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- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json +71 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json +33 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0 +0 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json +62 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json +1 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json +5 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/meta/info.json +154 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/meta/modality.json +46 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/meta/stats.json +826 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/meta/stats_gr00t.json +232 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json +71 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json +33 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0 +0 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json +62 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json +1 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json +5 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/info.json +154 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/modality.json +46 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/stats.json +826 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/stats_gr00t.json +232 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json +1 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json +5 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/meta/info.json +154 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/meta/modality.json +46 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/meta/stats.json +826 -0
- datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/meta/stats_gr00t.json +232 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json +71 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json +33 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0 +0 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json +62 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json +1 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json +5 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/info.json +154 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/modality.json +46 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/stats.json +826 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/stats_gr00t.json +232 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json +71 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json +33 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0 +0 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json +62 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json +1 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json +5 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/info.json +154 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/modality.json +46 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/stats.json +826 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/stats_gr00t.json +232 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json +71 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json +33 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0 +0 -0
- datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json +62 -0
datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json
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{
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0
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Binary file (33 Bytes). View file
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json
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["press the button on the coffee machine to serve coffee"]
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json
ADDED
|
@@ -0,0 +1,5 @@
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|
| 1 |
+
{
|
| 2 |
+
"attributes": {},
|
| 3 |
+
"zarr_format": 3,
|
| 4 |
+
"node_type": "group"
|
| 5 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,154 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "panda_omron",
|
| 4 |
+
"total_episodes": 54,
|
| 5 |
+
"total_frames": 5868,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 200,
|
| 10 |
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"fps": 20,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:54"
|
| 13 |
+
},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"observation.images.image": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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"shape": [
|
| 20 |
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224,
|
| 21 |
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|
| 22 |
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|
| 23 |
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],
|
| 24 |
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"names": [
|
| 25 |
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"height",
|
| 26 |
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"width",
|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"info": {
|
| 30 |
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"video.height": 224,
|
| 31 |
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"video.width": 224,
|
| 32 |
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"video.codec": "av1",
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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"video.channels": 3,
|
| 37 |
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|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
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"observation.images.secondary_image": {
|
| 41 |
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"dtype": "video",
|
| 42 |
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"shape": [
|
| 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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"height",
|
| 49 |
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"width",
|
| 50 |
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|
| 51 |
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|
| 52 |
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"info": {
|
| 53 |
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|
| 54 |
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|
| 55 |
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"video.codec": "av1",
|
| 56 |
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|
| 57 |
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|
| 58 |
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"video.fps": 20,
