Add files using upload-large-folder tool
Browse files- README.md +171 -0
- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/episodes_stats.jsonl +1 -0
- meta/info.json +135 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front_left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.left/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.right/episode_000000.mp4 +3 -0
README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
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- robotics
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| 5 |
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tags:
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| 6 |
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- robotis
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| 7 |
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- LeRobot
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| 8 |
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- gaemi
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| 9 |
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configs:
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| 10 |
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- config_name: default
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| 11 |
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data_files: data/*/*.parquet
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| 12 |
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---
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| 13 |
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| 14 |
+
This dataset was created using [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools) and [LeRobot](https://github.com/huggingface/lerobot).
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| 15 |
+
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| 16 |
+
## Dataset Description
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| 17 |
+
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| 18 |
+
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| 19 |
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| 20 |
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- **Homepage:** [More Information Needed]
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| 21 |
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- **License:** apache-2.0
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| 22 |
+
|
| 23 |
+
## Dataset Structure
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| 24 |
+
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| 25 |
+
[meta/info.json](meta/info.json):
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| 26 |
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```json
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| 27 |
+
{
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| 28 |
+
"codebase_version": "v2.1",
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| 29 |
+
"robot_type": "gaemi",
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| 30 |
+
"total_episodes": 1,
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| 31 |
+
"total_frames": 573,
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| 32 |
+
"total_tasks": 1,
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| 33 |
+
"total_videos": 3,
|
| 34 |
+
"total_chunks": 1,
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| 35 |
+
"chunks_size": 1000,
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| 36 |
+
"fps": 10,
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| 37 |
+
"splits": {
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| 38 |
+
"train": "0:1"
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| 39 |
+
},
|
| 40 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 41 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 42 |
+
"features": {
|
| 43 |
+
"timestamp": {
|
| 44 |
+
"dtype": "float32",
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| 45 |
+
"shape": [
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| 46 |
+
1
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| 47 |
+
],
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| 48 |
+
"names": null
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| 49 |
+
},
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| 50 |
+
"frame_index": {
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| 51 |
+
"dtype": "int64",
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| 52 |
+
"shape": [
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| 53 |
+
1
|
| 54 |
+
],
|
| 55 |
+
"names": null
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| 56 |
+
},
|
| 57 |
+
"episode_index": {
|
| 58 |
+
"dtype": "int64",
|
