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- data/shard-00063-of-00064.parquet +3 -0
- data/task_text_embeddings.parquet +3 -0
- meta/episodes.jsonl +365 -0
- meta/info.json +121 -0
- meta/sharded_index.json +3314 -0
- meta/task_text_embeddings_info.json +7 -0
- meta/tasks.jsonl +1 -0
README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
+
- robotics
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| 5 |
+
tags:
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| 6 |
+
- LeRobot
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| 7 |
+
- language_table
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| 8 |
+
- openx
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| 9 |
+
- franka
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| 10 |
+
configs:
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| 11 |
+
- config_name: default
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| 12 |
+
data_files: data/*.parquet
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| 13 |
+
---
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| 14 |
+
Language Table (LeRobot) — Embedding-Only Release
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| 15 |
+
(DINOv3 + SigLIP2 image features; EmbeddingGemma task-text features)
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| 16 |
+
|
| 17 |
+
This repository packages a re-encoded variant of [IPEC-COMMUNITY/nyu_franka_play_dataset_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/nyu_franka_play_dataset_lerobot) where raw videos are replaced by fixed-length image embeddings, and task strings are augmented with text embeddings. All indices, splits, and semantics remain consistent with the source dataset while storage and I/O are substantially lighter. To make the dataset practical to upload/download and stream from the Hub, we also consolidated tiny per-episode Parquet files into N large Parquet shards under a single data/ folder. The file meta/sharded_index.json preserves a precise mapping from each original episode (referenced by a normalized identifier of the form data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet) to its shard path and row range, so you keep original addressing without paying the small-file tax.
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| 18 |
+
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| 19 |
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- Robot: Franka
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| 20 |
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- Modalities kept: states, actions, timestamps, frame/episode indices, image embeddings, task-text embeddings
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| 21 |
+
- Removed:
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| 22 |
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- observation.images.image
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| 23 |
+
- observation.images.image_additional_view
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| 24 |
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- License: apache-2.0 (inherits from source)
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| 25 |
+
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| 26 |
+
----------------------------------------------------------------
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| 27 |
+
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| 28 |
+
Quick Stats
|
| 29 |
+
|
| 30 |
+
From meta/info.json and meta/task_text_embeddings_info.json:
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| 31 |
+
|
| 32 |
+
- Episodes: 365
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| 33 |
+
- Frames: 34,448
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| 34 |
+
- Tasks (unique): 1
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| 35 |
+
- Chunks (original layout): 1 (chunks_size=1000)
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| 36 |
+
- Shards (this release): 64 Parquet files under data/ (see meta/sharded_index.json)
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| 37 |
+
- FPS: 3
|
| 38 |
+
- Image embeddings (per frame):
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| 39 |
+
- observation.images.image_dinov3 → float32 [1024] (DINOv3 ViT-L/16 CLS)
|
| 40 |
+
- observation.images.image_siglip2 → float32 [768] (SigLIP2-base)
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| 41 |
+
- observation.images.image_additional_view_dinov3 → float32 [1024] (DINOv3 ViT-L/16 CLS)
|
| 42 |
+
- observation.images.image_additional_view_siglip2 → float32 [768] (SigLIP2-base)
|
| 43 |
+
- Task-text embeddings (per unique task):
|
| 44 |
+
- embedding → float32 [768] from google/embeddinggemma-300m
|
| 45 |
+
- Count: 1 rows (one per task)
|
| 46 |
+
|
| 47 |
+
Note: This is an embedding-only package. The original pixel arrays listed under “Removed” are dropped.
|
| 48 |
+
|
| 49 |
+
----------------------------------------------------------------
|
| 50 |
+
|
| 51 |
+
<details>
|
| 52 |
+
<summary><b>Contents</b></summary>
|
| 53 |
+
|
| 54 |
+
<pre>
|
| 55 |
+
.
