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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
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- meta/blacklist.json +4 -0
- meta/episode_mapping.json +7 -0
- meta/episodes.jsonl +5 -0
- meta/episodes_stats.jsonl +5 -0
- meta/info.json +184 -0
- meta/pipeline_config.json +25 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.rgb_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_left/episode_000001.mp4 +3 -0
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- videos/chunk-000/observation.images.rgb_left/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_left/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_right/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_right/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_right/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_right/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_right/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_static/episode_000000.mp4 +3 -0
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- videos/chunk-000/observation.images.rgb_static/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.rgb_static/episode_000004.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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meta/blacklist.json
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| 4 |
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| 5 |
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|
| 1 |
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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 |
+
},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
32
|
| 21 |
+
],
|
| 22 |
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"names": [
|
| 23 |
+
"tcp_left_pos_x",
|
| 24 |
+
"tcp_left_pos_y",
|
| 25 |
+
"tcp_left_pos_z",
|
| 26 |
+
"tcp_left_quat_x",
|
| 27 |
+
"tcp_left_quat_y",
|
| 28 |
+
"tcp_left_quat_z",
|
| 29 |
+
"tcp_left_quat_w",
|
| 30 |
+
"tcp_right_pos_x",
|
| 31 |
+
"tcp_right_pos_y",
|
| 32 |
+
"tcp_right_pos_z",
|
| 33 |
+
"tcp_right_quat_x",
|
| 34 |
+
"tcp_right_quat_y",
|
| 35 |
+
"tcp_right_quat_z",
|
| 36 |
+
"tcp_right_quat_w",
|
| 37 |
+
"gripper_left_0",
|
| 38 |
+
"gripper_left_1",
|
| 39 |
+
"gripper_right_0",
|
| 40 |
+
"gripper_right_1",
|
| 41 |
+
"last_command_left_0",
|
| 42 |
+
"last_command_left_1",
|
| 43 |
+
"last_command_left_2",
|
| 44 |
+
"last_command_left_3",
|
| 45 |
+
"last_command_left_4",
|
| 46 |
+
"last_command_left_5",
|
| 47 |
+
"last_command_left_6",
|
| 48 |
+
"last_command_right_0",
|
| 49 |
+
"last_command_right_1",
|
| 50 |
+
"last_command_right_2",
|
| 51 |
+
"last_command_right_3",
|
| 52 |
+
"last_command_right_4",
|
| 53 |
+
"last_command_right_5",
|
| 54 |
+
"last_command_right_6"
|
| 55 |
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]
|
| 56 |
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},
|
| 57 |
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|
| 58 |
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"dtype": "float32",
|
| 59 |
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"shape": [
|
| 60 |
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|
| 61 |
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],
|
| 62 |
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"names": [
|
| 63 |
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"delta_tcp_left_x",
|
| 64 |
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"delta_tcp_left_y",
|
| 65 |
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"delta_tcp_left_z",
|
| 66 |
+
"delta_tcp_left_rot_x",
|
| 67 |
+
"delta_tcp_left_rot_y",
|
| 68 |
+
"delta_tcp_left_rot_z",
|
| 69 |
+
"delta_tcp_right_x",
|
| 70 |
+
"delta_tcp_right_y",
|
| 71 |
+
"delta_tcp_right_z",
|
| 72 |
+
"delta_tcp_right_rot_x",
|
| 73 |
+
"delta_tcp_right_rot_y",
|
| 74 |
+
"delta_tcp_right_rot_z",
|
| 75 |
+
"gripper_left",
|
| 76 |
+
"gripper_right"
|
| 77 |
+
]
|
| 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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|
| 83 |
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640,
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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"width",
|
| 89 |
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"channel"
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 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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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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| 128 |
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|
| 129 |
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640,
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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"height",
|
| 134 |
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"width",
|
| 135 |
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"channel"
|
| 136 |
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],
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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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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|
| 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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|
| 159 |
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],
|
| 160 |
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|
| 161 |
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|
| 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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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 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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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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"names": null
|
| 182 |
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}
|
| 183 |
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}
|
| 184 |
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}
|
meta/pipeline_config.json
ADDED
|
@@ -0,0 +1,25 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"include_joint_positions": false,
|
| 3 |
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"include_joint_velocities": false,
|
| 4 |
+
"include_joint_efforts": false,
|
| 5 |
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"include_tcp_poses": true,
|
| 6 |
+
"include_last_command": true,
|
| 7 |
+
"include_rgb_images": true,
|
| 8 |
+
"include_depth_images": false,
|
| 9 |
+
"depth_scale_factor": 1000.0,
|
| 10 |
+
"action_level": "delta_tcp",
|
| 11 |
+
"left_gripper": "panda",
|
| 12 |
+
"right_gripper": "panda",
|
| 13 |
+
"task_name": "",
|
| 14 |
+
"max_pause_seconds": 0.2,
|
| 15 |
+
"pause_velocity": 0.03,
|
| 16 |
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"save_pauses": false,
|
| 17 |
+
"gripper_active_speed": 0.05,
|
| 18 |
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"boost_factor": 1,
|
| 19 |
+
"grace_period_seconds": 0.2,
|
| 20 |
+
"save_normal": false,
|
| 21 |
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"recording_fps": 30,
|
| 22 |
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"target_fps": 10,
|
| 23 |
+
"subsample_offset": 0,
|
| 24 |
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"min_episode_seconds": 1
|
| 25 |
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}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": ""}
|
videos/chunk-000/observation.images.rgb_left/episode_000000.mp4
ADDED
|
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ADDED
|
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ADDED
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ADDED
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ADDED
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oid sha256:7d8707d7144cf09ee70771e9c11e0f356b4a55d98c4ae6a85851f42c7a395640
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| 3 |
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size 3679019
|
videos/chunk-000/observation.images.rgb_static/episode_000003.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:a966870baa2a4deb9a93d3b0a26344e91bded4d77cca944ff0d759f326244b1b
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| 3 |
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size 69190
|
videos/chunk-000/observation.images.rgb_static/episode_000004.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9027b93e23909c42b11dde9ce77fb9c6b5e3ebe7840af8b1b174d0272b6bd638
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| 3 |
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size 3223010
|