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Browse files- rc_ur5_arrange_fruits_in_basket/meta/episodes.jsonl +0 -0
- rc_ur5_arrange_fruits_in_basket/meta/episodes_stats.jsonl +0 -0
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- rc_ur5_arrange_fruits_in_basket/meta/tasks.jsonl +1 -0
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rc_ur5_arrange_fruits_in_basket/meta/episodes.jsonl
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rc_ur5_arrange_fruits_in_basket/meta/episodes_stats.jsonl
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rc_ur5_arrange_fruits_in_basket/meta/info.json
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| 1 |
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rc_ur5_hang_toothbrush_cup/meta/episodes_stats.jsonl
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rc_ur5_hang_toothbrush_cup/meta/info.json
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"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
720,
|
| 44 |
+
1280,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channel"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 720,
|
| 54 |
+
"video.width": 1280,
|
| 55 |
+
"video.codec": "av1",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
7
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"state"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
+
"actions": {
|
| 73 |
+
"dtype": "float32",
|
| 74 |
+
"shape": [
|
| 75 |
+
7
|
| 76 |
+
],
|
| 77 |
+
"names": [
|
| 78 |
+
"actions"
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"timestamp": {
|
| 82 |
+
"dtype": "float32",
|
| 83 |
+
"shape": [
|
| 84 |
+
1
|
| 85 |
+
],
|
| 86 |
+
"names": null
|
| 87 |
+
},
|
| 88 |
+
"frame_index": {
|
| 89 |
+
"dtype": "int64",
|
| 90 |
+
"shape": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"names": null
|
| 94 |
+
},
|
| 95 |
+
"episode_index": {
|
| 96 |
+
"dtype": "int64",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"task_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
+
],
|
| 114 |
+
"names": null
|
| 115 |
+
}
|
| 116 |
+
}
|
| 117 |
+
}
|
rc_ur5_hang_toothbrush_cup/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "hang the orange toothbrush cup on the cup holder"}
|
rc_ur5_set_the_plates/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,599 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2471}
|
| 2 |
+
{"episode_index": 1, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2665}
|
| 3 |
+
{"episode_index": 2, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4653}
|
| 4 |
+
{"episode_index": 3, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4208}
|
| 5 |
+
{"episode_index": 4, "tasks": ["place the three plates onto the plate rack one by one"], "length": 5218}
|
| 6 |
+
{"episode_index": 5, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2464}
|
| 7 |
+
{"episode_index": 6, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4350}
|
| 8 |
+
{"episode_index": 7, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2967}
|
| 9 |
+
{"episode_index": 8, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2495}
|
| 10 |
+
{"episode_index": 9, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2381}
|
| 11 |
+
{"episode_index": 10, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2348}
|
| 12 |
+
{"episode_index": 11, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2621}
|
| 13 |
+
{"episode_index": 12, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2622}
|
| 14 |
+
{"episode_index": 13, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2684}
|
| 15 |
+
{"episode_index": 14, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2448}
|
| 16 |
+
{"episode_index": 15, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4651}
|
| 17 |
+
{"episode_index": 16, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4608}
|
| 18 |
+
{"episode_index": 17, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4850}
|
| 19 |
+
{"episode_index": 18, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2462}
|
| 20 |
+
{"episode_index": 19, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4855}
|
| 21 |
+
{"episode_index": 20, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2953}
|
| 22 |
+
{"episode_index": 21, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4765}
|
| 23 |
+
{"episode_index": 22, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2610}
|
| 24 |
+
{"episode_index": 23, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2596}
|
| 25 |
+
{"episode_index": 24, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4431}
|
| 26 |
+
{"episode_index": 25, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2720}
|
| 27 |
+
{"episode_index": 26, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4424}
|
| 28 |
+
{"episode_index": 27, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2720}
|
| 29 |
+
{"episode_index": 28, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2829}
|
| 30 |
+
{"episode_index": 29, "tasks": ["place the three plates onto the plate rack one by one"], "length": 3185}
|
| 31 |
+
{"episode_index": 30, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4343}
|
| 32 |
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|
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|
| 511 |
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| 512 |
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|
| 515 |
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|
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|
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|
| 518 |
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| 519 |
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|
| 520 |
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|
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|
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
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|
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|
| 528 |
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|
| 529 |
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|
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|
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|
| 532 |
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|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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|
| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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|
| 547 |
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|
| 548 |
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|
| 549 |
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|
| 550 |
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|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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|
| 579 |
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|
| 580 |
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|
| 581 |
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{"episode_index": 580, "tasks": ["place the three plates onto the plate rack one by one"], "length": 5081}
|
| 582 |
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|
| 583 |
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|
| 584 |
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{"episode_index": 583, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2588}
|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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{"episode_index": 588, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2563}
|
| 590 |
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{"episode_index": 589, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2653}
|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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|
| 595 |