|
| 59 |
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"video.channels": 3,
|
| 60 |
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"has_audio": false
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"observation.images.wrist_image": {
|
| 64 |
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"dtype": "video",
|
| 65 |
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"shape": [
|
| 66 |
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224,
|
| 67 |
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224,
|
| 68 |
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3
|
| 69 |
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],
|
| 70 |
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"names": [
|
| 71 |
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"height",
|
| 72 |
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"width",
|
| 73 |
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"rgb"
|
| 74 |
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],
|
| 75 |
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"info": {
|
| 76 |
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"video.height": 224,
|
| 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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"names": [
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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"eef_y",
|
| 96 |
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|
| 97 |
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"eef_quat_x",
|
| 98 |
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"eef_quat_y",
|
| 99 |
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"eef_quat_z",
|
| 100 |
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"eef_quat_w"
|
| 101 |
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]
|
| 102 |
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},
|
| 103 |
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"action": {
|
| 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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"names": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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"z",
|
| 112 |
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|
| 113 |
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"ry",
|
| 114 |
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"rz",
|
| 115 |
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"gripper"
|
| 116 |
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]
|
| 117 |
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},
|
| 118 |
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"timestamp": {
|
| 119 |
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"dtype": "float32",
|
| 120 |
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|
| 121 |
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|
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
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],
|
| 130 |
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|
| 131 |
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},
|
| 132 |
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|
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| 144 |
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| 146 |
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|
| 147 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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}
|
| 154 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,46 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
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"gripper_qpos": {
|
| 4 |
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"start": 0,
|
| 5 |
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"end": 2
|
| 6 |
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},
|
| 7 |
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"eef_pos": {
|
| 8 |
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"start": 2,
|
| 9 |
+
"end": 5
|
| 10 |
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},
|
| 11 |
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"eef_quat": {
|
| 12 |
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"start": 5,
|
| 13 |
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"end": 9
|
| 14 |
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}
|
| 15 |
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},
|
| 16 |
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"action": {
|
| 17 |
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"eef_delta_pos": {
|
| 18 |
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"start": 0,
|
| 19 |
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|
| 20 |
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},
|
| 21 |
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"eef_delta_rot": {
|
| 22 |
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"start": 3,
|
| 23 |
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"end": 6
|
| 24 |
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},
|
| 25 |
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"gripper": {
|
| 26 |
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"start": 6,
|
| 27 |
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"end": 7
|
| 28 |
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}
|
| 29 |
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},
|
| 30 |
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"video": {
|
| 31 |
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"primary_image": {
|
| 32 |
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"original_key": "observation.images.image"
|
| 33 |
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},
|
| 34 |
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"secondary_image": {
|
| 35 |
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"original_key": "observation.images.secondary_image"
|
| 36 |
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},
|
| 37 |
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"wrist_image": {
|
| 38 |
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"original_key": "observation.images.wrist_image"
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"annotation": {
|
| 42 |
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"human.action.task_description": {
|
| 43 |
+
"original_key": "task_index"
|
| 44 |
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}
|
| 45 |
+
}
|
| 46 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeePressButton_cosmos_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,826 @@
