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Browse files- data/chunk-000/episode_000000.parquet +3 -0
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|
| 1 |
+
{"episode_index": 0, "tasks": ["pick up the black bowl between the plate and the ramekin and place it on the plate"], "length": 95}
|
| 2 |
+
{"episode_index": 1, "tasks": ["pick up the black bowl between the plate and the ramekin and place it on the plate"], "length": 92}
|
| 3 |
+
{"episode_index": 2, "tasks": ["pick up the black bowl between the plate and the ramekin and place it on the plate"], "length": 84}
|
| 4 |
+
{"episode_index": 3, "tasks": ["pick up the black bowl between the plate and the ramekin and place it on the plate"], "length": 92}
|
| 5 |
+
{"episode_index": 4, "tasks": ["pick up the black bowl between the plate and the ramekin and place it on the plate"], "length": 97}
|
| 6 |
+
{"episode_index": 5, "tasks": ["pick up the black bowl next to the ramekin and place it on the plate"], "length": 140}
|
| 7 |
+
{"episode_index": 6, "tasks": ["pick up the black bowl next to the ramekin and place it on the plate"], "length": 112}
|
| 8 |
+
{"episode_index": 7, "tasks": ["pick up the black bowl next to the ramekin and place it on the plate"], "length": 126}
|
| 9 |
+
{"episode_index": 8, "tasks": ["pick up the black bowl next to the ramekin and place it on the plate"], "length": 141}
|
| 10 |
+
{"episode_index": 9, "tasks": ["pick up the black bowl next to the ramekin and place it on the plate"], "length": 127}
|
| 11 |
+
{"episode_index": 10, "tasks": ["pick up the black bowl from table center and place it on the plate"], "length": 143}
|
| 12 |
+
{"episode_index": 11, "tasks": ["pick up the black bowl from table center and place it on the plate"], "length": 121}
|
| 13 |
+
{"episode_index": 12, "tasks": ["pick up the black bowl from table center and place it on the plate"], "length": 131}
|
| 14 |
+
{"episode_index": 13, "tasks": ["pick up the black bowl from table center and place it on the plate"], "length": 100}
|
| 15 |
+
{"episode_index": 14, "tasks": ["pick up the black bowl from table center and place it on the plate"], "length": 123}
|
| 16 |
+
{"episode_index": 15, "tasks": ["pick up the black bowl on the cookie box and place it on the plate"], "length": 94}
|
| 17 |
+
{"episode_index": 16, "tasks": ["pick up the black bowl on the cookie box and place it on the plate"], "length": 92}
|
| 18 |
+
{"episode_index": 17, "tasks": ["pick up the black bowl on the cookie box and place it on the plate"], "length": 99}
|
| 19 |
+
{"episode_index": 18, "tasks": ["pick up the black bowl on the cookie box and place it on the plate"], "length": 101}
|
| 20 |
+
{"episode_index": 19, "tasks": ["pick up the black bowl on the cookie box and place it on the plate"], "length": 99}
|
| 21 |
+
{"episode_index": 20, "tasks": ["pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"], "length": 143}
|
| 22 |
+
{"episode_index": 21, "tasks": ["pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"], "length": 151}
|
| 23 |
+
{"episode_index": 22, "tasks": ["pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"], "length": 158}
|
| 24 |
+
{"episode_index": 23, "tasks": ["pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"], "length": 138}
|
| 25 |
+
{"episode_index": 24, "tasks": ["pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"], "length": 138}
|
| 26 |
+
{"episode_index": 25, "tasks": ["pick up the black bowl on the ramekin and place it on the plate"], "length": 107}
|
| 27 |
+
{"episode_index": 26, "tasks": ["pick up the black bowl on the ramekin and place it on the plate"], "length": 119}
|
| 28 |
+
{"episode_index": 27, "tasks": ["pick up the black bowl on the ramekin and place it on the plate"], "length": 147}
|
| 29 |
+
{"episode_index": 28, "tasks": ["pick up the black bowl on the ramekin and place it on the plate"], "length": 128}
|
| 30 |
+
{"episode_index": 29, "tasks": ["pick up the black bowl on the ramekin and place it on the plate"], "length": 116}
|
| 31 |
+
{"episode_index": 30, "tasks": ["pick up the black bowl next to the cookie box and place it on the plate"], "length": 122}
|
| 32 |
+
{"episode_index": 31, "tasks": ["pick up the black bowl next to the cookie box and place it on the plate"], "length": 122}
|
| 33 |
+
{"episode_index": 32, "tasks": ["pick up the black bowl next to the cookie box and place it on the plate"], "length": 133}
|
| 34 |
+
{"episode_index": 33, "tasks": ["pick up the black bowl next to the cookie box and place it on the plate"], "length": 154}
|
| 35 |
+
{"episode_index": 34, "tasks": ["pick up the black bowl next to the cookie box and place it on the plate"], "length": 115}
|
| 36 |
+
{"episode_index": 35, "tasks": ["pick up the black bowl on the stove and place it on the plate"], "length": 136}
|
| 37 |
+
{"episode_index": 36, "tasks": ["pick up the black bowl on the stove and place it on the plate"], "length": 128}
|
| 38 |
+
{"episode_index": 37, "tasks": ["pick up the black bowl on the stove and place it on the plate"], "length": 168}
|
| 39 |
+
{"episode_index": 38, "tasks": ["pick up the black bowl on the stove and place it on the plate"], "length": 130}
|
| 40 |
+
{"episode_index": 39, "tasks": ["pick up the black bowl on the stove and place it on the plate"], "length": 197}
|
meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
|
|
meta/info.json
ADDED
|
@@ -0,0 +1,131 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
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|
| 4 |
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"total_episodes": 40,
|
| 5 |
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"total_frames": 4959,
|
| 6 |
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"total_tasks": 8,
|
| 7 |
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"total_videos": 0,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
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"train": "0:40"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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|
| 16 |
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"features": {
|
| 17 |
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|
| 18 |
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|
| 19 |
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"shape": [
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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"names": [
|
| 25 |
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"height",
|
| 26 |
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"width",
|
| 27 |
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"channel"
|
| 28 |
