Add files using upload-large-folder tool
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.gitattributes
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@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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meta/mshab_source_episodes.jsonl filter=lfs diff=lfs merge=lfs -text
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README.md
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---
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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tags:
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- lerobot
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- LeRobot
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- robotics
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- mshab
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- ms-hab
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- settable
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- simulation
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task_categories:
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- robotics
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pretty_name: mshab_settable_clean
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---
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# mshab_settable_clean
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LeRobot-format conversion of the released MS-HAB SetTable subtasks.
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## Source
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- released source repo: `datasets/arth-shukla/MS-HAB-SetTable`
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- benchmark scope: SetTable subtasks only
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- task strings in this LeRobot dataset: `set table: pick object`, `set table: place object`
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- split mapping: LeRobot `train` contains all exported released episodes
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- fps: `20`
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## Dataset Structure
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[meta/info.json](https://huggingface.co/datasets/chaoqi-liu/mshab_settable_clean/blob/main/meta/info.json):
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```json
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{
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"codebase_version": "v3.0",
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"robot_type": "fetch",
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"total_episodes": 4000,
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"total_frames": 151547,
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"total_tasks": 2,
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"fps": 20,
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"splits": {"train": "0:4000"},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
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}
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```
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- [meta/stats.json](https://huggingface.co/datasets/chaoqi-liu/mshab_settable_clean/blob/main/meta/stats.json)
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- [meta/tasks.parquet](https://huggingface.co/datasets/chaoqi-liu/mshab_settable_clean/blob/main/meta/tasks.parquet)
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- [meta/episodes/chunk-000/file-000.parquet](https://huggingface.co/datasets/chaoqi-liu/mshab_settable_clean/blob/main/meta/episodes/chunk-000/file-000.parquet)
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## Counts
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### Per task instruction
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- `set table: pick object`: `2000` episodes
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- `set table: place object`: `2000` episodes
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### Per released source config
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- `pick-013_apple`: `1000` episodes
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- `pick-024_bowl`: `1000` episodes
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- `place-013_apple`: `1000` episodes
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- `place-024_bowl`: `1000` episodes
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## Observation mapping
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- `observation.state`: 42-D flat benchmark state
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- `observation.agent.qpos`: `12` dims
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- `observation.agent.qvel`: `12` dims
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- `observation.extra.tcp_pose_wrt_base`: `7` dims
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- `observation.extra.obj_pose_wrt_base`: `7` dims
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- `observation.extra.goal_pos_wrt_base`: `3` dims
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- `observation.extra.is_grasped`: `1` dims
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- `observation.images.fetch_head`: RGB video `(128, 128, 3)`
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- `observation.images.fetch_hand`: RGB video `(128, 128, 3)`
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- `observation.camera.*`: preserved camera matrices from the released HDF5 source
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## Action mapping
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- `action`: 13-D float32 control in controller order
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- names: `arm.shoulder_pan_joint, arm.shoulder_lift_joint, arm.upperarm_roll_joint, arm.elbow_flex_joint, arm.forearm_roll_joint, arm.wrist_flex_joint, arm.wrist_roll_joint, gripper.control, body.head_pan_joint, body.head_tilt_joint, body.torso_lift_joint, base.forward_velocity, base.rotation_velocity`
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## Episode metadata
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- per-episode released-source metadata is stored in `meta/mshab_source_episodes.jsonl`
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- conversion summary and verification are stored in `meta/mshab_settable_export_report.json`
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## Notes
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- MS-HAB SetTable release stores one observation before each action, so export aligns observation[t] with action[t].
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- RGB cameras are stored as LeRobot videos under observation.images.fetch_head and observation.images.fetch_hand.
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- Depth streams are intentionally omitted in this dataset variant.
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- Task strings are natural-language instructions such as `set table: open drawer`, not short benchmark labels.
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- Episodes are truncated at the first successful action frame when success is observed.
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- Released HDF5 action rows are clipped to the normalized MS-HAB env action box before export.
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- The full 8-way released config identity remains available in meta/mshab_source_episodes.jsonl.
