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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- data/chunk-000/episode_000004.parquet +3 -0
- meta/episodes.jsonl +5 -0
- meta/episodes_stats.jsonl +5 -0
- meta/info.json +131 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.gripper_cam/episode_000004.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.top_view/episode_000004.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
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"robot_type": "hepha_follower",
|
| 4 |
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|
| 5 |
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|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"total_videos": 10,
|
| 8 |
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|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 10,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:5"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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"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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"action": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
+
5
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"z_slide_1",
|
| 24 |
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"x_slide",
|
| 25 |
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"y_slide",
|
| 26 |
+
"rotate_arm_1",
|
| 27 |
+
"slide_gripper_finger_0"
|
| 28 |
+
]
|
| 29 |
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},
|
| 30 |
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"observation.state": {
|
| 31 |
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"dtype": "float32",
|
| 32 |
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"shape": [
|
| 33 |
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11
|
| 34 |
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],
|
| 35 |
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"names": [
|
| 36 |
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"z_slide_1",
|
| 37 |
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"x_slide",
|
| 38 |
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"y_slide",
|
| 39 |
+
"rotate_arm_1",
|
| 40 |
+
"slide_gripper_finger_0",
|
| 41 |
+
"bucket_pos_x",
|
| 42 |
+
"bucket_pos_y",
|
| 43 |
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"bucket_pos_z",
|
| 44 |
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"bin_pos_x",
|
| 45 |
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"bin_pos_y",
|
| 46 |
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"bin_pos_z"
|
| 47 |
+
]
|
| 48 |
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},
|
| 49 |
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|
| 50 |
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"dtype": "video",
|
| 51 |
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"shape": [
|
| 52 |
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264,
|
| 53 |
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264,
|
| 54 |
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3
|
| 55 |
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],
|
| 56 |
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"names": [
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| 57 |
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"height",
|
| 58 |
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"width",
|
| 59 |
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"channels"
|
| 60 |
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|
| 61 |
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"info": {
|
| 62 |
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"video.height": 264,
|
| 63 |
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|
| 64 |
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"video.codec": "av1",
|
| 65 |
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"video.pix_fmt": "yuv420p",
|
| 66 |
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|
| 67 |
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"video.fps": 10,
|
| 68 |
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"video.channels": 3,
|
| 69 |
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"has_audio": false
|
| 70 |
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}
|
| 71 |
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},
|
| 72 |
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"observation.images.gripper_cam": {
|
| 73 |
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"dtype": "video",
|
| 74 |
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"shape": [
|
| 75 |
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264,
|
| 76 |
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264,
|
| 77 |
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3
|
| 78 |
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|
| 79 |
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"names": [
|
| 80 |
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"height",
|
| 81 |
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"width",
|
| 82 |
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"channels"
|
| 83 |
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|
| 84 |
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"info": {
|
| 85 |
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"video.height": 264,
|
| 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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"video.channels": 3,
|
| 92 |
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"has_audio": false
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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"timestamp": {
|
| 96 |
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"dtype": "float32",
|
| 97 |
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"shape": [
|
| 98 |
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1
|
| 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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| 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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| 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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| 124 |
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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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meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
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|
| 1 |
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{"task_index": 0, "task": "Hepha test"}
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videos/chunk-000/observation.images.gripper_cam/episode_000000.mp4
ADDED
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ADDED
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ADDED
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