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- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
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- data/chunk-000/episode_000006.parquet +3 -0
- data/chunk-000/episode_000007.parquet +3 -0
- data/chunk-000/episode_000008.parquet +3 -0
- data/chunk-000/episode_000009.parquet +3 -0
- data/chunk-000/episode_000010.parquet +3 -0
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- data/chunk-000/episode_000021.parquet +3 -0
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- data/chunk-000/episode_000035.parquet +3 -0
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- meta/modality.json +35 -0
- meta/relative_stats.json +688 -0
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- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000005.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000006.mp4 +3 -0
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{"episode_index": 10, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 12 |
+
{"episode_index": 11, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 13 |
+
{"episode_index": 12, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 16 |
+
{"episode_index": 15, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 17 |
+
{"episode_index": 16, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 18 |
+
{"episode_index": 17, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 19 |
+
{"episode_index": 18, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 20 |
+
{"episode_index": 19, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 21 |
+
{"episode_index": 20, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 22 |
+
{"episode_index": 21, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 448}
|
| 23 |
+
{"episode_index": 22, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 24 |
+
{"episode_index": 23, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 25 |
+
{"episode_index": 24, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 448}
|
| 26 |
+
{"episode_index": 25, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 27 |
+
{"episode_index": 26, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 28 |
+
{"episode_index": 27, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 29 |
+
{"episode_index": 28, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 30 |
+
{"episode_index": 29, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 31 |
+
{"episode_index": 30, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 32 |
+
{"episode_index": 31, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 448}
|
| 33 |
+
{"episode_index": 32, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 34 |
+
{"episode_index": 33, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 35 |
+
{"episode_index": 34, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 449}
|
| 36 |
+
{"episode_index": 35, "tasks": ["Grab a rectangular prism and place it into the tray"], "length": 448}
|
meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
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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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|
|
|
|
|
|
|
|
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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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|
|
|
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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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| 1 |
+
{
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| 2 |
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"codebase_version": "v2.1",
|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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"train": "0:36"
|
| 11 |
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},
|
| 12 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 13 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 14 |
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"features": {
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| 15 |
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| 16 |
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|
| 17 |
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"names": [
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| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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"wrist_flex.pos",
|
| 22 |
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"wrist_roll.pos",
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| 23 |
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|
| 24 |
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],
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| 25 |
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| 26 |
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| 27 |
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]
|
| 28 |
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},
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| 29 |
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"observation.state": {
|
| 30 |
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"dtype": "float32",
|
| 31 |
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"names": [
|
| 32 |
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"shoulder_pan.pos",
|
| 33 |
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"shoulder_lift.pos",
|
| 34 |
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"elbow_flex.pos",
|
| 35 |
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"wrist_flex.pos",
|
| 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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|
| 41 |
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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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3
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| 49 |
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| 50 |
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"names": [
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| 51 |
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| 52 |
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"width",
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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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"observation.images.wrist": {
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| 67 |
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"dtype": "video",
|
| 68 |
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"shape": [
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| 69 |
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480,
|
| 70 |
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640,
|
| 71 |
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3
|
| 72 |
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],
|
| 73 |
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"names": [
|
| 74 |
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"height",
|
| 75 |
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"width",
|
| 76 |
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"channels"
|
| 77 |
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],
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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| 82 |
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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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"timestamp": {
|
| 90 |
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|
| 91 |
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"shape": [
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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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"total_videos": 72
|
| 127 |
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}
|
meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
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|
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|
| 1 |
+
{
|
| 2 |
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"state": {
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| 3 |
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"single_arm": {
|
| 4 |
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"start": 0,
|
| 5 |
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"end": 5
|
| 6 |
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},
|
| 7 |
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"gripper": {
|
| 8 |
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"start": 5,
|
| 9 |
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"end": 6
|
| 10 |
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}
|
| 11 |
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},
|
| 12 |
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"action": {
|
| 13 |
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"single_arm": {
|
| 14 |
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"start": 0,
|
| 15 |
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"end": 5
|
| 16 |
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},
|
| 17 |
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"gripper": {
|
| 18 |
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"start": 5,
|
| 19 |
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"end": 6
|
| 20 |
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}
|
| 21 |
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},
|
| 22 |
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"video": {
|
| 23 |
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"front": {
|
| 24 |
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"original_key": "observation.images.front"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
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"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
meta/relative_stats.json
ADDED
|
@@ -0,0 +1,688 @@
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