|
| 56 |
+
|-- meta/
|
| 57 |
+
| |-- info.json
|
| 58 |
+
| |-- sharded_index.json
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| 59 |
+
| |-- tasks.jsonl
|
| 60 |
+
| |-- episodes.jsonl
|
| 61 |
+
| `-- task_text_embeddings_info.json
|
| 62 |
+
|-- data/
|
| 63 |
+
| |-- shard-00000-of-000NN.parquet
|
| 64 |
+
| |-- shard-00001-of-000NN.parquet
|
| 65 |
+
| |-- ...
|
| 66 |
+
| `-- task_text_embeddings.parquet
|
| 67 |
+
`-- README.md
|
| 68 |
+
</pre>
|
| 69 |
+
</details>
|
| 70 |
+
|
| 71 |
+
----------------------------------------------------------------
|
| 72 |
+
|
| 73 |
+
How This Was Generated (Reproducible Pipeline)
|
| 74 |
+
|
| 75 |
+
1) Episode → Image Embeddings (drop pixels)
|
| 76 |
+
convert_lerobot_to_embeddings_mono.py (GPU-accelerated preprocessing).
|
| 77 |
+
Adds:
|
| 78 |
+
- observation.images.image_dinov3 (float32[1024])
|
| 79 |
+
- observation.images.image_siglip2 (float32[768])
|
| 80 |
+
- observation.images.image_additional_view_dinov3 (float32[1024])
|
| 81 |
+
- observation.images.image_additional_view_siglip2 (float32[768])
|
| 82 |
+
Removes:
|
| 83 |
+
- observation.images.image
|
| 84 |
+
- observation.images.image_additional_view
|
| 85 |
+
|
| 86 |
+
2) Task-Text Embeddings (one row per unique task)
|
| 87 |
+
build_task_text_embeddings.py with SentenceTransformer("google/embeddinggemma-300m") → data/task_text_embeddings.parquet + meta/task_text_embeddings_info.json.
|
| 88 |
+
|
| 89 |
+
3) Data Consolidation (this release)
|
| 90 |
+
All per-episode Parquets were consolidated into N large Parquet shards in one data/ folder.
|
| 91 |
+
- The index meta/sharded_index.json records, for each episode, its normalized source identifier data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet, the destination shard path, and the (row_offset, num_rows) range inside that shard.
|
| 92 |
+
- This preserves original addressing while making Hub sync/clone/stream far faster and more reliable.
|
| 93 |
+
|
| 94 |
+
----------------------------------------------------------------
|
| 95 |
+
|
| 96 |
+
Metadata (Excerpts)
|
| 97 |
+
|
| 98 |
+
meta/task_text_embeddings_info.json
|
| 99 |
+
|
| 100 |
+
~~~json
|
| 101 |
+
{
|
| 102 |
+
"model": "google/embeddinggemma-300m",
|
| 103 |
+
"dimension": 768,
|
| 104 |
+
"normalized": true,
|
| 105 |
+
"count": 1,
|
| 106 |
+
"file": "task_text_embeddings.parquet"
|
| 107 |
+
}
|
| 108 |
+
~~~
|
| 109 |
+
|
| 110 |
+
|
| 111 |
+
meta/info.json (embedding-only + shards)
|
| 112 |
+
|
| 113 |
+
~~~json
|
| 114 |
+
{
|
| 115 |
+
"codebase_version": "v2.1-embeddings-sharded",
|
| 116 |
+
"robot_type": "franka",
|
| 117 |
+
"total_episodes": 365,
|
| 118 |
+
"total_frames": 34448,
|
| 119 |
+
"total_tasks": 1,
|
| 120 |
+
"total_videos": 730,
|
| 121 |
+
"total_chunks": 1,
|
| 122 |
+
"chunks_size": 1000,
|
| 123 |
+
"fps": 3,
|
| 124 |
+
"splits": {
|
| 125 |
+
"train": "0:365"
|
| 126 |
+
},
|
| 127 |
+
"data_path": "data/shard-{shard_id:05d}-of-{num_shards:05d}.parquet",
|
| 128 |
+
"features": {
|
| 129 |
+
"observation.state": {
|
| 130 |
+
"dtype": "float32",
|
| 131 |
+
"shape": [
|
| 132 |
+
8
|
| 133 |
+
],
|
| 134 |
+
"names": {
|
| 135 |
+
"motors": [
|
| 136 |
+
"x",
|
| 137 |
+
"y",
|
| 138 |
+
"z",
|
| 139 |
+
"roll",
|
| 140 |
+
"pitch",
|
| 141 |
+
"yaw",
|
| 142 |
+
"pad",
|
| 143 |
+
"gripper"
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"action": {
|
| 148 |
+
"dtype": "float32",
|
| 149 |
+
"shape": [
|
| 150 |
+
7
|
| 151 |
+
],
|
| 152 |
+
"names": {
|
| 153 |
+
"motors": [
|
| 154 |
+
"x",
|
| 155 |
+
"y",
|
| 156 |
+
"z",
|
| 157 |
+
"roll",
|
| 158 |
+
"pitch",
|
| 159 |
+
"yaw",
|
| 160 |
+
"gripper"
|
| 161 |
+
]
|
| 162 |
+
}
|
| 163 |
+
},
|
| 164 |
+
