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- 20260121/Half_coke_2_lerobot/meta/episodes.jsonl +7 -0
- 20260121/Half_coke_2_lerobot/meta/info.json +239 -0
- 20260121/Half_coke_2_lerobot/meta/modality.json +59 -0
- 20260121/Half_coke_2_lerobot/meta/stats.json +84 -0
- 20260121/Half_coke_2_lerobot/meta/tasks.jsonl +1 -0
- 20260121/Half_water_1_lerobot/meta/episodes.jsonl +8 -0
- 20260121/Half_water_1_lerobot/meta/info.json +233 -0
- 20260121/Half_water_1_lerobot/meta/modality.json +59 -0
- 20260121/Half_water_1_lerobot/meta/stats.json +84 -0
- 20260121/Half_water_1_lerobot/meta/tasks.jsonl +1 -0
- 20260121/Jelly_5_lerobot/meta/episodes.jsonl +33 -0
- 20260121/Jelly_5_lerobot/meta/info.json +233 -0
- 20260121/Jelly_5_lerobot/meta/modality.json +59 -0
- 20260121/Jelly_5_lerobot/meta/stats.json +84 -0
- 20260121/Jelly_5_lerobot/meta/tasks.jsonl +1 -0
- 20260121/Jelly_6_lerobot/meta/info.json +222 -0
- 20260121/Jelly_6_lerobot/meta/modality.json +59 -0
- 20260121/Jelly_6_lerobot/meta/stats.json +84 -0
- 20260121/Jelly_6_lerobot/meta/tasks.jsonl +1 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000000.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000001.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000002.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000003.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000004.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000005.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000006.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000007.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000008.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000009.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000010.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000011.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000012.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000013.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000014.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000015.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000016.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000017.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000018.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000019.parquet +3 -0
- 20260506/Chip_2_lerobot/data/chunk-000/episode_000020.parquet +3 -0
- 20260506/Chip_2_lerobot/meta/episodes/chunk-000/file-000.parquet +3 -0
- 20260506/Chip_2_lerobot/meta/tasks.parquet +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000000.mp4 +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000001.mp4 +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000002.mp4 +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000003.mp4 +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000004.mp4 +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000005.mp4 +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000006.mp4 +3 -0
- 20260506/Chip_2_lerobot/videos/chunk-000/observation.images.main/episode_000007.mp4 +3 -0
20260121/Half_coke_2_lerobot/meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["pick up half cup of coke"], "length": 89}
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{"episode_index": 1, "tasks": ["pick up half cup of coke"], "length": 85}
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{"episode_index": 2, "tasks": ["pick up half cup of coke"], "length": 74}
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{"episode_index": 3, "tasks": ["pick up half cup of coke"], "length": 110}
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{"episode_index": 4, "tasks": ["pick up half cup of coke"], "length": 112}
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{"episode_index": 5, "tasks": ["pick up half cup of coke"], "length": 94}
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{"episode_index": 6, "tasks": ["pick up half cup of coke"], "length": 101}
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20260121/Half_coke_2_lerobot/meta/info.json
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| 212 |
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"min": 0.986682,
|
| 213 |
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"max": 0.999956
|
| 214 |
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}
|
| 215 |
+
},
|
| 216 |
+
"point_count": 0,
|
| 217 |
+
"calibration_info": {
|
| 218 |
+
"cameras": [
|
| 219 |
+
"camera-et-left",
|
| 220 |
+
"camera-et-right",
|
| 221 |
+
"camera-rgb",
|
| 222 |
+
"camera-slam-left",
|
| 223 |
+
"camera-slam-right"
|
| 224 |
+
],
|
| 225 |
+
"imus": [
|
| 226 |
+
"imu-left",
|
| 227 |
+
"imu-right"
|
| 228 |
+
],
|
| 229 |
+
"et_cameras": [],
|
| 230 |
+
"has_online_calibration": false,
|
| 231 |
+
"online_calibration_count": 0,
|
| 232 |
+
"online_time_range_ns": null
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
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"conversion_time": 1772421745.5034368,
|
| 236 |
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"video_shards": 7,
|
| 237 |
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"parquet_shards": 7,
|
| 238 |
+
"path_format": "groot"
|
| 239 |
+
}
|
20260121/Half_coke_2_lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,59 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"state": {
|
| 3 |
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"hand_landmarks": {
|
| 4 |
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"original_key": "observation.state",
|
| 5 |
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"start": 0,
|
| 6 |
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"end": 63,
|
| 7 |
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"description": "Hand landmarks in world coordinates (21 joints * 3 coords). May contain NaN when hands not detected."
