Add files using upload-large-folder tool
Browse files- preprocessed/OpenBoxRetrieval-v1/metadata.json +229 -0
- preprocessed/OpenBoxRetrieval-v1/norm_stats.json +181 -0
- preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep47.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep49.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep5.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep6.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep7.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep9.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep0.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep1.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep10.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep11.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep12.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep15.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep16.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep17.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep18.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep19.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep20.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep21.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep22.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep23.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep24.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep25.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep26.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep27.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep29.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep3.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep31.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep32.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep33.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep34.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep35.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep37.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep38.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep39.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep4.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep40.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep41.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep42.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep43.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep44.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep45.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep47.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep49.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep5.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep6.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep7.mp4 +3 -0
- preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep8.mp4 +3 -0
- raw/OpenBoxRetrieval-v1/metadata.json +1273 -0
preprocessed/OpenBoxRetrieval-v1/metadata.json
ADDED
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| 1 |
+
{
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| 2 |
+
"env_info": {
|
| 3 |
+
"env_id": "OpenBoxRetrieval-v1",
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| 4 |
+
"env_kwargs": {
|
| 5 |
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"num_envs": 1,
|
| 6 |
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"obs_mode": "rgbd",
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| 7 |
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"reward_mode": "dense",
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| 8 |
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"control_mode": "pd_ee_delta_pose",
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| 9 |
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"enable_shadow": true,
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| 10 |
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"show_world_frame": false,
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| 11 |
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"show_fps": false,
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| 12 |
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"show_viewer": false,
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| 13 |
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"device": "cpu",
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| 14 |
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"front_camera": true,
|
| 15 |
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"back_camera": true,
|
| 16 |
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"left_camera": true,
|
| 17 |
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"right_camera": false,
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| 18 |
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"top_camera": true,
|
| 19 |
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"robot_camera": true,
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| 20 |
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"custome_viewer_res": true,
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| 21 |
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"viewer_res": [
|
| 22 |
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320,
|
| 23 |
+
240
|
| 24 |
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]
|
| 25 |
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}
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| 26 |
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},
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| 27 |
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"episodes": [
|
| 28 |
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{
|
| 29 |
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"episode_id": "traj_0",
|
| 30 |
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"elapsed_steps": 400
|
| 31 |
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},
|
| 32 |
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{
|
| 33 |
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"episode_id": "traj_1",
|
| 34 |
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|
| 35 |
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|
| 36 |
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{
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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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| 65 |
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| 66 |
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| 68 |
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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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| 91 |
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| 92 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 103 |
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| 115 |
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| 116 |
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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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| 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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| 138 |
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|
| 139 |
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| 140 |
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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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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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{
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 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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{
|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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{
|
| 177 |
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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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|
| 184 |
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{
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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{
