Upload folder using huggingface_hub
Browse files- .gitattributes +2 -0
- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +135 -0
- meta/skills.json +277 -0
- meta/stats.json +641 -0
- meta/subtasks.parquet +3 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
.gitattributes
CHANGED
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@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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*.zip filter=lfs diff=lfs merge=lfs -text
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*.zst filter=lfs diff=lfs merge=lfs -text
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*tfevents* filter=lfs diff=lfs merge=lfs -text
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| 36 |
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videos/observation.images.top/chunk-000/file-000.mp4 filter=lfs diff=lfs merge=lfs -text
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| 37 |
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videos/observation.images.wrist/chunk-000/file-000.mp4 filter=lfs diff=lfs merge=lfs -text
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data/chunk-000/file-000.parquet
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 420395
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meta/episodes/chunk-000/file-000.parquet
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 67151
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meta/info.json
ADDED
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@@ -0,0 +1,135 @@
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| 1 |
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{
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| 2 |
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"codebase_version": "v3.0",
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"robot_type": "piper",
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"total_episodes": 10,
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"total_frames": 7399,
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"total_tasks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:10"
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| 13 |
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},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"action": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"names": [
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| 20 |
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"shoulder_pan.pos",
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| 21 |
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"shoulder_lift.pos",
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"elbow_flex.pos",
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| 23 |
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"wrist_flex.pos",
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| 24 |
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"wrist_roll.pos",
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"gripper.pos"
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],
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"shape": [
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"observation.state": {
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"dtype": "float32",
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"names": [
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"joint_4.pos",
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| 38 |
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"joint_6.pos",
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],
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"shape": [
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]
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"observation.images.wrist": {
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"dtype": "video",
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"has_audio": false
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| 67 |
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}
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| 68 |
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},
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"observation.images.top": {
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"dtype": "video",
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}
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meta/skills.json
ADDED
|
@@ -0,0 +1,277 @@
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|
| 1 |
+
{
|
| 2 |
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"coarse_description": "pick and place task",
|
| 3 |
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"skill_to_subtask_index": {
|
| 4 |
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"pick_up_cake": 5,
|
| 5 |
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"pick up yellow_nut_bar": 5,
|
| 6 |
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"pick up_biscuit_pack": 6,
|
| 7 |
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"pick up cake": 1,
|
| 8 |
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"pick up_soda_can": 7,
|
| 9 |
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"pick_up_biscuit_pack": 4,
|
| 10 |
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"pick_up_yellow_nut_bar": 7,
|
| 11 |
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"pick_up_soda_can": 6,
|
| 12 |
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"move_arm_left": 0,
|
| 13 |
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"Assistant: pick_up_biscuit_pack": 0,
|
| 14 |
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"Assistant: pick_up_soda_can": 1,
|
| 15 |
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"pick up yellow nut bar": 3,
|
| 16 |
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"pick up biscuit pack": 0,
|
| 17 |
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"pick up soda can": 2,
|
| 18 |
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"pick up chocolate bar": 2
|
| 19 |
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},
|
| 20 |
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"episodes": {
|
| 21 |
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"0": {
|
| 22 |
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"episode_index": 0,
|
| 23 |
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"description": "pick and place task",
|
| 24 |
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"skills": [
|
| 25 |
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{
|
| 26 |
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"name": "pick_up_yellow_nut_bar",
|
| 27 |
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"start": 0.0,
|
| 28 |
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"end": 5.0
|
| 29 |
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},
|
| 30 |
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{
|
| 31 |
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"name": "pick_up_cake",
|
| 32 |
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"start": 5.0,
|
| 33 |
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"end": 12.0
