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Browse files- restock_supermarket_items/data/chunk-000/episode_000000.parquet +3 -0
- restock_supermarket_items/meta/episodes.jsonl +1 -0
- restock_supermarket_items/meta/episodes_stats.jsonl +1 -0
- restock_supermarket_items/meta/info.json +200 -0
- restock_supermarket_items/meta/tasks.jsonl +1 -0
- restock_supermarket_items/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4 +3 -0
- restock_supermarket_items/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4 +3 -0
- restock_supermarket_items/videos/chunk-000/observation.images.head_color/episode_000000.mp4 +3 -0
restock_supermarket_items/data/chunk-000/episode_000000.parquet
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size 66421
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restock_supermarket_items/meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Restock supermarket items"], "length": 680, "action_config": [{"start_frame": 8, "end_frame": 235, "action_text": "右臂拿起补货箱中的棕色酸梅汤", "skill": "Pick", "english_action_text": "Pick up the brown plum juice from the restock box with the right arm."}, {"start_frame": 236, "end_frame": 680, "action_text": "右臂将拿着的棕色酸梅汤放在货架上有棕色酸梅汤的位置上", "skill": "Place", "english_action_text": "Place the brown plum juice on the shelf where the brown plum juice is located with the right arm."}]}
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restock_supermarket_items/meta/episodes_stats.jsonl
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restock_supermarket_items/meta/info.json
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],
|
| 183 |
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"names": null
|
| 184 |
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},
|
| 185 |
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"task_index": {
|
| 186 |
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"dtype": "int64",
|
| 187 |
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|
| 188 |
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1
|
| 189 |
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],
|
| 190 |
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"names": null
|
| 191 |
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},
|
| 192 |
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"timestamp": {
|
| 193 |
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"dtype": "float32",
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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"names": null
|
| 198 |
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}
|
| 199 |
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|
| 200 |
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}
|
restock_supermarket_items/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Restock supermarket items"}
|
restock_supermarket_items/videos/chunk-000/observation.images.hand_left_color/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3705770
|
restock_supermarket_items/videos/chunk-000/observation.images.hand_right_color/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
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size 6512055
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restock_supermarket_items/videos/chunk-000/observation.images.head_color/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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