Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- episode_timestamps.json +202 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +129 -0
- meta/stats.json +650 -0
- meta/tasks.parquet +3 -0
- object_prompt_timestamps.json +1952 -0
- videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.side/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 sha256:73dda4aea9975f1b323772b4e287116a2d6120ad0fd8362afc1996a5d23c8ce2
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size 1534318
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episode_timestamps.json
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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:a3cf36def8e09691fc1022d3319d92f56934e347f306662bbb373342198094bd
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size 134301
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meta/info.json
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "piper_follower",
|
| 4 |
+
"total_episodes": 50,
|
| 5 |
+
"total_frames": 29132,
|
| 6 |
+
"total_tasks": 2,
|
| 7 |
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|
| 8 |
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|
| 9 |
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"video_files_size_in_mb": 200,
|
| 10 |
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"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:50"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"action": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
7
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"joint_1.pos",
|
| 24 |
+
"joint_2.pos",
|
| 25 |
+
"joint_3.pos",
|
| 26 |
+
"joint_4.pos",
|
| 27 |
+
"joint_5.pos",
|
| 28 |
+
"joint_6.pos",
|
| 29 |
+
"gripper.pos"
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"observation.state": {
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"shape": [
|
| 35 |
+
7
|
| 36 |
+
],
|
| 37 |
+
"names": [
|
| 38 |
+
"joint_1.pos",
|
| 39 |
+
"joint_2.pos",
|
| 40 |
+
"joint_3.pos",
|
| 41 |
+
"joint_4.pos",
|
| 42 |
+
"joint_5.pos",
|
| 43 |
+
"joint_6.pos",
|
| 44 |
+
"gripper.pos"
|
| 45 |
+
]
|
| 46 |
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},
|
| 47 |
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"observation.images.front": {
|
| 48 |
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|
| 49 |
+
"shape": [
|
| 50 |
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720,
|
| 51 |
+
1280,
|
| 52 |
+
3
|
| 53 |
+
],
|
| 54 |
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"names": [
|
| 55 |
+
"height",
|
| 56 |
+
"width",
|
| 57 |
+
"channels"
|
| 58 |
+
],
|
| 59 |
+
"info": {
|
| 60 |
+
"video.height": 720,
|
| 61 |
+
"video.width": 1280,
|
| 62 |
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"video.codec": "av1",
|
| 63 |
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"video.pix_fmt": "yuv420p",
|
| 64 |
+
"video.is_depth_map": false,
|
| 65 |
+
"video.fps": 30,
|
| 66 |
+
"video.channels": 3,
|
| 67 |
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"has_audio": false
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"observation.images.side": {
|
| 71 |
+
"dtype": "video",
|
| 72 |
+
"shape": [
|
| 73 |
+
480,
|
| 74 |
+
640,
|
| 75 |
+
3
|
| 76 |
+
],
|
| 77 |
+
"names": [
|
| 78 |
+
"height",
|
| 79 |
+
"width",
|
| 80 |
+
"channels"
|
| 81 |
+
],
|
| 82 |
+
"info": {
|
| 83 |
+
"video.height": 480,
|
| 84 |
+
"video.width": 640,
|
| 85 |
+
"video.codec": "av1",
|
| 86 |
+
"video.pix_fmt": "yuv420p",
|
| 87 |
+
"video.is_depth_map": false,
|
| 88 |
+
"video.fps": 30,
|
| 89 |
+
"video.channels": 3,
|
| 90 |
+
"has_audio": false
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"timestamp": {
|
| 94 |
+
"dtype": "float32",
|
| 95 |
+
"shape": [
|
| 96 |
+
1
|
| 97 |
+
],
|
| 98 |
+
"names": null
|
| 99 |
+
},
|
| 100 |
+
"frame_index": {
|
| 101 |
+
"dtype": "int64",
|
| 102 |
+
"shape": [
|
| 103 |
+
1
|
| 104 |
+
],
|
| 105 |
+
"names": null
|
| 106 |
+
},
|
| 107 |
+
"episode_index": {
|
| 108 |
+
"dtype": "int64",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
],
|
| 112 |
+
"names": null
|
| 113 |
+
},
|
| 114 |
+
"index": {
|
| 115 |
+
"dtype": "int64",
|
| 116 |
+
"shape": [
|
| 117 |
+
1
|
| 118 |
+
],
|
| 119 |
+
"names": null
|
| 120 |
+
},
|
| 121 |
+
"task_index": {
|
| 122 |
+
"dtype": "int64",
|
| 123 |
+
"shape": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"names": null
|
| 127 |
+
}
|
| 128 |
+
}
|
| 129 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,650 @@
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meta/tasks.parquet
ADDED
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@@ -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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oid sha256:851223a867d84db2fbc73510b785be1e765516b56a81dab7ef2f0d62f910f8a7
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size 2369
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object_prompt_timestamps.json
ADDED
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@@ -0,0 +1,1952 @@
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|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"episode_index": 0,