|
| 8 |
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},
|
| 9 |
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"gaze": {
|
| 10 |
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"original_key": "observation.state",
|
| 11 |
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"start": 63,
|
| 12 |
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"end": 65,
|
| 13 |
+
"description": "Eye gaze projection in normalized UV coordinates [0-1] on RGB camera image plane"
|
| 14 |
+
},
|
| 15 |
+
"device_pose": {
|
| 16 |
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"original_key": "observation.state",
|
| 17 |
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"start": 65,
|
| 18 |
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"end": 79,
|
| 19 |
+
"description": "Device pose: 4x4 transformation matrix (world_T_device) flattened, last 14 elements [rotation(9) + translation(3) + bottom_row(2)]"
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
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"action": {
|
| 23 |
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"ring_tip_force_xyz": {
|
| 24 |
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"original_key": "action",
|
| 25 |
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"start": 0,
|
| 26 |
+
"end": 3,
|
| 27 |
+
"description": "Ring finger tip tactile force vector (fx, fy, fz) from sensor"
|
| 28 |
+
},
|
| 29 |
+
"ring_tip_force_magnitude": {
|
| 30 |
+
"original_key": "action",
|
| 31 |
+
"start": 3,
|
| 32 |
+
"end": 4,
|
| 33 |
+
"description": "Ring finger tip tactile force magnitude"
|
| 34 |
+
},
|
| 35 |
+
"little_tip_force_xyz": {
|
| 36 |
+
"original_key": "action",
|
| 37 |
+
"start": 4,
|
| 38 |
+
"end": 7,
|
| 39 |
+
"description": "Little finger tip tactile force vector (fx, fy, fz) from sensor"
|
| 40 |
+
},
|
| 41 |
+
"little_tip_force_magnitude": {
|
| 42 |
+
"original_key": "action",
|
| 43 |
+
"start": 7,
|
| 44 |
+
"end": 8,
|
| 45 |
+
"description": "Little finger tip tactile force magnitude"
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
"video": {
|
| 49 |
+
"main": {
|
| 50 |
+
"original_key": "observation.images.main"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"annotation": {
|
| 54 |
+
"human.task_description": {
|
| 55 |
+
"original_key": "task_index",
|
| 56 |
+
"description": "Task description annotation from tasks.parquet"
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
}
|
20260121/Half_coke_2_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,84 @@
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|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
| 1 |
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{
|
| 2 |
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"observation.state": {
|
| 3 |
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| 4 |
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|
| 5 |
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| 6 |
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| 9 |
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| 11 |
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| 12 |
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| 13 |
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| 20 |
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| 21 |
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| 22 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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|
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|
| 37 |
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| 39 |
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| 40 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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|
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| 82 |
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|
| 83 |
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|
| 84 |
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|
20260121/Half_coke_2_lerobot/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up half cup of coke"}
|
20260121/Half_water_1_lerobot/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
| 1 |
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{"episode_index": 0, "tasks": ["pick up half cup of water"], "length": 97}
|
| 2 |
+
{"episode_index": 1, "tasks": ["pick up half cup of water"], "length": 80}
|
| 3 |
+
