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  1. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/dataset_meta.json +392 -0
  2. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000018/ep_meta.json +286 -0
  3. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000024/ep_meta.json +373 -0
  4. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000025/ep_meta.json +346 -0
  5. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000033/ep_meta.json +397 -0
  6. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000037/ep_meta.json +397 -0
  7. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000049/ep_meta.json +307 -0
  8. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000053/ep_meta.json +406 -0
  9. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000056/ep_meta.json +352 -0
  10. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000064/ep_meta.json +367 -0
  11. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000075/ep_meta.json +397 -0
  12. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000078/ep_meta.json +361 -0
  13. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000079/ep_meta.json +367 -0
  14. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000084/ep_meta.json +361 -0
  15. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000087/ep_meta.json +391 -0
  16. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000107/ep_meta.json +373 -0
  17. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/info.json +179 -0
  18. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/modality.json +72 -0
  19. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/stats.json +378 -0
  20. pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/tasks.jsonl +2 -0
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