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- target/atomic/OpenCabinet/20250813/lerobot/meta/embodiment.json +8 -0
- target/atomic/OpenCabinet/20250813/lerobot/meta/episodes.jsonl +500 -0
- target/atomic/OpenCabinet/20250813/lerobot/meta/episodes_stats.jsonl +0 -0
- target/atomic/OpenCabinet/20250813/lerobot/meta/info.json +179 -0
- target/atomic/OpenCabinet/20250813/lerobot/meta/modality.json +72 -0
- target/atomic/OpenCabinet/20250813/lerobot/meta/stats.json +378 -0
- target/atomic/OpenCabinet/20250813/lerobot/meta/tasks.jsonl +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000008.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000049.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000064.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000067.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000077.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000086.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000087.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000090.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000091.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000097.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000101.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000110.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000111.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000115.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000121.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000123.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000124.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000126.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000127.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000138.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000159.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000164.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000171.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000172.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000174.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000178.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000198.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000199.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000205.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000214.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000226.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000232.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000238.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000244.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000247.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000249.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000252.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000256.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000267.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000272.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000289.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000296.parquet +3 -0
- target/atomic/OpenDrawer/20250816/lerobot/data/chunk-000/episode_000297.parquet +3 -0
target/atomic/OpenCabinet/20250813/lerobot/meta/embodiment.json
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{
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"robot_name": "PandaOmron",
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"robot_type": "PandaOmron",
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"record_frequency": 20.0,
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"body_controller_frequency": 20.0,
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"hand_controller_frequency": 20.0,
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"embodiment_tag": "robocasa_panda_omron"
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}
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target/atomic/OpenCabinet/20250813/lerobot/meta/episodes.jsonl
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| 1 |
+
{"episode_index": 0, "tasks": ["Open the cabinet door."], "length": 156}
|
| 2 |
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{"episode_index": 1, "tasks": ["Open the cabinet door."], "length": 302}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Open the cabinet door."], "length": 233}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Open the cabinet doors."], "length": 455}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Open the cabinet doors."], "length": 572}
|
| 6 |
+
{"episode_index": 5, "tasks": ["Open the cabinet doors."], "length": 400}
|
| 7 |
+
{"episode_index": 6, "tasks": ["Open the cabinet door."], "length": 176}
|
| 8 |
+
{"episode_index": 7, "tasks": ["Open the cabinet doors."], "length": 410}
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| 9 |
+
{"episode_index": 8, "tasks": ["Open the cabinet door."], "length": 257}
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| 10 |
+
{"episode_index": 9, "tasks": ["Open the cabinet door."], "length": 207}
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| 11 |
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{"episode_index": 10, "tasks": ["Open the cabinet doors."], "length": 426}
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| 12 |
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{"episode_index": 11, "tasks": ["Open the cabinet doors."], "length": 414}
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| 13 |
+
{"episode_index": 12, "tasks": ["Open the cabinet door."], "length": 232}
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| 14 |
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{"episode_index": 13, "tasks": ["Open the cabinet door."], "length": 190}
|
| 15 |
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{"episode_index": 14, "tasks": ["Open the cabinet doors."], "length": 422}
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| 16 |
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{"episode_index": 15, "tasks": ["Open the cabinet doors."], "length": 466}
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| 17 |
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{"episode_index": 16, "tasks": ["Open the cabinet door."], "length": 234}
|
| 18 |
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{"episode_index": 17, "tasks": ["Open the cabinet door."], "length": 255}
|
| 19 |
