Unify RoboTwin clean+aug keys, validity, schema-v3 norm_stats
#2
by GT-111 - opened
This view is limited to 50 files because it contains too many changes. See the raw diff here.
- README.md +97 -18
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/data/chunk-000/file-000.parquet +2 -2
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/episodes/chunk-000/file-000.parquet +2 -2
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/info.json +176 -179
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/norm_stats.json +85 -105
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/stats.json +459 -459
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-000.mp4 +0 -0
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-001.mp4 +0 -0
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-002.mp4 +0 -0
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-000.mp4 +0 -0
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-001.mp4 +0 -0
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-000.mp4 +0 -0
- aug/adjust_bottle-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-001.mp4 +0 -0
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/data/chunk-000/file-000.parquet +2 -2
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/meta/episodes/chunk-000/file-000.parquet +2 -2
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/meta/info.json +176 -179
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/meta/norm_stats.json +85 -105
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/meta/stats.json +459 -459
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-000.mp4 +0 -0
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-001.mp4 +0 -0
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-000.mp4 +0 -0
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-001.mp4 +0 -0
- aug/beat_block_hammer-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-000.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/data/chunk-000/file-000.parquet +2 -2
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/meta/episodes/chunk-000/file-000.parquet +2 -2
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/meta/info.json +176 -179
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/meta/norm_stats.json +85 -105
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/meta/stats.json +459 -459
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-000.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-001.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-002.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-003.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-004.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-005.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-006.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-007.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-000.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-001.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-002.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-003.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-000.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-001.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-002.mp4 +0 -0
- aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-003.mp4 +0 -0
- aug/blocks_ranking_size/data/chunk-000/file-000.parquet +2 -2
- aug/blocks_ranking_size/meta/episodes/chunk-000/file-000.parquet +2 -2
- aug/blocks_ranking_size/meta/info.json +176 -179
- aug/blocks_ranking_size/meta/norm_stats.json +85 -105
- aug/blocks_ranking_size/meta/stats.json +459 -459
- aug/blocks_ranking_size/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-000.mp4 +0 -0
README.md
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license: cc-by-nc-sa-4.0
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task_categories:
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- robotics
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tags:
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- robotwin
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---
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#
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##
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- **16D bimanual EEF**: left arm [xyz, qw, qx, qy, qz, gripper] + right arm [xyz, qw, qx, qy, qz, gripper]
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- **Quaternion**: wxyz, scalar-first
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- **State**: absolute pose. **Action**: absolute position + absolute quaternion + gripper
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- **3 cameras**: `cam_high` + `cam_left_wrist` + `cam_right_wrist`, 640×480
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- **2 subsets**: `clean` (50 demos/task) and `aug` (500 demos/task), 100 total datasets
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- ~32K episodes, ~6M total frames
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- Raw values; use `{subset}/{task}/meta/norm_stats.json` for per-task stats
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```python
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from lerobot.datasets import LeRobotDataset
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```
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##
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license: cc-by-nc-sa-4.0
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task_categories:
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- robotics
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- other
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language:
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- en
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tags:
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- synthetic
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- bimanual
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- manipulation
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- LeRobot
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- v3
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- end-effector-pose
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- robotwin
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- aloha
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size_categories:
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- n<1T
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pretty_name: "RoboTwin (LeRobot v3 EE)"
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viewer: false
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---
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# RoboTwin v3 EEF (LeRobot v3)
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This is a **LeRobot v3** format conversion of the [RoboTwin](https://github.com/RoboTwin-Platform/RoboTwin) bimanual benchmark (source: [robbyant/robotwin-clean-and-aug-lerobot](https://huggingface.co/datasets/robbyant/robotwin-clean-and-aug-lerobot)), reorganized into a canonical **bimanual 16D end-effector (EE) pose** representation. 50 Hz, 50 tasks, two subsets (`clean/` 50 demos/task and `aug/` 500 demos/task).
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## Original Dataset
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**RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation**
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> Chen, T., et al. *RoboTwin 2.0*. arXiv:2506.18088, 2025.
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- **Original Source**: https://huggingface.co/datasets/robbyant/robotwin-clean-and-aug-lerobot
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- **Project Website**: https://robotwin-platform.github.io
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- **GitHub**: https://github.com/RoboTwin-Platform/RoboTwin
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RoboTwin is a bimanual manipulation benchmark on an Aloha-AgileX dual-arm robot. This conversion covers the 50 official tasks in both the clean demonstration split and the domain-randomized augmented split.
