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- preprocessed/PickPlacePen-v1/norm_stats.json +191 -0
- preprocessed/PickPlacePen-v1/traj_0.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_0_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_0_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_0_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_0_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_1.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_10.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_10_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_10_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_10_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_10_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_11.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_11_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_11_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_11_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_11_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_12.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_12_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_12_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_12_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_12_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_13.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_13_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_13_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_13_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_13_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_14.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_14_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_14_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_14_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_14_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_15.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_15_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_15_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_15_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_15_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_16.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_16_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_16_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_16_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_16_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_17.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_17_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_17_left_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_17_robot_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_17_top_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_18.h5 +3 -0
- preprocessed/PickPlacePen-v1/traj_18_front_camera.mp4 +3 -0
- preprocessed/PickPlacePen-v1/traj_18_left_camera.mp4 +3 -0
preprocessed/PickPlacePen-v1/norm_stats.json
ADDED
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@@ -0,0 +1,191 @@
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| 1 |
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{
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"count": 5888,
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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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"robot_camera",
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"top_camera"
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],
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"state_dim": 27,
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"action_dim": 7,
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"state_mean": [
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],
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"state_std": [
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0.15966624512592834,
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0.016042304624828377,
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0.05829947004052613,
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0.05569227735679982,
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0.0001,
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1.0,
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0.08891974943274167,
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0.20909747844731036,
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0.14586811129004693,
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],
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"action_mean": [
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0.012444148013104414,
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0.0001542943283983849,
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0.0,
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],
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"action_std": [
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0.07472625915556573,
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0.0001,
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"state_norm_policy": "continuous_only",
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"state_fields": [
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{
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"path": "obs/agent/qpos",
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"dtype": "float32",
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"kind": "continuous",
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"dim": 9,
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0,
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9
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},
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{
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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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"slice": [
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9,
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18
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]
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},
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{
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| 114 |
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"path": "obs/extra/holder_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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]
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},
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{
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"path": "obs/extra/is_pen_placed",
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"dtype": "bool",
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"kind": "bool",
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"dim": 1,
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"slice": [
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| 129 |
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21,
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| 130 |
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22
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| 131 |
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]
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| 132 |
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},
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| 133 |
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{
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| 134 |
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"path": "obs/extra/pen_pos",
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| 135 |
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"dtype": "float32",
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| 136 |
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"kind": "continuous",
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| 137 |
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"dim": 3,
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| 138 |
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"slice": [
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| 139 |
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22,
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| 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/pen_xy_distance",
|
| 145 |
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"dtype": "float32",
|
| 146 |
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"kind": "continuous",
|
| 147 |
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"dim": 1,
|
| 148 |
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"slice": [
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| 149 |
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25,
|
| 150 |
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26
|
| 151 |
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]
|
| 152 |
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},
|
| 153 |
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{
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| 154 |
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"path": "obs/extra/placement_progress",
|
| 155 |
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"dtype": "float32",
|
| 156 |
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"kind": "continuous",
|
| 157 |
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"dim": 1,
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| 158 |
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"slice": [
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| 159 |
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26,
|
| 160 |
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27
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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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"state_norm_slices": [
|
| 165 |
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[
|
| 166 |
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0,
|
| 167 |
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9
|
| 168 |
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],
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| 169 |
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[
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| 170 |
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9,
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| 171 |
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18
|
| 172 |
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],
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| 173 |
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[
|
| 174 |
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18,
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| 175 |
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21
|
| 176 |
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],
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| 177 |
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[
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| 178 |
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22,
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| 179 |
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25
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| 180 |
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],
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| 181 |
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[
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| 182 |
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25,
|
| 183 |
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26
|
| 184 |
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],
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[
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| 186 |
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26,
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| 187 |
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27
|
| 188 |
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]
|
| 189 |
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],
|
| 190 |
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"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)."
|
| 191 |
+
}
|
preprocessed/PickPlacePen-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 sha256:6eb146a2479b7e6292d317f152f2700d650035537ccfb93073c3954eaf00defb
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| 3 |
+
size 799433963
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preprocessed/PickPlacePen-v1/traj_0_front_camera.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:c2e19a8690c9d89de69c1473411731f5b6d9242f0c2a00444b8fa88d79f06638
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| 3 |
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size 272862
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preprocessed/PickPlacePen-v1/traj_0_left_camera.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:38e8f74d70199efdc55cab418ea9b64ecd5238ee1f1144769eb23e680da66a4d
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| 3 |
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size 297801
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preprocessed/PickPlacePen-v1/traj_0_robot_camera.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:3c8a8ae1af8bd4b27376e3baeb288a78e29861fc435dbbfad780f0f256173bb8
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| 3 |
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size 945508
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preprocessed/PickPlacePen-v1/traj_0_top_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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oid sha256:3bed55f6f5d16941638b5e3dac570f0e163dafd0738e2390382ee078e905b62f
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| 3 |
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size 463795
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preprocessed/PickPlacePen-v1/traj_1.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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oid sha256:b8c89367a0e0998c16466d442aa1f65ec5d88ad476886bad5c5a6b59aed8a7a7
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| 3 |
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size 848384167
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preprocessed/PickPlacePen-v1/traj_10.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:ed9ee544f8dd7a22f45e8bbc20231ec463f5c5738bd9987a506b8bd627343fca
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| 3 |
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size 803181465
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preprocessed/PickPlacePen-v1/traj_10_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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