{"episode_index": 2, "tasks": ["pick up half cup of water"], "length": 76}
|
| 4 |
+
{"episode_index": 3, "tasks": ["pick up half cup of water"], "length": 61}
|
| 5 |
+
{"episode_index": 4, "tasks": ["pick up half cup of water"], "length": 59}
|
| 6 |
+
{"episode_index": 5, "tasks": ["pick up half cup of water"], "length": 66}
|
| 7 |
+
{"episode_index": 6, "tasks": ["pick up half cup of water"], "length": 54}
|
| 8 |
+
{"episode_index": 7, "tasks": ["pick up half cup of water"], "length": 71}
|
20260121/Half_water_1_lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,233 @@
|
|
|
|
|
|
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|
|
|
|
|
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|
|
| 1 |
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{
|
| 2 |
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"codebase_version": "v3.0",
|
| 3 |
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"total_episodes": 8,
|
| 4 |
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"total_frames": 564,
|
| 5 |
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"total_tasks": 1,
|
| 6 |
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"total_videos": 1,
|
| 7 |
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"total_chunks": 1,
|
| 8 |
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"chunks_size": 1000,
|
| 9 |
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"fps": 9.99999956530614,
|
| 10 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 11 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 12 |
+
"features": {
|
| 13 |
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"index": {
|
| 14 |
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"dtype": "int64",
|
| 15 |
+
"shape": [
|
| 16 |
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1
|
| 17 |
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],
|
| 18 |
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"names": null
|
| 19 |
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},
|
| 20 |
+
"episode_index": {
|
| 21 |
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"dtype": "int64",
|
| 22 |
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"shape": [
|
| 23 |
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|
| 24 |
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],
|
| 25 |
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"names": null
|
| 26 |
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},
|
| 27 |
+
"episode_chunk": {
|
| 28 |
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"dtype": "int64",
|
| 29 |
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"shape": [
|
| 30 |
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1
|
| 31 |
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],
|
| 32 |
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"names": null
|
| 33 |
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},
|
| 34 |
+
"frame_index": {
|
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20260121/Half_water_1_lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,59 @@
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| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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|
20260121/Half_water_1_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,84 @@
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|
20260121/Half_water_1_lerobot/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up half cup of water"}
|
20260121/Jelly_5_lerobot/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,33 @@
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|
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|
|
|
|
|
| 1 |
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{"episode_index": 0, "tasks": ["pick up the jelly"], "length": 109}
|
| 2 |
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{"episode_index": 1, "tasks": ["pick up the jelly"], "length": 91}
|
| 3 |
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{"episode_index": 2, "tasks": ["pick up the jelly"], "length": 123}
|
| 4 |
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20260121/Jelly_5_lerobot/meta/info.json
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20260121/Jelly_5_lerobot/meta/modality.json
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+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 63,
|
| 7 |
+
"description": "Hand landmarks in world coordinates (21 joints * 3 coords). May contain NaN when hands not detected."
