feat: add SARM 10-episode LeRobot v3.0 manual and VLM test datasets
#2
by nemoyu - opened
This view is limited to 50 files because it contains too many changes. See the raw diff here.
- SARM_manual_test_10Episodes_lerobotv3.0/data/chunk-000/file-000.parquet +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/meta/episodes/chunk-000/file-000.parquet +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/meta/info.json +217 -0
- SARM_manual_test_10Episodes_lerobotv3.0/meta/source_episode_order.json +82 -0
- SARM_manual_test_10Episodes_lerobotv3.0/meta/stats.json +609 -0
- SARM_manual_test_10Episodes_lerobotv3.0/meta/tasks.parquet +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/meta/temporal_proportions_dense.json +8 -0
- SARM_manual_test_10Episodes_lerobotv3.0/meta/temporal_proportions_sparse.json +8 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-000.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-001.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-002.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-003.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-004.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-005.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-006.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-007.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-008.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_front/chunk-000/file-009.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-000.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-001.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-002.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-003.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-004.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-005.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-006.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-007.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-008.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_high/chunk-000/file-009.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-001.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-002.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-003.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-004.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-005.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-006.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-007.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-008.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_left_wrist/chunk-000/file-009.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-001.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-002.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-003.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-004.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-005.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-006.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-007.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-008.mp4 +3 -0
- SARM_manual_test_10Episodes_lerobotv3.0/videos/observation.images.cam_right_wrist/chunk-000/file-009.mp4 +3 -0
- SARM_vlm_test_10Episodes_lerobotv3.0/data/chunk-000/file-000.parquet +3 -0
- SARM_vlm_test_10Episodes_lerobotv3.0/meta/episodes/chunk-000/file-000.parquet +3 -0
SARM_manual_test_10Episodes_lerobotv3.0/data/chunk-000/file-000.parquet
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size 3397231
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SARM_manual_test_10Episodes_lerobotv3.0/meta/episodes/chunk-000/file-000.parquet
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size 125852
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SARM_manual_test_10Episodes_lerobotv3.0/meta/info.json
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{
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| 2 |
+
"codebase_version": "v3.0",
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| 3 |
+
"robot_type": "aloha",
|
| 4 |
+
"total_episodes": 10,
|
| 5 |
+
"total_frames": 21793,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:10"
|
| 13 |
+
},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
+
14
|
| 21 |
+
],
|
| 22 |
+
"names": [
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| 23 |
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[
|
| 24 |
+
"left_waist",
|
| 25 |
+
"left_shoulder",
|
| 26 |
+
"left_elbow",
|
| 27 |
+
"left_forearm_roll",
|
| 28 |
+
"left_wrist_angle",
|
| 29 |
+
"left_wrist_rotate",
|
| 30 |
+
"left_gripper",
|
| 31 |
+
"right_waist",
|
| 32 |
+
"right_shoulder",
|
| 33 |
+
"right_elbow",
|
| 34 |
+
"right_forearm_roll",
|
| 35 |
+
"right_wrist_angle",
|
| 36 |
+
"right_wrist_rotate",
|
| 37 |
+
"right_gripper"
|
| 38 |
+
]
|
| 39 |
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]
|
| 40 |
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},
|
| 41 |
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"action": {
|
| 42 |
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"dtype": "float32",
|
| 43 |
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"shape": [
|
| 44 |
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14
|
| 45 |
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],
|
| 46 |
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"names": [
|
| 47 |
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[
|
| 48 |
+
"left_waist",
|
| 49 |
+
"left_shoulder",
|
| 50 |
+
"left_elbow",
|
| 51 |
+
"left_forearm_roll",
|
| 52 |
+
"left_wrist_angle",
|
| 53 |
+
"left_wrist_rotate",
|
| 54 |
+
"left_gripper",
|
| 55 |
+
"right_waist",
|
| 56 |
+
"right_shoulder",
|
| 57 |
+
"right_elbow",
|
| 58 |
+
"right_forearm_roll",
|
| 59 |
+
"right_wrist_angle",
|
| 60 |
+
"right_wrist_rotate",
|
| 61 |
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"right_gripper"
|
| 62 |
+
]
|
| 63 |
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]
|
| 64 |
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},
|
| 65 |
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"observation.eepose": {
|
| 66 |
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"dtype": "float32",
|
| 67 |
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"shape": [
|
| 68 |
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14
|
| 69 |
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],
|
| 70 |
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"names": [
|
| 71 |
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[
|
| 72 |
+
"left_x",
|
| 73 |
+
"left_y",
|
| 74 |
+
"left_z",
|
| 75 |
+
"left_qx",
|
| 76 |
+
"left_qy",
|
| 77 |
+
"left_qz",
|
| 78 |
+
"left_qw",
|
| 79 |
+
"right_x",
|
| 80 |
+
"right_y",
|
| 81 |
+
"right_z",
|
| 82 |
+
"right_qx",
|
| 83 |
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"right_qy",
|
| 84 |
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"right_qz",
|
| 85 |
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"right_qw"
|
| 86 |
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]
|
| 87 |
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]
|
| 88 |
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},
|
| 89 |
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"timestamp": {
|
| 90 |
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"dtype": "float32",
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| 91 |
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"shape": [
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| 92 |
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1
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| 93 |
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],
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| 94 |
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"names": null
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| 95 |
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},
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| 96 |
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"frame_index": {
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| 97 |