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## License
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This dataset is released under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/), consistent with the original RoboTwin LeRobot release.
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## Conversion Details
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### What we changed
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1. **Canonical Bimanual EE Pose Representation**: Proprioception and actions are a single **16D bimanual EE pose vector** — per arm: position xyz (metres) + quaternion in scalar-first **WXYZ** order + gripper, left arm first then right arm.
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2. **Next-Observation-Absolute Actions**: Row `t` stores the pose that observation row `t+1` attains. Terminal rows have no next observation; they are marked `transition_action_valid = false` and must not be supervised.
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3. **Unified camera keys**: Three 640×480 RGB views as `observation.images.head` (overhead), `observation.images.wrist_left`, and `observation.images.wrist_right`. Videos are lossless stream-copied from the source; they are not re-encoded.
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4. **LeRobot v3 Format**: Per-task datasets with sharded MP4 video and Parquet frame data at 50 Hz.
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### What we preserved
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- All 50 tasks in both `clean/` and `aug/`
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- Episode structure and task labels
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- Frame-level timestamps
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- Source numeric poses (WXYZ, next-observation-absolute)
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### Observation and action convention
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- `observation.state`: 16D bimanual end-effector pose — per arm `[x, y, z, qw, qx, qy, qz, gripper]`, left arm (dims 0–7) then right arm (dims 8–15). Gripper is continuous with 0 = closed and 1 = open.
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- `action`: 16D absolute bimanual end-effector pose with the same layout; row `t` is the pose attained by observation row `t+1`.
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- `transition_action_valid` is `true` exactly on rows that have a contiguous next observation in the same episode; the last row of each episode is `false`.
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- Cameras: `observation.images.head`, `observation.images.wrist_left`, `observation.images.wrist_right`.
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### Layout
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Each task is a self-contained LeRobot v3 dataset under `clean/` or `aug/`:
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```
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robotwin_v3_eef/
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├── clean/<task>/ # 50 demos / task
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│ ├── data/chunk-*/file-*.parquet
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│ ├── videos/observation.images.{head,wrist_left,wrist_right}/chunk-*/file-*.mp4
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│ └── meta/
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│ ├── info.json
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│ ├── tasks.parquet
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│ ├── episodes/chunk-*/file-*.parquet
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│ ├── stats.json
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│ └── norm_stats.json # post-pipeline normalization stats
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├── aug/<task>/ # 500 demos / task (same layout)
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└── README.md
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```
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## Usage
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```python
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from lerobot.datasets import LeRobotDataset
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dataset = LeRobotDataset(
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"GT-111/robotwin_v3_eef",
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root="clean/adjust_bottle-demo_clean_collect_200-50",
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)
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```
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Per-task `meta/norm_stats.json` files are computed in the training transform space (canonical WXYZ → Rot6D → delta, before padding). The `__norm_stats__` provenance block is kept only in local trees and is stripped from this Hub projection.
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## Citation
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If you use this dataset, please cite the original RoboTwin paper:
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```bibtex
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@article{chen2025robotwin,
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title={RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation},
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author={Chen, Tianxing and others},
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journal={arXiv preprint arXiv:2506.18088},
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year={2025}
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}
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```
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## Version History
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- **v3.0** (current): LeRobot v3 conversion with canonical 16D bimanual EE pose layout, next-observation-absolute actions, unified camera keys, and terminal-row validity mask
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"names": [
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"left_qw",
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"fps": 50
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"action": {
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"dtype": "float32",
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"shape": [
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-
"left_x",
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aug/adjust_bottle-aloha-agilex_randomized_500-1000/meta/stats.json
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aug/beat_block_hammer-aloha-agilex_randomized_500-1000/meta/stats.json
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/meta/norm_stats.json
CHANGED
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-000.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-002.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-003.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-004.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-005.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-006.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-007.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-000.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-001.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-002.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_left_wrist → observation.images.wrist_left}/chunk-000/file-003.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-000.mp4
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aug/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/videos/{observation.images.cam_right_wrist → observation.images.wrist_right}/chunk-000/file-001.mp4
RENAMED
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|
aug/blocks_ranking_size/videos/{observation.images.cam_high → observation.images.head}/chunk-000/file-000.mp4
RENAMED
|
File without changes
|