|
| 8 |
+
},
|
| 9 |
+
"gaze": {
|
| 10 |
+
"original_key": "observation.state",
|
| 11 |
+
"start": 63,
|
| 12 |
+
"end": 65,
|
| 13 |
+
"description": "Eye gaze projection in normalized UV coordinates [0-1] on RGB camera image plane"
|
| 14 |
+
},
|
| 15 |
+
"device_pose": {
|
| 16 |
+
"original_key": "observation.state",
|
| 17 |
+
"start": 65,
|
| 18 |
+
"end": 79,
|
| 19 |
+
"description": "Device pose: 4x4 transformation matrix (world_T_device) flattened, last 14 elements [rotation(9) + translation(3) + bottom_row(2)]"
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"action": {
|
| 23 |
+
"ring_tip_force_xyz": {
|
| 24 |
+
"original_key": "action",
|
| 25 |
+
"start": 0,
|
| 26 |
+
"end": 3,
|
| 27 |
+
"description": "Ring finger tip tactile force vector (fx, fy, fz) from sensor"
|
| 28 |
+
},
|
| 29 |
+
"ring_tip_force_magnitude": {
|
| 30 |
+
"original_key": "action",
|
| 31 |
+
"start": 3,
|
| 32 |
+
"end": 4,
|
| 33 |
+
"description": "Ring finger tip tactile force magnitude"
|
| 34 |
+
},
|
| 35 |
+
"little_tip_force_xyz": {
|
| 36 |
+
"original_key": "action",
|
| 37 |
+
"start": 4,
|
| 38 |
+
"end": 7,
|
| 39 |
+
"description": "Little finger tip tactile force vector (fx, fy, fz) from sensor"
|
| 40 |
+
},
|
| 41 |
+
"little_tip_force_magnitude": {
|
| 42 |
+
"original_key": "action",
|
| 43 |
+
"start": 7,
|
| 44 |
+
"end": 8,
|
| 45 |
+
"description": "Little finger tip tactile force magnitude"
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
"video": {
|
| 49 |
+
"main": {
|
| 50 |
+
"original_key": "observation.images.main"
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"annotation": {
|
| 54 |
+
"human.task_description": {
|
| 55 |
+
"original_key": "task_index",
|
| 56 |
+
"description": "Task description annotation from tasks.parquet"
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
}
|
20260121/Jelly_5_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,84 @@
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"mean": [
|
| 4 |
+
NaN,
|
| 5 |
+
NaN,
|
| 6 |
+
NaN,
|
| 7 |
+
NaN,
|
| 8 |
+
NaN,
|
| 9 |
+
NaN,
|
| 10 |
+
NaN
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
NaN,
|
| 14 |
+
NaN,
|
| 15 |
+
NaN,
|
| 16 |
+
NaN,
|
| 17 |
+
NaN,
|
| 18 |
+
NaN,
|
| 19 |
+
NaN
|
| 20 |
+
],
|
| 21 |
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"min": [
|
| 22 |
+
NaN,
|
| 23 |
+
NaN,
|
| 24 |
+
NaN,
|
| 25 |
+
NaN,
|
| 26 |
+
NaN,
|
| 27 |
+
NaN,
|
| 28 |
+
NaN
|
| 29 |
+
],
|
| 30 |
+
"max": [
|
| 31 |
+
NaN,
|
| 32 |
+
NaN,
|
| 33 |
+
NaN,
|
| 34 |
+
NaN,
|
| 35 |
+
NaN,
|
| 36 |
+
NaN,
|
| 37 |
+
NaN
|
| 38 |
+
],
|
| 39 |
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"q01": [
|
| 40 |
+
NaN,
|
| 41 |
+
NaN,
|
| 42 |
+
NaN,
|
| 43 |
+
NaN,
|
| 44 |
+
NaN,
|
| 45 |
+
NaN,
|
| 46 |
+
NaN
|
| 47 |
+
],
|
| 48 |
+
"q99": [
|
| 49 |
+
NaN,
|
| 50 |
+
NaN,
|
| 51 |
+
NaN,
|
| 52 |
+
NaN,
|
| 53 |
+
NaN,
|
| 54 |
+
NaN,
|
| 55 |
+
NaN
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
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"action": {
|
| 59 |
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"mean": [
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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"max": [
|
| 72 |
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|
| 73 |
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83.4385986328125
|
| 74 |
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|
| 75 |
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"q01": [
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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"q99": [
|
| 80 |
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|
| 81 |
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|
| 82 |
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]
|
| 83 |
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}
|
| 84 |
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}
|
20260121/Jelly_5_lerobot/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up the jelly"}
|
20260121/Jelly_6_lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"codebase_version": "v3.0",
|
| 3 |
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"total_episodes": 23,
|
| 4 |
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"total_frames": 2022,
|
| 5 |
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"total_tasks": 1,
|
| 6 |
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|
| 7 |
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|
| 8 |
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"chunks_size": 1000,
|
| 9 |
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"fps": 10.000040994045603,
|
| 10 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 11 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 12 |
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"features": {
|
| 13 |
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"index": {
|
| 14 |
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"dtype": "int64",
|
| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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|
| 19 |
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},
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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],
|
| 25 |
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|
| 26 |
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},
|
| 27 |
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"episode_chunk": {
|
| 28 |
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|
| 29 |
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"shape": [
|
| 30 |
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|
| 31 |
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],
|
| 32 |
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"names": null
|
| 33 |
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},
|
| 34 |
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"frame_index": {
|
| 35 |
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"dtype": "int64",
|
| 36 |
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"shape": [
|
| 37 |
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1
|
| 38 |
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],
|
| 39 |
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"names": null
|
| 40 |
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},
|
| 41 |
+
"task_index": {
|
| 42 |
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|
| 43 |
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"shape": [
|
| 44 |
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1
|
| 45 |
+
],
|
| 46 |
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"names": null
|
| 47 |
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},
|
| 48 |
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"timestamp": {
|
| 49 |
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"dtype": "float64",
|
| 50 |
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"shape": [
