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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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size 2137018
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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size 85409
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meta/info.json
CHANGED
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@@ -1,18 +1,16 @@
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{
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"codebase_version": "
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"robot_type": "Franka",
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| 4 |
"total_episodes": 50,
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| 5 |
"total_frames": 15794,
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"train": "0:50"
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"data_path": "data/chunk-{
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"video_path": "videos/chunk-{
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"features": {
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"action": {
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"dtype": "float64",
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"joint_5",
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"joint_5",
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"features": {
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"joint_5",
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meta/stats.json
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