"timestamp": {
|
| 165 |
+
"dtype": "float32",
|
| 166 |
+
"shape": [
|
| 167 |
+
1
|
| 168 |
+
],
|
| 169 |
+
"names": null
|
| 170 |
+
},
|
| 171 |
+
"frame_index": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
+
"shape": [
|
| 174 |
+
1
|
| 175 |
+
],
|
| 176 |
+
"names": null
|
| 177 |
+
},
|
| 178 |
+
"episode_index": {
|
| 179 |
+
"dtype": "int64",
|
| 180 |
+
"shape": [
|
| 181 |
+
1
|
| 182 |
+
],
|
| 183 |
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"names": null
|
| 184 |
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},
|
| 185 |
+
"index": {
|
| 186 |
+
"dtype": "int64",
|
| 187 |
+
"shape": [
|
| 188 |
+
1
|
| 189 |
+
],
|
| 190 |
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"names": null
|
| 191 |
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},
|
| 192 |
+
"task_index": {
|
| 193 |
+
"dtype": "int64",
|
| 194 |
+
"shape": [
|
| 195 |
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1
|
| 196 |
+
],
|
| 197 |
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"names": null
|
| 198 |
+
},
|
| 199 |
+
"observation.images.image_dinov3": {
|
| 200 |
+
"dtype": "float32",
|
| 201 |
+
"shape": [
|
| 202 |
+
1024
|
| 203 |
+
],
|
| 204 |
+
"names": null
|
| 205 |
+
},
|
| 206 |
+
"observation.images.image_siglip2": {
|
| 207 |
+
"dtype": "float32",
|
| 208 |
+
"shape": [
|
| 209 |
+
768
|
| 210 |
+
],
|
| 211 |
+
"names": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.image_additional_view_dinov3": {
|
| 214 |
+
"dtype": "float32",
|
| 215 |
+
"shape": [
|
| 216 |
+
1024
|
| 217 |
+
],
|
| 218 |
+
"names": null
|
| 219 |
+
},
|
| 220 |
+
"observation.images.image_additional_view_siglip2": {
|
| 221 |
+
"dtype": "float32",
|
| 222 |
+
"shape": [
|
| 223 |
+
768
|
| 224 |
+
],
|
| 225 |
+
"names": null
|
| 226 |
+
}
|
| 227 |
+
},
|
| 228 |
+
"video_keys": [
|
| 229 |
+
"observation.images.image",
|
| 230 |
+
"observation.images.image_additional_view"
|
| 231 |
+
],
|
| 232 |
+
"num_shards": 64,
|
| 233 |
+
"index_path": "meta/sharded_index.json"
|
| 234 |
+
}
|
| 235 |
+
~~~
|
| 236 |
+
|
| 237 |
+
----------------------------------------------------------------
|
| 238 |
+
|
| 239 |
+
Environment & Dependencies
|
| 240 |
+
|
| 241 |
+
Python ≥ 3.9 • PyTorch ≥ 2.1 • transformers • sentence-transformers • pyarrow • tqdm • decord (and optionally av)
|
| 242 |
+
|
| 243 |
+
----------------------------------------------------------------
|
| 244 |
+
|
| 245 |
+
Provenance, License, and Citation
|
| 246 |
+
|
| 247 |
+
- Source dataset: [IPEC-COMMUNITY/nyu_franka_play_dataset_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/nyu_franka_play_dataset_lerobot)
|
| 248 |
+
- License: apache-2.0 (inherits from the source)
|
| 249 |
+
- Encoders to cite:
|
| 250 |
+
- facebook/dinov3-vitl16-pretrain-lvd1689m
|
| 251 |
+
- google/siglip2-base-patch16-384
|
| 252 |
+
- google/embeddinggemma-300m
|
| 253 |
+
|
| 254 |
+
----------------------------------------------------------------
|
| 255 |
+
|
| 256 |
+
Changelog
|
| 257 |
+
|
| 258 |
+
- v2.0-embeddings-sharded — Replaced video tensors with DINOv3 + SigLIP2 features; added EmbeddingGemma task-text embeddings; consolidated per-episode Parquets into N shards with a repo-local index; preserved original indexing/splits via normalized episode identifiers.
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5ba5ecb29f6f9df759a27d244b6f46d6275302e70680c2ea549b9a185e205c4c
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| 3 |
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size 4006
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meta/episodes.jsonl
ADDED
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@@ -0,0 +1,365 @@
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|
