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Browse files- AgiBotWorld-RichInteraction/task_4224/meta/info.json +474 -0
- AgiBotWorld-RichInteraction/task_4224/meta/train.jsonl +14 -0
- AgiBotWorld-RichInteraction/task_4224/meta/val.jsonl +1 -0
- AgiBotWorld-RichInteraction/task_4231/meta/info.json +474 -0
- AgiBotWorld-RichInteraction/task_4231/meta/train.jsonl +14 -0
- AgiBotWorld-RichInteraction/task_4231/meta/val.jsonl +1 -0
- AgiBotWorld-RichInteraction/task_4560/meta/info.json +474 -0
- AgiBotWorld-RichInteraction/task_4560/meta/train.jsonl +14 -0
- AgiBotWorld-RichInteraction/task_4560/meta/val.jsonl +1 -0
- AgiBotWorld-RichInteraction/task_5015/meta/info.json +474 -0
- AgiBotWorld-RichInteraction/task_5015/meta/train.jsonl +14 -0
- AgiBotWorld-RichInteraction/task_5015/meta/val.jsonl +1 -0
- RealSource-World/Arrange_the_cups/meta/info.json +1149 -0
- RealSource-World/Arrange_the_cups/meta/train.jsonl +48 -0
- RealSource-World/Arrange_the_cups/meta/val.jsonl +2 -0
- RealSource-World/Cable_Plugging_able/meta/info.json +1149 -0
- RealSource-World/Cable_Plugging_able/meta/train.jsonl +48 -0
- RealSource-World/Cable_Plugging_able/meta/val.jsonl +2 -0
- RealSource-World/Make_toast/meta/info.json +1149 -0
- RealSource-World/Make_toast/meta/train.jsonl +48 -0
- RealSource-World/Make_toast/meta/val.jsonl +2 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_left/episode_000048.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_left/episode_000049.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000000.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000001.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000002.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000003.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000004.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000005.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000006.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000007.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000008.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000009.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000010.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000011.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000012.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000013.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000014.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000015.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000016.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000017.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000018.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000019.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000020.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000021.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000022.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000023.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000024.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000025.mp4 +3 -0
- RealSource-World/Make_toast/videos/chunk-000/observation.images.hand_right/episode_000026.mp4 +3 -0
AgiBotWorld-RichInteraction/task_4224/meta/info.json
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|
AgiBotWorld-RichInteraction/task_4224/meta/train.jsonl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000000.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000001.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 3 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000002.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 4 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000003.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 5 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000004.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 6 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000005.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 7 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000006.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 8 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000007.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 9 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000008.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 10 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000009.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 11 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000010.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 12 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000011.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 13 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000012.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 14 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000013.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
AgiBotWorld-RichInteraction/task_4224/meta/val.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000014.mp4", "caption": "Homestay 1-World Model (Full Body Motion)", "ee_type": "zhiyuan_gripper_omnipicker"}
|
AgiBotWorld-RichInteraction/task_4231/meta/info.json
ADDED
|
@@ -0,0 +1,474 @@
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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 |
+
{
|
| 2 |
+
"action_profile": {
|
| 3 |
+
"type": "joint_fk",
|
| 4 |
+
"action_space": "leroboteef_abs_direct_g2fk",
|
| 5 |
+
"fk_backend": "g2fk"
|
| 6 |
+
},
|
| 7 |
+
"fps": 30,
|
| 8 |
+
"features": {
|
| 9 |
+
"action": {
|
| 10 |
+
"shape": [
|
| 11 |
+
24
|
| 12 |
+
],
|
| 13 |
+
"field_descriptions": {
|
| 14 |
+
"action/left_effector/position": {
|
| 15 |
+
"indices": [
|
| 16 |
+
0
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"action/right_effector/position": {
|
| 20 |
+
"indices": [
|
| 21 |
+
1
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"action/joint/position": {
|
| 25 |
+
"indices": [
|
| 26 |
+
2,
|
| 27 |
+
3,
|
| 28 |
+
4,
|
| 29 |
+
5,
|
| 30 |
+
6,
|
| 31 |
+
7,
|
| 32 |
+
8,
|
| 33 |
+
9,
|
| 34 |
+
10,
|
| 35 |
+
11,
|
| 36 |
+
12,
|
| 37 |
+
13,
|
| 38 |
+
14,
|
| 39 |
+
15
|
| 40 |
+
]
|
| 41 |
+
},
|
| 42 |
+
"action/head/position": {
|
| 43 |
+
"indices": [
|
| 44 |
+
16,
|
| 45 |
+
17,
|
| 46 |
+
18
|
| 47 |
+
]
|
| 48 |
+
},
|
| 49 |
+
"action/waist/position": {
|
| 50 |
+
"indices": [
|
| 51 |
+
19,
|
| 52 |
+
20,
|
| 53 |
+
21,
|
| 54 |
+
22,
|
| 55 |
+
23
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
"observation.state": {
|
| 61 |
+
"shape": [
|
| 62 |
+
60
|
| 63 |
+
],
|
| 64 |
+
"field_descriptions": {
|
| 65 |
+
"state/left_effector/position": {
|
| 66 |
+
"indices": [
|
| 67 |
+
0
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"state/right_effector/position": {
|
| 71 |
+
"indices": [
|
| 72 |
+
1
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
"state/joint/position": {
|
| 76 |
+
"indices": [
|
| 77 |
+
2,
|
| 78 |
+
3,
|
| 79 |
+
4,
|
| 80 |
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5,
|
| 81 |
+
6,
|
| 82 |
+
7,
|
| 83 |
+
8,
|
| 84 |
+
9,
|
| 85 |
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10,
|
| 86 |
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11,
|
| 87 |
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12,
|
| 88 |
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13,
|
| 89 |
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14,
|
| 90 |
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15
|
| 91 |
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]
|
| 92 |
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},
|
| 93 |
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"state/head/position": {
|
| 94 |
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|
| 95 |
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16,
|
| 96 |
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17,
|
| 97 |
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18
|
| 98 |
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]
|
| 99 |
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},
|
| 100 |
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"state/waist/position": {
|
| 101 |
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"indices": [
|
| 102 |
+
19,
|
| 103 |
+
20,
|
| 104 |
+
21,
|
| 105 |
