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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 +150 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.gripper/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.gripper/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.gripper/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.side/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top/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": ["Put blue cube into the cup"], "length": 514}
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{"episode_index": 1, "tasks": ["Put blue cube into the cup"], "length": 385}
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{"episode_index": 2, "tasks": ["Put blue cube into the cup"], "length": 462}
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meta/episodes_stats.jsonl
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meta/info.json
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|
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| 124 |
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|
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|
| 126 |
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|
| 127 |
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|
| 128 |
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| 131 |
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| 133 |
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|
| 134 |
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| 135 |
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| 136 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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|
| 148 |
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| 149 |
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meta/tasks.jsonl
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|
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{"task_index": 0, "task": "Put blue cube into the cup"}
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