|
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json
ADDED
|
@@ -0,0 +1 @@
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| 1 |
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["pick the mug from under the coffee machine dispenser and place it on the counter"]
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/info.json
ADDED
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| 1 |
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{
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|
| 3 |
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"robot_type": "panda_omron",
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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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"splits": {
|
| 12 |
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"train": "0:54"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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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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| 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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"height",
|
| 72 |
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"width",
|
| 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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"eef_quat_z",
|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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"action": {
|
| 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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"names": [
|
| 109 |
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|
| 110 |
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"y",
|
| 111 |
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"z",
|
| 112 |
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"rx",
|
| 113 |
+
"ry",
|
| 114 |
+
"rz",
|
| 115 |
+
"gripper"
|
| 116 |
+
]
|
| 117 |
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},
|
| 118 |
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"timestamp": {
|
| 119 |
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"dtype": "float32",
|
| 120 |
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"shape": [
|
| 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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"shape": [
|
| 128 |
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|
| 129 |
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|
| 130 |
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"names": null
|
| 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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|
| 144 |
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|
| 145 |
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|
| 146 |
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"task_index": {
|
| 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 |
+
}
|
| 154 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"gripper_qpos": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 2
|
| 6 |
+
},
|
| 7 |
+
"eef_pos": {
|
| 8 |
+
"start": 2,
|
| 9 |
+
"end": 5
|
| 10 |
+
},
|
| 11 |
+
"eef_quat": {
|
| 12 |
+
"start": 5,
|
| 13 |
+
"end": 9
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"action": {
|
| 17 |
+
"eef_delta_pos": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 3
|
| 20 |
+
},
|
| 21 |
+
"eef_delta_rot": {
|
| 22 |
+
"start": 3,
|
| 23 |
+
"end": 6
|
| 24 |
+
},
|
| 25 |
+
"gripper": {
|
| 26 |
+
"start": 6,
|
| 27 |
+
"end": 7
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"video": {
|
| 31 |
+
"primary_image": {
|
| 32 |
+
"original_key": "observation.images.image"
|
| 33 |
+
},
|
| 34 |
+
"secondary_image": {
|
| 35 |
+
"original_key": "observation.images.secondary_image"
|
| 36 |
+
},
|
| 37 |
+
"wrist_image": {
|
| 38 |
+
"original_key": "observation.images.wrist_image"
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"annotation": {
|
| 42 |
+
"human.action.task_description": {
|
| 43 |
+
"original_key": "task_index"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,826 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeServeMug_cosmos_lerobot/meta/stats_gr00t.json
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json
ADDED
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@@ -0,0 +1 @@
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|
|
|
|
| 1 |
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["pick the mug from the counter and place it under the coffee machine dispenser"]
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json
ADDED
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datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/meta/info.json
ADDED
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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": "v3.0",
|
| 3 |
+
"robot_type": "panda_omron",
|
| 4 |
+
"total_episodes": 54,
|
| 5 |
+
"total_frames": 14585,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:54"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.image": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
224,
|
| 21 |
+
224,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"rgb"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 224,
|
| 31 |
+
"video.width": 224,
|
| 32 |
+
"video.codec": "av1",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 20,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.images.secondary_image": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
224,
|
| 44 |
+
224,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"rgb"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 224,
|
| 54 |
+
"video.width": 224,
|
| 55 |
+
"video.codec": "av1",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 20,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.images.wrist_image": {
|
| 64 |
+
"dtype": "video",
|
| 65 |
+
"shape": [
|
| 66 |
+
224,
|
| 67 |
+
224,
|
| 68 |
+
3
|
| 69 |
+
],
|
| 70 |
+
"names": [
|
| 71 |
+
"height",
|
| 72 |
+
"width",
|
| 73 |
+
"rgb"
|
| 74 |
+
],
|
| 75 |
+
"info": {
|
| 76 |
+
"video.height": 224,
|
| 77 |
+
"video.width": 224,
|
| 78 |
+
"video.codec": "av1",
|
| 79 |
+
"video.pix_fmt": "yuv420p",
|
| 80 |
+
"video.is_depth_map": false,
|
| 81 |
+
"video.fps": 20,
|
| 82 |
+
"video.channels": 3,
|
| 83 |
+
"has_audio": false
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"observation.state": {
|
| 87 |
+
"dtype": "float32",
|
| 88 |
+
"shape": [
|
| 89 |
+
9
|
| 90 |
+
],
|
| 91 |
+
"names": [
|
| 92 |
+
"gripper_qpos_0",
|
| 93 |
+
"gripper_qpos_1",
|
| 94 |
+
"eef_x",
|
| 95 |
+
"eef_y",
|