|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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{
|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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{
|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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{
|
| 201 |
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"episode_id": "traj_43",
|
| 202 |
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"elapsed_steps": 400
|
| 203 |
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},
|
| 204 |
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{
|
| 205 |
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"episode_id": "traj_44",
|
| 206 |
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|
| 207 |
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|
| 208 |
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{
|
| 209 |
+
"episode_id": "traj_45",
|
| 210 |
+
"elapsed_steps": 400
|
| 211 |
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},
|
| 212 |
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{
|
| 213 |
+
"episode_id": "traj_46",
|
| 214 |
+
"elapsed_steps": 400
|
| 215 |
+
},
|
| 216 |
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{
|
| 217 |
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"episode_id": "traj_47",
|
| 218 |
+
"elapsed_steps": 400
|
| 219 |
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},
|
| 220 |
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{
|
| 221 |
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"episode_id": "traj_48",
|
| 222 |
+
"elapsed_steps": 400
|
| 223 |
+
},
|
| 224 |
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{
|
| 225 |
+
"episode_id": "traj_49",
|
| 226 |
+
"elapsed_steps": 400
|
| 227 |
+
}
|
| 228 |
+
]
|
| 229 |
+
}
|
preprocessed/OpenBoxRetrieval-v1/norm_stats.json
ADDED
|
@@ -0,0 +1,181 @@
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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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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"count": 20393,
|
| 3 |
+
"target_image_size": [
|
| 4 |
+
192,
|
| 5 |
+
256
|
| 6 |
+
],
|
| 7 |
+
"cameras": [
|
| 8 |
+
"front_camera",
|
| 9 |
+
"left_camera",
|
| 10 |
+
"robot_camera",
|
| 11 |
+
"top_camera"
|
| 12 |
+
],
|
| 13 |
+
"state_dim": 27,
|
| 14 |
+
"action_dim": 7,
|
| 15 |
+
"state_mean": [
|
| 16 |
+
-0.09026727409625407,
|
| 17 |
+
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|
| 18 |
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0.2650996507515778,
|
| 19 |
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|
| 20 |
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0.1480506349257184,
|
| 21 |
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1.8125757394610695,
|
| 22 |
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0.8578922638697648,
|
| 23 |
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0.028707892666083555,
|
| 24 |
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|
| 25 |
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|
| 26 |
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0.012929602100024449,
|
| 27 |
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0.006359279757224198,
|
| 28 |
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0.005078877425778722,
|
| 29 |
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-0.00046644211563248424,
|
| 30 |
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0.006956786239975499,
|
| 31 |
+
-0.006643846588504708,
|
| 32 |
+
-0.0007680392042466047,
|
| 33 |
+
-0.000751812673643931,
|
| 34 |
+
-0.013368901942103883,
|
| 35 |
+
0.028079074990234883,
|
| 36 |
+
0.182951161772625,
|
| 37 |
+
9.315652121968946e-06,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0,
|
| 40 |
+
0.20000000298023224,
|
| 41 |
+
1.0,
|
| 42 |
+
0.5156921127928258
|
| 43 |
+
],
|
| 44 |
+
"state_std": [
|
| 45 |
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0.17923175712876788,
|
| 46 |
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0.39196817872501905,
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| 47 |
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0.20887636582199814,
|
| 48 |
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0.3231272782448555,
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| 49 |
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0.15813171995941885,
|
| 50 |
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0.3200356689551275,
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| 51 |
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0.17131701365832658,
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| 52 |
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0.015359746401472037,
|
| 53 |
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0.015375838037615192,
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| 54 |
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0.0794985211197863,
|
| 55 |
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0.20092118183182225,
|
| 56 |
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0.10743885637021969,
|
| 57 |
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0.2564974254428571,
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| 58 |
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0.20509829295212914,
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| 59 |
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0.1942249368841783,
|
| 60 |
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0.09925578831682849,
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| 61 |
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0.023535143643413633,
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| 62 |
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0.02327375586508404,
|
| 63 |
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0.05113966853351007,
|
| 64 |
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0.07178109266539641,
|
| 65 |
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0.06423114178469168,
|
| 66 |
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0.00010041488026137228,
|
| 67 |
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0.0001,
|
| 68 |
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0.0001,
|
| 69 |
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0.0001,
|
| 70 |
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0.0001,
|
| 71 |
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0.16186708395272562
|
| 72 |
+
],
|
| 73 |
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"action_mean": [
|
| 74 |
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0.0134292537626764,
|
| 75 |
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-0.0033461548597030423,
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| 76 |
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| 77 |
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-0.0007404501654983346,
|
| 78 |
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0.0012164111151710313,
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| 79 |
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|
| 80 |
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|
| 81 |
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],
|
| 82 |
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"action_std": [
|
| 83 |
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0.0792508422829046,
|
| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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0.008457468799297624,
|
| 89 |
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|
| 90 |
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],
|
| 91 |
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"state_norm_policy": "continuous_only",
|
| 92 |
+
"state_fields": [
|
| 93 |
+
{
|
| 94 |
+
"path": "obs/agent/qpos",
|
| 95 |
+
"dtype": "float32",
|
| 96 |
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"kind": "continuous",
|
| 97 |
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"dim": 9,
|
| 98 |
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"slice": [
|
| 99 |
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0,
|
| 100 |
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9
|
| 101 |
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]
