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  1. AgiBotWorld-RichInteraction/task_4224/meta/info.json +474 -0
  2. AgiBotWorld-RichInteraction/task_4224/meta/train.jsonl +14 -0
  3. AgiBotWorld-RichInteraction/task_4224/meta/val.jsonl +1 -0
  4. AgiBotWorld-RichInteraction/task_4231/meta/info.json +474 -0
  5. AgiBotWorld-RichInteraction/task_4231/meta/train.jsonl +14 -0
  6. AgiBotWorld-RichInteraction/task_4231/meta/val.jsonl +1 -0
  7. AgiBotWorld-RichInteraction/task_4560/meta/info.json +474 -0
  8. AgiBotWorld-RichInteraction/task_4560/meta/train.jsonl +14 -0
  9. AgiBotWorld-RichInteraction/task_4560/meta/val.jsonl +1 -0
  10. AgiBotWorld-RichInteraction/task_5015/meta/info.json +474 -0
  11. AgiBotWorld-RichInteraction/task_5015/meta/train.jsonl +14 -0
  12. AgiBotWorld-RichInteraction/task_5015/meta/val.jsonl +1 -0
  13. RealSource-World/Arrange_the_cups/meta/info.json +1149 -0
  14. RealSource-World/Arrange_the_cups/meta/train.jsonl +48 -0
  15. RealSource-World/Arrange_the_cups/meta/val.jsonl +2 -0
  16. RealSource-World/Cable_Plugging_able/meta/info.json +1149 -0
  17. RealSource-World/Cable_Plugging_able/meta/train.jsonl +48 -0
  18. RealSource-World/Cable_Plugging_able/meta/val.jsonl +2 -0
  19. RealSource-World/Make_toast/meta/info.json +1149 -0
  20. RealSource-World/Make_toast/meta/train.jsonl +48 -0
  21. RealSource-World/Make_toast/meta/val.jsonl +2 -0
  22. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_left/episode_000048.mp4 +3 -0
  23. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_left/episode_000049.mp4 +3 -0
  24. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000000.mp4 +3 -0
  25. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000001.mp4 +3 -0
  26. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000002.mp4 +3 -0
  27. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000003.mp4 +3 -0
  28. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000004.mp4 +3 -0
  29. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000005.mp4 +3 -0
  30. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000006.mp4 +3 -0
  31. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000007.mp4 +3 -0
  32. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000008.mp4 +3 -0
  33. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000009.mp4 +3 -0
  34. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000010.mp4 +3 -0
  35. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000011.mp4 +3 -0
  36. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000012.mp4 +3 -0
  37. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000013.mp4 +3 -0
  38. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000014.mp4 +3 -0
  39. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000015.mp4 +3 -0
  40. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000016.mp4 +3 -0
  41. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000017.mp4 +3 -0
  42. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000018.mp4 +3 -0
  43. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000019.mp4 +3 -0
  44. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000020.mp4 +3 -0
  45. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000021.mp4 +3 -0
  46. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000022.mp4 +3 -0
  47. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000023.mp4 +3 -0
  48. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000024.mp4 +3 -0
  49. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000025.mp4 +3 -0
  50. RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000026.mp4 +3 -0
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