| 1 |
+
{"episode_index": 0, "tasks": ["play with the kitchen"], "length": 42}
|
| 2 |
+
{"episode_index": 1, "tasks": ["play with the kitchen"], "length": 28}
|
| 3 |
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{"episode_index": 2, "tasks": ["play with the kitchen"], "length": 121}
|
| 4 |
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{"episode_index": 3, "tasks": ["play with the kitchen"], "length": 95}
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| 5 |
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{"episode_index": 4, "tasks": ["play with the kitchen"], "length": 49}
|
| 6 |
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{"episode_index": 5, "tasks": ["play with the kitchen"], "length": 97}
|
| 7 |
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{"episode_index": 6, "tasks": ["play with the kitchen"], "length": 83}
|
| 8 |
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{"episode_index": 7, "tasks": ["play with the kitchen"], "length": 121}
|
| 9 |
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{"episode_index": 8, "tasks": ["play with the kitchen"], "length": 38}
|
| 10 |
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{"episode_index": 9, "tasks": ["play with the kitchen"], "length": 118}
|
| 11 |
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{"episode_index": 10, "tasks": ["play with the kitchen"], "length": 59}
|
| 12 |
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{"episode_index": 11, "tasks": ["play with the kitchen"], "length": 142}
|
| 13 |
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{"episode_index": 12, "tasks": ["play with the kitchen"], "length": 42}
|
| 14 |
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{"episode_index": 13, "tasks": ["play with the kitchen"], "length": 109}
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| 15 |
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{"episode_index": 14, "tasks": ["play with the kitchen"], "length": 45}
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| 16 |
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{"episode_index": 15, "tasks": ["play with the kitchen"], "length": 92}
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| 17 |
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{"episode_index": 16, "tasks": ["play with the kitchen"], "length": 78}
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| 18 |
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{"episode_index": 17, "tasks": ["play with the kitchen"], "length": 67}
|
| 19 |
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{"episode_index": 18, "tasks": ["play with the kitchen"], "length": 108}
|
| 20 |
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{"episode_index": 19, "tasks": ["play with the kitchen"], "length": 136}
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| 21 |
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{"episode_index": 20, "tasks": ["play with the kitchen"], "length": 68}
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| 22 |
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{"episode_index": 21, "tasks": ["play with the kitchen"], "length": 86}
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| 23 |
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{"episode_index": 22, "tasks": ["play with the kitchen"], "length": 113}
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| 24 |
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{"episode_index": 23, "tasks": ["play with the kitchen"], "length": 101}
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| 25 |
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{"episode_index": 24, "tasks": ["play with the kitchen"], "length": 106}
