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- preprocessed/StackBlock-v1/norm_stats.json +212 -0
- preprocessed/StackBlock-v1/traj_0.h5 +3 -0
- preprocessed/StackBlock-v1/traj_0_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_0_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_0_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_0_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_0_top_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_1.h5 +3 -0
- preprocessed/StackBlock-v1/traj_10.h5 +3 -0
- preprocessed/StackBlock-v1/traj_10_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_10_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_10_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_10_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_10_top_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_11.h5 +3 -0
- preprocessed/StackBlock-v1/traj_11_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_11_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_11_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_11_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_11_top_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_12.h5 +3 -0
- preprocessed/StackBlock-v1/traj_12_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_12_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_12_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_12_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_12_top_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_13.h5 +3 -0
- preprocessed/StackBlock-v1/traj_13_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_13_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_13_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_13_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_13_top_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_14.h5 +3 -0
- preprocessed/StackBlock-v1/traj_14_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_14_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_14_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_14_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_14_top_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_15.h5 +3 -0
- preprocessed/StackBlock-v1/traj_15_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_15_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_15_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_15_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_15_top_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_16.h5 +3 -0
- preprocessed/StackBlock-v1/traj_16_front_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_16_left_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_16_right_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_16_robot_camera.mp4 +3 -0
- preprocessed/StackBlock-v1/traj_16_top_camera.mp4 +3 -0
preprocessed/StackBlock-v1/norm_stats.json
ADDED
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@@ -0,0 +1,212 @@
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| 1 |
+
{
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"count": 4653,
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"target_image_size": [
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192,
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256
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],
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"cameras": [
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"front_camera",
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"left_camera",
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"right_camera",
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"robot_camera",
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"top_camera"
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],
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"state_dim": 30,
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"action_dim": 7,
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0.0,
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0.2600853266848971
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],
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"state_std": [
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0.04701295470924765,
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0.11193629618396173,
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0.09874711053563037,
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0.09635849013384293,
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],
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"action_mean": [
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0.0,
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],
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"action_std": [
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0.04014688019516001,
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0.04626474530518639,
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0.06467864619173368,
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0.0001,
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0.0001,
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| 95 |
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0.0001,
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| 96 |
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0.9807320362001793
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],
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| 98 |
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"state_norm_policy": "continuous_only",
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| 99 |
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"state_fields": [
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| 100 |
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{
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| 101 |
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"path": "obs/agent/qpos",
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"dtype": "float32",
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| 103 |
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"kind": "continuous",
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| 104 |
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"dim": 9,
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"slice": [
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0,
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9
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},
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{
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| 111 |
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"path": "obs/agent/qvel",
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"dtype": "float32",
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"kind": "continuous",
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"dim": 9,
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9,
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]
|
| 119 |
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},
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| 120 |
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{
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| 121 |
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"path": "obs/extra/block_a_pos",
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"dtype": "float32",
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"kind": "continuous",
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"dim": 3,
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"slice": [
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18,
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21
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| 128 |
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]
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| 129 |
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},
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{
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"path": "obs/extra/block_b_pos",
|
| 132 |
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"dtype": "float32",
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| 133 |
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"kind": "continuous",
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| 134 |
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"dim": 3,
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| 135 |
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"slice": [
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21,
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24
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| 138 |
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]
|
| 139 |
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},
|
| 140 |
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{
|
| 141 |
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"path": "obs/extra/distance_to_goal",
|
| 142 |
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"dtype": "float32",
|
| 143 |
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"kind": "continuous",
|
| 144 |
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"dim": 1,
|
| 145 |
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"slice": [
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| 146 |
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24,
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| 147 |
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25
|
| 148 |
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]
|
| 149 |
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},
|
| 150 |
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{
|
| 151 |
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"path": "obs/extra/is_stacked",
|
| 152 |
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"dtype": "bool",
|
| 153 |
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"kind": "bool",
|
| 154 |
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"dim": 1,
|
| 155 |
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"slice": [
|
| 156 |
+
25,
|
| 157 |
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26
|
| 158 |
+
]
|
| 159 |
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},
|
| 160 |
+
{
|
| 161 |
+
"path": "obs/extra/stacking_progress",
|
| 162 |
+
"dtype": "float32",
|
| 163 |
+
"kind": "continuous",
|
| 164 |
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"dim": 1,
|
| 165 |
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"slice": [
|
| 166 |
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26,
|
| 167 |
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27
|
| 168 |
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]
|
| 169 |
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},
|
| 170 |
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{
|
| 171 |
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"path": "obs/extra/tcp_pos",
|
| 172 |
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"dtype": "float32",
|
| 173 |
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"kind": "continuous",
|
| 174 |
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"dim": 3,
|
| 175 |
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"slice": [
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| 176 |
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27,
|
| 177 |
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30
|
| 178 |
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]
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| 179 |
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}
|
| 180 |
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],
|
| 181 |
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"state_norm_slices": [
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| 182 |
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[
|
| 183 |
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0,
|
| 184 |
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9
|
| 185 |
+
],
|
| 186 |
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[
|
| 187 |
+
9,
|
| 188 |
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18
|
| 189 |
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],
|
| 190 |
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[
|
| 191 |
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18,
|
| 192 |
+
21
|
| 193 |
+
],
|
| 194 |
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[
|
| 195 |
+
21,
|
| 196 |
+
24
|
| 197 |
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],
|
| 198 |
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[
|
| 199 |
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24,
|
| 200 |
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25
|
| 201 |
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],
|
| 202 |
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[
|
| 203 |
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26,
|
| 204 |
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27
|
| 205 |
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],
|
| 206 |
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[
|
| 207 |
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27,
|
| 208 |
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30
|
| 209 |
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]
|
| 210 |
+
],
|
| 211 |
+
"notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
|
| 212 |
+
}
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preprocessed/StackBlock-v1/traj_0.h5
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:12381909330832ac555d2c250020e7580c04150004568a2fb0acf683e966a5f3
|
| 3 |
+
size 723128631
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preprocessed/StackBlock-v1/traj_0_front_camera.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:352603da66c85a0af8899eae5d483b5be9c0ce01a9c3594aa68fe6313a1e9376
|
| 3 |
+
size 164993
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preprocessed/StackBlock-v1/traj_0_left_camera.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:33c7b3692dc9fd0b8b2a19b29dda31e424715ec7061a50aef6f463db9ba60840
|
| 3 |
+
size 168052
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preprocessed/StackBlock-v1/traj_0_right_camera.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:18366dcf9313189fd471f8f08afe74be4c426862736a7501c9a139851af9e6f0
|
| 3 |
+
size 185664
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preprocessed/StackBlock-v1/traj_0_robot_camera.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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