+
22,
|
| 106 |
+
23
|
| 107 |
+
]
|
| 108 |
+
},
|
| 109 |
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"head_extrinsic_params_aligned/rotation_matrix": {
|
| 110 |
+
"indices": [
|
| 111 |
+
24,
|
| 112 |
+
25,
|
| 113 |
+
26,
|
| 114 |
+
27,
|
| 115 |
+
28,
|
| 116 |
+
29,
|
| 117 |
+
30,
|
| 118 |
+
31,
|
| 119 |
+
32
|
| 120 |
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]
|
| 121 |
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},
|
| 122 |
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"head_extrinsic_params_aligned/translation_vector": {
|
| 123 |
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"indices": [
|
| 124 |
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33,
|
| 125 |
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34,
|
| 126 |
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35
|
| 127 |
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]
|
| 128 |
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},
|
| 129 |
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"hand_left_extrinsic_params_aligned/rotation_matrix": {
|
| 130 |
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"indices": [
|
| 131 |
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36,
|
| 132 |
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37,
|
| 133 |
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38,
|
| 134 |
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|
| 135 |
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40,
|
| 136 |
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41,
|
| 137 |
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42,
|
| 138 |
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43,
|
| 139 |
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44
|
| 140 |
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]
|
| 141 |
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},
|
| 142 |
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"hand_left_extrinsic_params_aligned/translation_vector": {
|
| 143 |
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"indices": [
|
| 144 |
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45,
|
| 145 |
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46,
|
| 146 |
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47
|
| 147 |
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]
|
| 148 |
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},
|
| 149 |
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"hand_right_extrinsic_params_aligned/rotation_matrix": {
|
| 150 |
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"indices": [
|
| 151 |
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48,
|
| 152 |
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49,
|
| 153 |
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50,
|
| 154 |
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51,
|
| 155 |
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52,
|
| 156 |
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53,
|
| 157 |
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54,
|
| 158 |
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55,
|
| 159 |
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56
|
| 160 |
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]
|
| 161 |
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},
|
| 162 |
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"hand_right_extrinsic_params_aligned/translation_vector": {
|
| 163 |
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"indices": [
|
| 164 |
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57,
|
| 165 |
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58,
|
| 166 |
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59
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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}
|
| 170 |
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}
|
| 171 |
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},
|
| 172 |
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"camera_parameters": {
|
| 173 |
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"0": {
|
| 174 |
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"head_intrinsic_params": {
|
| 175 |
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"fx": 306.2835083008,
|
| 176 |
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"fy": 306.2155761719,
|
| 177 |
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"ppx": 318.0995788574,
|
| 178 |
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"ppy": 205.065246582
|
| 179 |
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},
|
| 180 |
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"hand_left_intrinsic_params": {
|
| 181 |
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"fx": 241.9733009023711,
|
| 182 |
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"fy": 241.73338812386694,
|
| 183 |
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"ppx": 322.80093245390344,
|
| 184 |
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"ppy": 261.28533089110505
|
| 185 |
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},
|
| 186 |
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"hand_right_intrinsic_params": {
|
| 187 |
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"fx": 241.7238600404018,
|
| 188 |
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"fy": 241.47631951514745,
|
| 189 |
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"ppx": 322.2808135494361,
|
| 190 |
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"ppy": 265.3026301171805
|
| 191 |
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}
|
| 192 |
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},
|
| 193 |
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"1": {
|
| 194 |
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"head_intrinsic_params": {
|
| 195 |
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"fx": 306.2835083008,
|
| 196 |
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"fy": 306.2155761719,
|
| 197 |
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"ppx": 318.0995788574,
|
| 198 |
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"ppy": 205.065246582
|
| 199 |
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},
|
| 200 |
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"hand_left_intrinsic_params": {
|
| 201 |
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"fx": 241.9733009023711,
|
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|
AgiBotWorld-RichInteraction/task_4231/meta/train.jsonl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000000.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000001.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 3 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000002.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 4 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000003.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 5 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000004.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 6 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000005.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 7 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000006.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 8 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000007.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 9 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000008.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 10 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000009.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 11 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000010.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 12 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000011.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 13 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000012.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 14 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000013.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