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- This variant was derived from the existing LeRobot dataset `datasets/chaoqi-liu/mshab_settable_clean_w_depth` without re-encoding RGB videos.
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{
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| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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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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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
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|
| 160 |
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|
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|
| 162 |
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|
| 163 |
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|
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| 165 |
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|
| 166 |
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|
| 167 |
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"observation.images.fetch_head": {
|
| 168 |
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|
| 169 |
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"shape": [
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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"channels"
|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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"observation.images.fetch_hand": {
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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"names": [
|
| 222 |
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"height",
|
| 223 |
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"width",
|
| 224 |
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"channels"
|
| 225 |
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|
| 226 |
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"info": {
|
| 227 |
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"video.height": 128,
|
| 228 |
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"video.width": 128,
|
| 229 |
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|
| 230 |
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"video.pix_fmt": "yuv420p",
|
| 231 |
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"video.is_depth_map": false,
|
| 232 |
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|
| 233 |
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"video.channels": 3,
|
| 234 |
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"has_audio": false
|
| 235 |
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}
|
| 236 |
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},
|
| 237 |
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"observation.camera.fetch_hand.cam2world_gl": {
|
| 238 |
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"dtype": "float32",
|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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"names": null
|
| 244 |
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|
| 245 |
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"observation.camera.fetch_hand.extrinsic_cv": {
|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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"names": null
|
| 274 |
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|
| 275 |
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"episode_index": {
|
| 276 |
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"dtype": "int64",
|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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"names": null
|
| 288 |
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|
| 289 |
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"task_index": {
|
| 290 |
+
"dtype": "int64",
|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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"names": null
|
| 295 |
+
}
|
| 296 |
+
}
|
| 297 |
+
}
|
meta/mshab_settable_export_report.json
ADDED
|
@@ -0,0 +1,419 @@
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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 |
+
{
|
| 2 |
+
"action_mapping": {
|
| 3 |
+
"action": {
|
| 4 |
+
"dtype": "float32",
|
| 5 |
+
"names": [
|
| 6 |
+
"arm.shoulder_pan_joint",
|
| 7 |
+
"arm.shoulder_lift_joint",
|
| 8 |
+
"arm.upperarm_roll_joint",
|
| 9 |
+
"arm.elbow_flex_joint",
|
| 10 |
+
"arm.forearm_roll_joint",
|
| 11 |
+
"arm.wrist_flex_joint",
|
| 12 |
+
"arm.wrist_roll_joint",
|
| 13 |
+
"gripper.control",