| 59 |
+
"shape": [
|
| 60 |
+
1
|
| 61 |
+
],
|
| 62 |
+
"names": null
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| 63 |
+
},
|
| 64 |
+
"index": {
|
| 65 |
+
"dtype": "int64",
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| 66 |
+
"shape": [
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| 67 |
+
1
|
| 68 |
+
],
|
| 69 |
+
"names": null
|
| 70 |
+
},
|
| 71 |
+
"task_index": {
|
| 72 |
+
"dtype": "int64",
|
| 73 |
+
"shape": [
|
| 74 |
+
1
|
| 75 |
+
],
|
| 76 |
+
"names": null
|
| 77 |
+
},
|
| 78 |
+
"observation.images.front_left": {
|
| 79 |
+
"dtype": "video",
|
| 80 |
+
"names": [
|
| 81 |
+
"height",
|
| 82 |
+
"width",
|
| 83 |
+
"channels"
|
| 84 |
+
],
|
| 85 |
+
"shape": [
|
| 86 |
+
360,
|
| 87 |
+
640,
|
| 88 |
+
3
|
| 89 |
+
],
|
| 90 |
+
"info": {
|
| 91 |
+
"video.height": 360,
|
| 92 |
+
"video.width": 640,
|
| 93 |
+
"video.channels": 3,
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| 94 |
+
"video.codec": "libx264",
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| 95 |
+
"video.pix_fmt": "yuv420p"
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"observation.images.left": {
|
| 99 |
+
"dtype": "video",
|
| 100 |
+
"names": [
|
| 101 |
+
"height",
|
| 102 |
+
"width",
|
| 103 |
+
"channels"
|
| 104 |
+
],
|
| 105 |
+
"shape": [
|
| 106 |
+
360,
|
| 107 |
+
640,
|
| 108 |
+
3
|
| 109 |
+
],
|
| 110 |
+
"info": {
|
| 111 |
+
"video.height": 360,
|
| 112 |
+
"video.width": 640,
|
| 113 |
+
"video.channels": 3,
|
| 114 |
+
"video.codec": "libx264",
|
| 115 |
+
"video.pix_fmt": "yuv420p"
|
| 116 |
+
}
|
| 117 |
+
},
|
| 118 |
+
"observation.images.right": {
|
| 119 |
+
"dtype": "video",
|
| 120 |
+
"names": [
|
| 121 |
+
"height",
|
| 122 |
+
"width",
|
| 123 |
+
"channels"
|
| 124 |
+
],
|
| 125 |
+
"shape": [
|
| 126 |
+
360,
|
| 127 |
+
640,
|
| 128 |
+
3
|
| 129 |
+
],
|
| 130 |
+
"info": {
|
| 131 |
+
"video.height": 360,
|
| 132 |
+
"video.width": 640,
|
| 133 |
+
"video.channels": 3,
|
| 134 |
+
"video.codec": "libx264",
|
| 135 |
+
"video.pix_fmt": "yuv420p"
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"observation.state": {
|
| 139 |
+
"dtype": "float32",
|
| 140 |
+
"names": [
|
| 141 |
+
"linear_x",
|
| 142 |
+
"linear_y",
|
| 143 |
+
"angular_z"
|
| 144 |
+
],
|
| 145 |
+
"shape": [
|
| 146 |
+
3
|
| 147 |
+
]
|
| 148 |
+
},
|
| 149 |
+
"action": {
|
| 150 |
+
"dtype": "float32",
|
| 151 |
+
"names": [
|
| 152 |
+
"linear_x",
|
| 153 |
+
"linear_y",
|
| 154 |
+
"angular_z"
|
| 155 |
+
],
|
| 156 |
+
"shape": [
|
| 157 |
+
3
|
| 158 |
+
]
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
}
|
| 162 |
+
```
|
| 163 |
+
|
| 164 |
+
|
| 165 |
+
## Citation
|
| 166 |
+
|
| 167 |
+
**BibTeX:**
|
| 168 |
+
|
| 169 |
+
```bibtex
|
| 170 |
+
[More Information Needed]
|
| 171 |
+
```
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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d2978b94ec22a4e47b7eaa98eb540be37ce88d6166e76d97608e40b6de894d7d
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| 3 |
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size 22870
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["encoder_test2"], "length": 573}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"timestamp": {"min": [0.0], "max": [57.2], "mean": [28.600000000000005], "std": [16.541060022461277], "count": [573]}, "frame_index": {"min": [0], "max": [572], "mean": [286.0], "std": [165.41060022461278], "count": [573]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [573]}, "index": {"min": [0], "max": [572], "mean": [286.0], "std": [165.41060022461278], "count": [573]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [573]}, "observation.images.front_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3364076471519282]], [[0.3491256470774445]], [[0.3416598514049495]]], "std": [[[0.1397283624662354]], [[0.1341309131761022]], [[0.13487459578881023]]], "count": [117]}, "observation.images.left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32570637348006626]], [[0.3394707674617805]], [[0.3296476360724727]]], "std": [[[0.15047371468655785]], [[0.14426231400759815]], [[0.1449126397395221]]], "count": [117]}, "observation.images.right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3289099375267676]], [[0.3438582667634955]], [[0.33677949788652406]]], "std": [[[0.14862028027183055]], [[0.14316075933102537]], [[0.14356470900003263]]], "count": [117]}, "observation.state": {"min": [-0.008648775517940521, 0.0, -0.6479036808013916], "max": [1.0609164237976074, 0.0, 1.9125065803527832], "mean": [0.6058831810951233, 0.0, 0.1603998839855194], "std": [0.3469013273715973, 0.0, 0.41811347007751465], "count": [573]}, "action": {"min": [0.0, 0.0, -0.7755044102668762], "max": [1.0, 0.0, 2.0], "mean": [0.620096743106842, 0.0, 0.1869787722826004], "std": [0.35833045840263367, 0.0, 0.49778664112091064], "count": [573]}}}