AgiBotWorld-RichInteraction/task_4231/meta/val.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000014.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
AgiBotWorld-RichInteraction/task_4560/meta/info.json
ADDED
|
@@ -0,0 +1,474 @@
|
|
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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"type": "joint_fk",
|
| 4 |
+
"action_space": "leroboteef_abs_direct_g2fk",
|
| 5 |
+
"fk_backend": "g2fk"
|
| 6 |
+
},
|
| 7 |
+
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|
| 8 |
+
"features": {
|
| 9 |
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|
| 10 |
+
"shape": [
|
| 11 |
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24
|
| 12 |
+
],
|
| 13 |
+
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|
| 14 |
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|
| 15 |
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"indices": [
|
| 16 |
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0
|
| 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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1
|
| 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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2,
|
| 27 |
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3,
|
| 28 |
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4,
|
| 29 |
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| 30 |
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6,
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| 31 |
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| 32 |
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|
| 33 |
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| 34 |
+
10,
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| 35 |
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11,
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| 36 |
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12,
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| 37 |
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|
| 38 |
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14,
|
| 39 |
+
15
|
| 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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17,
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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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20,
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| 53 |
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| 54 |
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22,
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| 55 |
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23
|
| 56 |
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]
|
| 57 |
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|
| 58 |
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}
|
| 59 |
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},
|
| 60 |
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|
| 61 |
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"shape": [
|
| 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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| 72 |
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| 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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| 79 |
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| 80 |
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| 81 |
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6,
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| 82 |
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7,
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| 83 |
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8,
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| 84 |
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9,
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| 85 |
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10,
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| 86 |
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11,
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| 87 |
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12,
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| 88 |
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13,
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| 89 |
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14,
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| 90 |
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| 91 |
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|
| 92 |
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|
| 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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| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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21,
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| 105 |
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22,
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| 106 |
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23
|
| 107 |
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]
|
| 108 |
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},
|
| 109 |
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"head_extrinsic_params_aligned/rotation_matrix": {
|
| 110 |
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|
| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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28,
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| 116 |
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29,
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| 117 |
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| 118 |
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31,
|
| 119 |
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32
|
| 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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| 126 |
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35
|
| 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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| 136 |
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| 137 |
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42,
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| 138 |
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| 139 |
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44
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| 140 |
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]
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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50,
|
| 154 |
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|
| 155 |
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52,
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| 156 |
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53,
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| 157 |
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54,
|
| 158 |
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55,
|
| 159 |
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56
|
| 160 |
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|
| 161 |
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},
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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58,
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| 166 |
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59
|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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}
|
| 170 |
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}
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| 171 |
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},
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 186 |
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| 192 |
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| 194 |
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|
| 474 |
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|