|
| 4 |
+
"object_image": "objects/wooden cylinder.png",
|
| 5 |
+
"box_image": "box/green box.png",
|
| 6 |
+
"camera": "front",
|
| 7 |
+
"task": "pick the wooden cylinder and place it into the green box",
|
| 8 |
+
"target_image_start": {
|
| 9 |
+
"unix": 1780218592.9798818,
|
| 10 |
+
"iso": "2026-05-31T09:09:52.979882+00:00"
|
| 11 |
+
},
|
| 12 |
+
"target_image_end": {
|
| 13 |
+
"unix": 1780218595.0100527,
|
| 14 |
+
"iso": "2026-05-31T09:09:55.010053+00:00"
|
| 15 |
+
},
|
| 16 |
+
"camera_preview_start": {
|
| 17 |
+
"unix": 1780218596.0199335,
|
| 18 |
+
"iso": "2026-05-31T09:09:56.019933+00:00"
|
| 19 |
+
},
|
| 20 |
+
"camera_preview_end": {
|
| 21 |
+
"unix": 1780218599.0268931,
|
| 22 |
+
"iso": "2026-05-31T09:09:59.026893+00:00"
|
| 23 |
+
},
|
| 24 |
+
"box_image_start": {
|
| 25 |
+
"unix": 1780218599.0269115,
|
| 26 |
+
"iso": "2026-05-31T09:09:59.026911+00:00"
|
| 27 |
+
},
|
| 28 |
+
"box_image_end": {
|
| 29 |
+
"unix": 1780218599.0269141,
|
| 30 |
+
"iso": "2026-05-31T09:09:59.026914+00:00"
|
| 31 |
+
},
|
| 32 |
+
"record_start": {
|
| 33 |
+
"unix": 1780218600.0324757,
|
| 34 |
+
"iso": "2026-05-31T09:10:00.032476+00:00"
|
| 35 |
+
},
|
| 36 |
+
"record_end": {
|
| 37 |
+
"unix": 1780218620.0503697,
|
| 38 |
+
"iso": "2026-05-31T09:10:20.050370+00:00"
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"episode_index": 1,
|
| 43 |
+
"object_image": "objects/red cube.png",
|
| 44 |
+
"box_image": "box/green box.png",
|
| 45 |
+
"camera": "front",
|
| 46 |
+
"task": "pick the red cube and place it into the green box",
|
| 47 |
+
"target_image_start": {
|
| 48 |
+
"unix": 1780218651.165343,
|
| 49 |
+
"iso": "2026-05-31T09:10:51.165343+00:00"
|
| 50 |
+
},
|
| 51 |
+
"target_image_end": {
|
| 52 |
+
"unix": 1780218653.2060258,
|
| 53 |
+
"iso": "2026-05-31T09:10:53.206026+00:00"
|
| 54 |
+
},
|
| 55 |
+
"camera_preview_start": {
|
| 56 |
+
"unix": 1780218654.218029,
|
| 57 |
+
"iso": "2026-05-31T09:10:54.218029+00:00"
|
| 58 |
+
},
|
| 59 |
+
"camera_preview_end": {
|
| 60 |
+
"unix": 1780218657.2269504,
|
| 61 |
+
"iso": "2026-05-31T09:10:57.226950+00:00"
|
| 62 |
+
},
|
| 63 |
+
"box_image_start": {
|
| 64 |
+
"unix": 1780218657.226976,
|
| 65 |
+
"iso": "2026-05-31T09:10:57.226976+00:00"
|
| 66 |
+
},
|
| 67 |
+
"box_image_end": {
|
| 68 |
+
"unix": 1780218657.2269785,
|
| 69 |
+
"iso": "2026-05-31T09:10:57.226979+00:00"
|
| 70 |
+
},
|
| 71 |
+
"record_start": {
|
| 72 |
+
"unix": 1780218658.2361438,
|
| 73 |
+
"iso": "2026-05-31T09:10:58.236144+00:00"
|
| 74 |
+
},
|
| 75 |
+
"record_end": {
|
| 76 |
+
"unix": 1780218678.2374387,
|
| 77 |
+
"iso": "2026-05-31T09:11:18.237439+00:00"
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
{
|
| 81 |
+
"episode_index": 2,
|
| 82 |
+
"object_image": "objects/wooden cylinder.png",
|
| 83 |
+
"box_image": "box/green box.png",
|
| 84 |
+
"camera": "front",
|
| 85 |
+
"task": "pick the wooden cylinder and place it into the green box",
|
| 86 |
+
"target_image_start": {
|
| 87 |
+
"unix": 1780218709.587381,
|
| 88 |
+
"iso": "2026-05-31T09:11:49.587381+00:00"
|
| 89 |
+
},
|
| 90 |
+
"target_image_end": {
|
| 91 |
+
"unix": 1780218711.6280675,
|
| 92 |
+
"iso": "2026-05-31T09:11:51.628067+00:00"
|
| 93 |
+
},
|
| 94 |
+
"camera_preview_start": {
|
| 95 |
+
"unix": 1780218712.643247,
|
| 96 |
+
"iso": "2026-05-31T09:11:52.643247+00:00"
|
| 97 |
+
},
|
| 98 |
+
"camera_preview_end": {
|
| 99 |
+
"unix": 1780218715.652281,
|
| 100 |
+
"iso": "2026-05-31T09:11:55.652281+00:00"
|
| 101 |
+
},
|
| 102 |
+
"box_image_start": {
|
| 103 |
+
"unix": 1780218715.6522992,
|
| 104 |
+
"iso": "2026-05-31T09:11:55.652299+00:00"
|
| 105 |
+
},
|
| 106 |
+
"box_image_end": {
|
| 107 |
+
"unix": 1780218715.6523013,
|
| 108 |
+
"iso": "2026-05-31T09:11:55.652301+00:00"
|
| 109 |
+
},
|
| 110 |
+
"record_start": {
|
| 111 |
+
"unix": 1780218716.6667404,
|
| 112 |
+
"iso": "2026-05-31T09:11:56.666740+00:00"
|
| 113 |
+
},
|
| 114 |
+
"record_end": {
|
| 115 |
+
"unix": 1780218736.6906874,
|
| 116 |
+
"iso": "2026-05-31T09:12:16.690687+00:00"
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
{
|
| 120 |
+
"episode_index": 3,
|
| 121 |
+
"object_image": "objects/red cube.png",
|
| 122 |
+
"box_image": "box/green box.png",
|
| 123 |
+
"camera": "front",
|
| 124 |
+
"task": "pick the red cube and place it into the green box",
|
| 125 |
+
"target_image_start": {
|
| 126 |
+
"unix": 1780218768.127667,
|
| 127 |
+
"iso": "2026-05-31T09:12:48.127667+00:00"
|
| 128 |
+
},
|
| 129 |
+
"target_image_end": {
|
| 130 |
+
"unix": 1780218770.155493,
|
| 131 |
+
"iso": "2026-05-31T09:12:50.155493+00:00"
|
| 132 |
+
},
|
| 133 |
+
"camera_preview_start": {
|
| 134 |
+
"unix": 1780218771.1701229,
|
| 135 |
+
"iso": "2026-05-31T09:12:51.170123+00:00"
|
| 136 |
+
},
|
| 137 |
+
"camera_preview_end": {
|
| 138 |
+
"unix": 1780218774.1894665,
|
| 139 |
+
"iso": "2026-05-31T09:12:54.189466+00:00"
|
| 140 |
+
},
|
| 141 |
+
"box_image_start": {
|
| 142 |
+
"unix": 1780218774.1894844,
|
| 143 |
+
"iso": "2026-05-31T09:12:54.189484+00:00"
|
| 144 |
+
},
|
| 145 |
+
"box_image_end": {
|
| 146 |
+
"unix": 1780218774.1894863,
|
| 147 |