|
| 51 |
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1
|
| 52 |
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],
|
| 53 |
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|
| 54 |
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},
|
| 55 |
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"timestamp_ns": {
|
| 56 |
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|
| 57 |
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"shape": [
|
| 58 |
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1
|
| 59 |
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],
|
| 60 |
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|
| 61 |
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},
|
| 62 |
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|
| 63 |
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"dtype": "int32",
|
| 64 |
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"shape": [
|
| 65 |
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1
|
| 66 |
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],
|
| 67 |
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|
| 68 |
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},
|
| 69 |
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"step": {
|
| 70 |
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|
| 71 |
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|
| 72 |
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1
|
| 73 |
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],
|
| 74 |
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|
| 75 |
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},
|
| 76 |
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|
| 77 |
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|
| 78 |
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"shape": [
|
| 79 |
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7
|
| 80 |
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],
|
| 81 |
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|
| 82 |
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|
| 83 |
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"action": {
|
| 84 |
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|
| 85 |
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"shape": [
|
| 86 |
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|
| 87 |
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],
|
| 88 |
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"names": null
|
| 89 |
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},
|
| 90 |
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|
| 91 |
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|
| 92 |
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"shape": [
|
| 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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"action.tactile.left.force_total": {
|
| 98 |
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|
| 99 |
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|
| 100 |
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1
|
| 101 |
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],
|
| 102 |
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|
| 103 |
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},
|
| 104 |
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"action.tactile.right.force_total": {
|
| 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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},
|
| 111 |
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|
| 112 |
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|
| 113 |
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"shape": [
|
| 114 |
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|
| 115 |
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1408,
|
| 116 |
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|
| 117 |
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],
|
| 118 |
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|
| 119 |
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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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|
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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}
|
| 133 |
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}
|
| 134 |
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},
|
| 135 |
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"robot_type": "aria",
|
| 136 |
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"splits": {
|
| 137 |
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"train": "0:23"
|
| 138 |
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},
|
| 139 |
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"aria_session_info": {
|
| 140 |
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"capabilities": {
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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"has_hands": true,
|
| 145 |
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"has_points": true,
|
| 146 |
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"has_observations": true,
|
| 147 |
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|
| 148 |
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"available_cameras": [
|
| 149 |
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"camera-et-left",
|
| 150 |
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"camera-et-right",
|
| 151 |
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"camera-rgb",
|
| 152 |
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"camera-slam-left",
|
| 153 |
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|
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|
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20260121/Jelly_6_lerobot/meta/modality.json
ADDED
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| 16 |
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| 17 |
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| 18 |
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|
| 20 |
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| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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"description": "Little finger tip tactile force vector (fx, fy, fz) from sensor"
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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}
|
| 58 |
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}
|
| 59 |
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|
20260121/Jelly_6_lerobot/meta/stats.json
ADDED
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20260121/Jelly_6_lerobot/meta/tasks.jsonl
ADDED
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| 1 |
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{"task_index": 0, "task": "pick up the jelly"}
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