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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
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +147 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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data/chunk-000/episode_000002.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 273}
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{"episode_index": 1, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 242}
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{"episode_index": 2, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 286}
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meta/episodes_stats.jsonl
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meta/info.json
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|
| 137 |
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"names": null
|
| 138 |
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|
| 139 |
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|
| 140 |
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"dtype": "int64",
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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"names": null
|
| 145 |
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|
| 146 |
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|
| 147 |
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meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
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|
| 1 |
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{"task_index": 0, "task": "Pick up the red square block and place it inside the green square area on the right."}
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videos/chunk-000/observation.images.front/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.front/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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ADDED
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ADDED
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
ADDED
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