Upload LeRobot dataset (Franka FR3 + Inspire RH56)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
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meta/episodes_stats.jsonl
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meta/info.json
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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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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|
| 13 |
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|
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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"arm_joint_1.pos",
|
| 25 |
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"arm_joint_2.pos",
|
| 26 |
+
"arm_joint_3.pos",
|
| 27 |
+
"arm_joint_4.pos",
|
| 28 |
+
"arm_joint_5.pos",
|
| 29 |
+
"arm_joint_6.pos",
|
| 30 |
+
"hand_joint_0.pos",
|
| 31 |
+
"hand_joint_1.pos",
|
| 32 |
+
"hand_joint_2.pos",
|
| 33 |
+
"hand_joint_3.pos",
|
| 34 |
+
"hand_joint_4.pos",
|
| 35 |
+
"hand_joint_5.pos"
|
| 36 |
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]
|
| 37 |
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},
|
| 38 |
+
"observation.state": {
|
| 39 |
+
"dtype": "float32",
|
| 40 |
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"shape": [
|
| 41 |
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42
|
| 42 |
+
],
|
| 43 |
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"names": [
|
| 44 |
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"arm_joint_0.pos",
|
| 45 |
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"arm_joint_1.pos",
|
| 46 |
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"arm_joint_2.pos",
|
| 47 |
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"arm_joint_3.pos",
|
| 48 |
+
"arm_joint_4.pos",
|
| 49 |
+
"arm_joint_5.pos",
|
| 50 |
+
"arm_joint_6.pos",
|
| 51 |
+
"arm_joint_0.vel",
|
| 52 |
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"arm_joint_1.vel",
|
| 53 |
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"arm_joint_2.vel",
|
| 54 |
+
"arm_joint_3.vel",
|
| 55 |
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"arm_joint_4.vel",
|
| 56 |
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"arm_joint_5.vel",
|
| 57 |
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"arm_joint_6.vel",
|
| 58 |
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"arm_ee_pose.00",
|
| 59 |
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"arm_ee_pose.01",
|
| 60 |
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"arm_ee_pose.02",
|
| 61 |
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"arm_ee_pose.03",
|
| 62 |
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"arm_ee_pose.04",
|
| 63 |
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"arm_ee_pose.05",
|
| 64 |
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"arm_ee_pose.06",
|
| 65 |
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"arm_ee_pose.07",
|
| 66 |
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"arm_ee_pose.08",
|
| 67 |
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"arm_ee_pose.09",
|
| 68 |
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"arm_ee_pose.10",
|
| 69 |
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"arm_ee_pose.11",
|
| 70 |
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"arm_ee_pose.12",
|
| 71 |
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"arm_ee_pose.13",
|
| 72 |
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"arm_ee_pose.14",
|
| 73 |
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"arm_ee_pose.15",
|
| 74 |
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"hand_joint_0.pos",
|
| 75 |
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"hand_joint_1.pos",
|
| 76 |
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"hand_joint_2.pos",
|
| 77 |
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"hand_joint_3.pos",
|
| 78 |
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"hand_joint_4.pos",
|
| 79 |
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"hand_joint_5.pos",
|
| 80 |
+
"hand_joint_0.force",
|
| 81 |
+
"hand_joint_1.force",
|
| 82 |
+
"hand_joint_2.force",
|
| 83 |
+
"hand_joint_3.force",
|
| 84 |
+
"hand_joint_4.force",
|
| 85 |
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"hand_joint_5.force"
|
| 86 |
+
]
|
| 87 |
+
},
|
| 88 |
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|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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"width",
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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"width",
|
| 121 |
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|
| 122 |
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],
|
| 123 |
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"info": {
|
| 124 |
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"video.height": 480,
|
| 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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|
| 131 |
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"has_audio": false
|
| 132 |
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}
|
| 133 |
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},
|
| 134 |
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"observation.images.wrist": {
|
| 135 |
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"dtype": "video",
|
| 136 |
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"shape": [
|
| 137 |
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480,
|
| 138 |
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640,
|
| 139 |
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3
|
| 140 |
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],
|
| 141 |
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"names": [
|
| 142 |
+
"height",
|
| 143 |
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"width",
|
| 144 |
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"channels"
|
| 145 |