| 96 |
+
"eef_z",
|
| 97 |
+
"eef_quat_x",
|
| 98 |
+
"eef_quat_y",
|
| 99 |
+
"eef_quat_z",
|
| 100 |
+
"eef_quat_w"
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"action": {
|
| 104 |
+
"dtype": "float32",
|
| 105 |
+
"shape": [
|
| 106 |
+
7
|
| 107 |
+
],
|
| 108 |
+
"names": [
|
| 109 |
+
"x",
|
| 110 |
+
"y",
|
| 111 |
+
"z",
|
| 112 |
+
"rx",
|
| 113 |
+
"ry",
|
| 114 |
+
"rz",
|
| 115 |
+
"gripper"
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"timestamp": {
|
| 119 |
+
"dtype": "float32",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"frame_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"episode_index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
},
|
| 146 |
+
"task_index": {
|
| 147 |
+
"dtype": "int64",
|
| 148 |
+
"shape": [
|
| 149 |
+
1
|
| 150 |
+
],
|
| 151 |
+
"names": null
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"gripper_qpos": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 2
|
| 6 |
+
},
|
| 7 |
+
"eef_pos": {
|
| 8 |
+
"start": 2,
|
| 9 |
+
"end": 5
|
| 10 |
+
},
|
| 11 |
+
"eef_quat": {
|
| 12 |
+
"start": 5,
|
| 13 |
+
"end": 9
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"action": {
|
| 17 |
+
"eef_delta_pos": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 3
|
| 20 |
+
},
|
| 21 |
+
"eef_delta_rot": {
|
| 22 |
+
"start": 3,
|
| 23 |
+
"end": 6
|
| 24 |
+
},
|
| 25 |
+
"gripper": {
|
| 26 |
+
"start": 6,
|
| 27 |
+
"end": 7
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"video": {
|
| 31 |
+
"primary_image": {
|
| 32 |
+
"original_key": "observation.images.image"
|
| 33 |
+
},
|
| 34 |
+
"secondary_image": {
|
| 35 |
+
"original_key": "observation.images.secondary_image"
|
| 36 |
+
},
|
| 37 |
+
"wrist_image": {
|
| 38 |
+
"original_key": "observation.images.wrist_image"
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"annotation": {
|
| 42 |
+
"human.action.task_description": {
|
| 43 |
+
"original_key": "task_index"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_CoffeeSetupMug_cosmos_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,826 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json
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{
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| 33 |
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|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json
ADDED
|
@@ -0,0 +1 @@
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|
| 1 |
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["pick the bell pepper from the counter and place it in the microwave", "pick the broccoli from the counter and place it in the microwave", "pick the carrot from the counter and place it in the microwave", "pick the cheese from the counter and place it in the microwave", "pick the corn from the counter and place it in the microwave", "pick the egg from the counter and place it in the microwave", "pick the eggplant from the counter and place it in the microwave", "pick the fish from the counter and place it in the microwave", "pick the garlic from the counter and place it in the microwave", "pick the hot dog from the counter and place it in the microwave", "pick the mushroom from the counter and place it in the microwave", "pick the onion from the counter and place it in the microwave", "pick the potato from the counter and place it in the microwave", "pick the squash from the counter and place it in the microwave", "pick the steak from the counter and place it in the microwave", "pick the sweet potato from the counter and place it in the microwave", "pick the tomato from the counter and place it in the microwave"]
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json
ADDED
|
@@ -0,0 +1,5 @@
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| 5 |
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|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,154 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 12 |
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"train": "0:54"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 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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|
| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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| 21 |
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|
| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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| 32 |
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| 33 |
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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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| 60 |
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| 61 |
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| 62 |
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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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| 83 |
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| 84 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 91 |
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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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|
| 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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"ry",
|
| 114 |
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"rz",
|
| 115 |
+
"gripper"
|
| 116 |
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|
| 117 |
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|
| 118 |
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"timestamp": {
|
| 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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|
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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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| 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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}
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,46 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
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"gripper_qpos": {
|
| 4 |
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"start": 0,
|
| 5 |
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"end": 2
|
| 6 |
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},
|
| 7 |
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|
| 8 |
+
"start": 2,
|
| 9 |
+
"end": 5
|
| 10 |
+
},
|
| 11 |
+
"eef_quat": {
|
| 12 |
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"start": 5,
|
| 13 |
+
"end": 9
