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meta/episodes.jsonl

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-{"episode_index": 0, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 300}
-{"episode_index": 1, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 292}
-{"episode_index": 2, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 301}
-{"episode_index": 3, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 319}
-{"episode_index": 4, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 313}
-{"episode_index": 5, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 305}
-{"episode_index": 6, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 300}
-{"episode_index": 7, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 312}
-{"episode_index": 8, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 303}
-{"episode_index": 9, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 299}
-{"episode_index": 10, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 298}
-{"episode_index": 11, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 300}
-{"episode_index": 12, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 297}
-{"episode_index": 13, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 308}
-{"episode_index": 14, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 310}
-{"episode_index": 15, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 302}
-{"episode_index": 16, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 314}
-{"episode_index": 17, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 290}
-{"episode_index": 18, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 307}
-{"episode_index": 19, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 295}
-{"episode_index": 20, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 306}
-{"episode_index": 21, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 301}
-{"episode_index": 22, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 306}
-{"episode_index": 23, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 305}
-{"episode_index": 24, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 309}
-{"episode_index": 25, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 300}
-{"episode_index": 26, "tasks": ["Sweep the red cube into the dustpan, then the green cube, then the blue cube. Then empty the dustpan into the trash bin."], "length": 294}
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+{"episode_index": 0, "tasks": ["Pick up the rope and place it in the groove."], "length": 309}
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meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v2.1",
     "robot_type": "ur5-panda",
-    "total_episodes": 30,
-    "total_frames": 9084,
+    "total_episodes": 25,
+    "total_frames": 7731,
     "total_tasks": 1,
     "total_videos": 0,
     "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 10,
     "splits": {
-        "train": "0:30"
+        "train": "0:25"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
@@ -27,6 +27,32 @@
                 "channel"
             ]
         },
+        "ur5_wrist_image": {
+            "dtype": "image",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "panda_wrist_image": {
+            "dtype": "image",
+            "shape": [
+                240,
+                320,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
         "state": {
             "dtype": "float32",
             "shape": [

meta/tasks.jsonl

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+{"task_index": 0, "task": "Pick up the rope and place it in the groove."}