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{"episode_index": 594, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2361}
|
| 596 |
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{"episode_index": 595, "tasks": ["place the three plates onto the plate rack one by one"], "length": 4446}
|
| 597 |
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|
| 598 |
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|
| 599 |
+
{"episode_index": 598, "tasks": ["place the three plates onto the plate rack one by one"], "length": 2785}
|
rc_ur5_set_the_plates/meta/episodes_stats.jsonl
ADDED
|
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|
rc_ur5_set_the_plates/meta/info.json
ADDED
|
@@ -0,0 +1,117 @@
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
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"robot_type": "UR5",
|
| 4 |
+
"total_episodes": 599,
|
| 5 |
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"total_frames": 2088877,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"total_videos": 1198,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 30,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:599"
|
| 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 |
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"features": {
|
| 17 |
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"global_image": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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"shape": [
|
| 20 |
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720,
|
| 21 |
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1280,
|
| 22 |
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3
|
| 23 |
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],
|
| 24 |
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"names": [
|
| 25 |
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"height",
|
| 26 |
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"width",
|
| 27 |
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"channel"
|
| 28 |
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],
|
| 29 |
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"info": {
|
| 30 |
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"video.height": 720,
|
| 31 |
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"video.width": 1280,
|
| 32 |
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"video.codec": "av1",
|
| 33 |
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"video.pix_fmt": "yuv420p",
|
| 34 |
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"video.is_depth_map": false,
|
| 35 |
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"video.fps": 30,
|
| 36 |
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"video.channels": 3,
|
| 37 |
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"has_audio": false
|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
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"wrist_image": {
|
| 41 |
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"dtype": "video",
|
| 42 |
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"shape": [
|
| 43 |
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720,
|
| 44 |
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1280,
|
| 45 |
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3
|
| 46 |
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],
|
| 47 |
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"names": [
|
| 48 |
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"height",
|
| 49 |
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"width",
|
| 50 |
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"channel"
|
| 51 |
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],
|
| 52 |
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"info": {
|
| 53 |
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"video.height": 720,
|
| 54 |
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"video.width": 1280,
|
| 55 |
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"video.codec": "av1",
|
| 56 |
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"video.pix_fmt": "yuv420p",
|
| 57 |
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"video.is_depth_map": false,
|
| 58 |
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"video.fps": 30,
|
| 59 |
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"video.channels": 3,
|
| 60 |
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"has_audio": false
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"state": {
|
| 64 |
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"dtype": "float32",
|
| 65 |
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"shape": [
|
| 66 |
+
7
|
| 67 |
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],
|
| 68 |
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"names": [
|
| 69 |
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"state"
|
| 70 |
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]
|
| 71 |
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},
|
| 72 |
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"actions": {
|
| 73 |
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"dtype": "float32",
|
| 74 |
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"shape": [
|
| 75 |
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7
|
| 76 |
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],
|
| 77 |
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"names": [
|
| 78 |
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"actions"
|
| 79 |
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]
|
| 80 |
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},
|
| 81 |
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"timestamp": {
|
| 82 |
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"dtype": "float32",
|
| 83 |
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"shape": [
|
| 84 |
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1
|
| 85 |
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],
|
| 86 |
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"names": null
|
| 87 |
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},
|
| 88 |
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"frame_index": {
|
| 89 |
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"dtype": "int64",
|
| 90 |
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"shape": [
|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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"names": null
|
| 94 |
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},
|
| 95 |
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"episode_index": {
|
| 96 |
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"dtype": "int64",
|
| 97 |
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"shape": [
|
| 98 |
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1
|
| 99 |
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],
|
| 100 |
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"names": null
|
| 101 |
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|
| 102 |
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"index": {
|
| 103 |
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"dtype": "int64",
|
| 104 |
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"shape": [
|
| 105 |
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1
|
| 106 |
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],
|
| 107 |
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"names": null
|
| 108 |
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},
|
| 109 |
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"task_index": {
|
| 110 |
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"dtype": "int64",
|
| 111 |
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"shape": [