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meta/info.json
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| 1 |
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{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "gaemi",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 573,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 3,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 10,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 13 |
+
},
|
| 14 |
+
"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 |
+
"timestamp": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
1
|
| 21 |
+
],
|
| 22 |
+
"names": null
|
| 23 |
+
},
|
| 24 |
+
"frame_index": {
|
| 25 |
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"dtype": "int64",
|
| 26 |
+
"shape": [
|
| 27 |
+
1
|
| 28 |
+
],
|
| 29 |
+
"names": null
|
| 30 |
+
},
|
| 31 |
+
"episode_index": {
|
| 32 |
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"dtype": "int64",
|
| 33 |
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"shape": [
|
| 34 |
+
1
|
| 35 |
+
],
|
| 36 |
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"names": null
|
| 37 |
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},
|
| 38 |
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"index": {
|
| 39 |
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"dtype": "int64",
|
| 40 |
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"shape": [
|
| 41 |
+
1
|
| 42 |
+
],
|
| 43 |
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"names": null
|
| 44 |
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},
|
| 45 |
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"task_index": {
|
| 46 |
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"dtype": "int64",
|
| 47 |
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"shape": [
|
| 48 |
+
1
|
| 49 |
+
],
|
| 50 |
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"names": null
|
| 51 |
+
},
|
| 52 |
+
"observation.images.front_left": {
|
| 53 |
+
"dtype": "video",
|
| 54 |
+
"names": [
|
| 55 |
+
"height",
|
| 56 |
+
"width",
|
| 57 |
+
"channels"
|
| 58 |
+
],
|
| 59 |
+
"shape": [
|
| 60 |
+
360,
|
| 61 |
+
640,
|
| 62 |
+
3
|
| 63 |
+
],
|
| 64 |
+
"info": {
|
| 65 |
+
"video.height": 360,
|
| 66 |
+
"video.width": 640,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"video.codec": "libx264",
|
| 69 |
+
"video.pix_fmt": "yuv420p"
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"observation.images.left": {
|
| 73 |
+
"dtype": "video",
|
| 74 |
+
"names": [
|
| 75 |
+
"height",
|
| 76 |
+
"width",
|
| 77 |
+
"channels"
|
| 78 |
+
],
|
| 79 |
+
"shape": [
|
| 80 |
+
360,
|
| 81 |
+
640,
|
| 82 |
+
3
|
| 83 |
+
],
|
| 84 |
+
"info": {
|
| 85 |
+
"video.height": 360,
|
| 86 |
+
"video.width": 640,
|
| 87 |
+
"video.channels": 3,
|
| 88 |
+
"video.codec": "libx264",
|
| 89 |
+
"video.pix_fmt": "yuv420p"
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"observation.images.right": {
|
| 93 |
+
"dtype": "video",
|
| 94 |
+
"names": [
|
| 95 |
+
"height",
|
| 96 |
+
"width",
|
| 97 |
+
"channels"
|
| 98 |
+
],
|
| 99 |
+
"shape": [
|
| 100 |
+
360,
|
| 101 |
+
640,
|
| 102 |
+
3
|
| 103 |
+
],
|
| 104 |
+
"info": {
|
| 105 |
+
"video.height": 360,
|
| 106 |
+
"video.width": 640,
|
| 107 |
+
"video.channels": 3,
|
| 108 |
+
"video.codec": "libx264",
|
| 109 |
+
"video.pix_fmt": "yuv420p"
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"observation.state": {
|
| 113 |
+
"dtype": "float32",
|
| 114 |
+
"names": [
|
| 115 |
+
"linear_x",
|
| 116 |
+
"linear_y",
|
| 117 |
+
"angular_z"
|
| 118 |
+
],
|
| 119 |
+
"shape": [
|
| 120 |
+
3
|
| 121 |
+
]
|
| 122 |
+
},
|
| 123 |
+
"action": {
|
| 124 |
+
"dtype": "float32",
|
| 125 |
+
"names": [
|
| 126 |
+
"linear_x",
|
| 127 |
+
"linear_y",
|
| 128 |
+
"angular_z"
|
| 129 |
+
],
|
| 130 |
+
"shape": [
|
| 131 |
+
3
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "encoder_test2"}
|
videos/chunk-000/observation.images.front_left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1fc4bbe2287fea0a97fa195993a431e6c6a01db54c3808a122eb3a04afcd508e
|
| 3 |
+
size 10194407
|
videos/chunk-000/observation.images.left/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f9f8a39b697741ac5ed41216a09a8de80da673a701ad0ce74b759deebd215b4
|
| 3 |
+
size 10296672
|
videos/chunk-000/observation.images.right/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:99335f4a6b7b3ee9347fe5a05db103615d7146d5747134f345dc8251e1ff33e6
|
| 3 |
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size 8997930
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