AgiBotWorld-RichInteraction/task_4560/meta/train.jsonl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000000.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000001.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 3 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000002.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 4 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000003.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 5 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000004.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 6 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000005.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 7 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000006.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 8 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000007.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 9 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000008.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 10 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000009.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 11 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000010.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 12 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000011.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 13 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000012.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 14 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000013.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
AgiBotWorld-RichInteraction/task_4560/meta/val.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000014.mp4", "caption": "Homestay 1-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
AgiBotWorld-RichInteraction/task_5015/meta/info.json
ADDED
|
@@ -0,0 +1,474 @@
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| 1 |
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| 2 |
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| 56 |
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| 329 |
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|
| 473 |
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|
| 474 |
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|
AgiBotWorld-RichInteraction/task_5015/meta/train.jsonl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000000.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000001.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 3 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000002.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 4 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000003.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 5 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000004.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 6 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000005.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 7 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000006.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 8 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000007.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 9 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000008.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 10 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000009.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 11 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000010.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 12 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000011.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 13 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000012.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 14 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000013.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
AgiBotWorld-RichInteraction/task_5015/meta/val.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000014.mp4", "caption": "Homestay 2-World Model.", "ee_type": "zhiyuan_gripper_omnipicker"}
|
RealSource-World/Arrange_the_cups/meta/info.json
ADDED
|
@@ -0,0 +1,1149 @@
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|
| 1 |
+
{
|
| 2 |
+
"action_profile": {
|
| 3 |
+
"type": "direct_eef",
|
| 4 |
+
"action_space": "leroboteef_abs_direct_parquet"
|
| 5 |
+
},
|
| 6 |
+
"fps": 30,
|
| 7 |
+
"features": {
|
| 8 |
+
"action": {
|
| 9 |
+
"shape": [
|
| 10 |
+
16
|
| 11 |
+
],
|
| 12 |
+
"field_descriptions": {
|
| 13 |
+
"action/left_effector/position": {
|
| 14 |
+
"indices": [
|
| 15 |
+
0
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"action/right_effector/position": {
|
| 19 |
+
"indices": [
|
| 20 |
+
1
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
"action/end/position": {
|
| 24 |
+
"indices": [
|
| 25 |
+
2,
|
| 26 |
+
3,
|
| 27 |
+
4,
|
| 28 |
+
5,
|
| 29 |
+
6,
|
| 30 |
+
7
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"action/end/orientation": {
|
| 34 |
+
"indices": [
|
| 35 |
+
8,
|
| 36 |
+
9,
|
| 37 |
+
10,
|
| 38 |
+
11,
|
| 39 |
+
12,
|
| 40 |
+
13,
|
| 41 |
+
14,
|
| 42 |
+
15
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"observation.state": {
|
| 48 |
+
"shape": [
|
| 49 |
+
52
|
| 50 |
+
],
|
| 51 |
+
"field_descriptions": {
|
| 52 |
+
"state/left_effector/position": {
|
| 53 |
+
"indices": [
|
| 54 |
+
0
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"state/right_effector/position": {
|
| 58 |
+
"indices": [
|
| 59 |
+
1
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"state/end/position": {
|
| 63 |
+
"indices": [
|
| 64 |
+
2,
|
| 65 |
+
3,
|
| 66 |
+
4,
|
| 67 |
+
5,
|
| 68 |
+
6,
|
| 69 |
+
7
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"state/end/orientation": {
|
| 73 |
+
"indices": [
|
| 74 |
+
8,
|
| 75 |
+
9,
|
| 76 |
+
10,
|
| 77 |
+
11,
|
| 78 |
+
12,
|
| 79 |
+
13,
|
| 80 |
+
14,
|
| 81 |
+
15
|
| 82 |
+
]
|
| 83 |
+
},
|
| 84 |
+
"head_extrinsic_params_aligned/rotation_matrix": {
|
| 85 |
+
"indices": [
|
| 86 |
+
16,
|
| 87 |
+
17,
|
| 88 |
+
18,
|
| 89 |
+
19,
|
| 90 |
+
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|
RealSource-World/Arrange_the_cups/meta/train.jsonl
ADDED
|
@@ -0,0 +1,48 @@
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|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000000.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000001.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 3 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000002.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 4 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000003.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 5 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000004.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 6 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000005.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 7 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000006.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 8 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000007.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 9 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000008.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 10 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000009.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 11 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000010.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 12 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000011.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 13 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000012.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 14 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000013.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 15 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000014.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 16 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000015.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 17 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000016.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 18 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000017.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 19 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000018.