Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/info.json +125 -0
- meta/stats.json +272 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:6609612e961a556435bc3b18d760821e5d606dcf686f8fadf8524059f854e588
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size 9504
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:649a2fd588a224252c70880b79e50a7a493bca3629b14245cdbc34a104f73490
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size 15148
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 193}
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{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 252}
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meta/info.json
ADDED
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@@ -0,0 +1,125 @@
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{
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"codebase_version": "v2.0",
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"robot_type": "koch",
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"total_episodes": 2,
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"total_frames": 445,
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"total_tasks": 1,
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"train": "0:2"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"observation.images.phone": {
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meta/stats.json
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