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]
|
| 29 |
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},
|
| 30 |
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"observation.images.wrist_image": {
|
| 31 |
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"dtype": "image",
|
| 32 |
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"shape": [
|
| 33 |
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256,
|
| 34 |
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256,
|
| 35 |
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|
| 36 |
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|
| 37 |
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"names": [
|
| 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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"observation.state": {
|
| 44 |
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"dtype": "float32",
|
| 45 |
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"shape": [
|
| 46 |
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8
|
| 47 |
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],
|
| 48 |
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"names": {
|
| 49 |
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"motors": [
|
| 50 |
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"x",
|
| 51 |
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"y",
|
| 52 |
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"z",
|
| 53 |
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"roll",
|
| 54 |
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"pitch",
|
| 55 |
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"yaw",
|
| 56 |
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"gripper",
|
| 57 |
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"gripper"
|
| 58 |
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]
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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"observation.state.joint": {
|
| 62 |
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"dtype": "float32",
|
| 63 |
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"shape": [
|
| 64 |
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7
|
| 65 |
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],
|
| 66 |
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"names": {
|
| 67 |
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"motors": [
|
| 68 |
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"joint_1",
|
| 69 |
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"joint_2",
|
| 70 |
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"joint_3",
|
| 71 |
+
"joint_4",
|
| 72 |
+
"joint_5",
|
| 73 |
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"joint_6",
|
| 74 |
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"joint_7"
|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"action": {
|
| 79 |
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"dtype": "float32",
|
| 80 |
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"shape": [
|
| 81 |
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7
|
| 82 |
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],
|
| 83 |
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"names": {
|
| 84 |
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"motors": [
|
| 85 |
+
"x",
|
| 86 |
+
"y",
|
| 87 |
+
"z",
|
| 88 |
+
"roll",
|
| 89 |
+
"pitch",
|
| 90 |
+
"yaw",
|
| 91 |
+
"gripper"
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"timestamp": {
|
| 96 |
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"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
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1
|
| 99 |
+
],
|
| 100 |
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"names": null
|
| 101 |
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},
|
| 102 |
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"frame_index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
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"shape": [
|
| 105 |
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1
|
| 106 |
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],
|
| 107 |
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"names": null
|
| 108 |
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},
|
| 109 |
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"episode_index": {
|
| 110 |
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"dtype": "int64",
|
| 111 |
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"shape": [
|
| 112 |
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|
| 113 |
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],
|
| 114 |
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"names": null
|
| 115 |
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},
|
| 116 |
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"index": {
|
| 117 |
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"dtype": "int64",
|
| 118 |
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"shape": [
|
| 119 |
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1
|
| 120 |
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],
|
| 121 |
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"names": null
|
| 122 |
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},
|
| 123 |
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"task_index": {
|
| 124 |
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"dtype": "int64",
|
| 125 |
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"shape": [
|
| 126 |
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1
|
| 127 |
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],
|
| 128 |
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"names": null
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up the black bowl between the plate and the ramekin and place it on the plate"}
|
| 2 |
+
{"task_index": 1, "task": "pick up the black bowl next to the ramekin and place it on the plate"}
|
| 3 |
+
{"task_index": 2, "task": "pick up the black bowl from table center and place it on the plate"}
|
| 4 |
+
{"task_index": 3, "task": "pick up the black bowl on the cookie box and place it on the plate"}
|
| 5 |
+
{"task_index": 4, "task": "pick up the black bowl in the top drawer of the wooden cabinet and place it on the plate"}
|
| 6 |
+
{"task_index": 5, "task": "pick up the black bowl on the ramekin and place it on the plate"}
|
| 7 |
+
{"task_index": 6, "task": "pick up the black bowl next to the cookie box and place it on the plate"}
|
| 8 |
+
{"task_index": 7, "task": "pick up the black bowl on the stove and place it on the plate"}
|