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 20 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000019.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 21 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000020.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 22 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000021.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 23 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000022.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 24 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000023.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 25 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000024.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 26 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000025.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 27 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000026.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 28 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000027.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 29 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000028.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 30 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000029.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 31 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000030.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 32 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000031.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 33 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000032.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 34 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000033.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 35 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000034.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 36 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000035.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 37 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000036.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 38 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000037.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 39 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000038.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 40 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000039.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 41 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000040.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 42 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000041.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 43 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000042.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 44 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000043.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 45 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000044.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 46 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000045.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 47 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000046.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 48 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000047.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
RealSource-World/Arrange_the_cups/meta/val.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
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|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000048.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000049.mp4", "caption": "Arrange the cups", "ee_type": "zhiyuan_gripper_omnipicker"}
|
RealSource-World/Cable_Plugging_able/meta/info.json
ADDED
|
@@ -0,0 +1,1149 @@
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|
| 1 |
+
{
|
| 2 |
+
"action_profile": {
|
| 3 |
+
"type": "direct_eef",
|
| 4 |
+
"action_space": "leroboteef_abs_direct_parquet"
|
| 5 |
+
},
|
| 6 |
+
"fps": 30,
|
| 7 |
+
"features": {
|
| 8 |
+
"action": {
|
| 9 |
+
"shape": [
|
| 10 |
+
16
|
| 11 |
+
],
|
| 12 |
+
"field_descriptions": {
|
| 13 |
+
"action/left_effector/position": {
|
| 14 |
+
"indices": [
|
| 15 |
+
0
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"action/right_effector/position": {
|
| 19 |
+
"indices": [
|
| 20 |
+
1
|
| 21 |
+
]
|
| 22 |
+
},
|
| 23 |
+
"action/end/position": {
|
| 24 |
+
"indices": [
|
| 25 |
+
2,
|
| 26 |
+
3,
|
| 27 |
+
4,
|
| 28 |
+
5,
|
| 29 |
+
6,
|
| 30 |
+
7
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"action/end/orientation": {
|
| 34 |
+
"indices": [
|
| 35 |
+
8,
|
| 36 |
+
9,
|
| 37 |
+
10,
|
| 38 |
+
11,
|
| 39 |
+
12,
|
| 40 |
+
13,
|
| 41 |
+
14,
|
| 42 |
+
15
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"observation.state": {
|
| 48 |
+
"shape": [
|
| 49 |
+
52
|
| 50 |
+
],
|
| 51 |
+
"field_descriptions": {
|
| 52 |
+
"state/left_effector/position": {
|
| 53 |
+
"indices": [
|
| 54 |
+
0
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"state/right_effector/position": {
|
| 58 |
+
"indices": [
|
| 59 |
+
1
|
| 60 |
+
]
|
| 61 |
+
},
|
| 62 |
+
"state/end/position": {
|
| 63 |
+
"indices": [
|
| 64 |
+
2,
|
| 65 |
+
3,
|
| 66 |
+
4,
|
| 67 |
+
5,
|
| 68 |
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6,
|
| 69 |
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7
|
| 70 |
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]
|
| 71 |
+
},
|
| 72 |
+
"state/end/orientation": {
|
| 73 |
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|
| 74 |
+
8,
|
| 75 |
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9,
|
| 76 |
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10,
|
| 77 |
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11,
|
| 78 |
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12,
|
| 79 |
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13,
|
| 80 |
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14,
|
| 81 |
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15
|
| 82 |
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]
|
| 83 |
+
},
|
| 84 |
+
"head_extrinsic_params_aligned/rotation_matrix": {
|
| 85 |
+
"indices": [
|
| 86 |
+
16,
|
| 87 |
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17,
|
| 88 |
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18,
|
| 89 |
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19,
|
| 90 |
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20,
|
| 91 |
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21,
|
| 92 |
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22,
|
| 93 |
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23,
|
| 94 |
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24
|
| 95 |
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]
|
| 96 |
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},
|
| 97 |
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|
| 98 |
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|
| 99 |
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25,
|
| 100 |
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26,
|
| 101 |
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27
|
| 102 |
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]
|
| 103 |
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},
|
| 104 |
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"hand_left_extrinsic_params_aligned/rotation_matrix": {
|
| 105 |
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"indices": [
|
| 106 |
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28,
|
| 107 |
+
29,
|
| 108 |
+
30,
|
| 109 |
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31,
|
| 110 |
+
32,
|
| 111 |
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33,
|
| 112 |
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34,
|
| 113 |
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35,
|
| 114 |
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36
|
| 115 |
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]
|
| 116 |
+
},
|
| 117 |
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"hand_left_extrinsic_params_aligned/translation_vector": {
