Add files using upload-large-folder tool
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|
| 284 |
}
|
|
|
|
| 1 |
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "R1Pro",
|
| 4 |
+
"total_episodes": 200,
|
| 5 |
+
"total_frames": 2380740,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 10000,
|
| 8 |
+
"fps": 30,
|
| 9 |
+
"splits": {
|
| 10 |
+
"train": "0:10000"
|
| 11 |
+
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"metainfo_path": "meta/sim/episode_{episode_index:08d}.json",
|
| 15 |
+
"annotation_path": "annotations/episode_{episode_index:08d}.json",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.rgb.left_wrist": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
480,
|
| 21 |
+
480,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"rgb"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.fps": 30.0,
|
| 31 |
+
"video.height": 480,
|
| 32 |
+
"video.width": 480,
|
| 33 |
+
"video.channels": 3,
|
| 34 |
+
"video.codec": "libx265",
|
| 35 |
+
"video.pix_fmt": "yuv420p",
|
| 36 |
+
"video.is_depth_map": false,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
},
|
| 40 |
+
"observation.images.rgb.right_wrist": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
480,
|
| 44 |
+
480,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"rgb"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.fps": 30.0,
|
| 54 |
+
"video.height": 480,
|
| 55 |
+
"video.width": 480,
|
| 56 |
+
"video.channels": 3,
|
| 57 |
+
"video.codec": "libx265",
|
| 58 |
+
"video.pix_fmt": "yuv420p",
|
| 59 |
+
"video.is_depth_map": false,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
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|
| 62 |
},
|
| 63 |
+
"observation.images.rgb.head": {
|
| 64 |
+
"dtype": "video",
|
| 65 |
+
"shape": [
|
| 66 |
+
720,
|
| 67 |
+
720,
|
| 68 |
+
3
|
| 69 |
+
],
|
| 70 |
+
"names": [
|
| 71 |
+
"height",
|
| 72 |
+
"width",
|
| 73 |
+
"rgb"
|
| 74 |
+
],
|
| 75 |
+
"info": {
|
| 76 |
+
"video.fps": 30.0,
|
| 77 |
+
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|
| 78 |
+
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|
| 79 |
+
"video.channels": 3,
|
| 80 |
+
"video.codec": "libx265",
|
| 81 |
+
"video.pix_fmt": "yuv420p",
|
| 82 |
+
"video.is_depth_map": false,
|
| 83 |
+
"has_audio": false
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"observation.images.depth.left_wrist": {
|
| 87 |
+
"dtype": "video",
|
| 88 |
+
"shape": [
|
| 89 |
+
480,
|
| 90 |
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480,
|
| 91 |
+
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|
| 92 |
+
],
|
| 93 |
+
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|
| 94 |
+
"height",
|
| 95 |
+
"width",
|
| 96 |
+
"depth"
|
| 97 |
+
],
|
| 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 |
+
"video.pix_fmt": "yuv420p16le",
|
| 105 |
+
"video.is_depth_map": true,
|
| 106 |
+
"has_audio": false
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"observation.images.depth.right_wrist": {
|
| 110 |
+
"dtype": "video",
|
| 111 |
+
"shape": [
|
| 112 |
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480,
|
| 113 |
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480,
|
| 114 |
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|
| 115 |
+
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|
| 116 |
+
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|
| 117 |
+
"height",
|
| 118 |
+
"width",
|
| 119 |
+
"depth"
|
| 120 |
+
],
|
| 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 |
+
"video.is_depth_map": true,
|
| 129 |
+
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|
| 130 |
+
}
|
| 131 |
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},
|
| 132 |
+
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|
| 133 |
+
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|
| 134 |
+
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|
| 135 |
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|
| 136 |
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720,
|
| 137 |
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3
|
| 138 |
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|
| 139 |
+
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|
| 140 |
+
"height",
|
| 141 |
+
"width",
|
| 142 |
+
"depth"
|
| 143 |
+
],
|
| 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 |
+
},
|
| 155 |
+
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|
| 156 |
+
"dtype": "video",
|
| 157 |
+
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|
| 158 |
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480,
|
| 159 |
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480,
|
| 160 |
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3
|
| 161 |
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|
| 162 |
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|
| 163 |
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"height",
|
| 164 |
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"width",
|
| 165 |
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"rgb"
|
| 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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480,
|
| 182 |
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480,
|
| 183 |
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3
|
| 184 |
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|
| 185 |
+
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|
| 186 |
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"height",
|
| 187 |
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"width",
|
| 188 |
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"rgb"
|
| 189 |
+
],
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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"video.is_depth_map": false,
|
| 198 |
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"has_audio": false
|
| 199 |
+
}
|
| 200 |
+
},
|
| 201 |
+
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|
| 202 |
+
"dtype": "video",
|
| 203 |
+
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|
| 204 |
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720,
|
| 205 |
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720,
|
| 206 |
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3
|
| 207 |
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],
|
| 208 |
+
"names": [
|
| 209 |
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"height",
|
| 210 |
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"width",
|
| 211 |
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"rgb"
|
| 212 |
+
],
|
| 213 |
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"info": {
|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
+
"action": {
|
| 225 |
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"dtype": "float32",
|
| 226 |
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"shape": [
|
| 227 |
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23
|
| 228 |
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],
|
| 229 |
+
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|
| 230 |
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|
| 231 |
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},
|
| 232 |
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"timestamp": {
|
| 233 |
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|
| 234 |
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| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
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|
| 253 |
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| 254 |
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|
| 255 |
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},
|
| 256 |
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|
| 257 |
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|
| 258 |
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| 259 |
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21
|
| 260 |
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|
| 261 |
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| 262 |
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|
| 263 |
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},
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| 264 |
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|
| 265 |
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|
| 266 |
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| 267 |
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256
|
| 268 |
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| 269 |
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| 270 |
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|
| 271 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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null
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| 276 |
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| 277 |
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| 278 |
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| 279 |
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| 280 |
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| 281 |
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| 282 |
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| 283 |
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|
| 284 |
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}
|