Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/info.json +160 -0
- meta/stats.json +358 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.top_rgb/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:790b72b3de8c5f580387a7dd4f47591497a0d321dfb4d03acc12a54a85a94db9
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size 22904
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["picking_box"], "length": 77}
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meta/info.json
ADDED
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@@ -0,0 +1,160 @@
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| 1 |
+
{
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| 2 |
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"codebase_version": "v2.0",
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| 3 |
+
"robot_type": "bi_ur5",
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| 4 |
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"total_episodes": 1,
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| 5 |
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"total_frames": 77,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"total_videos": 1,
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| 8 |
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"total_chunks": 1,
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| 9 |
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"chunks_size": 1000,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:1"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"action": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"shape": [
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| 20 |
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14
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| 21 |
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],
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| 22 |
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"names": {
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| 23 |
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"motors": [
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| 24 |
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"left_shoulder_pan",
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| 25 |
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"left_shoulder_lift",
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| 26 |
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"left_elbow_flex",
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| 27 |
+
"left_wrist_1",
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| 28 |
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"left_wrist_2",
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| 29 |
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"left_wrist_3",
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| 30 |
+
"left_gripper",
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| 31 |
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"right_shoulder_pan",
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| 32 |
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"right_shoulder_lift",
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| 33 |
+
"right_elbow_flex",
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| 34 |
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"right_wrist_1",
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| 35 |
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"right_wrist_2",
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| 36 |
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"right_wrist_3",
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| 37 |
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"right_gripper"
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| 38 |
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]
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| 39 |
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}
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| 40 |
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},
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| 41 |
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"observation.state": {
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| 42 |
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"dtype": "float32",
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| 43 |
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"shape": [
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| 44 |
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14
|
| 45 |
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],
|
| 46 |
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"names": {
|
| 47 |
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"arms": [
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| 48 |
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"left_shoulder_pan",
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| 49 |
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"left_shoulder_lift",
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| 50 |
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"left_elbow_flex",
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| 51 |
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"left_wrist_1",
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| 52 |
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"left_wrist_2",
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| 53 |
+
"left_wrist_3",
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| 54 |
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"left_gripper",
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| 55 |
+
"right_shoulder_pan",
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| 56 |
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"right_shoulder_lift",
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| 57 |
+
"right_elbow_flex",
|
| 58 |
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"right_wrist_1",
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| 59 |
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"right_wrist_2",
|
| 60 |
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"right_wrist_3",
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| 61 |
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"right_gripper"
|
| 62 |
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]
|
| 63 |
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}
|
| 64 |
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},
|
| 65 |
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"observation.velocity": {
|
| 66 |
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"dtype": "float32",
|
| 67 |
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"shape": [
|
| 68 |
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14
|
| 69 |
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],
|
| 70 |
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"names": {
|
| 71 |
+
"arms": [
|
| 72 |
+
"left_shoulder_pan",
|
| 73 |
+
"left_shoulder_lift",
|
| 74 |
+
"left_elbow_flex",
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| 75 |
+
"left_wrist_1",
|
| 76 |
+
"left_wrist_2",
|
| 77 |
+
"left_wrist_3",
|
| 78 |
+
"left_gripper",
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| 79 |
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"right_shoulder_pan",
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| 80 |
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"right_shoulder_lift",
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| 81 |
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"right_elbow_flex",
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| 82 |
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"right_wrist_1",
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| 83 |
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"right_wrist_2",
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| 84 |
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"right_wrist_3",
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| 85 |
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"right_gripper"
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| 86 |
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]
|
| 87 |
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}
|
| 88 |
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},
|
| 89 |
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"observation.gripper_position": {
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| 90 |
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"dtype": "float32",
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| 91 |
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"shape": [
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| 92 |
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2
|
| 93 |
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],
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| 94 |
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"names": {
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| 95 |
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"gripper": [
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| 96 |
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"left_gripper",
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| 97 |
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"right_gripper"
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| 98 |
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]
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| 99 |
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}
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| 100 |
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},
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| 101 |
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"observation.images.top_rgb": {
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| 102 |
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"dtype": "video",
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| 103 |
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"shape": [
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| 104 |
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480,
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| 105 |
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640,
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| 106 |
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3
|
| 107 |
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],
|
| 108 |
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"names": [
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| 109 |
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"height",
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| 110 |
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"width",
|
| 111 |
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"channels"
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| 112 |
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],
|
| 113 |
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"info": {
|
| 114 |
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"video.fps": 30.0,
|
| 115 |
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"video.height": 480,
|
| 116 |
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"video.width": 640,
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| 117 |
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"video.channels": 3,
|
| 118 |
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"video.codec": "h264",
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| 119 |
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"video.pix_fmt": "yuv420p",
|
| 120 |
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"video.is_depth_map": false,
|
| 121 |
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"has_audio": false
|
| 122 |
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}
|
| 123 |
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},
|
| 124 |
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"timestamp": {
|
| 125 |
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"dtype": "float32",
|
| 126 |
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"shape": [
|
| 127 |
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1
|
| 128 |
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],
|
| 129 |
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"names": null
|
| 130 |
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},
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| 131 |
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"frame_index": {
|
| 132 |
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"dtype": "int64",
|
| 133 |
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"shape": [
|
| 134 |
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1
|
| 135 |
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],
|
| 136 |
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"names": null
|
| 137 |
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},
|
| 138 |
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"episode_index": {
|
| 139 |
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"dtype": "int64",
|
| 140 |
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"shape": [
|
| 141 |
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|
| 142 |
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|
| 143 |
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"names": null
|
| 144 |
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},
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| 145 |
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"index": {
|
| 146 |
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|
| 147 |
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"shape": [
|
| 148 |
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1
|
| 149 |
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| 150 |
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"names": null
|
| 151 |
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},
|
| 152 |
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"task_index": {
|
| 153 |
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"dtype": "int64",
|
| 154 |
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"shape": [
|
| 155 |
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1
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| 156 |
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| 157 |
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"names": null
|
| 158 |
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}
|
| 159 |
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}
|
| 160 |
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}
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meta/stats.json
ADDED
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@@ -0,0 +1,358 @@
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| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"mean": [
|
| 4 |
+
2.144685745239258,
|
| 5 |
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-1.5457206964492798,
|
| 6 |
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