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],
|
| 146 |
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|
| 147 |
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"video.height": 480,
|
| 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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"video.fps": 30,
|
| 153 |
+
"video.channels": 3,
|
| 154 |
+
"has_audio": false
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
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"timestamp": {
|
| 158 |
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"dtype": "float32",
|
| 159 |
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"shape": [
|
| 160 |
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1
|
| 161 |
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],
|
| 162 |
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"names": null
|
| 163 |
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},
|
| 164 |
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"frame_index": {
|
| 165 |
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"dtype": "int64",
|
| 166 |
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"shape": [
|
| 167 |
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1
|
| 168 |
+
],
|
| 169 |
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"names": null
|
| 170 |
+
},
|
| 171 |
+
"episode_index": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
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"shape": [
|
| 174 |
+
1
|
| 175 |
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],
|
| 176 |
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"names": null
|
| 177 |
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},
|
| 178 |
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"index": {
|
| 179 |
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|
| 180 |
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|
| 181 |
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1
|
| 182 |
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],
|
| 183 |
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|
| 184 |
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},
|
| 185 |
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"task_index": {
|
| 186 |
+
"dtype": "int64",
|
| 187 |
+
"shape": [
|
| 188 |
+
1
|
| 189 |
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],
|
| 190 |
+
"names": null
|
| 191 |
+
}
|
| 192 |
+
}
|
| 193 |
+
}
|
meta/modality.json
ADDED
|
@@ -0,0 +1,50 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 7
|
| 6 |
+
},
|
| 7 |
+
"arm_vel": {
|
| 8 |
+
"start": 7,
|
| 9 |
+
"end": 14
|
| 10 |
+
},
|
| 11 |
+
"ee_pose": {
|
| 12 |
+
"start": 14,
|
| 13 |
+
"end": 30
|
| 14 |
+
},
|
| 15 |
+
"hand": {
|
| 16 |
+
"start": 30,
|
| 17 |
+
"end": 36
|
| 18 |
+
},
|
| 19 |
+
"hand_force": {
|
| 20 |
+
"start": 36,
|
| 21 |
+
"end": 42
|
| 22 |
+
}
|
| 23 |
+
},
|
| 24 |
+
"action": {
|
| 25 |
+
"arm": {
|
| 26 |
+
"start": 0,
|
| 27 |
+
"end": 7
|
| 28 |
+
},
|
| 29 |
+
"hand": {
|
| 30 |
+
"start": 7,
|
| 31 |
+
"end": 13
|
| 32 |
+
}
|
| 33 |
+
},
|
| 34 |
+
"video": {
|
| 35 |
+
"tpv": {
|
| 36 |
+
"original_key": "observation.images.tpv"
|
| 37 |
+
},
|
| 38 |
+
"third_person": {
|
| 39 |
+
"original_key": "observation.images.third_person"
|
| 40 |
+
},
|
| 41 |
+
"wrist": {
|
| 42 |
+
"original_key": "observation.images.wrist"
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"annotation": {
|
| 46 |
+
"human.task_description": {
|
| 47 |
+
"original_key": "task_index"
|
| 48 |
+
}
|
| 49 |
+
}
|
| 50 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick up the corn and place it in the cup"}
|
videos/chunk-000/observation.images.third_person/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 16551310
|
videos/chunk-000/observation.images.third_person/episode_000001.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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| 2 |
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|
| 3 |
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size 15582004
|
videos/chunk-000/observation.images.third_person/episode_000002.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 15747989
|
videos/chunk-000/observation.images.third_person/episode_000003.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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| 2 |
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|
| 3 |
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size 15524052
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videos/chunk-000/observation.images.third_person/episode_000004.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 15515001
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videos/chunk-000/observation.images.third_person/episode_000005.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 15411014
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videos/chunk-000/observation.images.third_person/episode_000006.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 11681396
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videos/chunk-000/observation.images.third_person/episode_000007.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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videos/chunk-000/observation.images.third_person/episode_000008.mp4
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|
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videos/chunk-000/observation.images.third_person/episode_000009.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.third_person/episode_000010.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.third_person/episode_000011.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.third_person/episode_000012.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.third_person/episode_000013.mp4
ADDED
|
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videos/chunk-000/observation.images.third_person/episode_000014.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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