|
| 102 |
+
},
|
| 103 |
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{
|
| 104 |
+
"path": "obs/agent/qvel",
|
| 105 |
+
"dtype": "float32",
|
| 106 |
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"kind": "continuous",
|
| 107 |
+
"dim": 9,
|
| 108 |
+
"slice": [
|
| 109 |
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9,
|
| 110 |
+
18
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"path": "obs/extra/banana_position",
|
| 115 |
+
"dtype": "float32",
|
| 116 |
+
"kind": "continuous",
|
| 117 |
+
"dim": 3,
|
| 118 |
+
"slice": [
|
| 119 |
+
18,
|
| 120 |
+
21
|
| 121 |
+
]
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"path": "obs/extra/box_lid_angle",
|
| 125 |
+
"dtype": "float32",
|
| 126 |
+
"kind": "continuous",
|
| 127 |
+
"dim": 1,
|
| 128 |
+
"slice": [
|
| 129 |
+
21,
|
| 130 |
+
22
|
| 131 |
+
]
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"path": "obs/extra/box_position",
|
| 135 |
+
"dtype": "float32",
|
| 136 |
+
"kind": "continuous",
|
| 137 |
+
"dim": 3,
|
| 138 |
+
"slice": [
|
| 139 |
+
22,
|
| 140 |
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25
|
| 141 |
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]
|
| 142 |
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},
|
| 143 |
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{
|
| 144 |
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"path": "obs/extra/task_progress",
|
| 145 |
+
"dtype": "float32",
|
| 146 |
+
"kind": "continuous",
|
| 147 |
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"dim": 2,
|
| 148 |
+
"slice": [
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| 149 |
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25,
|
| 150 |
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27
|
| 151 |
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]
|
| 152 |
+
}
|
| 153 |
+
],
|
| 154 |
+
"state_norm_slices": [
|
| 155 |
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[
|
| 156 |
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0,
|
| 157 |
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9
|
| 158 |
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],
|
| 159 |
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[
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| 160 |
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9,
|
| 161 |
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18
|
| 162 |
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],
|
| 163 |
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[
|
| 164 |
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18,
|
| 165 |
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21
|
| 166 |
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],
|
| 167 |
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[
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| 168 |
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21,
|
| 169 |
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22
|
| 170 |
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],
|
| 171 |
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[
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| 172 |
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22,
|
| 173 |
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25
|
| 174 |
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],
|
| 175 |
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[
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| 176 |
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25,
|
| 177 |
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27
|
| 178 |
+
]
|
| 179 |
+
],
|
| 180 |
+
"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)."
|
| 181 |
+
}
|
preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep47.mp4
ADDED
|
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|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 2245476
|
preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep49.mp4
ADDED
|
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|
|
|
|
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:c82ba119d5547248987db2a342bef7a9beda741efffed71b0bc68e5f9957f6c2
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size 2263200
|
preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep5.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 2121405
|
preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep6.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 2360863
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preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep7.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 2176453
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preprocessed/OpenBoxRetrieval-v1/videos/robot_camera_ep9.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 2341488
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep0.mp4
ADDED
|
@@ -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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size 1949345
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep1.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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|
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size 1980358
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep10.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 1980878
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep11.mp4
ADDED
|
@@ -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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|
| 3 |
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size 1959486
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep12.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
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size 1959342
|
preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep15.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
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|
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version https://git-lfs.github.com/spec/v1
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|
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size 1960819
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep16.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 2021886
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep17.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 1967839
|
preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep18.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:65a03dea1196ca003d88c14232d312dab23e3058cf49d33bbeb0d571de3a5a3c
|
| 3 |
+
size 1956607
|
preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep19.mp4
ADDED
|
@@ -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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oid sha256:2ab78e5ed0af05f4646928572882fded8436a107b46cd016cd7511aa66e2dc29
|
| 3 |
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size 2001794
|
preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep20.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 1959121
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preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep21.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 1950026
|
preprocessed/OpenBoxRetrieval-v1/videos/top_camera_ep22.mp4
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|
| 1 |
+
{
|
| 2 |
+
"env_info": {
|
| 3 |
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"env_id": "OpenBoxRetrieval-v1",
|
| 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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"left_camera": true,
|
| 17 |
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"right_camera": false,
|
| 18 |
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"top_camera": true,
|
| 19 |
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|
| 20 |
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|
| 21 |
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"viewer_res": [
|
| 22 |
+
320,
|
| 23 |
+
240
|
| 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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| 55 |
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| 63 |
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| 67 |
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