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README.md
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---
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license: apache-2.0
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pretty_name: ABC fold_the_paper_box (LeRobot v2.1)
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language:
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- en
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tags:
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- robotics
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- manipulation
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- imitation-learning
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- bimanual
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- lerobot
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- yam
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task_categories:
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- robotics
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size_categories:
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- 1M<n<10M
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---
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# ABC fold_the_paper_box — LeRobot v2.1
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A **LeRobot v2.1** conversion of the `fold_the_paper_box` task from
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[XDOF/ABC-130k](https://huggingface.co/datasets/XDOF/ABC-130k), prepared for
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fine-tuning [pi0.5](https://github.com/Physical-Intelligence/openpi) (`pi05_base`)
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on the bimanual YAM platform.
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## Contents
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| Attribute | Value |
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| 29 |
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| --- | --- |
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| Episodes | 500 (first 500 of 2,387 train episodes, sorted by episode uuid) |
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| Frames | 2,260,990 (~21 hours) |
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| FPS | 30 |
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| Robot | Bimanual station, 2× 6-DoF YAM arms, parallel-jaw grippers |
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| Cameras | `head_camera`, `left_wrist_camera`, `right_wrist_camera` — 640×480 h264 |
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| Task instruction | `fold the paper box` |
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| Codebase version | LeRobot `v2.1` |
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+
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### State / action format
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+
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Both `observation.state` and `action` are **14-D float32**:
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| 41 |
+
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```
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[left_joint_0..5, left_gripper, right_joint_0..5, right_gripper]
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```
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+
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- Joint values are absolute positions in **radians**, base → wrist.
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- Gripper is the normalized aperture from ABC-130k (**0 = closed, 1 = open**).
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+
- `action` holds the **commanded** joint positions (ABC `/{side}-arm-action` +
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+
`/{side}-ee-action`); `observation.state` holds the **measured** ones
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| 50 |
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(`/{side}-arm-state` + `/{side}-ee-state`).
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| 51 |
+
- Actions are absolute, not deltas. (openpi's pi0.5 recipe applies
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`DeltaActions` internally at train time.)
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+
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## How this was converted
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+
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+
Source episodes are MCAP files. In ABC-130k the streams run on independent
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| 57 |
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clocks — the action stream at ~200 Hz, state at ~265 Hz, cameras at 30–60 Hz
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| 58 |
+
depending on station type — so the conversion resamples everything onto a
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| 59 |
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**fixed 30 Hz tick clock** using causal floor matching (the latest message at or
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before each tick), over the overlap window of all streams. This matches the tick
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rate used by the official ABC exporter.
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+
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Both station types present in the source are handled: RealSense (mono top
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camera) and ZED-X (stereo top camera, where one eye is picked deterministically
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per episode via `sha1(episode_id)` parity). All camera streams are letterboxed
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to 640×480 preserving aspect ratio.
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+
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Conversion script:
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[`convert_abc_mcap_to_lerobot_v21.py`](https://github.com/Avant-US/openpi) —
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| 70 |
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`scripts/convert_abc_mcap_to_lerobot_v21.py`.
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| 71 |
+
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`meta/episode_ids.json` maps each `episode_index` back to its original ABC-130k
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episode uuid for traceability.
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## Usage
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```python
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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ds = LeRobotDataset("Sichang0621/abc_fold_box_v21")
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print(ds.num_episodes, ds.num_frames, ds.fps)
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item = ds[0] # observation.state (14,), action (14,), 3× images (3,480,640)
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```
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## Attribution and license
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This dataset is **derived from [XDOF/ABC-130k](https://huggingface.co/datasets/XDOF/ABC-130k)**
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(Apache-2.0), released alongside the ABC project ([abc.bot](https://abc.bot/),
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[code](https://github.com/amazon-far/abc)). All robot trajectories and imagery
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originate from ABC-130k; this repository contributes only the format conversion
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| 91 |
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described above. Please cite the ABC project when using this data.
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Note that the upstream ABC-130k dataset is access-gated on the Hub. Licensed
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under Apache-2.0, consistent with the source.
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{
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meta/episodes.jsonl
ADDED
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@@ -0,0 +1,500 @@
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
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|
| 392 |
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|
| 393 |
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|
| 394 |
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| 395 |
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| 396 |
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| 397 |
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|
| 398 |
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|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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| 404 |
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| 405 |
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| 406 |
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| 407 |
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|
| 408 |
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| 409 |
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| 410 |
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| 411 |
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| 412 |
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|
| 413 |
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| 414 |
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| 415 |
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| 416 |
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| 417 |
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| 419 |
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| 420 |
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| 421 |
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| 422 |
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| 423 |
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| 424 |
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| 426 |
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| 427 |
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| 428 |
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| 429 |
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| 430 |
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| 431 |
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| 432 |
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| 443 |
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| 444 |
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| 445 |
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| 454 |
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| 455 |
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| 456 |
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| 457 |
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| 458 |
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| 459 |
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| 461 |
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| 462 |
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| 463 |
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| 464 |
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| 465 |
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| 466 |
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| 467 |
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| 468 |
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| 469 |
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| 470 |
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| 471 |
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| 473 |
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|
| 474 |
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|
| 475 |
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|
| 476 |
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|
| 477 |
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|
| 478 |
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| 479 |
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|
| 480 |
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|
| 481 |
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|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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|
| 486 |
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|
| 487 |
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|
| 488 |
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|
| 489 |
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|
| 490 |
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|
| 491 |
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|
| 492 |
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|
| 493 |
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|
| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
meta/episodes_stats.jsonl
ADDED
|
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|
|
|
meta/info.json
ADDED
|
@@ -0,0 +1,164 @@
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|
|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
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| 21 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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"right_joint_0",
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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|
| 46 |
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| 47 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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| 66 |
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| 68 |
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| 69 |
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|
| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 75 |
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| 76 |
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| 77 |
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|
| 78 |
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| 79 |
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| 80 |
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| 83 |
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| 84 |
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| 85 |
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|
| 86 |
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| 87 |
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| 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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| 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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|
| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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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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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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|
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meta/tasks.jsonl
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@@ -0,0 +1 @@
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|
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|
|
| 1 |
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