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"action": {
|
| 17 |
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|
| 18 |
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"start": 0,
|
| 19 |
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"end": 3
|
| 20 |
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},
|
| 21 |
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"eef_delta_rot": {
|
| 22 |
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"start": 3,
|
| 23 |
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"end": 6
|
| 24 |
+
},
|
| 25 |
+
"gripper": {
|
| 26 |
+
"start": 6,
|
| 27 |
+
"end": 7
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"video": {
|
| 31 |
+
"primary_image": {
|
| 32 |
+
"original_key": "observation.images.image"
|
| 33 |
+
},
|
| 34 |
+
"secondary_image": {
|
| 35 |
+
"original_key": "observation.images.secondary_image"
|
| 36 |
+
},
|
| 37 |
+
"wrist_image": {
|
| 38 |
+
"original_key": "observation.images.wrist_image"
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"annotation": {
|
| 42 |
+
"human.action.task_description": {
|
| 43 |
+
"original_key": "task_index"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,826 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToMicrowave_cosmos_lerobot/meta/stats_gr00t.json
ADDED
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@@ -0,0 +1,232 @@
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json
ADDED
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@@ -0,0 +1,71 @@
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| 1 |
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| 4 |
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| 5 |
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| 7 |
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| 13 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 37 |
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| 38 |
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| 39 |
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| 42 |
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json
ADDED
|
@@ -0,0 +1,33 @@
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|
| 1 |
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{
|
| 2 |
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"version": 2,
|
| 3 |
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"cache_kind": "t5",
|
| 4 |
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"dataset_name": "robocasa_PnPCounterToStove_cosmos_lerobot",
|
| 5 |
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"layout": "zarr_v3_sharded",
|
| 6 |
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"t5": {
|
| 7 |
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"model_id": "Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers",
|
| 8 |
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"subfolder": "text_encoder",
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"embed_dim": 4096,
|
| 13 |
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|
| 14 |
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|
| 15 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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|
| 22 |
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| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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"name": "blosc",
|
| 27 |
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"cname": "lz4",
|
| 28 |
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"clevel": 1,
|
| 29 |
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"shuffle": "bitshuffle"
|
| 30 |
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}
|
| 31 |
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},
|
| 32 |
+
"n_unique_prompts": 18
|
| 33 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0
ADDED
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Binary file (58 Bytes). View file
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json
ADDED
|
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|
| 1 |
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{
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| 9 |
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| 12 |
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| 14 |
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| 15 |
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| 16 |
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| 18 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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|
| 33 |
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| 35 |
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| 36 |
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| 37 |
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| 45 |
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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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| 55 |
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| 58 |
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| 59 |
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| 60 |
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| 62 |
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|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/prompts.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
["pick the apple from the plate and place it in the pan", "pick the bell pepper from the plate and place it in the pan", "pick the broccoli from the plate and place it in the pan", "pick the carrot from the plate and place it in the pan", "pick the cheese from the plate and place it in the pan", "pick the corn from the plate and place it in the pan", "pick the egg from the plate and place it in the pan", "pick the eggplant from the plate and place it in the pan", "pick the fish from the plate and place it in the pan", "pick the garlic from the plate and place it in the pan", "pick the lemon from the plate and place it in the pan", "pick the lime from the plate and place it in the pan", "pick the mango from the plate and place it in the pan", "pick the onion from the plate and place it in the pan", "pick the potato from the plate and place it in the pan", "pick the steak from the plate and place it in the pan", "pick the sweet potato from the plate and place it in the pan", "pick the tomato from the plate and place it in the pan"]
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/zarr.json
ADDED
|
@@ -0,0 +1,5 @@
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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{
|
| 2 |