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"dtype": "int64",
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| 98 |
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"shape": [
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1
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],
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| 101 |
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"names": null
|
| 102 |
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},
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| 103 |
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"episode_index": {
|
| 104 |
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"dtype": "int64",
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| 105 |
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| 106 |
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|
| 107 |
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| 123 |
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"observation.images.cam_high": {
|
| 125 |
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"dtype": "video",
|
| 126 |
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"shape": [
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| 127 |
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3,
|
| 128 |
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480,
|
| 129 |
+
640
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| 130 |
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],
|
| 131 |
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"names": [
|
| 132 |
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"channels",
|
| 133 |
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"height",
|
| 134 |
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"width"
|
| 135 |
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],
|
| 136 |
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"info": {
|
| 137 |
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"video.height": 480,
|
| 138 |
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"video.width": 640,
|
| 139 |
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"video.codec": "av1",
|
| 140 |
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"video.pix_fmt": "yuv420p",
|
| 141 |
+
"video.is_depth_map": false,
|
| 142 |
+
"video.fps": 30,
|
| 143 |
+
"video.channels": 3,
|
| 144 |
+
"has_audio": false
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"observation.images.cam_left_wrist": {
|
| 148 |
+
"dtype": "video",
|
| 149 |
+
"shape": [
|
| 150 |
+
3,
|
| 151 |
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480,
|
| 152 |
+
640
|
| 153 |
+
],
|
| 154 |
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"names": [
|
| 155 |
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"channels",
|
| 156 |
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"height",
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| 157 |
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"width"
|
| 158 |
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],
|
| 159 |
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"info": {
|
| 160 |
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"video.height": 480,
|
| 161 |
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"video.width": 640,
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| 162 |
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"video.codec": "av1",
|
| 163 |
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"video.pix_fmt": "yuv420p",
|
| 164 |
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"video.is_depth_map": false,
|
| 165 |
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"video.fps": 30,
|
| 166 |
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"video.channels": 3,
|
| 167 |
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"has_audio": false
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"observation.images.cam_right_wrist": {
|
| 171 |
+
"dtype": "video",
|
| 172 |
+
"shape": [
|
| 173 |
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3,
|
| 174 |
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480,
|
| 175 |
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640
|
| 176 |
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],
|
| 177 |
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"names": [
|
| 178 |
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"channels",
|
| 179 |
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"height",
|
| 180 |
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"width"
|
| 181 |
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],
|
| 182 |
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"info": {
|
| 183 |
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"video.height": 480,
|
| 184 |
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"video.width": 640,
|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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"video.channels": 3,
|
| 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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"dtype": "video",
|
| 195 |
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|
| 196 |
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|
| 197 |
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480,
|
| 198 |
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640
|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
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|
| 209 |
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|
| 210 |
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| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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}
|
| 217 |
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}
|
SARM_manual_test_10Episodes_lerobotv3.0/meta/source_episode_order.json
ADDED
|
@@ -0,0 +1,82 @@
|
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|
| 1 |
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{
|
| 2 |
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"repo_id": "SARM_manual_test_10Episodes_lerobotv3.0",
|
| 3 |
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"all_sources_json": "/root/projects/DataLoop/normal_stage_episodes_10.json",
|
| 4 |
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"excluded_sources_json": "/tmp/tmpi6k7xp6c.json",
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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| 34 |
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|
| 35 |
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| 37 |
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| 38 |
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| 39 |
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|
| 42 |
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| 43 |
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| 44 |
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| 45 |
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|
| 46 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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| 59 |
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|
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|
| 63 |
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| 64 |
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|
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|
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|
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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"source_dataset": "RealRobot_AgileX_20251204_fold_fabric_agilex_aloha_02_fast",
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|
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"skipped_items": []
|
| 82 |
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}
|
SARM_manual_test_10Episodes_lerobotv3.0/meta/stats.json
ADDED
|
@@ -0,0 +1,609 @@
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