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Browse files- 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
- data/chunk-000/episode_000004.parquet +3 -0
- data/chunk-000/episode_000005.parquet +3 -0
- 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
- data/chunk-000/episode_000011.parquet +3 -0
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- data/chunk-000/episode_000013.parquet +3 -0
- data/chunk-000/episode_000014.parquet +3 -0
- data/chunk-000/episode_000015.parquet +3 -0
- data/chunk-000/episode_000016.parquet +3 -0
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- data/chunk-000/episode_000021.parquet +3 -0
- data/chunk-000/episode_000022.parquet +3 -0
- data/chunk-000/episode_000023.parquet +3 -0
- data/chunk-000/episode_000024.parquet +3 -0
- data/chunk-000/episode_000025.parquet +3 -0
- data/chunk-000/episode_000026.parquet +3 -0
- data/chunk-000/episode_000027.parquet +3 -0
- data/chunk-000/episode_000028.parquet +3 -0
- data/chunk-000/episode_000029.parquet +3 -0
- meta/episodes.jsonl +30 -0
- meta/episodes_stats.jsonl +30 -0
- meta/info.json +131 -0
- meta/tasks.jsonl +6 -0
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data/chunk-000/episode_000024.parquet
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data/chunk-000/episode_000025.parquet
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data/chunk-000/episode_000026.parquet
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data/chunk-000/episode_000027.parquet
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data/chunk-000/episode_000028.parquet
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data/chunk-000/episode_000029.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["put both the alphabet soup and the tomato sauce in the basket"], "length": 265}
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{"episode_index": 1, "tasks": ["put both the alphabet soup and the tomato sauce in the basket"], "length": 312}
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{"episode_index": 5, "tasks": ["put both the cream cheese box and the butter in the basket"], "length": 246}
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{"episode_index": 6, "tasks": ["put both the cream cheese box and the butter in the basket"], "length": 258}
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{"episode_index": 8, "tasks": ["put both the cream cheese box and the butter in the basket"], "length": 258}
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{"episode_index": 9, "tasks": ["put both the cream cheese box and the butter in the basket"], "length": 257}
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{"episode_index": 10, "tasks": ["turn on the stove and put the moka pot on it"], "length": 278}
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{"episode_index": 11, "tasks": ["turn on the stove and put the moka pot on it"], "length": 244}
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{"episode_index": 13, "tasks": ["turn on the stove and put the moka pot on it"], "length": 253}
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| 15 |
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{"episode_index": 14, "tasks": ["turn on the stove and put the moka pot on it"], "length": 272}
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| 16 |
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{"episode_index": 15, "tasks": ["put the black bowl in the bottom drawer of the cabinet and close it"], "length": 227}
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{"episode_index": 16, "tasks": ["put the black bowl in the bottom drawer of the cabinet and close it"], "length": 230}
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{"episode_index": 19, "tasks": ["put the black bowl in the bottom drawer of the cabinet and close it"], "length": 237}
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{"episode_index": 20, "tasks": ["put the white mug on the left plate and put the yellow and white mug on the right plate"], "length": 271}
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| 22 |
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| 23 |
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| 28 |
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| 29 |
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{"episode_index": 28, "tasks": ["pick up the book and place it in the back compartment of the caddy"], "length": 200}
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| 30 |
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{"episode_index": 29, "tasks": ["pick up the book and place it in the back compartment of the caddy"], "length": 187}
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meta/episodes_stats.jsonl
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| 2 |
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| 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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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": null,
|
| 4 |
+
"total_episodes": 30,
|
| 5 |
+
"total_frames": 7474,
|
| 6 |
+
"total_tasks": 6,
|
| 7 |
+
"total_videos": 0,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:30"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
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|
| 16 |
+
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|
| 17 |
+
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|
| 18 |
+
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|
| 19 |
+
"shape": [
|
| 20 |
+
256,
|
| 21 |
+
256,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
]
|
| 29 |
+
},
|
| 30 |
+
"observation.images.wrist_image": {
|
| 31 |
+
"dtype": "image",
|
| 32 |
+
"shape": [
|
| 33 |
+
256,
|
| 34 |
+
256,
|
| 35 |
+
3
|
| 36 |
+
],
|
| 37 |
+
"names": [
|
| 38 |
+
"height",
|
| 39 |
+
"width",
|
| 40 |
+
"channel"
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"observation.state": {
|
| 44 |
+
"dtype": "float32",
|
| 45 |
+
"shape": [
|
| 46 |
+
8
|
| 47 |
+
],
|
| 48 |
+
"names": {
|
| 49 |
+
"motors": [
|
| 50 |
+
"x",
|
| 51 |
+
"y",
|
| 52 |
+
"z",
|
| 53 |
+
"roll",
|
| 54 |
+
"pitch",
|
| 55 |
+
"yaw",
|
| 56 |
+
"gripper",
|
| 57 |
+
"gripper"
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"observation.state.joint": {
|
| 62 |
+
"dtype": "float32",
|
| 63 |
+
"shape": [
|
| 64 |
+
7
|
| 65 |
+
],
|
| 66 |
+
"names": {
|
| 67 |
+
"motors": [
|
| 68 |
+
"joint_1",
|
| 69 |
+
"joint_2",
|
| 70 |
+
"joint_3",
|
| 71 |
+
"joint_4",
|
| 72 |
+
"joint_5",
|
| 73 |
+
"joint_6",
|
| 74 |
+
"joint_7"
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"action": {
|
| 79 |
+
"dtype": "float32",
|
| 80 |
+
"shape": [
|
| 81 |
+
7
|
| 82 |
+
],
|
| 83 |
+
"names": {
|
| 84 |
+
"motors": [
|
| 85 |
+
"x",
|
| 86 |
+
"y",
|
| 87 |
+
"z",
|
| 88 |
+
"roll",
|
| 89 |
+
"pitch",
|
| 90 |
+
"yaw",
|
| 91 |
+
"gripper"
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"frame_index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"episode_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
},
|
| 116 |
+
"index": {
|
| 117 |
+
"dtype": "int64",
|
| 118 |
+
"shape": [
|
| 119 |
+
1
|
| 120 |
+
],
|
| 121 |
+
"names": null
|
| 122 |
+
},
|
| 123 |
+
"task_index": {
|
| 124 |
+
"dtype": "int64",
|
| 125 |
+
"shape": [
|
| 126 |
+
1
|
| 127 |
+
],
|
| 128 |
+
"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "put both the alphabet soup and the tomato sauce in the basket"}
|
| 2 |
+
{"task_index": 1, "task": "put both the cream cheese box and the butter in the basket"}
|
| 3 |
+
{"task_index": 2, "task": "turn on the stove and put the moka pot on it"}
|
| 4 |
+
{"task_index": 3, "task": "put the black bowl in the bottom drawer of the cabinet and close it"}
|
| 5 |
+
{"task_index": 4, "task": "put the white mug on the left plate and put the yellow and white mug on the right plate"}
|
| 6 |
+
{"task_index": 5, "task": "pick up the book and place it in the back compartment of the caddy"}
|