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| 26 |
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{"episode_index": 25, "tasks": ["play with the kitchen"], "length": 93}
|
| 27 |
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{"episode_index": 26, "tasks": ["play with the kitchen"], "length": 73}
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| 28 |
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{"episode_index": 27, "tasks": ["play with the kitchen"], "length": 92}
|
| 29 |
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{"episode_index": 28, "tasks": ["play with the kitchen"], "length": 131}
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| 30 |
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{"episode_index": 29, "tasks": ["play with the kitchen"], "length": 72}
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| 31 |
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{"episode_index": 30, "tasks": ["play with the kitchen"], "length": 75}
|
| 32 |
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{"episode_index": 31, "tasks": ["play with the kitchen"], "length": 120}
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| 33 |
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{"episode_index": 32, "tasks": ["play with the kitchen"], "length": 79}
|
| 34 |
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{"episode_index": 33, "tasks": ["play with the kitchen"], "length": 81}
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| 35 |
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{"episode_index": 34, "tasks": ["play with the kitchen"], "length": 44}
|
| 36 |
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{"episode_index": 35, "tasks": ["play with the kitchen"], "length": 72}
|
| 37 |
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{"episode_index": 36, "tasks": ["play with the kitchen"], "length": 57}
|
| 38 |
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{"episode_index": 37, "tasks": ["play with the kitchen"], "length": 75}
|
| 39 |
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{"episode_index": 38, "tasks": ["play with the kitchen"], "length": 48}
|
| 40 |
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{"episode_index": 39, "tasks": ["play with the kitchen"], "length": 73}
|
| 41 |
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{"episode_index": 40, "tasks": ["play with the kitchen"], "length": 76}
|
| 42 |
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{"episode_index": 41, "tasks": ["play with the kitchen"], "length": 125}
|
| 43 |
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{"episode_index": 42, "tasks": ["play with the kitchen"], "length": 66}
|
| 44 |
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{"episode_index": 43, "tasks": ["play with the kitchen"], "length": 65}
|
| 45 |
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|
| 46 |
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{"episode_index": 45, "tasks": ["play with the kitchen"], "length": 61}
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| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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{"episode_index": 49, "tasks": ["play with the kitchen"], "length": 138}
|
| 51 |
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{"episode_index": 50, "tasks": ["play with the kitchen"], "length": 74}
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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| 68 |
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| 69 |
