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|
| 136 |
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{"episode_index": 135, "tasks": ["Pick up the red cup on the table."], "length": 650}
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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|
| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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{"episode_index": 188, "tasks": ["Pick up the red cup on the table."], "length": 720}
|
| 190 |
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{"episode_index": 189, "tasks": ["Pick up the red cup on the table."], "length": 943}
|
| 191 |
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{"episode_index": 190, "tasks": ["Pick up the red cup on the table."], "length": 702}
|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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{"episode_index": 195, "tasks": ["Pick up the red cup on the table."], "length": 596}
|
| 197 |
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{"episode_index": 196, "tasks": ["Pick up the red cup on the table."], "length": 907}
|
| 198 |
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|
| 199 |
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{"episode_index": 198, "tasks": ["Pick up the red cup on the table."], "length": 650}
|
| 200 |
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|
meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
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|
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|
meta/info.json
ADDED
|
@@ -0,0 +1,217 @@
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|
| 1 |
+
{
|
| 2 |
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"codebase_version": "v2.1",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 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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|
| 18 |
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|
| 19 |
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|
| 20 |
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26
|
| 21 |
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],
|
| 22 |
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|
| 23 |
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[
|
| 24 |
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"kLeftShoulderPitch",
|
| 25 |
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"kLeftShoulderRoll",
|
| 26 |
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"kLeftShoulderYaw",
|
| 27 |
+
"kLeftElbow",
|
| 28 |
+
"kLeftWristRoll",
|
| 29 |
+
"kLeftWristPitch",
|
| 30 |
+
"kLeftWristYaw",
|
| 31 |
+
"kRightShoulderPitch",
|
| 32 |
+
"kRightShoulderRoll",
|
| 33 |
+
"kRightShoulderYaw",
|
| 34 |
+
"kRightElbow",
|
| 35 |
+
"kRightWristRoll",
|
| 36 |
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"kRightWristPitch",
|
| 37 |
+
"kRightWristYaw",
|
| 38 |
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"kLeftHandThumb",
|
| 39 |
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"kLeftHandThumbAux",
|
| 40 |
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"kLeftHandIndex",
|
| 41 |
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"kLeftHandMiddle",
|
| 42 |
+
"kLeftHandRing",
|
| 43 |
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"kLeftHandPinky",
|
| 44 |
+
"kRightHandThumb",
|
| 45 |
+
"kRightHandThumbAux",
|
| 46 |
+
"kRightHandIndex",
|
| 47 |
+
"kRightHandMiddle",
|
| 48 |
+
"kRightHandRing",
|
| 49 |
+
"kRightHandPinky"
|
| 50 |
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]
|
| 51 |
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]
|
| 52 |
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},
|
| 53 |
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"action": {
|
| 54 |
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"dtype": "float32",
|
| 55 |
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"shape": [
|
| 56 |
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26
|
| 57 |
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],
|
| 58 |
+
"names": [
|
| 59 |
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[
|
| 60 |
+
"kLeftShoulderPitch",
|
| 61 |
+
"kLeftShoulderRoll",
|
| 62 |
+
"kLeftShoulderYaw",
|
| 63 |
+
"kLeftElbow",
|
| 64 |
+
"kLeftWristRoll",
|
| 65 |
+
"kLeftWristPitch",
|
| 66 |
+
"kLeftWristYaw",
|
| 67 |
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"kRightShoulderPitch",
|
| 68 |
+
"kRightShoulderRoll",
|
| 69 |
+
"kRightShoulderYaw",
|
| 70 |
+
"kRightElbow",
|
| 71 |
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"kRightWristRoll",
|
| 72 |
+
"kRightWristPitch",
|
| 73 |
+
"kRightWristYaw",
|
| 74 |
+
"kLeftHandThumb",
|
| 75 |
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"kLeftHandThumbAux",
|
| 76 |
+
"kLeftHandIndex",
|
| 77 |
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"kLeftHandMiddle",
|
| 78 |
+
"kLeftHandRing",
|
| 79 |
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"kLeftHandPinky",
|
| 80 |
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"kRightHandThumb",
|
| 81 |
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"kRightHandThumbAux",
|
| 82 |
+
"kRightHandIndex",
|
| 83 |
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"kRightHandMiddle",
|
| 84 |
+
"kRightHandRing",
|
| 85 |
+
"kRightHandPinky"
|
| 86 |
+
]
|
| 87 |
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]
|
| 88 |
+
},
|
| 89 |
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"observation.images.cam_left_high": {
|
| 90 |
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"dtype": "video",
|
| 91 |
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"shape": [
|
| 92 |
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480,
|
| 93 |
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|
| 94 |
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|
| 95 |
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],
|
| 96 |
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"names": [
|
| 97 |
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|
| 98 |
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"width",
|
| 99 |
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"channel"
|
| 100 |
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],
|
| 101 |
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|
| 102 |
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"video.height": 480,
|
| 103 |
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"video.width": 640,
|
| 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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"dtype": "video",
|
| 114 |
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"shape": [
|
| 115 |
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480,
|
| 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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|
| 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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"has_audio": false
|
| 133 |
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|
| 134 |
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},
|
| 135 |
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|
| 136 |
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"dtype": "video",
|
| 137 |
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|
| 138 |
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480,
|
| 139 |
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|
| 140 |
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|
| 141 |
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],
|
| 142 |
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| 143 |
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"height",
|
| 144 |
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"width",
|
| 145 |
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"channel"
|
| 146 |
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],
|
| 147 |
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"info": {
|
| 148 |
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"video.height": 480,
|
| 149 |
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|
| 150 |
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|
| 151 |
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"video.pix_fmt": "yuv420p",
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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"has_audio": false
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"observation.images.cam_right_wrist": {
|
| 159 |
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"dtype": "video",
|
| 160 |
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"shape": [
|
| 161 |
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480,
|
| 162 |
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|
| 163 |
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|
| 164 |
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| 165 |
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| 166 |
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"height",
|
| 167 |
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|
| 168 |
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"channel"
|
| 169 |
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],
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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}
|
| 180 |
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},
|
| 181 |
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"timestamp": {
|
| 182 |
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"dtype": "float32",
|
| 183 |
+
"shape": [
|
| 184 |
+
1
|
| 185 |
+
],
|
| 186 |
+
"names": null
|
| 187 |
+
},
|
| 188 |
+
"frame_index": {
|
| 189 |
+
"dtype": "int64",
|
| 190 |
+
"shape": [
|
| 191 |
+
1
|
| 192 |
+
],
|
| 193 |
+
"names": null
|
| 194 |
+
},
|
| 195 |
+
"episode_index": {
|
| 196 |
+
"dtype": "int64",
|
| 197 |
+
"shape": [
|
| 198 |
+
1
|
| 199 |
+
],
|
| 200 |
+
"names": null
|
| 201 |
+
},
|
| 202 |
+
"index": {
|
| 203 |
+
"dtype": "int64",
|
| 204 |
+
"shape": [
|
| 205 |
+
1
|
| 206 |
+
],
|
| 207 |
+
"names": null
|
| 208 |
+
},
|
| 209 |
+
"task_index": {
|
| 210 |
+
"dtype": "int64",
|
| 211 |
+
"shape": [
|
| 212 |
+
1
|
| 213 |
+
],
|
| 214 |
+
"names": null
|
| 215 |
+
}
|
| 216 |
+
}
|
| 217 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Put the apples into the plate."}
|