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"attributes": {},
|
| 3 |
+
"zarr_format": 3,
|
| 4 |
+
"node_type": "group"
|
| 5 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,154 @@
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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 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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|
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|
| 12 |
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| 14 |
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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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|
| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 32 |
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|
| 33 |
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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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| 43 |
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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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|
| 72 |
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| 96 |
+
"eef_z",
|
| 97 |
+
"eef_quat_x",
|
| 98 |
+
"eef_quat_y",
|
| 99 |
+
"eef_quat_z",
|
| 100 |
+
"eef_quat_w"
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"action": {
|
| 104 |
+
"dtype": "float32",
|
| 105 |
+
"shape": [
|
| 106 |
+
7
|
| 107 |
+
],
|
| 108 |
+
"names": [
|
| 109 |
+
"x",
|
| 110 |
+
"y",
|
| 111 |
+
"z",
|
| 112 |
+
"rx",
|
| 113 |
+
"ry",
|
| 114 |
+
"rz",
|
| 115 |
+
"gripper"
|
| 116 |
+
]
|
| 117 |
+
},
|
| 118 |
+
"timestamp": {
|
| 119 |
+
"dtype": "float32",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"frame_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"episode_index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
},
|
| 146 |
+
"task_index": {
|
| 147 |
+
"dtype": "int64",
|
| 148 |
+
"shape": [
|
| 149 |
+
1
|
| 150 |
+
],
|
| 151 |
+
"names": null
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,46 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"gripper_qpos": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 2
|
| 6 |
+
},
|
| 7 |
+
"eef_pos": {
|
| 8 |
+
"start": 2,
|
| 9 |
+
"end": 5
|
| 10 |
+
},
|
| 11 |
+
"eef_quat": {
|
| 12 |
+
"start": 5,
|
| 13 |
+
"end": 9
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"action": {
|
| 17 |
+
"eef_delta_pos": {
|
| 18 |
+
"start": 0,
|
| 19 |
+
"end": 3
|
| 20 |
+
},
|
| 21 |
+
"eef_delta_rot": {
|
| 22 |
+
"start": 3,
|
| 23 |
+
"end": 6
|
| 24 |
+
},
|
| 25 |
+
"gripper": {
|
| 26 |
+
"start": 6,
|
| 27 |
+
"end": 7
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"video": {
|
| 31 |
+
"primary_image": {
|
| 32 |
+
"original_key": "observation.images.image"
|
| 33 |
+
},
|
| 34 |
+
"secondary_image": {
|
| 35 |
+
"original_key": "observation.images.secondary_image"
|
| 36 |
+
},
|
| 37 |
+
"wrist_image": {
|
| 38 |
+
"original_key": "observation.images.wrist_image"
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"annotation": {
|
| 42 |
+
"human.action.task_description": {
|
| 43 |
+
"original_key": "task_index"
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,826 @@
|
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datasets/robocasa_cosmos_kitchen/robocasa_PnPCounterToStove_cosmos_lerobot/meta/stats_gr00t.json
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@@ -0,0 +1,232 @@
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datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/embeddings/zarr.json
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|
datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/manifest.json
ADDED
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@@ -0,0 +1,33 @@
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| 1 |
+
{
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| 2 |
+
"version": 2,
|
| 3 |
+
"cache_kind": "t5",
|
| 4 |
+
"dataset_name": "robocasa_PnPStoveToCounter_cosmos_lerobot",
|
| 5 |
+
"layout": "zarr_v3_sharded",
|
| 6 |
+
"t5": {
|
| 7 |
+
"model_id": "Skywork/SkyReels-V2-DF-1.3B-540P-Diffusers",
|
| 8 |
+
"subfolder": "text_encoder",
|
| 9 |
+
"encoder_class": "UMT5EncoderModel",
|
| 10 |
+
"revision": "4.57.0",
|
| 11 |
+
"max_length": 512,
|
| 12 |
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"embed_dim": 4096,
|
| 13 |
+
"dtype": "float16",
|
| 14 |
+
"padding_zeroed": true,
|
| 15 |
+
"chunks": [
|
| 16 |
+
4,
|
| 17 |
+
512,
|
| 18 |
+
4096
|
| 19 |
+
],
|
| 20 |
+
"shards": [
|
| 21 |
+
1024,
|
| 22 |
+
512,
|
| 23 |
+
4096
|
| 24 |
+
],
|
| 25 |
+
"compressor": {
|
| 26 |
+
"name": "blosc",
|
| 27 |
+
"cname": "lz4",
|
| 28 |
+
"clevel": 1,
|
| 29 |
+
"shuffle": "bitshuffle"
|
| 30 |
+
}
|
| 31 |
+
},
|
| 32 |
+
"n_unique_prompts": 25
|
| 33 |
+
}
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/c/0
ADDED
|
Binary file (56 Bytes). View file
|
|
|
datasets/robocasa_cosmos_kitchen/robocasa_PnPStoveToCounter_cosmos_lerobot/glancewam_cache/t5/Skywork_SkyReels-V2-DF-1.3B-540P-Diffusers_L512/n_tokens/zarr.json
ADDED
|
@@ -0,0 +1,62 @@
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|
| 1 |
+
{
|
| 2 |
+
"shape": [
|
| 3 |
+
25
|
| 4 |
+
],
|
| 5 |
+
"data_type": "int32",
|
| 6 |
+
"chunk_grid": {
|
| 7 |
+
"name": "regular",
|
| 8 |
+
"configuration": {
|
| 9 |
+
"chunk_shape": [
|
| 10 |
+
25
|
| 11 |
+
]
|
| 12 |
+
}
|
| 13 |
+
},
|
| 14 |
+
"chunk_key_encoding": {
|
| 15 |
+
"name": "default",
|
| 16 |
+
"configuration": {
|
| 17 |
+
"separator": "/"
|
| 18 |
+
}
|
| 19 |
+
},
|
| 20 |
+
"fill_value": 0,
|
| 21 |
+
"codecs": [
|
| 22 |
+
{
|
| 23 |
+
"name": "sharding_indexed",
|
| 24 |
+
"configuration": {
|
| 25 |
+
"chunk_shape": [
|
| 26 |
+
25
|
| 27 |
+
],
|
| 28 |
+
"codecs": [
|
| 29 |
+
{
|
| 30 |
+
"name": "bytes",
|
| 31 |
+
"configuration": {
|
| 32 |
+
"endian": "little"
|
| 33 |
+
}
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"name": "zstd",
|
| 37 |
+
"configuration": {
|
| 38 |
+
"level": 0,
|
| 39 |
+
"checksum": false
|
| 40 |
+
}
|
| 41 |
+
}
|
| 42 |
+
],
|
| 43 |
+
"index_codecs": [
|
| 44 |
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{
|
| 45 |
+
"name": "bytes",
|
| 46 |
+
"configuration": {
|
| 47 |
+
"endian": "little"
|
| 48 |
+
}
|
| 49 |
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},
|
| 50 |
+
{
|
| 51 |
+
"name": "crc32c"
|
| 52 |
+
}
|
| 53 |
+
],
|
| 54 |
+
"index_location": "end"
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
],
|
| 58 |
+
"attributes": {},
|
| 59 |
+
"zarr_format": 3,
|
| 60 |
+
"node_type": "array",
|
| 61 |
+
"storage_transformers": []
|
| 62 |
+
}
|