Datasets:
Add files using upload-large-folder tool
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/info.json +194 -0
- meta/stats.json +1150 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.cam_left_high/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:96c664fb5c36dd3681230c1979b2907ce9840fa79f000d5ba133a026d3395b4c
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size 596001
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meta/info.json
ADDED
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@@ -0,0 +1,194 @@
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| 1 |
+
{
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| 2 |
+
"codebase_version": "v3.0",
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| 3 |
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"robot_type": "Unitree_G1_Inspire_MonoHead",
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| 4 |
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"total_episodes": 2,
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| 5 |
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"total_frames": 2443,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 500,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:2"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"observation.state": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"shape": [
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| 20 |
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26
|
| 21 |
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],
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| 22 |
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"names": [
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| 23 |
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[
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| 24 |
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"kLeftShoulderPitch",
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| 25 |
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"kLeftShoulderRoll",
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| 26 |
+
"kLeftShoulderYaw",
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| 27 |
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"kLeftElbow",
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| 28 |
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"kLeftWristRoll",
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| 29 |
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"kLeftWristPitch",
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| 30 |
+
"kLeftWristYaw",
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| 31 |
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"kRightShoulderPitch",
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| 32 |
+
"kRightShoulderRoll",
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| 33 |
+
"kRightShoulderYaw",
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| 34 |
+
"kRightElbow",
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| 35 |
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"kRightWristRoll",
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| 36 |
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"kRightWristPitch",
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| 37 |
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"kRightWristYaw",
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| 38 |
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"kLeftHandPinky",
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| 39 |
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"kLeftHandRing",
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| 40 |
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"kLeftHandMiddle",
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| 41 |
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"kLeftHandIndex",
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| 42 |
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"kLeftHandThumbBend",
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| 43 |
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"kLeftHandThumbRotation",
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| 44 |
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"kRightHandPinky",
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| 45 |
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"kRightHandRing",
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| 46 |
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"kRightHandMiddle",
|
| 47 |
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"kRightHandIndex",
|
| 48 |
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"kRightHandThumbBend",
|
| 49 |
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"kRightHandThumbRotation"
|
| 50 |
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]
|
| 51 |
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]
|
| 52 |
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},
|
| 53 |
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"action": {
|
| 54 |
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"dtype": "float32",
|
| 55 |
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"shape": [
|
| 56 |
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26
|
| 57 |
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],
|
| 58 |
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"names": [
|
| 59 |
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[
|
| 60 |
+
"kLeftShoulderPitch",
|
| 61 |
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"kLeftShoulderRoll",
|
| 62 |
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"kLeftShoulderYaw",
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| 63 |
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"kLeftElbow",
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| 64 |
+
"kLeftWristRoll",
|
| 65 |
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"kLeftWristPitch",
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| 66 |
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"kLeftWristYaw",
|
| 67 |
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"kRightShoulderPitch",
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| 68 |
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"kRightShoulderRoll",
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| 69 |
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"kRightShoulderYaw",
|
| 70 |
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"kRightElbow",
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| 71 |
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"kRightWristRoll",
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| 72 |
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"kRightWristPitch",
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| 73 |
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"kRightWristYaw",
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| 74 |
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"kLeftHandPinky",
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| 75 |
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"kLeftHandRing",
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| 76 |
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"kLeftHandMiddle",
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| 77 |
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"kLeftHandIndex",
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| 78 |
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"kLeftHandThumbBend",
|
| 79 |
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"kLeftHandThumbRotation",
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| 80 |
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"kRightHandPinky",
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| 81 |
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"kRightHandRing",
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| 82 |
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"kRightHandMiddle",
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| 83 |
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"kRightHandIndex",
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| 84 |
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"kRightHandThumbBend",
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| 85 |
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"kRightHandThumbRotation"
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| 86 |
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]
|
| 87 |
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]
|
| 88 |
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},
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| 89 |
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"observation.images.cam_left_high": {
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| 90 |
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"dtype": "video",
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| 91 |
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"shape": [
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| 92 |
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480,
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| 93 |
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640,
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| 94 |
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3
|
| 95 |
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],
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| 96 |
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"names": [
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| 97 |
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"height",
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| 98 |
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"width",
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| 99 |
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"channel"
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| 100 |
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],
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| 101 |
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"info": {
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| 102 |
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"video.height": 480,
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| 103 |
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"video.width": 640,
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| 104 |
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"video.codec": "av1",
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| 105 |
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"video.pix_fmt": "yuv420p",
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| 106 |
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"video.is_depth_map": false,
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| 107 |
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"video.fps": 30,
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| 108 |
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"video.channels": 3,
|
| 109 |
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"has_audio": false
|
| 110 |
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}
|
| 111 |
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},
|
| 112 |
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"observation.images.cam_left_wrist": {
|
| 113 |
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"dtype": "video",
|
| 114 |
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"shape": [
|
| 115 |
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480,
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| 116 |
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640,
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| 117 |
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3
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| 118 |
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],
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| 119 |
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"names": [
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| 120 |
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"height",
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| 121 |
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"width",
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| 122 |
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"channel"
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| 123 |
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],
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| 124 |
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"info": {
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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"video.fps": 30,
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| 131 |
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"video.channels": 3,
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| 132 |
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"has_audio": false
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| 133 |
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}
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| 134 |
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},
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| 135 |
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"observation.images.cam_right_wrist": {
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| 136 |
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"dtype": "video",
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| 137 |
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"shape": [
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| 138 |
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480,
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| 139 |
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640,
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| 140 |
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| 141 |
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],
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| 142 |
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"names": [
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| 143 |
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"height",
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| 144 |
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"width",
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| 145 |
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"channel"
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| 146 |
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],
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| 147 |
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"info": {
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| 148 |
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"video.height": 480,
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| 149 |
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"video.width": 640,
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| 150 |
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"video.codec": "av1",
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| 151 |
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"video.pix_fmt": "yuv420p",
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| 152 |
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"video.is_depth_map": false,
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| 153 |
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"video.fps": 30,
|
| 154 |
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"video.channels": 3,
|
| 155 |
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"has_audio": false
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| 156 |
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}
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| 157 |
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},
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| 158 |
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"timestamp": {
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| 159 |
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"dtype": "float32",
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| 160 |
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"shape": [
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| 161 |
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1
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| 162 |
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],
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| 163 |
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"names": null
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| 164 |
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},
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| 165 |
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"frame_index": {
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| 166 |
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"dtype": "int64",
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| 167 |
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"shape": [
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| 168 |
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| 169 |
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],
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| 170 |
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"names": null
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| 171 |
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},
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| 172 |
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"episode_index": {
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| 173 |
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"dtype": "int64",
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| 174 |
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"shape": [
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| 175 |
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| 176 |
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| 177 |
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"names": null
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| 178 |
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},
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| 179 |
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"index": {
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| 180 |
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"dtype": "int64",
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| 181 |
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| 182 |
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| 184 |
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"names": null
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| 185 |
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| 186 |
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"task_index": {
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| 187 |
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"dtype": "int64",
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| 188 |
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| 189 |
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| 191 |
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"names": null
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| 192 |
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}
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| 193 |
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}
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| 194 |
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}
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meta/stats.json
ADDED
|
@@ -0,0 +1,1150 @@
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| 1 |
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{
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| 2 |
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| 3 |
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