File size: 1,925 Bytes
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"format": "Per-task sampling weights for combined LeRobot dataset. Index = local_task_id (0..K-1). Each preset sums to 1.0. openpi: per_frame_weight[chunk] = task_weight[chunk]/n_frames_in_task.",
"task_order": [
{
"local_task_id": 0,
"name": "move_to_garage",
"n_episodes": 590,
"n_frames": 1409524
},
{
"local_task_id": 1,
"name": "move_to_fridge",
"n_episodes": 380,
"n_frames": 236932
},
{
"local_task_id": 2,
"name": "move_to_table_in_kitchen",
"n_episodes": 184,
"n_frames": 303486
},
{
"local_task_id": 3,
"name": "move_to_bookcase",
"n_episodes": 977,
"n_frames": 421440
},
{
"local_task_id": 4,
"name": "move_to_bathroom",
"n_episodes": 381,
"n_frames": 329921
},
{
"local_task_id": 5,
"name": "move_to_table_near_sofa",
"n_episodes": 361,
"n_frames": 327974
},
{
"local_task_id": 6,
"name": "move_to_corner_booth",
"n_episodes": 216,
"n_frames": 452626
},
{
"local_task_id": 7,
"name": "move_to_kitchen_sink",
"n_episodes": 252,
"n_frames": 296544
},
{
"local_task_id": 8,
"name": "move_to_bar",
"n_episodes": 160,
"n_frames": 170242
},
{
"local_task_id": 9,
"name": "move_to_oven",
"n_episodes": 411,
"n_frames": 242922
}
],
"default_preset": "uniform_by_task",
"presets": {
"uniform_by_task": [
0.1,
0.1,
0.1,
0.1,
0.1,
0.1,
0.1,
0.1,
0.1,
0.1
],
"prop_episodes": [
0.150818,
0.097137,
0.047035,
0.249744,
0.097393,
0.09228,
0.055215,
0.064417,
0.0409,
0.105061
],
"prop_frames": [
0.336273,
0.056525,
0.072403,
0.100544,
0.07871,
0.078245,
0.107984,
0.070747,
0.040615,
0.057954
],
"alpha_0.5_episodes": [
0.127427,
0.102265,
0.071161,
0.163977,
0.1024,
0.099676,
0.077101,
0.083279,
0.066358,
0.106355
]
}
} |