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{"episode_index": 18, "tasks": ["Open the cabinet door."], "length": 218}
|
| 20 |
+
{"episode_index": 19, "tasks": ["Open the cabinet doors."], "length": 545}
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| 21 |
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{"episode_index": 20, "tasks": ["Open the cabinet doors."], "length": 502}
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| 22 |
+
{"episode_index": 21, "tasks": ["Open the cabinet doors."], "length": 422}
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| 23 |
+
{"episode_index": 22, "tasks": ["Open the cabinet doors."], "length": 477}
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| 24 |
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{"episode_index": 23, "tasks": ["Open the cabinet doors."], "length": 412}
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| 25 |
+
{"episode_index": 24, "tasks": ["Open the cabinet door."], "length": 262}
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| 26 |
+
{"episode_index": 25, "tasks": ["Open the cabinet door."], "length": 230}
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| 27 |
+
{"episode_index": 26, "tasks": ["Open the cabinet doors."], "length": 459}
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| 28 |
+
{"episode_index": 27, "tasks": ["Open the cabinet door."], "length": 226}
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| 29 |
+
{"episode_index": 28, "tasks": ["Open the cabinet door."], "length": 183}
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| 30 |
+
{"episode_index": 29, "tasks": ["Open the cabinet door."], "length": 194}
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| 31 |
+
{"episode_index": 30, "tasks": ["Open the cabinet doors."], "length": 412}
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| 32 |
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{"episode_index": 31, "tasks": ["Open the cabinet door."], "length": 192}
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| 33 |
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{"episode_index": 32, "tasks": ["Open the cabinet door."], "length": 217}
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| 34 |
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{"episode_index": 33, "tasks": ["Open the cabinet door."], "length": 221}
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| 35 |
+
{"episode_index": 34, "tasks": ["Open the cabinet door."], "length": 208}
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| 36 |
+
{"episode_index": 35, "tasks": ["Open the cabinet door."], "length": 208}
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| 37 |
+
{"episode_index": 36, "tasks": ["Open the cabinet door."], "length": 189}
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| 38 |
+
{"episode_index": 37, "tasks": ["Open the cabinet doors."], "length": 403}
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| 39 |
+
{"episode_index": 38, "tasks": ["Open the cabinet door."], "length": 245}
|
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{"episode_index": 493, "tasks": ["Open the cabinet doors."], "length": 417}
|
| 495 |
+
{"episode_index": 494, "tasks": ["Open the cabinet door."], "length": 219}
|
| 496 |
+
{"episode_index": 495, "tasks": ["Open the cabinet doors."], "length": 461}
|
| 497 |
+
{"episode_index": 496, "tasks": ["Open the cabinet doors."], "length": 410}
|
| 498 |
+
{"episode_index": 497, "tasks": ["Open the cabinet doors."], "length": 509}
|
| 499 |
+
{"episode_index": 498, "tasks": ["Open the cabinet doors."], "length": 346}
|
| 500 |
+
{"episode_index": 499, "tasks": ["Open the cabinet doors."], "length": 393}
|
target/atomic/OpenCabinet/20250813/lerobot/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
target/atomic/OpenCabinet/20250813/lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,179 @@
|
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|
|
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|
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|
|
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|
|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
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|
|
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|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
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|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "PandaOmron",
|
| 4 |
+
"total_episodes": 500,
|
| 5 |
+
"total_frames": 184024,
|
| 6 |
+
"total_tasks": 2,
|
| 7 |
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"total_videos": 1500,
|
| 8 |
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|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:500"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.robot0_eye_in_hand": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
256,
|
| 21 |
+
256,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"video_info": {
|
| 30 |
+
"video.fps": 20,
|
| 31 |
+
"video.codec": "h264",
|
| 32 |
+
"video.pix_fmt": "yuv420p",
|
| 33 |
+
"video.is_depth_map": false,
|
| 34 |
+
"has_audio": false
|
| 35 |
+
},
|
| 36 |
+
"info": {
|
| 37 |
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"video.height": 256,
|
| 38 |
+
"video.width": 256,
|
| 39 |
+
"video.codec": "h264",
|
| 40 |
+
"video.pix_fmt": "yuv420p",
|
| 41 |
+
"video.is_depth_map": false,
|
| 42 |
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"video.fps": 20,
|
| 43 |
+
"video.channels": 3,
|
| 44 |
+
"has_audio": false
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"observation.images.robot0_agentview_left": {
|
| 48 |
+
"dtype": "video",
|
| 49 |
+
"shape": [
|
| 50 |
+
256,
|
| 51 |
+
256,
|
| 52 |
+
3
|
| 53 |
+
],
|
| 54 |
+
"names": [
|
| 55 |
+
"height",
|
| 56 |
+
"width",
|
| 57 |
+
"channel"
|
| 58 |
+
],
|
| 59 |
+
"video_info": {
|
| 60 |
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"video.fps": 20,
|
| 61 |
+
"video.codec": "h264",
|
| 62 |
+
"video.pix_fmt": "yuv420p",
|
| 63 |
+
"video.is_depth_map": false,
|
| 64 |
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"has_audio": false
|
| 65 |
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},
|
| 66 |
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"info": {
|
| 67 |
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"video.height": 256,
|
| 68 |
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"video.width": 256,
