Add 6 YAM eval episodes
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +184 -0
- meta/stats.json +934 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.camera_front/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.camera_left/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.camera_right/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:ecb016923232ac4b308716332a662a98056c9accfaabecd9c272c5b0ba3071ce
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size 428867
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meta/episodes/chunk-000/file-000.parquet
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:7e709f936810a2b23aef1f6c6cd07e952d645b6e3247f4560e1246bccff4a8f3
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size 68193
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meta/info.json
ADDED
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@@ -0,0 +1,184 @@
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{
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"codebase_version": "v3.0",
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"fps": 30,
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"features": {
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| 5 |
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"observation.state": {
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"dtype": "float32",
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| 7 |
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"shape": [
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14
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],
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| 10 |
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"names": [
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"left_joint1",
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"left_joint2",
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"left_joint3",
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| 14 |
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"left_joint4",
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| 15 |
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"left_joint5",
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| 16 |
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"left_joint6",
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| 17 |
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"left_gripper",
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| 18 |
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"right_joint1",
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| 19 |
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"right_joint2",
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| 20 |
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"right_joint3",
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| 21 |
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"right_joint4",
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| 22 |
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"right_joint5",
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| 23 |
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"right_joint6",
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| 24 |
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"right_gripper"
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| 25 |
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]
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| 26 |
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},
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| 27 |
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"action": {
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| 28 |
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"dtype": "float32",
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| 29 |
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"shape": [
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| 30 |
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14
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| 31 |
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],
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| 32 |
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"names": [
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| 33 |
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"left_joint1",
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| 34 |
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"left_joint2",
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| 35 |
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"left_joint3",
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| 36 |
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"left_joint4",
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| 37 |
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"left_joint5",
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| 38 |
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"left_joint6",
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| 39 |
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"left_gripper",
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| 40 |
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"right_joint1",
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| 41 |
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"right_joint2",
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| 42 |
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"right_joint3",
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| 43 |
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"right_joint4",
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| 44 |
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"right_joint5",
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| 45 |
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"right_joint6",
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| 46 |
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"right_gripper"
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| 47 |
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]
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| 48 |
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},
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| 49 |
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"observation.images.camera_front": {
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| 50 |
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"dtype": "video",
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| 51 |
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"shape": [
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| 52 |
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360,
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| 53 |
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640,
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| 54 |
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3
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| 55 |
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],
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| 56 |
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"names": [
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| 57 |
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"height",
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| 58 |
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"width",
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| 59 |
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"channels"
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| 60 |
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],
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| 61 |
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"info": {
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| 62 |
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"video.height": 360,
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| 63 |
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"video.width": 640,
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| 64 |
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"video.codec": "h264",
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| 65 |
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"video.pix_fmt": "yuv420p",
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| 66 |
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"video.is_depth_map": false,
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| 67 |
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"video.fps": 30,
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| 68 |
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"video.channels": 3,
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| 69 |
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"has_audio": false,
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| 70 |
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"video.g": 2,
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| 71 |
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"video.crf": 30,
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| 72 |
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"video.preset": null,
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| 73 |
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"video.fast_decode": 0,
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| 74 |
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"video.video_backend": "pyav",
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| 75 |
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"video.extra_options": {}
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| 76 |
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}
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| 77 |
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},
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| 78 |
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"observation.images.camera_left": {
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| 79 |
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"dtype": "video",
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| 80 |
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"shape": [
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| 81 |
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360,
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| 82 |
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640,
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| 83 |
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3
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| 84 |
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],
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| 85 |
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"names": [
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| 86 |
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"height",
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| 87 |
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"width",
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| 88 |
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"channels"
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| 89 |
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],
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| 90 |
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"info": {
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| 91 |
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"video.height": 360,
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| 92 |
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"video.width": 640,
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| 93 |
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"video.codec": "h264",
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| 94 |
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"video.pix_fmt": "yuv420p",
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| 95 |
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"video.is_depth_map": false,
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| 96 |
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"video.fps": 30,
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| 97 |
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"video.channels": 3,
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| 98 |
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"has_audio": false,
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| 99 |
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"video.g": 2,
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| 100 |
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"video.crf": 30,
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| 101 |
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"video.preset": null,
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| 102 |
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"video.fast_decode": 0,
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| 103 |
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"video.video_backend": "pyav",
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| 104 |
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"video.extra_options": {}
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| 105 |
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}
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| 106 |
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},
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| 107 |
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"observation.images.camera_right": {
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| 108 |
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"dtype": "video",
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| 109 |
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"shape": [
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| 110 |
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360,
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| 111 |
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640,
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| 112 |
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3
|
| 113 |
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],
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| 114 |
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"names": [
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| 115 |
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"height",
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| 116 |
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"width",
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| 117 |
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"channels"
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| 118 |
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],
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| 119 |
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"info": {
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| 120 |
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"video.height": 360,
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| 121 |
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"video.width": 640,
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| 122 |
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"video.codec": "h264",
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| 123 |
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"video.pix_fmt": "yuv420p",
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| 124 |
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"video.is_depth_map": false,
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| 125 |
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"video.fps": 30,
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| 126 |
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"video.channels": 3,
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| 127 |
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"has_audio": false,
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| 128 |
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"video.g": 2,
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| 129 |
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"video.crf": 30,
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| 130 |
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"video.preset": null,
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| 131 |
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"video.fast_decode": 0,
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| 132 |
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"video.video_backend": "pyav",
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| 133 |
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"video.extra_options": {}
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| 134 |
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}
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| 135 |
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},
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| 136 |
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"timestamp": {
|
| 137 |
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"dtype": "float32",
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| 138 |
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"shape": [
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| 139 |
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| 140 |
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],
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| 141 |
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"names": null
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| 142 |
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},
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| 143 |
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"frame_index": {
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| 144 |
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"dtype": "int64",
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| 145 |
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"shape": [
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| 146 |
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| 147 |
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],
|
| 148 |
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"names": null
|
| 149 |
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},
|
| 150 |
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"episode_index": {
|
| 151 |
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"dtype": "int64",
|
| 152 |
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"shape": [
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| 153 |
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1
|
| 154 |
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],
|
| 155 |
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"names": null
|
| 156 |
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},
|
| 157 |
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"index": {
|
| 158 |
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"dtype": "int64",
|
| 159 |
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"shape": [
|
| 160 |
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1
|
| 161 |
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],
|
| 162 |
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"names": null
|
| 163 |
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},
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| 164 |
+
"task_index": {
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| 165 |
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"dtype": "int64",
|
| 166 |
+
"shape": [
|
| 167 |
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1
|
| 168 |
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],
|
| 169 |
+
"names": null
|
| 170 |
+
}
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| 171 |
+
},
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| 172 |
+
"total_episodes": 6,
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| 173 |
+
"total_frames": 6276,
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| 174 |
+
"total_tasks": 1,
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| 175 |
+
"chunks_size": 1000,
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| 176 |
+
"data_files_size_in_mb": 100,
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| 177 |
+
"video_files_size_in_mb": 200,
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| 178 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 179 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 180 |
+
"robot_type": "molmoact_dual_arm",
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| 181 |
+
"splits": {
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| 182 |
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"train": "0:6"
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| 183 |
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}
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| 184 |
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}
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meta/stats.json
ADDED
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@@ -0,0 +1,934 @@
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