+
"iso": "2026-05-31T09:12:54.189486+00:00"
|
| 148 |
+
},
|
| 149 |
+
"record_start": {
|
| 150 |
+
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| 1808 |
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| 1811 |
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| 1815 |
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|
| 1816 |
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| 1817 |
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| 1818 |
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| 1819 |
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| 1820 |
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| 1821 |
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| 1822 |
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| 1823 |
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|
| 1824 |
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|
| 1825 |
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| 1826 |
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| 1827 |
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|
| 1828 |
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|
| 1829 |
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},
|
| 1830 |
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|
| 1831 |
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|
| 1832 |
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|
| 1833 |
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|
| 1834 |
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|
| 1835 |
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{
|
| 1836 |
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|
| 1837 |
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|
| 1838 |
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"box_image": "box/green box.png",
|
| 1839 |
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"camera": "front",
|
| 1840 |
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|
| 1841 |
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| 1842 |
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|
| 1843 |
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| 1844 |
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| 1845 |
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| 1846 |
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|
| 1847 |
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|
| 1848 |
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|
| 1849 |
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|
| 1850 |
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|
| 1851 |
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|
| 1852 |
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| 1853 |
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| 1854 |
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|
| 1855 |
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|
| 1856 |
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| 1857 |
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|
| 1858 |
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|
| 1859 |
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|
| 1860 |
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|
| 1861 |
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|
| 1862 |
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|
| 1863 |
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|
| 1864 |
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},
|
| 1865 |
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|
| 1866 |
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|
| 1867 |
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"iso": "2026-05-31T09:58:24.393467+00:00"
|
| 1868 |
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},
|
| 1869 |
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"record_end": {
|
| 1870 |
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|
| 1871 |
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"iso": "2026-05-31T09:58:44.406033+00:00"
|
| 1872 |
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}
|
| 1873 |
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},
|
| 1874 |
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{
|
| 1875 |
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"episode_index": 48,
|
| 1876 |
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"object_image": "objects/wooden cylinder.png",
|
| 1877 |
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"box_image": "box/green box.png",
|
| 1878 |
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"camera": "front",
|
| 1879 |
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"task": "pick the wooden cylinder and place it into the green box",
|
| 1880 |
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|
| 1881 |
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"unix": 1780221556.9115026,
|
| 1882 |
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|
| 1883 |
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},
|
| 1884 |
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|
| 1885 |
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|
