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Browse files- meta/episodes.json +182 -0
- meta/info.json +126 -0
- meta/stats.json +480 -0
- meta/tasks.json +6 -0
meta/episodes.json
ADDED
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@@ -0,0 +1,182 @@
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[
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{
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"episode_index": 0,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 1,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 2,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 3,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 4,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 5,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 6,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 7,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 8,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 9,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 10,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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],
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"length": 2250
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},
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{
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"episode_index": 11,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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],
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"length": 2250
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},
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{
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"episode_index": 12,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 13,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 14,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 15,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 16,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 17,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 18,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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},
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{
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"episode_index": 19,
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"tasks": [
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[
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"Take the elevator to the 1st floor."
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]
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],
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"length": 2250
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}
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]
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meta/info.json
ADDED
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@@ -0,0 +1,126 @@
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| 1 |
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{
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| 2 |
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"codebase_version": "v2.0",
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| 3 |
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"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
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| 4 |
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"robot_type": "aloha",
|
| 5 |
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"total_episodes": 20,
|
| 6 |
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"total_frames": 45000,
|
| 7 |
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"total_tasks": 1,
|
| 8 |
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"fps": 50,
|
| 9 |
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"splits": {
|
| 10 |
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"train": "0:20"
|
| 11 |
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},
|
| 12 |
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"keys": [
|
| 13 |
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"observation.state",
|
| 14 |
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"observation.effort",
|
| 15 |
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"action"
|
| 16 |
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],
|
| 17 |
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"video_keys": [
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| 18 |
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"observation.images.cam_high",
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| 19 |
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"observation.images.cam_left_wrist",
|
| 20 |
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"observation.images.cam_right_wrist"
|
| 21 |
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],
|
| 22 |
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"image_keys": [],
|
| 23 |
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"shapes": {
|
| 24 |
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"observation.state": 14,
|
| 25 |
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"observation.effort": 14,
|
| 26 |
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"action": 14,
|
| 27 |
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"observation.images.cam_high": {
|
| 28 |
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"width": 640,
|
| 29 |
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"height": 480,
|
| 30 |
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"channels": 3
|
| 31 |
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},
|
| 32 |
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"observation.images.cam_left_wrist": {
|
| 33 |
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"width": 640,
|
| 34 |
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"height": 480,
|
| 35 |
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"channels": 3
|
| 36 |
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},
|
| 37 |
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"observation.images.cam_right_wrist": {
|
| 38 |
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"width": 640,
|
| 39 |
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"height": 480,
|
| 40 |
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"channels": 3
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"names": {
|
| 44 |
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"observation.state": [
|
| 45 |
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"left_waist",
|
| 46 |
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"left_shoulder",
|
| 47 |
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"left_elbow",
|
| 48 |
+
"left_forearm_roll",
|
| 49 |
+
"left_wrist_angle",
|
| 50 |
+
"left_wrist_rotate",
|
| 51 |
+
"left_gripper",
|
| 52 |
+
"right_waist",
|
| 53 |
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"right_shoulder",
|
| 54 |
+
"right_elbow",
|
| 55 |
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"right_forearm_roll",
|
| 56 |
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"right_wrist_angle",
|
| 57 |
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"right_wrist_rotate",
|
| 58 |
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"right_gripper"
|
| 59 |
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],
|
| 60 |
+
"action": [
|
| 61 |
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"left_waist",
|
| 62 |
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"left_shoulder",
|
| 63 |
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"left_elbow",
|
| 64 |
+
"left_forearm_roll",
|
| 65 |
+
"left_wrist_angle",
|
| 66 |
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"left_wrist_rotate",
|
| 67 |
+
"left_gripper",
|
| 68 |
+
"right_waist",
|
| 69 |
+
"right_shoulder",
|
| 70 |
+
"right_elbow",
|
| 71 |
+
"right_forearm_roll",
|
| 72 |
+
"right_wrist_angle",
|
| 73 |
+
"right_wrist_rotate",
|
| 74 |
+
"right_gripper"
|
| 75 |
+
],
|
| 76 |
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"observation.effort": [
|
| 77 |
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"left_waist",
|
| 78 |
+
"left_shoulder",
|
| 79 |
+
"left_elbow",
|
| 80 |
+
"left_forearm_roll",
|
| 81 |
+
"left_wrist_angle",
|
| 82 |
+
"left_wrist_rotate",
|
| 83 |
+
"left_gripper",
|
| 84 |
+
"right_waist",
|
| 85 |
+
"right_shoulder",
|
| 86 |
+
"right_elbow",
|
| 87 |
+
"right_forearm_roll",
|
| 88 |
+
"right_wrist_angle",
|
| 89 |
+
"right_wrist_rotate",
|
| 90 |
+
"right_gripper"
|
| 91 |
+
]
|
| 92 |
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},
|
| 93 |
+
"videos": {
|
| 94 |
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"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
|
| 95 |
+
"observation.images.cam_high": {
|
| 96 |
+
"video.fps": 50.0,
|
| 97 |
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"video.width": 640,
|
| 98 |
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"video.height": 480,
|
| 99 |
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"video.channels": 3,
|
| 100 |
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"video.codec": "av1",
|
| 101 |
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"video.pix_fmt": "yuv420p",
|
| 102 |
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"video.is_depth_map": false,
|
| 103 |
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"has_audio": false
|
| 104 |
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},
|
| 105 |
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"observation.images.cam_left_wrist": {
|
| 106 |
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"video.fps": 50.0,
|
| 107 |
+
"video.width": 640,
|
| 108 |
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"video.height": 480,
|
| 109 |
+
"video.channels": 3,
|
| 110 |
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"video.codec": "av1",
|
| 111 |
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"video.pix_fmt": "yuv420p",
|
| 112 |
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"video.is_depth_map": false,
|
| 113 |
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|
meta/tasks.json
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"task_index": 0,
|
| 4 |
+
"task": "Take the elevator to the 1st floor."
|
| 5 |
+
}
|
| 6 |
+
]
|