Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +139 -0
- meta/simulation.json +33 -0
- meta/stats.json +632 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.overhead/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.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 sha256:6adbb231304bc4934b15d9d02e78eed5f790a334dffe17e7aeba3cf1962da2fc
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size 119338
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:eaa02bae05a475528efebe3f120ffd1f5f8f94d92c5a6bc2c2c04d8ba7c4d83d
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size 57862
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meta/info.json
ADDED
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@@ -0,0 +1,139 @@
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{
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"codebase_version": "v3.0",
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| 3 |
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"fps": 30,
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| 4 |
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"features": {
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| 5 |
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"observation.state": {
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| 6 |
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"dtype": "float32",
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| 7 |
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"shape": [
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| 8 |
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6
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| 9 |
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],
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"names": [
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"shoulder_pan",
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| 12 |
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"shoulder_lift",
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| 13 |
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"elbow_flex",
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| 14 |
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"wrist_flex",
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| 15 |
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"wrist_roll",
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| 16 |
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"gripper"
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| 17 |
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]
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| 18 |
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},
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"action": {
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"dtype": "float32",
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"shape": [
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| 22 |
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6
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| 23 |
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],
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| 24 |
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"names": [
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"shoulder_pan",
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| 26 |
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"shoulder_lift",
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| 27 |
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"elbow_flex",
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| 28 |
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"wrist_flex",
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| 29 |
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"wrist_roll",
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| 30 |
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"gripper"
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| 31 |
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]
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| 32 |
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},
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| 33 |
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"observation.images.overhead": {
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| 34 |
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"dtype": "video",
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| 35 |
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"shape": [
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256,
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| 37 |
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256,
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| 38 |
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],
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| 40 |
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"names": [
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| 41 |
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"height",
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| 42 |
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"width",
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| 43 |
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"channels"
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| 44 |
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],
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| 45 |
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"info": {
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| 46 |
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"video.height": 256,
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| 47 |
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"video.width": 256,
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| 48 |
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"video.codec": "av1",
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| 49 |
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"video.pix_fmt": "yuv420p",
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| 50 |
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"video.fps": 30,
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| 51 |
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"video.channels": 3,
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| 52 |
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"has_audio": false,
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| 53 |
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"video.g": 2,
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| 54 |
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"video.crf": 30,
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| 55 |
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"video.preset": 12,
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| 56 |
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"video.fast_decode": 0,
|
| 57 |
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"video.video_backend": "pyav",
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| 58 |
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"video.extra_options": {},
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| 59 |
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"is_depth_map": false
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"observation.images.wrist": {
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| 63 |
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"dtype": "video",
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| 64 |
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"shape": [
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| 65 |
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256,
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| 66 |
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256,
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| 67 |
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3
|
| 68 |
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],
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| 69 |
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"names": [
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| 70 |
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"height",
|
| 71 |
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"width",
|
| 72 |
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"channels"
|
| 73 |
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],
|
| 74 |
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"info": {
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| 75 |
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"video.height": 256,
|
| 76 |
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"video.width": 256,
|
| 77 |
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"video.codec": "av1",
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| 78 |
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"video.pix_fmt": "yuv420p",
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| 79 |
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"video.fps": 30,
|
| 80 |
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"video.channels": 3,
|
| 81 |
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"has_audio": false,
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| 82 |
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"video.g": 2,
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| 83 |
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"video.crf": 30,
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| 84 |
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"video.preset": 12,
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| 85 |
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"video.fast_decode": 0,
|
| 86 |
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"video.video_backend": "pyav",
|
| 87 |
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"video.extra_options": {},
|
| 88 |
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"is_depth_map": false
|
| 89 |
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}
|
| 90 |
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},
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| 91 |
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"timestamp": {
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| 92 |
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"dtype": "float32",
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| 93 |
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"shape": [
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| 94 |
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],
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| 96 |
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"names": null
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| 97 |
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},
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"frame_index": {
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"dtype": "int64",
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| 100 |
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"shape": [
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],
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| 103 |
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"names": null
|
| 104 |
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},
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| 105 |
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"episode_index": {
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| 106 |
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"dtype": "int64",
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| 107 |
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"shape": [
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| 108 |
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"names": null
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},
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| 112 |
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"index": {
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| 113 |
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"dtype": "int64",
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| 114 |
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],
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"names": null
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| 118 |
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},
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| 119 |
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"task_index": {
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| 120 |
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"dtype": "int64",
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| 121 |
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"shape": [
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1
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| 123 |
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],
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| 124 |
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"names": null
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| 125 |
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}
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| 126 |
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},
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| 127 |
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"total_episodes": 5,
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| 128 |
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"total_frames": 1575,
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| 129 |
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"total_tasks": 1,
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| 130 |
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"chunks_size": 1000,
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| 131 |
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"data_files_size_in_mb": 100,
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| 132 |
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"video_files_size_in_mb": 200,
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| 133 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 134 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 135 |
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"robot_type": "so101_follower",
|
| 136 |
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"splits": {
|
| 137 |
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"train": "0:5"
|
| 138 |
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}
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| 139 |
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}
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meta/simulation.json
ADDED
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@@ -0,0 +1,33 @@
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| 1 |
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{
|
| 2 |
+
"format": "LeRobotDataset v3",
|
| 3 |
+
"robot_asset_commit": "fda892cba81032c46c40976a48c9ceadbf40a9ca",
|
| 4 |
+
"genesis_backend": "cpu",
|
| 5 |
+
"genesis_precision": "float64",
|
| 6 |
+
"contact_solver": "rigid",
|
| 7 |
+
"simulation_seed": 0,
|
| 8 |
+
"physics_dt": 0.03333333333333333,
|
| 9 |
+
"physics_substeps": 32,
|
| 10 |
+
"constraint_timeconst": 0.0021,
|
| 11 |
+
"gripper_force": -0.3,
|
| 12 |
+
"joint_order": [
|
| 13 |
+
"shoulder_pan",
|
| 14 |
+
"shoulder_lift",
|
| 15 |
+
"elbow_flex",
|
| 16 |
+
"wrist_flex",
|
| 17 |
+
"wrist_roll",
|
| 18 |
+
"gripper"
|
| 19 |
+
],
|
| 20 |
+
"arm_units": "normalized joint range [-100, 100]",
|
| 21 |
+
"gripper_units": "0 closed, 100 open",
|
| 22 |
+
"task": "Pick up the red block and place it in the red tray.",
|
| 23 |
+
"episode_seeds": [
|
| 24 |
+
0,
|
| 25 |
+
10000,
|
| 26 |
+
20000,
|
| 27 |
+
30000,
|
| 28 |
+
40000
|
| 29 |
+
],
|
| 30 |
+
"successful_episodes": 5,
|
| 31 |
+
"attempts": 5,
|
| 32 |
+
"grasp_physics": "Unassisted frictional grasp: the jaws close on the cube under gripper force and hold it by contact alone. No object attachment, weld, or pose override is used."
|
| 33 |
+
}
|
meta/stats.json
ADDED
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@@ -0,0 +1,632 @@
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