|
| 112 |
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1
|
| 113 |
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],
|
| 114 |
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"names": null
|
| 115 |
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}
|
| 116 |
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}
|
| 117 |
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}
|
rc_ur5_set_the_plates/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "place the three plates onto the plate rack one by one"}
|
rc_ur5_shred_scrap_paper/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,776 @@
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rc_ur5_shred_scrap_paper/meta/episodes_stats.jsonl
ADDED
|
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|
rc_ur5_shred_scrap_paper/meta/info.json
ADDED
|
@@ -0,0 +1,117 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 13 |
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| 14 |
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| 15 |
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| 87 |
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},
|
| 88 |
+
"frame_index": {
|
| 89 |
+
"dtype": "int64",
|
| 90 |
+
"shape": [
|
| 91 |
+
1
|
| 92 |
+
],
|
| 93 |
+
"names": null
|
| 94 |
+
},
|
| 95 |
+
"episode_index": {
|
| 96 |
+
"dtype": "int64",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
+
],
|
| 100 |
+
"names": null
|
| 101 |
+
},
|
| 102 |
+
"index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
+
"shape": [
|
| 105 |
+
1
|
| 106 |
+
],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"task_index": {
|
| 110 |
+
"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
+
1
|
| 113 |
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],
|
| 114 |
+
"names": null
|
| 115 |
+
}
|
| 116 |
+
}
|
| 117 |
+
}
|
rc_ur5_shred_scrap_paper/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "place the white paper on the shelf into the shredder for shredding"}
|
rc_ur5_sort_books/meta/episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc_ur5_sort_books/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc_ur5_sort_books/meta/info.json
ADDED
|
@@ -0,0 +1,117 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": "UR5",
|
| 4 |
+
"total_episodes": 922,
|
| 5 |
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"total_frames": 2952275,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"total_videos": 1844,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
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"train": "0:922"
|
| 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 |
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"features": {
|
| 17 |
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"global_image": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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"shape": [
|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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],
|
| 24 |
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|
| 25 |
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"height",
|
| 26 |
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"width",
|
| 27 |
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"channel"
|
| 28 |
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],
|
| 29 |
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"info": {
|
| 30 |
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"video.height": 720,
|
| 31 |
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|
| 32 |
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"video.codec": "av1",
|
| 33 |
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"video.pix_fmt": "yuv420p",
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
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"wrist_image": {
|
| 41 |
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"dtype": "video",
|
| 42 |
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|
| 43 |
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720,
|
| 44 |
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1280,
|
| 45 |
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3
|
| 46 |
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|
| 47 |
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"names": [
|
| 48 |
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"height",
|
| 49 |
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"width",
|
| 50 |
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"channel"
|
| 51 |
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],
|
| 52 |
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"info": {
|
| 53 |
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"video.height": 720,
|
| 54 |
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"video.width": 1280,
|
| 55 |
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"video.codec": "av1",
|
| 56 |
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"video.pix_fmt": "yuv420p",
|
| 57 |
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"video.is_depth_map": false,
|
| 58 |
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"video.fps": 30,
|
| 59 |
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"video.channels": 3,
|
| 60 |
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"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
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"state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
7
|
| 67 |
+
],
|
| 68 |
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"names": [
|
| 69 |
+
"state"
|
| 70 |
+
]
|
| 71 |
+
},
|
| 72 |
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"actions": {
|
| 73 |
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"dtype": "float32",
|
| 74 |
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"shape": [
|
| 75 |
+
7
|
| 76 |
+
],
|
| 77 |
+
"names": [
|
| 78 |
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"actions"
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
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"timestamp": {
|
| 82 |
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"dtype": "float32",
|
| 83 |
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"shape": [
|
| 84 |
+
1
|
| 85 |
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],
|
| 86 |
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"names": null
|
| 87 |
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},
|
| 88 |
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|
| 89 |
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"dtype": "int64",
|
| 90 |
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"shape": [
|
| 91 |
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1
|
| 92 |
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],
|
| 93 |
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"names": null
|
| 94 |
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},
|
| 95 |
+
"episode_index": {
|
| 96 |
+
"dtype": "int64",
|
| 97 |
+
"shape": [
|
| 98 |
+
1
|
| 99 |
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],
|
| 100 |
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"names": null
|
| 101 |
+
},
|
| 102 |
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"index": {
|
| 103 |
+
"dtype": "int64",
|
| 104 |
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"shape": [
|
| 105 |
+
1
|
| 106 |
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],
|
| 107 |
+
"names": null
|
| 108 |
+
},
|
| 109 |
+
"task_index": {
|
| 110 |
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"dtype": "int64",
|
| 111 |
+
"shape": [
|
| 112 |
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1
|
| 113 |
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|
| 114 |
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"names": null