|
| 34 |
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},
|
| 35 |
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{
|
| 36 |
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"name": "pick_up_biscuit_pack",
|
| 37 |
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"start": 12.0,
|
| 38 |
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"end": 18.0
|
| 39 |
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},
|
| 40 |
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{
|
| 41 |
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"name": "pick_up_soda_can",
|
| 42 |
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"start": 18.0,
|
| 43 |
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"end": 25.0
|
| 44 |
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}
|
| 45 |
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]
|
| 46 |
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},
|
| 47 |
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"1": {
|
| 48 |
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"episode_index": 1,
|
| 49 |
+
"description": "pick and place task",
|
| 50 |
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"skills": [
|
| 51 |
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{
|
| 52 |
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"name": "pick up yellow nut bar",
|
| 53 |
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"start": 0.0,
|
| 54 |
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"end": 3.0
|
| 55 |
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},
|
| 56 |
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{
|
| 57 |
+
"name": "pick up cake",
|
| 58 |
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"start": 3.0,
|
| 59 |
+
"end": 6.0
|
| 60 |
+
},
|
| 61 |
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{
|
| 62 |
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"name": "pick up biscuit pack",
|
| 63 |
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"start": 6.0,
|
| 64 |
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"end": 12.0
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"name": "pick up soda can",
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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},
|
| 73 |
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"2": {
|
| 74 |
+
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|
| 75 |
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"description": "pick and place task",
|
| 76 |
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"skills": [
|
| 77 |
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{
|
| 78 |
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"name": "pick_up_biscuit_pack",
|
| 79 |
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"start": 0.0,
|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"name": "pick_up_soda_can",
|
| 84 |
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"start": 2.0,
|
| 85 |
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|
| 86 |
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},
|
| 87 |
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{
|
| 88 |
+
"name": "pick_up_cake",
|
| 89 |
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"start": 8.0,
|
| 90 |
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"end": 15.0
|
| 91 |
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},
|
| 92 |
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{
|
| 93 |
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"name": "pick_up_yellow_nut_bar",
|
| 94 |
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"start": 15.0,
|
| 95 |
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"end": 22.63333333333334
|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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"3": {
|
| 100 |
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"episode_index": 3,
|
| 101 |
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"description": "pick and place task",
|
| 102 |
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"skills": [
|
| 103 |
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{
|
| 104 |
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"name": "pick_up_yellow_nut_bar",
|
| 105 |
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"start": 0.0,
|
| 106 |
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"end": 5.0
|
| 107 |
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},
|
| 108 |
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{
|
| 109 |
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"name": "pick_up_cake",
|
| 110 |
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"start": 5.0,
|
| 111 |
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"end": 12.0
|
| 112 |
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},
|
| 113 |
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{
|
| 114 |
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"name": "pick_up_biscuit_pack",
|
| 115 |
+
"start": 12.0,
|
| 116 |
+
"end": 23.9
|
| 117 |
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}
|
| 118 |
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]
|
| 119 |
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},
|
| 120 |
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"4": {
|
| 121 |
+
"episode_index": 4,
|
| 122 |
+
"description": "pick and place task",
|
| 123 |
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"skills": [
|
| 124 |
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{
|
| 125 |
+
"name": "pick_up_biscuit_pack",
|
| 126 |
+
"start": 0.0,
|
| 127 |
+
"end": 4.0
|
| 128 |
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},
|
| 129 |
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{
|
| 130 |
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"name": "pick_up_soda_can",
|
| 131 |
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"start": 4.0,
|
| 132 |
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"end": 10.0
|
| 133 |
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},
|
| 134 |
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{
|
| 135 |
+
"name": "pick_up_cake",
|
| 136 |
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"start": 10.0,
|
| 137 |
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"end": 15.0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"name": "pick_up_yellow_nut_bar",
|
| 141 |
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"start": 15.0,
|
| 142 |
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"end": 22.5
|
| 143 |
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}
|
| 144 |
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]
|
| 145 |
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},
|
| 146 |
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"5": {
|
| 147 |
+
"episode_index": 5,
|
| 148 |
+
"description": "pick and place task",
|
| 149 |
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"skills": [
|
| 150 |
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{
|
| 151 |
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"name": "pick_up_soda_can",
