Datasets:
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 +176 -0
- meta/stats.json +1024 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.center_camera/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left_camera/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.right_camera/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:ce36650bda8847c068660785aa230cbd4b01a9ed33bdde18a16bb2d9b4ffd9fd
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size 2217640
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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 sha256:9190bf56d065283392908377902ce1927efcc2dd0805bab6aa6188e0bcc88d0b
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size 93829
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meta/info.json
ADDED
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@@ -0,0 +1,176 @@
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{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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"robot_type": "ur5e_aic",
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| 4 |
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"total_episodes": 9,
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| 5 |
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"total_frames": 13831,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:9"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"action": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"names": [
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| 20 |
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"linear.x",
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| 21 |
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"linear.y",
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| 22 |
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"linear.z",
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| 23 |
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"angular.x",
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| 24 |
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"angular.y",
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| 25 |
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"angular.z"
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| 26 |
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],
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| 27 |
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"shape": [
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| 28 |
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6
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| 29 |
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]
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| 30 |
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},
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| 31 |
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"observation.state": {
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| 32 |
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"dtype": "float32",
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| 33 |
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"names": [
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| 34 |
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"tcp_pose.position.x",
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| 35 |
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"tcp_pose.position.y",
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| 36 |
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"tcp_pose.position.z",
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| 37 |
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"tcp_pose.orientation.x",
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| 38 |
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"tcp_pose.orientation.y",
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| 39 |
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"tcp_pose.orientation.z",
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| 40 |
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"tcp_pose.orientation.w",
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| 41 |
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"tcp_velocity.linear.x",
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| 42 |
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"tcp_velocity.linear.y",
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| 43 |
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"tcp_velocity.linear.z",
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| 44 |
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"tcp_velocity.angular.x",
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| 45 |
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"tcp_velocity.angular.y",
|
| 46 |
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"tcp_velocity.angular.z",
|
| 47 |
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"tcp_error.x",
|
| 48 |
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"tcp_error.y",
|
| 49 |
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"tcp_error.z",
|
| 50 |
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"tcp_error.rx",
|
| 51 |
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"tcp_error.ry",
|
| 52 |
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"tcp_error.rz",
|
| 53 |
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"joint_positions.0",
|
| 54 |
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"joint_positions.1",
|
| 55 |
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"joint_positions.2",
|
| 56 |
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"joint_positions.3",
|
| 57 |
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"joint_positions.4",
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| 58 |
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"joint_positions.5",
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| 59 |
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"joint_positions.6",
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| 60 |
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"wrist_wrench.force.x",
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| 61 |
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"wrist_wrench.force.y",
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| 62 |
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"wrist_wrench.force.z",
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| 63 |
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"wrist_wrench.torque.x",
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| 64 |
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"wrist_wrench.torque.y",
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| 65 |
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"wrist_wrench.torque.z"
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| 66 |
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],
|
| 67 |
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"shape": [
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| 68 |
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32
|
| 69 |
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]
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| 70 |
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},
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| 71 |
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"observation.images.left_camera": {
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| 72 |
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"dtype": "video",
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| 73 |
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"shape": [
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| 74 |
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256,
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| 75 |
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288,
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| 76 |
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3
|
| 77 |
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],
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| 78 |
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"names": [
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| 79 |
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"height",
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| 80 |
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"width",
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| 81 |
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"channels"
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| 82 |
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],
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| 83 |
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"info": {
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| 84 |
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"video.height": 256,
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| 85 |
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"video.width": 288,
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| 86 |
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"video.codec": "av1",
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| 87 |
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"video.pix_fmt": "yuv420p",
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| 88 |
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"video.is_depth_map": false,
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| 89 |
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"video.fps": 30,
|
| 90 |
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"video.channels": 3,
|
| 91 |
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"has_audio": false
|
| 92 |
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}
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| 93 |
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},
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| 94 |
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"observation.images.center_camera": {
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| 95 |
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"dtype": "video",
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| 96 |
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"shape": [
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| 97 |
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256,
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| 98 |
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288,
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| 99 |
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3
|
| 100 |
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],
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| 101 |
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"names": [
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| 102 |
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"height",
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| 103 |
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"width",
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| 104 |
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"channels"
|
| 105 |
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],
|
| 106 |
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"info": {
|
| 107 |
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"video.height": 256,
|
| 108 |
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"video.width": 288,
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| 109 |
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"video.codec": "av1",
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| 110 |
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"video.pix_fmt": "yuv420p",
|
| 111 |
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"video.is_depth_map": false,
|
| 112 |
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"video.fps": 30,
|
| 113 |
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"video.channels": 3,
|
| 114 |
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"has_audio": false
|
| 115 |
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}
|
| 116 |
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},
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| 117 |
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"observation.images.right_camera": {
|
| 118 |
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"dtype": "video",
|
| 119 |
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"shape": [
|
| 120 |
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256,
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| 121 |
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288,
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| 122 |
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3
|
| 123 |
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],
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| 124 |
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"names": [
|
| 125 |
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"height",
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| 126 |
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"width",
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| 127 |
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"channels"
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| 128 |
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],
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| 129 |
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"info": {
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| 130 |
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"video.height": 256,
|
| 131 |
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"video.width": 288,
|
| 132 |
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"video.codec": "av1",
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| 133 |
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"video.pix_fmt": "yuv420p",
|
| 134 |
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"video.is_depth_map": false,
|
| 135 |
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"video.fps": 30,
|
| 136 |
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"video.channels": 3,
|
| 137 |
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"has_audio": false
|
| 138 |
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}
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| 139 |
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},
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| 140 |
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"timestamp": {
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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"names": null
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| 146 |
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},
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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],
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| 152 |
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"names": null
|
| 153 |
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},
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| 154 |
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"episode_index": {
|
| 155 |
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"dtype": "int64",
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| 156 |
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"shape": [
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| 157 |
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| 159 |
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"names": null
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| 160 |
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},
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| 161 |
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"index": {
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| 162 |
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"dtype": "int64",
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| 163 |
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"shape": [
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| 164 |
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|
| 165 |
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],
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| 166 |
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"names": null
|
| 167 |
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},
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| 168 |
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"task_index": {
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| 169 |
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"dtype": "int64",
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| 170 |
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"shape": [
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| 171 |
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| 172 |
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| 173 |
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"names": null
|
| 174 |
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}
|
| 175 |
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}
|
| 176 |
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}
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meta/stats.json
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@@ -0,0 +1,1024 @@
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| 1 |
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