Trim leading/trailing frozen action frames per episode
Browse files- README.md +146 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +104 -0
- meta/stats.json +474 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
README.md
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| 1 |
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---
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| 2 |
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license: apache-2.0
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| 3 |
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task_categories:
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| 4 |
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- robotics
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| 5 |
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tags:
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- LeRobot
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| 7 |
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configs:
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| 8 |
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- config_name: default
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| 9 |
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data_files: data/*/*.parquet
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| 10 |
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---
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| 11 |
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| 12 |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=ETHrobotlearning/task3-merged-original-clean">
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| 16 |
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<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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| 17 |
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<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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</a>
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## Dataset Description
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| 22 |
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- **Homepage:** [More Information Needed]
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| 26 |
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- **Paper:** [More Information Needed]
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| 27 |
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- **License:** apache-2.0
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| 28 |
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| 29 |
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## Dataset Structure
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| 30 |
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[meta/info.json](meta/info.json):
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| 32 |
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```json
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| 33 |
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{
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| 34 |
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"codebase_version": "v3.0",
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| 35 |
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"fps": 10,
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| 36 |
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"features": {
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| 37 |
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"action": {
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| 38 |
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"dtype": "float32",
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| 39 |
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"names": [
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| 40 |
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"shoulder_pan.pos",
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| 41 |
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"shoulder_lift.pos",
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| 42 |
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"elbow_flex.pos",
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| 43 |
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"wrist_flex.pos",
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| 44 |
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"wrist_roll.pos",
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| 45 |
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"gripper.pos"
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| 46 |
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],
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| 47 |
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"shape": [
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| 48 |
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6
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| 49 |
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]
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| 50 |
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},
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| 51 |
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"observation.state": {
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| 52 |
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"dtype": "float32",
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| 53 |
+
"names": [
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| 54 |
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"shoulder_pan.pos",
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| 55 |
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"shoulder_lift.pos",
|
| 56 |
+
"elbow_flex.pos",
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| 57 |
+
"wrist_flex.pos",
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| 58 |
+
"wrist_roll.pos",
|
| 59 |
+
"gripper.pos"
|
| 60 |
+
],
|
| 61 |
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"shape": [
|
| 62 |
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6
|
| 63 |
+
]
|
| 64 |
+
},
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| 65 |
+
"observation.images.front": {
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| 66 |
+
"dtype": "video",
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| 67 |
+
"shape": [
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| 68 |
+
480,
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| 69 |
+
640,
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| 70 |
+
3
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| 71 |
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],
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| 72 |
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"names": [
|
| 73 |
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"height",
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| 74 |
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"width",
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| 75 |
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"channels"
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| 76 |
+
],
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| 77 |
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"info": {
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| 78 |
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"video.height": 480,
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| 79 |
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"video.width": 640,
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| 80 |
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"video.codec": "av1",
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| 81 |
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"video.pix_fmt": "yuv420p",
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| 82 |
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"video.is_depth_map": false,
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| 83 |
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"video.fps": 10,
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| 84 |
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"video.channels": 3,
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| 85 |
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"has_audio": false
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| 86 |
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}
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| 87 |
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},
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| 88 |
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"timestamp": {
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| 89 |
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"dtype": "float32",
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| 90 |
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"shape": [
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| 91 |
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1
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| 92 |
