Upload folder using huggingface_hub
Browse files- README.md +157 -0
- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +121 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_center/episode_000000.mp4 +3 -0
README.md
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| 1 |
+
---
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| 2 |
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license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
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- robotics
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| 5 |
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tags:
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| 6 |
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- LeRobot
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| 7 |
+
- tutorial
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| 8 |
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configs:
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| 9 |
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- config_name: default
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| 10 |
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data_files: data/*/*.parquet
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| 11 |
+
---
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| 12 |
+
|
| 13 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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| 14 |
+
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| 15 |
+
## Dataset Description
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| 16 |
+
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| 17 |
+
|
| 18 |
+
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| 19 |
+
- **Homepage:** [More Information Needed]
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| 20 |
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- **Paper:** [More Information Needed]
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| 21 |
+
- **License:** apache-2.0
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| 22 |
+
|
| 23 |
+
## Dataset Structure
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| 24 |
+
|
| 25 |
+
[meta/info.json](meta/info.json):
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| 26 |
+
```json
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| 27 |
+
{
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| 28 |
+
"codebase_version": "v2.1",
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| 29 |
+
"trossen_subversion": "v1.0",
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| 30 |
+
"robot_type": "trossen_ai_stationary",
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| 31 |
+
"total_episodes": 1,
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| 32 |
+
"total_frames": 1859,
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| 33 |
+
"total_tasks": 1,
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| 34 |
+
"total_videos": 1,
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| 35 |
+
"total_chunks": 1,
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| 36 |
+
"chunks_size": 1000,
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| 37 |
+
"fps": 30,
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| 38 |
+
"splits": {
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| 39 |
+
"train": "0:1"
|
| 40 |
+
},
|
| 41 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 42 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 43 |
+
"features": {
|
| 44 |
+
"action": {
|
| 45 |
+
"dtype": "float32",
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| 46 |
+
"shape": [
|
| 47 |
+
14
|
| 48 |
+
],
|
| 49 |
+
"names": [
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| 50 |
+
"left_joint_0",
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| 51 |
+
"left_joint_1",
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| 52 |
+
"left_joint_2",
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| 53 |
+
"left_joint_3",
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| 54 |
+
"left_joint_4",
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| 55 |
+
"left_joint_5",
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| 56 |
+
"left_joint_6",
|
| 57 |
+
"right_joint_0",
|
| 58 |
+
"right_joint_1",
|
| 59 |
+
"right_joint_2",
|
| 60 |
+
"right_joint_3",
|
| 61 |
+
"right_joint_4",
|
| 62 |
+
"right_joint_5",
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| 63 |
+
"right_joint_6"
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"observation.state": {
|
| 67 |
+
"dtype": "float32",
|
| 68 |
+
"shape": [
|
| 69 |
+
14
|
| 70 |
+
],
|
| 71 |
+
"names": [
|
| 72 |
+
"left_joint_0",
|
| 73 |
+
"left_joint_1",
|
| 74 |
+
"left_joint_2",
|
| 75 |
+
"left_joint_3",
|
| 76 |
+
"left_joint_4",
|
| 77 |
+
"left_joint_5",
|
| 78 |
+
"left_joint_6",
|
| 79 |
+
"right_joint_0",
|
| 80 |
+
"right_joint_1",
|
| 81 |
+
"right_joint_2",
|
| 82 |
+
"right_joint_3",
|
| 83 |
+
"right_joint_4",
|
| 84 |
+
"right_joint_5",
|
| 85 |
+
"right_joint_6"
|
| 86 |
+
]
|
| 87 |
+
},
|
| 88 |
+
"observation.images.cam_center": {
|
| 89 |
+
"dtype": "video",
|
| 90 |
+
"shape": [
|
| 91 |
+
480,
|
| 92 |
+
640,
|
| 93 |
+
3
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"height",
|
| 97 |
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"width",
|
| 98 |
+
"channels"
|
| 99 |
+
],
|
| 100 |