|
| 152 |
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"start": 0.0,
|
| 153 |
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"end": 2.0
|
| 154 |
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},
|
| 155 |
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{
|
| 156 |
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"name": "pick_up_cake",
|
| 157 |
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"start": 2.0,
|
| 158 |
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"end": 4.0
|
| 159 |
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},
|
| 160 |
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{
|
| 161 |
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"name": "pick_up_biscuit_pack",
|
| 162 |
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"start": 4.0,
|
| 163 |
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"end": 8.0
|
| 164 |
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},
|
| 165 |
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{
|
| 166 |
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"name": "pick_up_yellow_nut_bar",
|
| 167 |
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"start": 8.0,
|
| 168 |
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"end": 21.8
|
| 169 |
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}
|
| 170 |
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]
|
| 171 |
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},
|
| 172 |
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"6": {
|
| 173 |
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"episode_index": 6,
|
| 174 |
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"description": "pick and place task",
|
| 175 |
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"skills": [
|
| 176 |
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{
|
| 177 |
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"name": "pick_up_yellow_nut_bar",
|
| 178 |
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"start": 0.0,
|
| 179 |
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|
| 180 |
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|
| 181 |
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{
|
| 182 |
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"name": "pick_up_cake",
|
| 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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"name": "pick_up_biscuit_pack",
|
| 188 |
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"start": 12.0,
|
| 189 |
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|
| 190 |
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},
|
| 191 |
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{
|
| 192 |
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"name": "pick_up_soda_can",
|
| 193 |
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"start": 18.0,
|
| 194 |
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"end": 26.3
|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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"7": {
|
| 199 |
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|
| 200 |
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"description": "pick and place task",
|
| 201 |
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"skills": [
|
| 202 |
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{
|
| 203 |
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"name": "pick_up_yellow_nut_bar",
|
| 204 |
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"start": 0.0,
|
| 205 |
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"end": 2.0
|
| 206 |
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},
|
| 207 |
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{
|
| 208 |
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"name": "pick_up_cake",
|
| 209 |
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"start": 2.0,
|
| 210 |
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"end": 10.0
|
| 211 |
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},
|
| 212 |
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{
|
| 213 |
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"name": "pick_up_biscuit_pack",
|
| 214 |
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"start": 10.0,
|
| 215 |
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"end": 18.0
|
| 216 |
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},
|
| 217 |
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{
|
| 218 |
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"name": "pick_up_soda_can",
|
| 219 |
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"start": 18.0,
|
| 220 |
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|
| 221 |
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}
|
| 222 |
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|
| 223 |
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},
|
| 224 |
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"8": {
|
| 225 |
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"episode_index": 8,
|
| 226 |
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"description": "pick and place task",
|
| 227 |
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"skills": [
|
| 228 |
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{
|
| 229 |
+
"name": "pick_up_yellow_nut_bar",
|
| 230 |
+
"start": 0.0,
|
| 231 |
+
"end": 2.0
|
| 232 |
+
},
|
| 233 |
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{
|
| 234 |
+
"name": "pick_up_cake",
|
| 235 |
+
"start": 2.0,
|
| 236 |
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"end": 4.0
|
| 237 |
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},
|
| 238 |
+
{
|
| 239 |
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"name": "pick_up_biscuit_pack",
|
| 240 |
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"start": 4.0,
|
| 241 |
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"end": 8.0
|
| 242 |
+
},
|
| 243 |
+
{
|
| 244 |
+
"name": "pick_up_soda_can",
|
| 245 |
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"start": 8.0,
|
| 246 |
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"end": 22.3
|
| 247 |
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}
|
| 248 |
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]
|
| 249 |
+
},
|
| 250 |
+
"9": {
|
| 251 |
+
"episode_index": 9,
|
| 252 |
+
"description": "pick and place task",
|
| 253 |
+
"skills": [
|
| 254 |
+
{
|
| 255 |
+
"name": "pick_up_yellow_nut_bar",
|
| 256 |
+
"start": 0.0,
|
| 257 |
+
"end": 4.0
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"name": "pick_up_cake",
|
| 261 |
+
"start": 4.0,
|
| 262 |
+
"end": 12.0
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"name": "pick_up_biscuit_pack",
|
| 266 |
+
"start": 12.0,
|
| 267 |
+
"end": 20.0
|
| 268 |
+
},
|
| 269 |
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{
|
| 270 |
+
"name": "pick_up_soda_can",
|
| 271 |
+
"start": 20.0,
|
| 272 |
+
"end": 27.1
|
| 273 |
+
}
|
| 274 |
+
]
|
| 275 |
+
}
|
| 276 |
+
}
|
| 277 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,641 @@
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