|
| 118 |
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"indices": [
|
| 119 |
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37,
|
| 120 |
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38,
|
| 121 |
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39
|
| 122 |
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]
|
| 123 |
+
},
|
| 124 |
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"hand_right_extrinsic_params_aligned/rotation_matrix": {
|
| 125 |
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"indices": [
|
| 126 |
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40,
|
| 127 |
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41,
|
| 128 |
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42,
|
| 129 |
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43,
|
| 130 |
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44,
|
| 131 |
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45,
|
| 132 |
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46,
|
| 133 |
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47,
|
| 134 |
+
48
|
| 135 |
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]
|
| 136 |
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},
|
| 137 |
+
"hand_right_extrinsic_params_aligned/translation_vector": {
|
| 138 |
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"indices": [
|
| 139 |
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49,
|
| 140 |
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50,
|
| 141 |
+
51
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
}
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"camera_parameters": {
|
| 148 |
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"0": {
|
| 149 |
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"head_intrinsic_params": {
|
| 150 |
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"fx": 647.3968505859375,
|
| 151 |
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"fy": 646.7694091796875,
|
| 152 |
+
"ppx": 640.4290161132812,
|
| 153 |
+
"ppy": 356.02252197265625
|
| 154 |
+
},
|
| 155 |
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"hand_left_intrinsic_params": {
|
| 156 |
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"fx": 640.69873046875,
|
| 157 |
+
"fy": 640.5220947265625,
|
| 158 |
+
"ppx": 634.3751220703125,
|
| 159 |
+
"ppy": 357.2757568359375
|
| 160 |
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},
|
| 161 |
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"hand_right_intrinsic_params": {
|
| 162 |
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"fx": 645.6289672851562,
|
| 163 |
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"fy": 645.26123046875,
|
| 164 |
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"ppx": 648.6475219726562,
|
| 165 |
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"ppy": 362.70751953125
|
| 166 |
+
}
|
| 167 |
+
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|
RealSource-World/Cable_Plugging_able/meta/train.jsonl
ADDED
|
@@ -0,0 +1,48 @@
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|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000000.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000001.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 3 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000002.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 4 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000003.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 5 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000004.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 6 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000005.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 7 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000006.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 8 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000007.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 9 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000008.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 10 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000009.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 11 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000010.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 12 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000011.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 13 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000012.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 14 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000013.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 15 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000014.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 16 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000015.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 17 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000016.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 18 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000017.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 19 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000018.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 20 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000019.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 21 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000020.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 22 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000021.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 23 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000022.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 24 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000023.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 25 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000024.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 26 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000025.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 27 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000026.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 28 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000027.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 29 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000028.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 30 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000029.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 31 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000030.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 32 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000031.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 33 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000032.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 34 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000033.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 35 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000034.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 36 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000035.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 37 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000036.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 38 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000037.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 39 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000038.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 40 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000039.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 41 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000040.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 42 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000041.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 43 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000042.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 44 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000043.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 45 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000044.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 46 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000045.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 47 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000046.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 48 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000047.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