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| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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{"episode_index": 123, "tasks": ["play with the kitchen"], "length": 121}
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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{"episode_index": 134, "tasks": ["play with the kitchen"], "length": 35}
|
| 136 |
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| 240 |
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| 259 |
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| 260 |
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| 262 |
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| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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| 270 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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| 276 |
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| 277 |
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| 280 |
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| 281 |
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| 282 |
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| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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| 289 |
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| 290 |
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| 291 |
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| 292 |
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| 293 |
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| 294 |
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| 295 |
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| 296 |
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| 297 |
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| 298 |
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|
| 299 |
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|
| 300 |
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| 301 |
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|
| 302 |
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| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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|
| 323 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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|
| 337 |
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|
| 338 |
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|
| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
+
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|
| 349 |
+
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|
| 350 |
+
{"episode_index": 349, "tasks": ["play with the kitchen"], "length": 143}
|
| 351 |
+
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|
| 352 |
+
{"episode_index": 351, "tasks": ["play with the kitchen"], "length": 81}
|
| 353 |
+
{"episode_index": 352, "tasks": ["play with the kitchen"], "length": 102}
|
| 354 |
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|
| 355 |
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|
| 356 |
+
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|
| 357 |
+
{"episode_index": 356, "tasks": ["play with the kitchen"], "length": 90}
|
| 358 |
+
{"episode_index": 357, "tasks": ["play with the kitchen"], "length": 80}
|
| 359 |
+
{"episode_index": 358, "tasks": ["play with the kitchen"], "length": 135}
|
| 360 |
+
{"episode_index": 359, "tasks": ["play with the kitchen"], "length": 52}
|
| 361 |
+
{"episode_index": 360, "tasks": ["play with the kitchen"], "length": 257}
|
| 362 |
+
{"episode_index": 361, "tasks": ["play with the kitchen"], "length": 77}
|
| 363 |
+
{"episode_index": 362, "tasks": ["play with the kitchen"], "length": 80}