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],
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| 93 |
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"names": null
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| 94 |
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},
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| 95 |
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"frame_index": {
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| 96 |
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"dtype": "int64",
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| 97 |
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"shape": [
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| 98 |
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1
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| 99 |
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],
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| 100 |
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"names": null
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| 101 |
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},
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| 102 |
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"episode_index": {
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| 103 |
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"dtype": "int64",
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| 104 |
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"shape": [
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| 105 |
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1
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| 106 |
+
],
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| 107 |
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"names": null
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| 108 |
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},
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| 109 |
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"index": {
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| 110 |
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"dtype": "int64",
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| 111 |
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"shape": [
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| 112 |
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1
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| 113 |
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],
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| 114 |
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"names": null
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| 115 |
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},
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| 116 |
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"task_index": {
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| 117 |
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"dtype": "int64",
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| 118 |
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"shape": [
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| 119 |
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1
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| 120 |
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],
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| 121 |
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"names": null
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| 122 |
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}
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| 123 |
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},
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| 124 |
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"total_episodes": 91,
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| 125 |
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"total_frames": 11623,
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| 126 |
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"total_tasks": 3,
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| 127 |
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"chunks_size": 1000,
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| 128 |
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"data_files_size_in_mb": 100,
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| 129 |
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"video_files_size_in_mb": 200,
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| 130 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 131 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 132 |
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"robot_type": "so_follower",
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| 133 |
+
"splits": {
|
| 134 |
+
"train": "0:91"
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| 135 |
+
}
|
| 136 |
+
}
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| 137 |
+
```
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| 138 |
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| 139 |
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| 140 |
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## Citation
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| 141 |
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| 142 |
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**BibTeX:**
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| 143 |
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|
| 144 |
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```bibtex
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| 145 |
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[More Information Needed]
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| 146 |
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```
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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:8f6cd53d012d6548c15c90943a5bbf2307184c37cfbc097f85473058c0f66513
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size 262406
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:6c46800477d83b3aa809c5eb2ea7ebf2eb7e6140f0259198f16029c128f55327
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| 3 |
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size 175288
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meta/info.json
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| 1 |
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{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"fps": 10,
|
| 4 |
+
"features": {
|
| 5 |
+
"action": {
|
| 6 |
+
"dtype": "float32",
|
| 7 |
+
"names": [
|
| 8 |
+
"shoulder_pan.pos",
|
| 9 |
+
"shoulder_lift.pos",
|
| 10 |
+
"elbow_flex.pos",
|
| 11 |
+
"wrist_flex.pos",
|
| 12 |
+
"wrist_roll.pos",
|
| 13 |
+
"gripper.pos"
|
| 14 |
+
],
|
| 15 |
+
"shape": [
|
| 16 |
+
6
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"observation.state": {
|
| 20 |
+
"dtype": "float32",
|
| 21 |
+
"names": [
|
| 22 |
+
"shoulder_pan.pos",
|
| 23 |
+
"shoulder_lift.pos",
|
| 24 |
+
"elbow_flex.pos",
|
| 25 |
+
"wrist_flex.pos",
|
| 26 |
+
"wrist_roll.pos",
|
| 27 |
+
"gripper.pos"
|
| 28 |
+
],
|
| 29 |
+
"shape": [
|
| 30 |
+
6
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"observation.images.front": {
|
| 34 |
+
"dtype": "video",
|
| 35 |
+
"shape": [
|
| 36 |
+
480,
|
| 37 |
+
640,
|
| 38 |
+
3
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
"height",
|
| 42 |
+
"width",
|
| 43 |
+
"channels"
|
| 44 |
+
],
|
| 45 |
+
"info": {
|
| 46 |
+
"video.height": 480,
|
| 47 |
+
"video.width": 640,
|
| 48 |
+
"video.codec": "av1",
|
| 49 |
+
"video.pix_fmt": "yuv420p",
|
| 50 |
+
"video.is_depth_map": false,
|
| 51 |
+
"video.fps": 10,
|
| 52 |
+
"video.channels": 3,
|
| 53 |
+
"has_audio": false
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"timestamp": {
|
| 57 |
+
"dtype": "float32",
|
| 58 |
+
"shape": [
|
| 59 |
+
1
|
| 60 |
+
],
|
| 61 |
+
"names": null
|
| 62 |
+
},
|
| 63 |
+
"frame_index": {
|
| 64 |
+
"dtype": "int64",
|
| 65 |
+
"shape": [
|
| 66 |
+
1
|
| 67 |
+
],
|
| 68 |
+
"names": null
|
| 69 |
+
},
|
| 70 |
+
"episode_index": {
|
| 71 |
+
"dtype": "int64",
|
| 72 |
+
"shape": [
|
| 73 |
+
1
|
| 74 |
+
],
|
| 75 |
+
"names": null
|
| 76 |
+
},
|
| 77 |
+
"index": {
|
| 78 |
+
"dtype": "int64",
|
| 79 |
+
"shape": [
|
| 80 |
+
1
|
| 81 |
+
],
|
| 82 |
+
"names": null
|
| 83 |
+
},
|
| 84 |
+
"task_index": {
|
| 85 |
+
"dtype": "int64",
|
| 86 |
+
"shape": [
|
| 87 |
+
1
|
| 88 |
+
],
|
| 89 |
+
"names": null
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"total_episodes": 91,
|
| 93 |
+
"total_frames": 8968,
|
| 94 |
+
"total_tasks": 3,
|
| 95 |
+
"chunks_size": 1000,
|
| 96 |
+
"data_files_size_in_mb": 100,
|
| 97 |
+
"video_files_size_in_mb": 200,
|
| 98 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 99 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 100 |
+
"robot_type": "so_follower",
|
| 101 |
+
"splits": {
|
| 102 |
+
"train": "0:91"
|
| 103 |
+
}
|
| 104 |
+
}
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meta/stats.json
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