| 1886 |
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|
| 1887 |
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},
|
| 1888 |
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|
| 1889 |
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"unix": 1780221559.9716318,
|
| 1890 |
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"iso": "2026-05-31T09:59:19.971632+00:00"
|
| 1891 |
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},
|
| 1892 |
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|
| 1893 |
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|
| 1894 |
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"iso": "2026-05-31T09:59:22.986516+00:00"
|
| 1895 |
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},
|
| 1896 |
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|
| 1897 |
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"unix": 1780221562.9865813,
|
| 1898 |
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"iso": "2026-05-31T09:59:22.986581+00:00"
|
| 1899 |
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},
|
| 1900 |
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|
| 1901 |
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"unix": 1780221562.986586,
|
| 1902 |
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"iso": "2026-05-31T09:59:22.986586+00:00"
|
| 1903 |
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},
|
| 1904 |
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"record_start": {
|
| 1905 |
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"unix": 1780221563.9928415,
|
| 1906 |
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"iso": "2026-05-31T09:59:23.992841+00:00"
|
| 1907 |
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},
|
| 1908 |
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|
| 1909 |
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"unix": 1780221584.0244758,
|
| 1910 |
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"iso": "2026-05-31T09:59:44.024476+00:00"
|
| 1911 |
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}
|
| 1912 |
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},
|
| 1913 |
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{
|
| 1914 |
+
"episode_index": 49,
|
| 1915 |
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"object_image": "objects/red cube.png",
|
| 1916 |
+
"box_image": "box/green box.png",
|
| 1917 |
+
"camera": "front",
|
| 1918 |
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"task": "pick the red cube and place it into the green box",
|
| 1919 |
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"target_image_start": {
|
| 1920 |
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"unix": 1780221617.1774135,
|
| 1921 |
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|
| 1922 |
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},
|
| 1923 |
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| 1924 |
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|
| 1925 |
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|
| 1926 |
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},
|
| 1927 |
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|
| 1928 |
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|
| 1929 |
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"iso": "2026-05-31T10:00:20.224447+00:00"
|
| 1930 |
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},
|
| 1931 |
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|
| 1932 |
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"unix": 1780221623.2371097,
|
| 1933 |
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"iso": "2026-05-31T10:00:23.237110+00:00"
|
| 1934 |
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},
|
| 1935 |
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"box_image_start": {
|
| 1936 |
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"unix": 1780221623.2371807,
|
| 1937 |
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"iso": "2026-05-31T10:00:23.237181+00:00"
|
| 1938 |
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},
|
| 1939 |
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|
| 1940 |
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"unix": 1780221623.2371874,
|
| 1941 |
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"iso": "2026-05-31T10:00:23.237187+00:00"
|
| 1942 |
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},
|
| 1943 |
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"record_start": {
|
| 1944 |
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"unix": 1780221624.261638,
|
| 1945 |
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"iso": "2026-05-31T10:00:24.261638+00:00"
|
| 1946 |
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},
|
| 1947 |
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|
| 1948 |
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|
| 1949 |
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|
| 1950 |
+
}
|
| 1951 |
+
}
|
| 1952 |
+
]
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ADDED
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