|
| 364 |
+
{"episode_index": 363, "tasks": ["play with the kitchen"], "length": 73}
|
| 365 |
+
{"episode_index": 364, "tasks": ["play with the kitchen"], "length": 109}
|
meta/info.json
ADDED
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1-embeddings-sharded",
|
| 3 |
+
"robot_type": "franka",
|
| 4 |
+
"total_episodes": 365,
|
| 5 |
+
"total_frames": 34448,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 730,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 3,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:365"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/shard-{shard_id:05d}-of-{num_shards:05d}.parquet",
|
| 15 |
+
"features": {
|
| 16 |
+
"observation.state": {
|
| 17 |
+
"dtype": "float32",
|
| 18 |
+
"shape": [
|
| 19 |
+
8
|
| 20 |
+
],
|
| 21 |
+
"names": {
|
| 22 |
+
"motors": [
|
| 23 |
+
"x",
|
| 24 |
+
"y",
|
| 25 |
+
"z",
|
| 26 |
+
"roll",
|
| 27 |
+
"pitch",
|
| 28 |
+
"yaw",
|
| 29 |
+
"pad",
|
| 30 |
+
"gripper"
|
| 31 |
+
]
|
| 32 |
+
}
|
| 33 |
+
},
|
| 34 |
+
"action": {
|
| 35 |
+
"dtype": "float32",
|
| 36 |
+
"shape": [
|
| 37 |
+
7
|
| 38 |
+
],
|
| 39 |
+
"names": {
|
| 40 |
+
"motors": [
|
| 41 |
+
"x",
|
| 42 |
+
"y",
|
| 43 |
+
"z",
|
| 44 |
+
"roll",
|
| 45 |
+
"pitch",
|
| 46 |
+
"yaw",
|
| 47 |
+
"gripper"
|
| 48 |
+
]
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"timestamp": {
|
| 52 |
+
"dtype": "float32",
|
| 53 |
+
"shape": [
|
| 54 |
+
1
|
| 55 |
+
],
|
| 56 |
+
"names": null
|
| 57 |
+
},
|
| 58 |
+
"frame_index": {
|
| 59 |
+
"dtype": "int64",
|
| 60 |
+
"shape": [
|
| 61 |
+
1
|
| 62 |
+
],
|
| 63 |
+
"names": null
|
| 64 |
+
},
|
| 65 |
+
"episode_index": {
|
| 66 |
+
"dtype": "int64",
|
| 67 |
+
"shape": [
|
| 68 |
+
1
|
| 69 |
+
],
|
| 70 |
+
"names": null
|
| 71 |
+
},
|
| 72 |
+
"index": {
|
| 73 |
+
"dtype": "int64",
|
| 74 |
+
"shape": [
|
| 75 |
+
1
|
| 76 |
+
],
|
| 77 |
+
"names": null
|
| 78 |
+
},
|
| 79 |
+
"task_index": {
|
| 80 |
+
"dtype": "int64",
|
| 81 |
+
"shape": [
|
| 82 |
+
1
|
| 83 |
+
],
|
| 84 |
+
"names": null
|
| 85 |
+
},
|
| 86 |
+
"observation.images.image_dinov3": {
|
| 87 |
+
"dtype": "float32",
|
| 88 |
+
"shape": [
|
| 89 |
+
1024
|
| 90 |
+
],
|
| 91 |
+
"names": null
|
| 92 |
+
},
|
| 93 |
+
"observation.images.image_siglip2": {
|
| 94 |
+
"dtype": "float32",
|
| 95 |
+
"shape": [
|
| 96 |
+
768
|
| 97 |
+
],
|
| 98 |
+
"names": null
|
| 99 |
+
},
|
| 100 |
+
"observation.images.image_additional_view_dinov3": {
|
| 101 |
+
"dtype": "float32",
|
| 102 |
+
"shape": [
|
| 103 |
+
1024
|
| 104 |
+
],
|
| 105 |
+
"names": null
|
| 106 |
+
},
|
| 107 |
+
"observation.images.image_additional_view_siglip2": {
|
| 108 |
+
"dtype": "float32",
|
| 109 |
+
"shape": [
|
| 110 |
+
768
|
| 111 |
+
],
|
| 112 |
+
"names": null
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"video_keys": [
|
| 116 |
+
"observation.images.image",
|
| 117 |
+
"observation.images.image_additional_view"
|
| 118 |
+
],
|
| 119 |
+
"num_shards": 64,
|
| 120 |
+
"index_path": "meta/sharded_index.json"
|
| 121 |
+
}
|
meta/sharded_index.json
ADDED
|
@@ -0,0 +1,3314 @@
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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"row_offset": 406,
|
| 3205 |
+
"num_rows": 81
|
| 3206 |
+
},
|
| 3207 |
+
{
|
| 3208 |
+
"episode_index": 352,
|
| 3209 |
+
"source_path": "data/chunk-000/episode_000352.parquet",
|
| 3210 |
+
"shard_id": 32,
|
| 3211 |
+
"shard_path": "data/shard-00032-of-00064.parquet",
|
| 3212 |
+
"row_offset": 394,
|
| 3213 |
+
"num_rows": 102
|
| 3214 |
+
},
|
| 3215 |
+
{
|
| 3216 |
+
"episode_index": 353,
|
| 3217 |
+
"source_path": "data/chunk-000/episode_000353.parquet",
|
| 3218 |
+
"shard_id": 33,
|
| 3219 |
+