|
| 14 |
+
"body.head_pan_joint",
|
| 15 |
+
"body.head_tilt_joint",
|
| 16 |
+
"body.torso_lift_joint",
|
| 17 |
+
"base.forward_velocity",
|
| 18 |
+
"base.rotation_velocity"
|
| 19 |
+
],
|
| 20 |
+
"notes": [
|
| 21 |
+
"released HDF5 action values are clipped to the normalized env action box before export",
|
| 22 |
+
"controller order is arm, gripper, body, base",
|
| 23 |
+
"body head_pan/head_tilt are present in the action tensor but are zeroed during collection by FetchActionWrapper(stationary_head=True)",
|
| 24 |
+
"base controller contributes forward velocity and rotation velocity"
|
| 25 |
+
],
|
| 26 |
+
"shape": [
|
| 27 |
+
13
|
| 28 |
+
]
|
| 29 |
+
}
|
| 30 |
+
},
|
| 31 |
+
"action_transform": {
|
| 32 |
+
"clip_actions": true,
|
| 33 |
+
"clip_high": 1.0,
|
| 34 |
+
"clip_low": -1.0,
|
| 35 |
+
"normalize_actions": false,
|
| 36 |
+
"preserve_hdf5_actions": false
|
| 37 |
+
},
|
| 38 |
+
"counts_by_config": {
|
| 39 |
+
"pick-013_apple": 1000,
|
| 40 |
+
"pick-024_bowl": 1000,
|
| 41 |
+
"place-013_apple": 1000,
|
| 42 |
+
"place-024_bowl": 1000
|
| 43 |
+
},
|
| 44 |
+
"counts_by_subtask": {
|
| 45 |
+
"set table: pick object": 2000,
|
| 46 |
+
"set table: place object": 2000
|
| 47 |
+
},
|
| 48 |
+
"dataset_name": "mshab_settable_clean",
|
| 49 |
+
"depth_included": false,
|
| 50 |
+
"derivation": {
|
| 51 |
+
"mode": "drop_depth_from_existing_lerobot",
|
| 52 |
+
"removed_feature_keys": [
|
| 53 |
+
"observation.depth.fetch_head",
|
| 54 |
+
"observation.depth.fetch_hand"
|
| 55 |
+
],
|
| 56 |
+
"reused_rgb_videos": true,
|
| 57 |
+
"source_dataset_repo_id": "chaoqi-liu/mshab_settable_clean_w_depth",
|
| 58 |
+
"source_dataset_root": "/n/netscratch/ydu_lab/Lab/chaoqi/hf/lerobot/chaoqi-liu/mshab_settable_clean_w_depth"
|
| 59 |
+
},
|
| 60 |
+
"episode_metadata_mapping": {
|
| 61 |
+
"fields": [
|
| 62 |
+
"config_name",
|
| 63 |
+
"episode_index",
|
| 64 |
+
"exported_elapsed_steps",
|
| 65 |
+
"source_action_count",
|
| 66 |
+
"source_articulation_type",
|
| 67 |
+
"source_benchmark_subtask",
|
| 68 |
+
"source_build_config_idx",
|
| 69 |
+
"source_control_mode",
|
| 70 |
+
"source_elapsed_steps",
|
| 71 |
+
"source_episode_id",
|
| 72 |
+
"source_episode_seed",
|
| 73 |
+
"source_events",
|
| 74 |
+
"source_events_verbose",
|
| 75 |
+
"source_fail",
|
| 76 |
+
"source_file_h5",
|
| 77 |
+
"source_file_json",
|
| 78 |
+
"source_first_success_step",
|
| 79 |
+
"source_init_config_idx",
|
| 80 |
+
"source_label",
|
| 81 |
+
"source_object_name",
|
| 82 |
+
"source_reset_kwargs",
|
| 83 |
+
"source_spawn_selection_idx",
|
| 84 |
+
"source_subtask",
|
| 85 |
+
"source_subtask_uid",
|
| 86 |
+
"source_success_at_end",
|
| 87 |
+
"source_success_once",
|
| 88 |
+
"source_target",
|
| 89 |
+
"source_task_plan_idx",
|
| 90 |
+
"source_truncated_at_first_success",
|
| 91 |
+
"task"
|
| 92 |
+
],
|
| 93 |
+
"path": "/n/netscratch/ydu_lab/Lab/chaoqi/hf/lerobot/chaoqi-liu/mshab_settable_clean/meta/mshab_source_episodes.jsonl"
|
| 94 |
+
},
|
| 95 |
+
"episode_transform": {
|
| 96 |
+
"per_step_reward_done_flags": "preserved from released HDF5 rows",
|
| 97 |
+
"success_frame_included": true,
|
| 98 |
+
"truncate_at_first_success": true
|
| 99 |
+
},
|
| 100 |
+
"fps": 20,
|
| 101 |
+
"image_mapping": {
|
| 102 |
+
"observation.images.fetch_hand": {
|
| 103 |
+
"dtype": "video",
|
| 104 |
+
"shape": [
|
| 105 |
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|
| 106 |
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128,
|
| 107 |
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3
|
| 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 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"notes": [
|
| 120 |
+
"MS-HAB SetTable release stores one observation before each action, so export aligns observation[t] with action[t].",
|
| 121 |
+
"RGB cameras are stored as LeRobot videos under observation.images.fetch_head and observation.images.fetch_hand.",
|
| 122 |
+
"Depth streams are intentionally omitted in this dataset variant.",
|
| 123 |
+
"Task strings are natural-language instructions such as `set table: open drawer`, not short benchmark labels.",
|
| 124 |
+
"Episodes are truncated at the first successful action frame when success is observed.",
|
| 125 |
+
"Released HDF5 action rows are clipped to the normalized MS-HAB env action box before export.",
|
| 126 |
+
"The full 8-way released config identity remains available in meta/mshab_source_episodes.jsonl.",
|
| 127 |
+
"This variant was derived from the existing LeRobot dataset `datasets/chaoqi-liu/mshab_settable_clean_w_depth` without re-encoding RGB videos."