RealSource-World/Cable_Plugging_able/meta/val.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000048.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000049.mp4", "caption": "Cable Plugging able", "ee_type": "zhiyuan_gripper_omnipicker"}
|
RealSource-World/Make_toast/meta/info.json
ADDED
|
@@ -0,0 +1,1149 @@
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| 1 |
+
{
|
| 2 |
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| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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|
| 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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| 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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| 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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| 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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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 95 |
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| 105 |
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| 106 |
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| 109 |
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| 115 |
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| 119 |
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| 122 |
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| 123 |
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| 125 |
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| 126 |
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| 135 |
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| 142 |
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| 143 |
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| 144 |
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| 1149 |
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|
RealSource-World/Make_toast/meta/train.jsonl
ADDED
|
@@ -0,0 +1,48 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000000.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 2 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000001.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 3 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000002.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 4 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000003.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 5 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000004.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 6 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000005.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 7 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000006.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 8 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000007.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 9 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000008.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 10 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000009.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 11 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000010.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 12 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000011.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 13 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000012.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 14 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000013.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 15 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000014.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 16 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000015.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 17 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000016.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 18 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000017.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 19 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000018.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 20 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000019.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 21 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000020.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 22 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000021.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 23 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000022.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 24 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000023.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 25 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000024.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 26 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000025.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 27 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000026.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 28 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000027.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 29 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000028.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 30 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000029.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 31 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000030.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 32 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000031.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 33 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000032.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 34 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000033.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 35 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000034.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 36 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000035.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 37 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000036.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 38 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000037.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 39 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000038.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 40 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000039.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 41 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000040.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 42 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000041.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 43 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000042.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 44 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000043.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 45 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000044.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 46 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000045.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 47 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000046.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
| 48 |
+
{"clip": "videos/chunk-000/observation.images.hand_left/episode_000047.mp4", "caption": "Make toast", "ee_type": "zhiyuan_gripper_omnipicker"}
|
RealSource-World/Make_toast/meta/val.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
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|
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