"shard_path": "data/shard-00033-of-00064.parquet",
|
| 3220 |
+
"row_offset": 415,
|
| 3221 |
+
"num_rows": 63
|
| 3222 |
+
},
|
| 3223 |
+
{
|
| 3224 |
+
"episode_index": 354,
|
| 3225 |
+
"source_path": "data/chunk-000/episode_000354.parquet",
|
| 3226 |
+
"shard_id": 34,
|
| 3227 |
+
"shard_path": "data/shard-00034-of-00064.parquet",
|
| 3228 |
+
"row_offset": 417,
|
| 3229 |
+
"num_rows": 105
|
| 3230 |
+
},
|
| 3231 |
+
{
|
| 3232 |
+
"episode_index": 355,
|
| 3233 |
+
"source_path": "data/chunk-000/episode_000355.parquet",
|
| 3234 |
+
"shard_id": 35,
|
| 3235 |
+
"shard_path": "data/shard-00035-of-00064.parquet",
|
| 3236 |
+
"row_offset": 452,
|
| 3237 |
+
"num_rows": 149
|
| 3238 |
+
},
|
| 3239 |
+
{
|
| 3240 |
+
"episode_index": 356,
|
| 3241 |
+
"source_path": "data/chunk-000/episode_000356.parquet",
|
| 3242 |
+
"shard_id": 36,
|
| 3243 |
+
"shard_path": "data/shard-00036-of-00064.parquet",
|
| 3244 |
+
"row_offset": 473,
|
| 3245 |
+
"num_rows": 90
|
| 3246 |
+
},
|
| 3247 |
+
{
|
| 3248 |
+
"episode_index": 357,
|
| 3249 |
+
"source_path": "data/chunk-000/episode_000357.parquet",
|
| 3250 |
+
"shard_id": 37,
|
| 3251 |
+
"shard_path": "data/shard-00037-of-00064.parquet",
|
| 3252 |
+
"row_offset": 534,
|
| 3253 |
+
"num_rows": 80
|
| 3254 |
+
},
|
| 3255 |
+
{
|
| 3256 |
+
"episode_index": 358,
|
| 3257 |
+
"source_path": "data/chunk-000/episode_000358.parquet",
|
| 3258 |
+
"shard_id": 38,
|
| 3259 |
+
"shard_path": "data/shard-00038-of-00064.parquet",
|
| 3260 |
+
"row_offset": 380,
|
| 3261 |
+
"num_rows": 135
|
| 3262 |
+
},
|
| 3263 |
+
{
|
| 3264 |
+
"episode_index": 359,
|
| 3265 |
+
"source_path": "data/chunk-000/episode_000359.parquet",
|
| 3266 |
+
"shard_id": 39,
|
| 3267 |
+
"shard_path": "data/shard-00039-of-00064.parquet",
|
| 3268 |
+
"row_offset": 502,
|
| 3269 |
+
"num_rows": 52
|
| 3270 |
+
},
|
| 3271 |
+
{
|
| 3272 |
+
"episode_index": 360,
|
| 3273 |
+
"source_path": "data/chunk-000/episode_000360.parquet",
|
| 3274 |
+
"shard_id": 40,
|
| 3275 |
+
"shard_path": "data/shard-00040-of-00064.parquet",
|
| 3276 |
+
"row_offset": 455,
|
| 3277 |
+
"num_rows": 257
|
| 3278 |
+
},
|
| 3279 |
+
{
|
| 3280 |
+
"episode_index": 361,
|
| 3281 |
+
"source_path": "data/chunk-000/episode_000361.parquet",
|
| 3282 |
+
"shard_id": 41,
|
| 3283 |
+
"shard_path": "data/shard-00041-of-00064.parquet",
|
| 3284 |
+
"row_offset": 634,
|
| 3285 |
+
"num_rows": 77
|
| 3286 |
+
},
|
| 3287 |
+
{
|
| 3288 |
+
"episode_index": 362,
|
| 3289 |
+
"source_path": "data/chunk-000/episode_000362.parquet",
|
| 3290 |
+
"shard_id": 42,
|
| 3291 |
+
"shard_path": "data/shard-00042-of-00064.parquet",
|
| 3292 |
+
"row_offset": 636,
|
| 3293 |
+
"num_rows": 80
|
| 3294 |
+
},
|
| 3295 |
+
{
|
| 3296 |
+
"episode_index": 363,
|
| 3297 |
+
"source_path": "data/chunk-000/episode_000363.parquet",
|
| 3298 |
+
"shard_id": 43,
|
| 3299 |
+
"shard_path": "data/shard-00043-of-00064.parquet",
|
| 3300 |
+
"row_offset": 511,
|
| 3301 |
+
"num_rows": 73
|
| 3302 |
+
},
|
| 3303 |
+
{
|
| 3304 |
+
"episode_index": 364,
|
| 3305 |
+
"source_path": "data/chunk-000/episode_000364.parquet",
|
| 3306 |
+
"shard_id": 44,
|
| 3307 |
+
"shard_path": "data/shard-00044-of-00064.parquet",
|
| 3308 |
+
"row_offset": 441,
|
| 3309 |
+
"num_rows": 109
|
| 3310 |
+
}
|
| 3311 |
+
],
|
| 3312 |
+
"compression": "zstd",
|
| 3313 |
+
"row_group_size": 2048
|
| 3314 |
+
}
|
meta/task_text_embeddings_info.json
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"model": "google/embeddinggemma-300m",
|
| 3 |
+
"dimension": 768,
|
| 4 |
+
"normalized": true,
|
| 5 |
+
"count": 1,
|
| 6 |
+
"file": "task_text_embeddings.parquet"
|
| 7 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "play with the kitchen"}
|