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- meta/episodes.jsonl +351 -0
- meta/info.json +197 -0
- meta/stats.json +500 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000002.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000003.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000006.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000007.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000008.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000010.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000013.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000015.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000018.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000019.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000022.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000027.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000028.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000035.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000037.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000038.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000042.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000045.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000050.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000051.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000052.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000055.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000062.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000063.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000064.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000067.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000068.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000072.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000073.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000078.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000079.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000084.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000087.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000088.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000090.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000091.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000094.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000099.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000101.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000102.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000103.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000105.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000108.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000111.mp4 +3 -0
- videos/chunk-000/observation.images.cam_right_high/episode_000117.mp4 +3 -0
meta/episodes.jsonl
ADDED
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| 1 |
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{"episode_index": 0, "tasks": ["mount camera"], "length": 1731}
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| 2 |
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| 4 |
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| 5 |
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| 6 |
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| 9 |
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| 11 |
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| 14 |
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| 15 |
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| 16 |
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| 18 |
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| 19 |
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{"episode_index": 18, "tasks": ["mount camera"], "length": 1207}
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| 20 |
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| 21 |
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{"episode_index": 20, "tasks": ["mount camera"], "length": 1189}
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| 22 |
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| 23 |
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{"episode_index": 22, "tasks": ["mount camera"], "length": 708}
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| 24 |
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| 25 |
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{"episode_index": 24, "tasks": ["mount camera"], "length": 899}
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| 26 |
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{"episode_index": 25, "tasks": ["mount camera"], "length": 1403}
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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{"episode_index": 29, "tasks": ["mount camera"], "length": 1438}
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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{"episode_index": 34, "tasks": ["mount camera"], "length": 1547}
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 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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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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| 84 |
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| 85 |
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| 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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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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{"episode_index": 341, "tasks": ["mount camera"], "length": 905}
|
| 343 |
+
{"episode_index": 342, "tasks": ["mount camera"], "length": 901}
|
| 344 |
+
{"episode_index": 343, "tasks": ["mount camera"], "length": 1147}
|
| 345 |
+
{"episode_index": 344, "tasks": ["mount camera"], "length": 1104}
|
| 346 |
+
{"episode_index": 345, "tasks": ["mount camera"], "length": 970}
|
| 347 |
+
{"episode_index": 346, "tasks": ["mount camera"], "length": 801}
|
| 348 |
+
{"episode_index": 347, "tasks": ["mount camera"], "length": 875}
|
| 349 |
+
{"episode_index": 348, "tasks": ["mount camera"], "length": 1052}
|
| 350 |
+
{"episode_index": 349, "tasks": ["mount camera"], "length": 1040}
|
| 351 |
+
{"episode_index": 350, "tasks": ["mount camera"], "length": 963}
|
meta/info.json
ADDED
|
@@ -0,0 +1,197 @@
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|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
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|
|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.0",
|
| 3 |
+
"robot_type": "Unitree_G1",
|
| 4 |
+
"total_episodes": 351,
|
| 5 |
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"total_frames": 389708,
|
| 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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"train": "0:351"
|
| 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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"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
16
|
| 21 |
+
],
|
| 22 |
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"names": [
|
| 23 |
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[
|
| 24 |
+
"kLeftShoulderPitch",
|
| 25 |
+
"kLeftShoulderRoll",
|
| 26 |
+
"kLeftShoulderYaw",
|
| 27 |
+
"kLeftElbow",
|
| 28 |
+
"kLeftWristRoll",
|
| 29 |
+
"kLeftWristPitch",
|
| 30 |
+
"kLeftWristyaw",
|
| 31 |
+
"kRightShoulderPitch",
|
| 32 |
+
"kRightShoulderRoll",
|
| 33 |
+
"kRightShoulderYaw",
|
| 34 |
+
"kRightElbow",
|
| 35 |
+
"kRightWristRoll",
|
| 36 |
+
"kRightWristPitch",
|
| 37 |
+
"kRightWristYaw",
|
| 38 |
+
"kLeftGripper",
|
| 39 |
+
"kRightGripper"
|
| 40 |
+
]
|
| 41 |
+
]
|
| 42 |
+
},
|
| 43 |
+
"action": {
|
| 44 |
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"dtype": "float32",
|
| 45 |
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"shape": [
|
| 46 |
+
16
|
| 47 |
+
],
|
| 48 |
+
"names": [
|
| 49 |
+
[
|
| 50 |
+
"kLeftShoulderPitch",
|
| 51 |
+
"kLeftShoulderRoll",
|
| 52 |
+
"kLeftShoulderYaw",
|
| 53 |
+
"kLeftElbow",
|
| 54 |
+
"kLeftWristRoll",
|
| 55 |
+
"kLeftWristPitch",
|
| 56 |
+
"kLeftWristyaw",
|
| 57 |
+
"kRightShoulderPitch",
|
| 58 |
+
"kRightShoulderRoll",
|
| 59 |
+
"kRightShoulderYaw",
|
| 60 |
+
"kRightElbow",
|
| 61 |
+
"kRightWristRoll",
|
| 62 |
+
"kRightWristPitch",
|
| 63 |
+
"kRightWristYaw",
|
| 64 |
+
"kLeftGripper",
|
| 65 |
+
"kRightGripper"
|
| 66 |
+
]
|
| 67 |
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]
|
| 68 |
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},
|
| 69 |
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"observation.images.cam_left_high": {
|
| 70 |
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"dtype": "video",
|
| 71 |
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"shape": [
|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 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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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 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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|
| 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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|
| 114 |
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| 115 |
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|
| 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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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 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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640
|
| 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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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
+
}
|
| 197 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,500 @@
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|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
|
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