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"info": {
|
| 101 |
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"video.fps": 30.0,
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| 102 |
+
"video.height": 480,
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| 103 |
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"video.width": 640,
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| 104 |
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"video.channels": 3,
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| 105 |
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"video.codec": "av1",
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| 106 |
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"video.pix_fmt": "yuv420p",
|
| 107 |
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"video.is_depth_map": false,
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| 108 |
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"has_audio": false
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"timestamp": {
|
| 112 |
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"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
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1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
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"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
```
|
| 149 |
+
|
| 150 |
+
|
| 151 |
+
## Citation
|
| 152 |
+
|
| 153 |
+
**BibTeX:**
|
| 154 |
+
|
| 155 |
+
```bibtex
|
| 156 |
+
[More Information Needed]
|
| 157 |
+
```
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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9ed43a0b3951cc4d58b30cf9b7e77fade706c23b27c7e3546887aa5f0c9f13e7
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| 3 |
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size 166916
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pilot play dataset."], "length": 1820}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"action": {"min": [-0.8226520419120789, 0.5487525463104248, 0.007438773289322853, -0.47932401299476624, -1.0015640258789062, -0.49343863129615784, -0.0007994305342435837, -0.9897382855415344, 0.422102689743042, 0.0078202486038208, -0.2645532786846161, -1.125925064086914, -0.1970321238040924, -0.00046897679567337036], "max": [0.7623788714408875, 2.5080111026763916, 1.8457694053649902, 1.575303316116333, 1.024452567100525, 0.2752346098423004, 0.03762993961572647, 0.44155794382095337, 2.014763116836548, 1.2411307096481323, 1.0671778917312622, 0.9470130205154419, 0.41561761498451233, 0.027415933087468147], "mean": [0.09671463072299957, 1.7497421503067017, 0.8654067516326904, 0.6351260542869568, 0.013735335320234299, -0.1465735137462616, 0.012968507595360279, -0.1876828372478485, 1.3047230243682861, 0.5810004472732544, 0.4197334051132202, 0.03300213813781738, 0.06986936181783676, 0.010460798628628254], "std": [0.44647616147994995, 0.5200300216674805, 0.6045368909835815, 0.47832465171813965, 0.5836957693099976, 0.16309459507465363, 0.012393745593726635, 0.355226993560791, 0.4881446361541748, 0.2854470908641815, 0.2414514124393463, 0.42819711565971375, 0.17364467680454254, 0.010527137666940689], "count": [1820]}, "observation.state": {"min": [-0.8173113465309143, 0.5544747114181519, 0.016975661739706993, -0.4533836841583252, -0.9927901029586792, -0.4865720570087433, 0.00028236862272024155, -0.9866865277290344, 0.4232471287250519, 0.016594186425209045, -0.25616082549095154, -1.114862322807312, -0.19398032128810883, -1.7546117305755615e-06], "max": [0.7612344622612, 2.510681390762329, 1.823262333869934, 1.5650033950805664, 1.0065232515335083, 0.26951247453689575, 0.0375167652964592, 0.4362172782421112, 2.0113298892974854, 1.2129014730453491, 1.0584038496017456, 0.9344243407249451, 0.4087510406970978, 0.02717551775276661], "mean": [0.09577014297246933, 1.761572241783142, 0.8647278547286987, 0.6353131532669067, 0.014031254686415195, -0.14547918736934662, 0.013369163498282433, -0.18657924234867096, 1.309043526649475, 0.575831413269043, 0.418218731880188, 0.03334340080618858, 0.06805966049432755, 0.011151246726512909], "std": [0.44484835863113403, 0.5172796249389648, 0.6036694049835205, 0.47392183542251587, 0.5813743472099304, 0.16126012802124023, 0.011999998241662979, 0.35532838106155396, 0.48806285858154297, 0.2808781862258911, 0.24007925391197205, 0.42567721009254456, 0.17127776145935059, 0.01008438691496849], "count": [1820]}, "observation.images.cam_center": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28761315506418395]], [[0.26683446845464803]], [[0.2447707297397376]]], "std": [[[0.17839596729350482]], [[0.16676544359490195]], [[0.15159187178784092]]], "count": [278]}, "timestamp": {"min": [0.0], "max": [60.63333333333333], "mean": [30.316666666666663], "std": [17.51295552187326], "count": [1820]}, "frame_index": {"min": [0], "max": [1819], "mean": [909.5], "std": [525.3886656561978], "count": [1820]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1820]}, "index": {"min": [0], "max": [1819], "mean": [909.5], "std": [525.3886656561978], "count": [1820]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1820]}}}
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meta/info.json
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|
| 1 |
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{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"trossen_subversion": "v1.0",
