Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +242 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.left.base.rgb/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.left.wrist.rgb/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.right.base.rgb/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.right.wrist.rgb/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:0f88b4140ced240a64c2594806b4e8d9e69413153a985d9516f8657328bded35
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size 280055
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["handkerchief_0310"], "length": 2076}
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meta/episodes_stats.jsonl
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meta/info.json
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| 1 |
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{
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| 164 |
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|
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|
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|
| 181 |
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|
| 182 |
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|
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|
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|
| 191 |
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| 192 |
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| 226 |
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meta/tasks.jsonl
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{"task_index": 0, "task": "handkerchief_0310"}
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videos/chunk-000/observation.images.left.base.rgb/episode_000000.mp4
ADDED
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videos/chunk-000/observation.images.left.wrist.rgb/episode_000000.mp4
ADDED
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videos/chunk-000/observation.images.right.base.rgb/episode_000000.mp4
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