|
| 69 |
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"video.codec": "h264",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 20,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"observation.images.robot0_agentview_right": {
|
| 78 |
+
"dtype": "video",
|
| 79 |
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"shape": [
|
| 80 |
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256,
|
| 81 |
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256,
|
| 82 |
+
3
|
| 83 |
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],
|
| 84 |
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"names": [
|
| 85 |
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"height",
|
| 86 |
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"width",
|
| 87 |
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"channel"
|
| 88 |
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],
|
| 89 |
+
"video_info": {
|
| 90 |
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|
| 91 |
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"video.codec": "h264",
|
| 92 |
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"video.pix_fmt": "yuv420p",
|
| 93 |
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"video.is_depth_map": false,
|
| 94 |
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|
| 95 |
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},
|
| 96 |
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"info": {
|
| 97 |
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|
| 98 |
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|
| 99 |
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"video.codec": "h264",
|
| 100 |
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"video.pix_fmt": "yuv420p",
|
| 101 |
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"video.is_depth_map": false,
|
| 102 |
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|
| 103 |
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"video.channels": 3,
|
| 104 |
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"has_audio": false
|
| 105 |
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}
|
| 106 |
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},
|
| 107 |
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"annotation.human.task_description": {
|
| 108 |
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"dtype": "int64",
|
| 109 |
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|
| 110 |
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1
|
| 111 |
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]
|
| 112 |
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},
|
| 113 |
+
"annotation.human.task_name": {
|
| 114 |
+
"dtype": "int64",
|
| 115 |
+
"shape": [
|
| 116 |
+
1
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
"observation.state": {
|
| 120 |
+
"dtype": "float64",
|
| 121 |
+
"shape": [
|
| 122 |
+
16
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"action": {
|
| 126 |
+
"dtype": "float64",
|
| 127 |
+
"shape": [
|
| 128 |
+
12
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"next.reward": {
|
| 132 |
+
"dtype": "float32",
|
| 133 |
+
"shape": [
|
| 134 |
+
1
|
| 135 |
+
]
|
| 136 |
+
},
|
| 137 |
+
"next.done": {
|
| 138 |
+
"dtype": "bool",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
"timestamp": {
|
| 144 |
+
"dtype": "float32",
|
| 145 |
+
"shape": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
+
"names": null
|
| 149 |
+
},
|
| 150 |
+
"frame_index": {
|
| 151 |
+
"dtype": "int64",
|
| 152 |
+
"shape": [
|
| 153 |
+
1
|
| 154 |
+
],
|
| 155 |
+
"names": null
|
| 156 |
+
},
|
| 157 |
+
"episode_index": {
|
| 158 |
+
"dtype": "int64",
|
| 159 |
+
"shape": [
|
| 160 |
+
1
|
| 161 |
+
],
|
| 162 |
+
"names": null
|
| 163 |
+
},
|
| 164 |
+
"index": {
|
| 165 |
+
"dtype": "int64",
|
| 166 |
+
"shape": [
|
| 167 |
+
1
|
| 168 |
+
],
|
| 169 |
+
"names": null
|
| 170 |
+
},
|
| 171 |
+
"task_index": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
+
"shape": [
|
| 174 |
+
1
|
| 175 |
+
],
|
| 176 |
+
"names": null
|
| 177 |
+
}
|
| 178 |
+
}
|
| 179 |
+
}
|
target/atomic/OpenCabinet/20250813/lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"base_position": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 3
|
| 7 |
+
},
|
| 8 |
+
"base_rotation": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 3,
|
| 11 |
+
"end": 7
|
| 12 |
+
},
|
| 13 |
+
"end_effector_position_relative": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 7,
|
| 16 |
+
"end": 10
|
| 17 |
+
},
|
| 18 |
+
"end_effector_rotation_relative": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 10,
|
| 21 |
+
"end": 14
|
| 22 |
+
},
|
| 23 |
+
"gripper_qpos": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 14,
|
| 26 |
+
"end": 16
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"action": {
|
| 30 |
+
"base_motion": {
|
| 31 |
+
"original_key": "action",
|
| 32 |
+
"start": 0,
|
| 33 |
+
"end": 4
|
| 34 |
+
},
|
| 35 |
+
"control_mode": {
|
| 36 |
+
"original_key": "action",
|
| 37 |
+
"start": 4,
|
| 38 |
+
"end": 5
|
| 39 |
+
},
|
| 40 |
+
"end_effector_position": {
|
| 41 |
+
"original_key": "action",
|
| 42 |
+
"start": 5,
|
| 43 |
+
"end": 8
|
| 44 |
+
},
|
| 45 |
+
"end_effector_rotation": {
|
| 46 |
+
"original_key": "action",
|
| 47 |
+
"start": 8,
|
| 48 |
+
"end": 11
|
| 49 |
+
},
|
| 50 |
+
"gripper_close": {
|
| 51 |
+
"original_key": "action",
|
| 52 |
+
"start": 11,
|
| 53 |
+
"end": 12
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"robot0_eye_in_hand": {
|
| 58 |
+
"original_key": "observation.images.robot0_eye_in_hand"
|
| 59 |
+
},
|
| 60 |
+
"robot0_agentview_left": {
|
| 61 |
+
"original_key": "observation.images.robot0_agentview_left"
|
| 62 |
+
},
|
| 63 |
+
"robot0_agentview_right": {
|
| 64 |
+
"original_key": "observation.images.robot0_agentview_right"
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
"annotation": {
|
| 68 |
+
"human.task_description": {
|
| 69 |
+
"original_key": "annotation.human.task_description"
|
| 70 |
+
}
|
| 71 |
+
}
|
| 72 |
+
}
|
target/atomic/OpenCabinet/20250813/lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,378 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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{"task_index": 0, "task": "Open the cabinet door."}
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