_data/mug_tree_session1"}
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{"wall": "17:08:12.857", "mono": 698759.663, "phase": "teleop_episode_enter", "has_mesh": true, "has_target": true}
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{"wall": "17:08:13.123", "mono": 698759.929, "phase": "write_visualization", "dt_s": 0.266}
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{"wall": "17:08:14.749", "mono": 698761.555, "phase": "verified_reset", "dt_s": 1.626}
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{"wall": "17:08:14.749", "mono": 698761.555, "phase": "reset_ready_total", "dt_s": 1.892}
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{"wall": "17:09:23.286", "mono": 698830.093, "phase": "save_in_flight_at_loop_top"}
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{"wall": "17:09:23.286", "mono": 698830.093, "phase": "teleop_episode_enter", "has_mesh": true, "has_target": true}
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{"wall": "17:09:23.627", "mono": 698830.433, "phase": "write_visualization", "dt_s": 0.339}
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{"wall": "17:09:31.177", "mono": 698837.983, "phase": "verified_reset", "dt_s": 7.55}
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{"wall": "17:09:31.178", "mono": 698837.985, "phase": "reset_ready_total", "dt_s": 7.892}
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{"wall": "17:09:38.043", "mono": 698844.849, "phase": "save_episode_to_dataset", "dt_s": 14.757, "episode": 73}
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{"wall": "17:09:38.043", "mono": 698844.849, "phase": "background_save_total", "dt_s": 14.757, "episode": 73}
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{"wall": "17:10:40.011", "mono": 698906.818, "phase": "save_wait_blocking", "dt_s": 0.0}
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{"wall": "17:10:40.012", "mono": 698906.819, "phase": "save_in_flight_at_loop_top"}
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| 1857 |
[
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|
@@ -1889,242 +1508,623 @@
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| 2007 |
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| 2011 |
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|
| 2012 |
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|
| 2013 |
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|
| 2014 |
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| 2015 |
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| 2016 |
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|
| 2017 |
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|
| 2018 |
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| 2019 |
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|
| 2020 |
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| 2021 |
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| 2022 |
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| 2023 |
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| 2024 |
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| 2025 |
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| 2027 |
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| 2028 |
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| 2029 |
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| 2030 |
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| 2031 |
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| 2032 |
-
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meta/teleop_manifest_ledger.jsonl
CHANGED
|
@@ -71,3 +71,14 @@
|
|
| 71 |
{"cup_x": -0.08220839057522826, "cup_y": -0.005191296224389225, "cup_yaw": 0.26887660120682844, "dataset_name": "mug_tree_session1", "episode_index": 70, "initial_state_visualization_path": "data/mug_tree_session1/meta/initial_state_targets/target_0070.png", "manifest_idx": 70, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "ours_sobol", "manifest_source_index": 69, "steps": 430, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": 0.0508, "written_at": "2026-06-30T16:42:28"}
|
| 72 |
{"cup_x": -0.08084925361617934, "cup_y": -0.08743316756039858, "cup_yaw": 1.9350391122260886, "dataset_name": "mug_tree_session1", "episode_index": 71, "initial_state_visualization_path": "data/mug_tree_session1/meta/initial_state_targets/target_0071.png", "manifest_idx": 71, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "ours_sobol", "manifest_source_index": 37, "steps": 466, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": -0.1016, "written_at": "2026-06-30T16:45:28"}
|
| 73 |
{"cup_x": -0.1569953208059538, "cup_y": -0.15416098660910502, "cup_yaw": -1.4462906577083108, "dataset_name": "mug_tree_session1", "episode_index": 72, "initial_state_visualization_path": "data/mug_tree_session1/meta/initial_state_targets/target_0072.png", "manifest_idx": 72, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "ours_sobol", "manifest_source_index": 51, "steps": 208, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": -0.2032, "written_at": "2026-06-30T16:46:33"}
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|
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|
|
| 71 |
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|
| 72 |
{"cup_x": -0.08084925361617934, "cup_y": -0.08743316756039858, "cup_yaw": 1.9350391122260886, "dataset_name": "mug_tree_session1", "episode_index": 71, "initial_state_visualization_path": "data/mug_tree_session1/meta/initial_state_targets/target_0071.png", "manifest_idx": 71, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "ours_sobol", "manifest_source_index": 37, "steps": 466, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": -0.1016, "written_at": "2026-06-30T16:45:28"}
|
| 73 |
{"cup_x": -0.1569953208059538, "cup_y": -0.15416098660910502, "cup_yaw": -1.4462906577083108, "dataset_name": "mug_tree_session1", "episode_index": 72, "initial_state_visualization_path": "data/mug_tree_session1/meta/initial_state_targets/target_0072.png", "manifest_idx": 72, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "ours_sobol", "manifest_source_index": 51, "steps": 208, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": -0.2032, "written_at": "2026-06-30T16:46:33"}
|
| 74 |
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{"cup_x": -0.13296761321183656, "cup_y": 0.013842546156999435, "cup_yaw": -2.800491343368891, "dataset_name": "mug_tree_session1", "episode_index": 73, "initial_state_visualization_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_state_targets/target_0073.png", "manifest_idx": 73, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "baseline_uniform", "manifest_source_index": 47, "steps": 189, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": 0.0508, "written_at": "2026-06-30T17:09:38"}
|
| 75 |
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|
| 76 |
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{"cup_x": -0.0844877374683274, "cup_y": 0.09354153439686633, "cup_yaw": -2.3241577721458744, "dataset_name": "mug_tree_session1", "episode_index": 75, "initial_state_visualization_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_state_targets/target_0075.png", "manifest_idx": 75, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "eval_heldout", "manifest_source_index": 41, "steps": 201, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": -0.1016, "written_at": "2026-06-30T17:11:36"}
|
| 77 |
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{"cup_x": -0.057349458947357636, "cup_y": -0.1514787273991614, "cup_yaw": -1.8506771674885174, "dataset_name": "mug_tree_session1", "episode_index": 76, "initial_state_visualization_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_state_targets/target_0076.png", "manifest_idx": 76, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "baseline_uniform", "manifest_source_index": 19, "steps": 216, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": -0.1016, "written_at": "2026-06-30T17:12:31"}
|
| 78 |
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{"cup_x": -0.006193650065762389, "cup_y": -0.11091715856254182, "cup_yaw": 0.8500321420604564, "dataset_name": "mug_tree_session1", "episode_index": 77, "initial_state_visualization_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_state_targets/target_0077.png", "manifest_idx": 77, "manifest_sha256": "28fa19c746d4d615d8f3d50302055250ff6de5db6e6265d7011a29fa6f54f18a", "manifest_snapshot_path": "/scr/aneeshm/sir_data/mug_tree_session1/meta/initial_states_manifest.json", "manifest_source": "baseline_uniform", "manifest_source_index": 15, "steps": 325, "success": true, "task_name": "mug_tree", "tree_x": 0.2032, "tree_y": 0.0508, "written_at": "2026-06-30T17:14:57"}
|
| 79 |
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|
| 80 |
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