|
| 115 |
+
}
|
| 116 |
+
}
|
| 117 |
+
}
|
rc_ur5_sort_books/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "place the three books on the shelf into the corresponding book sections of the black bookshelf"}
|
rc_ur5_stack_color_blocks/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,579 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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| 561 |
+
{"episode_index": 560, "tasks": ["stack the yellow block on top of the orange block"], "length": 762}
|
| 562 |
+
{"episode_index": 561, "tasks": ["stack the yellow block on top of the orange block"], "length": 657}
|
| 563 |
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{"episode_index": 562, "tasks": ["stack the yellow block on top of the orange block"], "length": 729}
|
| 564 |
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{"episode_index": 563, "tasks": ["stack the yellow block on top of the orange block"], "length": 640}
|
| 565 |
+
{"episode_index": 564, "tasks": ["stack the yellow block on top of the orange block"], "length": 688}
|
| 566 |
+
{"episode_index": 565, "tasks": ["stack the yellow block on top of the orange block"], "length": 841}
|
| 567 |
+
{"episode_index": 566, "tasks": ["stack the yellow block on top of the orange block"], "length": 767}
|
| 568 |
+
{"episode_index": 567, "tasks": ["stack the yellow block on top of the orange block"], "length": 676}
|
| 569 |
+
{"episode_index": 568, "tasks": ["stack the yellow block on top of the orange block"], "length": 969}
|
| 570 |
+
{"episode_index": 569, "tasks": ["stack the yellow block on top of the orange block"], "length": 807}
|
| 571 |
+
{"episode_index": 570, "tasks": ["stack the yellow block on top of the orange block"], "length": 672}
|
| 572 |
+
{"episode_index": 571, "tasks": ["stack the yellow block on top of the orange block"], "length": 896}
|
| 573 |
+
{"episode_index": 572, "tasks": ["stack the yellow block on top of the orange block"], "length": 701}
|
| 574 |
+
{"episode_index": 573, "tasks": ["stack the yellow block on top of the orange block"], "length": 688}
|
| 575 |
+
{"episode_index": 574, "tasks": ["stack the yellow block on top of the orange block"], "length": 1159}
|
| 576 |
+
{"episode_index": 575, "tasks": ["stack the yellow block on top of the orange block"], "length": 720}
|
| 577 |
+
{"episode_index": 576, "tasks": ["stack the yellow block on top of the orange block"], "length": 785}
|
| 578 |
+
{"episode_index": 577, "tasks": ["stack the yellow block on top of the orange block"], "length": 734}
|
| 579 |
+
{"episode_index": 578, "tasks": ["stack the yellow block on top of the orange block"], "length": 754}
|
rc_ur5_stack_color_blocks/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
rc_ur5_stack_color_blocks/meta/info.json
ADDED
|
@@ -0,0 +1,117 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "UR5",
|
| 4 |
+
"total_episodes": 579,
|
| 5 |
+
"total_frames": 431550,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
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"total_videos": 1158,
|
| 8 |
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"total_chunks": 1,
|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 30,
|
| 11 |
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"splits": {
|
| 12 |
+
"train": "0:579"
|
| 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 |
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"features": {
|
| 17 |
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"global_image": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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"shape": [
|
| 20 |
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720,
|
| 21 |
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|
| 22 |
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|
| 23 |
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],
|
| 24 |
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"names": [
|
| 25 |
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"height",
|
| 26 |
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"width",
|
| 27 |
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"channel"
|
| 28 |
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],
|
| 29 |
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"info": {
|
| 30 |
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"video.height": 720,
|
| 31 |
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"video.width": 1280,
|
| 32 |
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"video.codec": "av1",
|
| 33 |
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"video.pix_fmt": "yuv420p",
|
| 34 |
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"video.is_depth_map": false,
|
| 35 |
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|
| 36 |
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"video.channels": 3,
|
| 37 |
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"has_audio": false
|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
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"wrist_image": {
|
| 41 |
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"dtype": "video",
|
| 42 |
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"shape": [
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| 43 |
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720,
|
| 44 |
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1280,
|
| 45 |
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3
|
| 46 |
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|
| 47 |
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"names": [
|
| 48 |
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"height",
|
| 49 |
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"width",
|
| 50 |
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"channel"
|
| 51 |
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],
|
| 52 |
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"info": {
|
| 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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"video.channels": 3,
|
| 60 |
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"has_audio": false
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"state": {
|
| 64 |
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"dtype": "float32",
|
| 65 |
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"shape": [
|
| 66 |
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|
| 67 |
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],
|
| 68 |
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|
| 69 |
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"state"
|
| 70 |
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|
| 71 |
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},
|
| 72 |
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"actions": {
|
| 73 |
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|
| 74 |
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"shape": [
|
| 75 |
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|
| 76 |
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],
|
| 77 |
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"names": [
|
| 78 |
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|
| 79 |
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]
|
| 80 |
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|
| 81 |
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"timestamp": {
|
| 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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"dtype": "int64",
|
| 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 |
+
}
|
rc_ur5_stack_color_blocks/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "stack the yellow block on top of the orange block"}
|