|
| 4 |
+
"robot_type": "trossen_ai_stationary",
|
| 5 |
+
"total_episodes": 1,
|
| 6 |
+
"total_frames": 1820,
|
| 7 |
+
"total_tasks": 1,
|
| 8 |
+
"total_videos": 1,
|
| 9 |
+
"total_chunks": 1,
|
| 10 |
+
"chunks_size": 1000,
|
| 11 |
+
"fps": 30,
|
| 12 |
+
"splits": {
|
| 13 |
+
"train": "0:1"
|
| 14 |
+
},
|
| 15 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 16 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 17 |
+
"features": {
|
| 18 |
+
"action": {
|
| 19 |
+
"dtype": "float32",
|
| 20 |
+
"shape": [
|
| 21 |
+
14
|
| 22 |
+
],
|
| 23 |
+
"names": [
|
| 24 |
+
"left_joint_0",
|
| 25 |
+
"left_joint_1",
|
| 26 |
+
"left_joint_2",
|
| 27 |
+
"left_joint_3",
|
| 28 |
+
"left_joint_4",
|
| 29 |
+
"left_joint_5",
|
| 30 |
+
"left_joint_6",
|
| 31 |
+
"right_joint_0",
|
| 32 |
+
"right_joint_1",
|
| 33 |
+
"right_joint_2",
|
| 34 |
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"right_joint_3",
|
| 35 |
+
"right_joint_4",
|
| 36 |
+
"right_joint_5",
|
| 37 |
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"right_joint_6"
|
| 38 |
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|
| 39 |
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},
|
| 40 |
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|
| 41 |
+
"dtype": "float32",
|
| 42 |
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|
| 43 |
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14
|
| 44 |
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],
|
| 45 |
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"names": [
|
| 46 |
+
"left_joint_0",
|
| 47 |
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"left_joint_1",
|
| 48 |
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"left_joint_2",
|
| 49 |
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"left_joint_3",
|
| 50 |
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"left_joint_4",
|
| 51 |
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"left_joint_5",
|
| 52 |
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"left_joint_6",
|
| 53 |
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"right_joint_0",
|
| 54 |
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"right_joint_1",
|
| 55 |
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"right_joint_2",
|
| 56 |
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"right_joint_3",
|
| 57 |
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"right_joint_4",
|
| 58 |
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"right_joint_5",
|
| 59 |
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"right_joint_6"
|
| 60 |
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|
| 61 |
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},
|
| 62 |
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"observation.images.cam_center": {
|
| 63 |
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"dtype": "video",
|
| 64 |
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"shape": [
|
| 65 |
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480,
|
| 66 |
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|
| 67 |
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3
|
| 68 |
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|
| 69 |
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"names": [
|
| 70 |
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"height",
|
| 71 |
+
"width",
|
| 72 |
+
"channels"
|
| 73 |
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],
|
| 74 |
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"info": {
|
| 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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|
| 81 |
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|
| 82 |
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"has_audio": false
|
| 83 |
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|
| 84 |
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},
|
| 85 |
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"timestamp": {
|
| 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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"dtype": "int64",
|
| 94 |
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|
| 95 |
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1
|
| 96 |
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],
|
| 97 |
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"names": null
|
| 98 |
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},
|
| 99 |
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"episode_index": {
|
| 100 |
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"dtype": "int64",
|
| 101 |
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|
| 102 |
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1
|
| 103 |
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],
|
| 104 |
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"names": null
|
| 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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"names": null
|
| 119 |
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}
|
| 120 |
+
}
|
| 121 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pilot play dataset."}
|
videos/chunk-000/observation.images.cam_center/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:37f233bcdf42a79a7ea4313b37fb9c05c7bcfbe350c88e0c38646a42e70edfe0
|
| 3 |
+
size 46884973
|