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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:d67dbb788bad473d793099a09d0e3f4965034e823cc25d615de137d5991c8d59
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size 1018189
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:573cd93da3f78611c1e18c53b4ebd7480311189a094e4d7227953351edc157eb
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size 50443
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meta/info.json
CHANGED
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{
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"codebase_version": "
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"robot_type": "so100",
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| 4 |
"total_episodes": 10,
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| 5 |
"total_frames": 18094,
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| 6 |
"total_tasks": 1,
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"total_videos": 20,
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"train": "0:10"
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"data_path": "data/chunk-{
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"video_path": "videos/chunk-{
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"action": {
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"dtype": "float32",
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"main_wrist_flex",
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"main_gripper"
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"observation.state": {
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"dtype": "float32",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper"
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"codebase_version": "v3.0",
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"features": {
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"main_wrist_flex",
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"main_gripper"
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| 39 |
"main_wrist_flex",
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| 40 |
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meta/stats.json
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