Upload 13 files
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- meta/episodes.jsonl +3 -0
- meta/episodes_stats.jsonl +3 -0
- meta/info.json +127 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.iphone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.iphone/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.iphone/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.mac/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.mac/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.mac/episode_000002.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000001.parquet
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data/chunk-000/episode_000002.parquet
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Pick up plastic water bottle and throw it in trash can"], "length": 961}
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{"episode_index": 1, "tasks": ["Pick up plastic water bottle and throw it in trash can"], "length": 962}
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{"episode_index": 2, "tasks": ["Pick up plastic water bottle and throw it in trash can"], "length": 962}
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meta/episodes_stats.jsonl
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meta/info.json
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{
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meta/tasks.jsonl
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{"task_index": 0, "task": "Pick up plastic water bottle and throw it in trash can"}
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videos/chunk-000/observation.images.iphone/episode_000000.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:7d5e36b5de9d828788c00b4012bb7d971ad2b82925347490256f44643e83f97c
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size 12667438
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videos/chunk-000/observation.images.iphone/episode_000001.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:e7a85e29f58407d6f3762156b92fbb774bd87561cafcaed3bc0bd69712ba21df
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size 12888125
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videos/chunk-000/observation.images.iphone/episode_000002.mp4
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| 1 |
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.mac/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:6bd1142e0eacf1aca68f9ee9d81fd62871af34a64af35c4b00142dd9fdf1599a
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size 17400698
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videos/chunk-000/observation.images.mac/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:3061af0ef33d3fa43e1abdbc958f455c472a608155ced6ef74d64efcb4da6451
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size 17405972
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videos/chunk-000/observation.images.mac/episode_000002.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:6e80adbc1fa0107eb2341a61a48135b7037e2638768c7b2c22671399c224872b
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