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| }, |
| "oculus": { |
| "adb_serial": "2G0YC5ZG6R02SL" |
| } |
| } |
| }, |
| "total_chunks": 1, |
| "total_videos": 3, |
| "subset": { |
| "preserves_original_episode_indices": true, |
| "episode_indices": [ |
| 0, |
| 2, |
| 4, |
| 6, |
| 8, |
| 10, |
| 12, |
| 14, |
| 16, |
| 18, |
| 20, |
| 22, |
| 24, |
| 26, |
| 28, |
| 30, |
| 32, |
| 34, |
| 36, |
| 38, |
| 40, |
| 42 |
| ], |
| "note": "Sparse subset; no contiguous LeRobot split is declared." |
| } |
| } |
|
|