|
| 128 |
+
],
|
| 129 |
+
"output_root": "/n/netscratch/ydu_lab/Lab/chaoqi/hf/lerobot/chaoqi-liu/mshab_settable_clean",
|
| 130 |
+
"repo_id": "chaoqi-liu/mshab_settable_clean",
|
| 131 |
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"source_repo_id": "arth-shukla/MS-HAB-SetTable",
|
| 132 |
+
"source_root": "data/mshab/settable/source",
|
| 133 |
+
"split_mapping": {
|
| 134 |
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"train": "all exported released episodes"
|
| 135 |
+
},
|
| 136 |
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"state_mapping": {
|
| 137 |
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|
| 138 |
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"components": [
|
| 139 |
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{
|
| 140 |
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"dim": 12,
|
| 141 |
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"key": "observation.agent.qpos"
|
| 142 |
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|
| 143 |
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{
|
| 144 |
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"dim": 12,
|
| 145 |
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|
| 146 |
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|
| 147 |
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{
|
| 148 |
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"dim": 7,
|
| 149 |
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"key": "observation.extra.tcp_pose_wrt_base"
|
| 150 |
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|
| 151 |
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{
|
| 152 |
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|
| 153 |
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"key": "observation.extra.obj_pose_wrt_base"
|
| 154 |
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|
| 155 |
+
{
|
| 156 |
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"dim": 3,
|
| 157 |
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"key": "observation.extra.goal_pos_wrt_base"
|
| 158 |
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|
| 159 |
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{
|
| 160 |
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"dim": 1,
|
| 161 |
+
"key": "observation.extra.is_grasped"
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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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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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
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|
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|
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|
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|
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
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|
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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"h5_relpath": "pick/013_apple.h5",
|
| 220 |
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"json_relpath": "pick/013_apple.json",
|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
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|
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|
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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}
|
| 259 |
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|
| 260 |
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|
| 261 |
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"index_contract": {
|
| 262 |
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"checked_data_files": 53,
|
| 263 |
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"checked_episode_rows": 4000,
|
| 264 |
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|
| 265 |
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"dense_frame_indices": true
|
| 266 |
+
},
|
| 267 |
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"readable_by_lerobot": true,
|
| 268 |
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"sample": {
|
| 269 |
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"action": {
|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
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|
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|
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],
|
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|
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| 306 |
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|
| 307 |
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|
| 308 |
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|
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|
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|
| 313 |
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| 314 |
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|
| 315 |
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|
| 316 |
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|
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|
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|
| 321 |
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|
| 322 |
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|
| 323 |
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|
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|
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|
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|
| 329 |
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|
| 331 |
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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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|
| 369 |
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|
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|
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| 373 |
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|
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| 375 |
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|
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|
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|
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|
| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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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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"value": 0
|
| 409 |
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}
|
| 410 |
+
},
|
| 411 |
+
"tasks": [
|
| 412 |
+
"set table: pick object",
|
| 413 |
+
"set table: place object"
|
| 414 |
+
],
|
| 415 |
+
"total_episodes": 4000,
|
| 416 |
+
"total_frames": 151547,
|
| 417 |
+
"verification_mode": "parquet_metadata_no_video_decode"
|
| 418 |
+
}
|
| 419 |
+
}
|
meta/mshab_source_episodes.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:b6339015da77de045f8f03dd65acf7573bbdff672922be7660aa6bf1a93d75fb
|
| 3 |
+
size 17336842
|
meta/stats.json
ADDED
|
@@ -0,0 +1,2031 @@
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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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| 1982 |
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