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  1. Bartm3/tape_to_bin/meta/info.json +134 -0
  2. Bartm3/tape_to_bin/meta/stats.json +307 -0
  3. Bartm3/tape_to_bin2/meta/info.json +134 -0
  4. Bartm3/tape_to_bin2/meta/stats.json +307 -0
  5. CSCSXX/pick_place_cube_1.17/meta/info.json +134 -0
  6. CSCSXX/pick_place_cube_1.17/meta/stats.json +307 -0
  7. HITHY/so100-kiwi/meta/info.json +134 -0
  8. HITHY/so100_peach/meta/info.json +111 -0
  9. HITHY/so100_peach/meta/stats.json +234 -0
  10. HITHY/so100_peach1/meta/info.json +134 -0
  11. HITHY/so100_peach1/meta/stats.json +307 -0
  12. HITHY/so100_redstrawberry/meta/info.json +134 -0
  13. HITHY/so100_redstrawberry/meta/stats.json +307 -0
  14. HYAIYN/so100_get_orange_10epi/meta/info.json +134 -0
  15. HYAIYN/so100_get_orange_10epi/meta/stats.json +307 -0
  16. Ityl/so100_recording1/meta/info.json +134 -0
  17. Ityl/so100_recording1/meta/stats.json +307 -0
  18. VoicAndrei/so100_banana_to_plate_rebel_full/meta/info.json +134 -0
  19. VoicAndrei/so100_banana_to_plate_rebel_full/meta/stats.json +307 -0
  20. abhisb/so100_51_ep/meta/info.json +157 -0
  21. abhisb/so100_51_ep/meta/stats.json +380 -0
  22. airthebear/so100_GL/meta/stats.json +234 -0
  23. andy309/so100_0311_1152/meta/info.json +157 -0
  24. andy309/so100_0311_1152/meta/stats.json +380 -0
  25. andy309/so100_0313_no_wrist_camera/meta/info.json +134 -0
  26. andy309/so100_0313_no_wrist_camera/meta/stats.json +307 -0
  27. andy309/so100_0313_no_wrist_camera_with_two_arms_cloths/meta/info.json +146 -0
  28. andy309/so100_0313_no_wrist_camera_with_two_arms_cloths/meta/stats.json +355 -0
  29. andy309/so100_0314_fold_cloths/meta/info.json +146 -0
  30. andy309/so100_0314_fold_cloths/meta/stats.json +355 -0
  31. duthvik/sputnik_100_52_kitchen_tasks/meta/info.json +157 -0
  32. jchun/so100_pickplace_small_20250322_193929/meta/info.json +169 -0
  33. jchun/so100_pickplace_small_20250322_193929/meta/stats.json +428 -0
  34. jchun/so100_pickplace_small_20250323_120056/meta/info.json +169 -0
  35. jchun/so100_pickplace_small_20250323_120056/meta/stats.json +428 -0
  36. jiajun001/eraser00_2/meta/info.json +134 -0
  37. jiajun001/eraser00_2/meta/stats.json +307 -0
  38. jiajun001/eraser00_3/meta/info.json +157 -0
  39. jiajun001/eraser00_3/meta/stats.json +380 -0
  40. kumarhans/so100_tape_task/meta/info.json +134 -0
  41. kumarhans/so100_tape_task/meta/stats.json +307 -0
  42. liyitenga/so100_bi_giveme5/meta/info.json +169 -0
  43. liyitenga/so100_bi_giveme5/meta/stats.json +428 -0
  44. liyitenga/so100_bi_hello/meta/info.json +169 -0
  45. liyitenga/so100_bi_hello/meta/stats.json +428 -0
  46. liyitenga/so100_pick_taffy1/meta/info.json +111 -0
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  48. liyitenga/so100_pick_taffy10/meta/info.json +157 -0
  49. liyitenga/so100_pick_taffy10/meta/stats.json +380 -0
  50. liyitenga/so100_pick_taffy2/meta/info.json +134 -0
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