Add remaining seven DexJoCo tasks with all native camera views

README.md

@@ -10,16 +10,25 @@ tags:
 
 Processed image-and-state demonstrations. Action layout: world position delta (3),
 world relative SO(3) rotation vector (3), absolute Allegro joint targets (16).
+This is 22 values for single-arm tasks; bimanual tasks concatenate right then
+left arm blocks for 44 values, preserving each recorded hand's joint ordering.
 Deltas use the measured observation at the same timestep. Both states and actions
 are min-max normalized; BC and RL share the same normalization statistics.
 Observation version: `initial_object_pose_v1`.
 
-| Task | Episodes | Transitions |
-| --- | ---: | ---: |
-| pinch_tongs | 100 | 40469 |
-| pick_bucket | 100 | 43581 |
-| hammer_nail | 100 | 21563 |
-| click_mouse | 100 | 32702 |
+| Task | Episodes | Transitions | State dimension | Action dimension |
+| --- | ---: | ---: | ---: | ---: |
+| pinch_tongs | 100 | 40469 | 31 | 22 |
+| pick_bucket | 100 | 43581 | 38 | 22 |
+| hammer_nail | 100 | 21563 | 38 | 22 |
+| click_mouse | 100 | 32702 | 31 | 22 |
+| fold_glasses | 100 | 53878 | 38 | 22 |
+| water_plant | 100 | 27745 | 38 | 22 |
+| bimanual_assembly | 100 | 54630 | 61 | 44 |
+| bimanual_hanoi | 100 | 107764 | 50 | 44 |
+| bimanual_microwave_cook | 100 | 68503 | 61 | 44 |
+| bimanual_photograph | 100 | 34377 | 61 | 44 |
+| bimanual_unlock_ipad | 100 | 41042 | 61 | 44 |
 
 Each task contains `ph_pretrain/train.npz`, `ph_finetune/train.npz`, their
 `normalization.npz` files, and `episodes.json`. The manifest records SHA-256 hashes.
@@ -27,9 +36,10 @@ RL rewards and terminals are 1 only at each retained demonstration's final frame
 These are synthetic end-of-demo success labels, not replay-verified success times
 for the original recordings. No model checkpoints are included.
 
-## RGB images (all four cameras)
+## RGB images (all native cameras)
 
-Every selected episode includes `front`, `wrist`, `ego_left`, and `ego_right`.
+Single-arm episodes include `front`, `wrist`, `ego_left`, and `ego_right`.
+Bimanual episodes include `ego`, `wrist_left`, and `wrist_right`.
 The original MP4 files are preserved byte for byte, including their resolution.
 `images.json` maps each processed timestep to its exact source video frame;
 the same initial-prefix cut is used for states, delta actions, and images.
@@ -40,15 +50,17 @@ script automatically extracts and verifies them, preserving the original bytes.
 Use `agent.dataset.dexjoco_image.DexJoCoImageDataset` (BC) or
 `DexJoCoImageQLearningDataset` (offline RL) from the accompanying checkout.
 The loader returns RGB uint8 `(B, history, 3 * cameras, height, width)` in
-`conditions["rgb"]` and normalized robot proprioception (first 23 state columns)
+`conditions["rgb"]` and normalized robot proprioception (first 23 state columns
+for single-arm tasks, first 46 for bimanual tasks)
 in `conditions["state"]`. Task/object privileged state is excluded by default.
 Frames are decoded on demand, with bounded caches and exact PTS-based seeking.
-Choose cameras and image size at training time; defaults are `front,wrist` and
-224 x 224. The loader reads the published videos directly; no source-dataset
+Choose cameras and image size at training time; defaults are `front,wrist` for
+single-arm tasks, all three cameras for bimanual tasks, and 224 x 224 pixels.
+The loader reads the published videos directly; no source-dataset
 download or offline image conversion is required.
 
 Choose the number of published episodes used for training with
-`max_n_episodes`; all four camera views remain available.
+`max_n_episodes`; all native camera views remain available.
 
 
 ## Array format
@@ -58,7 +70,7 @@ Load NPZ files with `numpy.load(path, allow_pickle=False)`.
 | Key | Shape | Meaning |
 | --- | --- | --- |
 | `states` | `(T, obs_dim)` | Normalized observations, float32 |
-| `actions` | `(T, 22)` | Normalized pose deltas and absolute hand targets, float32 |
+| `actions` | `(T, action_dim)` | Normalized pose deltas and absolute hand targets, float32 |
 | `traj_lengths` | `(N,)` | Episode lengths, int64; sum equals T |
 | `rewards`, `terminals` | `(T,)` | Finetuning split only, float32 |
 
@@ -70,6 +82,12 @@ Unnormalize actions before decoding them with the latest measured robot pose:
 `R_target = Exp(delta_rotvec) @ R_observed`. Hand targets stay absolute.
 The state and raw target quaternions use wxyz ordering.
 
+Bimanual state begins `[right_pose7, left_pose7, right_hand16, left_hand16]`.
+Bimanual raw targets and `decode_actions` output instead use
+`[right_pose7, right_hand16, left_pose7, left_hand16]`.
+Before sending decoded targets to the simulator's policy-mode API, reorder
+them to `[right_pose7, left_pose7, right_hand16, left_hand16]`.
+
 For `initial_object_pose_v1`, object pose features describe the initial object
 poses, matching the original recordings. They do not track moving objects.
 

bimanual_assembly_delta_n100/ph_finetune/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61718cda055322b313cbced610fae057983f4d33a8fe6f13efcfd0d5df0808f5
+size 2245

bimanual_assembly_delta_n100/ph_finetune/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12a99e896cd5afeea96d6affbd354f76dacac1cffe49ef710646d09eb20915f2
+size 17220136

bimanual_assembly_delta_n100/ph_pretrain/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61718cda055322b313cbced610fae057983f4d33a8fe6f13efcfd0d5df0808f5
+size 2245

bimanual_assembly_delta_n100/ph_pretrain/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04173401ea1d0bb145dcc3eb9604f9f036a053003068c7ae4cfa84e6426e15eb
+size 17218714

bimanual_assembly_delta_n100/videos.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:498827bfef4bdc206d01ca2f37e14ad08eb02cd4d5cd844e17bb5e81a2b19f88
+size 434683565

bimanual_hanoi_delta_n100/ph_finetune/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce3bd01a52845b0ab6455cdc9ab6af19fce4fda310ae866216cc5e16d56aa80
+size 2192

bimanual_hanoi_delta_n100/ph_finetune/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24e6995481d3f6986dc66544883ddc9f310c520e615e5c75c785f003d47357f9
+size 33121930

bimanual_hanoi_delta_n100/ph_pretrain/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ce3bd01a52845b0ab6455cdc9ab6af19fce4fda310ae866216cc5e16d56aa80
+size 2192

bimanual_hanoi_delta_n100/ph_pretrain/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f969712577fe58da63d74f40927e3d61bbb5c36f12b55d6b0a50fe3fd9bd6a1
+size 33120062

bimanual_hanoi_delta_n100/videos.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a619aa382b72cbc828985aefa802fc8c57b0eb8c7550a87d68692f3ed5d7eae
+size 857219405

bimanual_microwave_cook_delta_n100/ph_finetune/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f1d1350ff6837db4f6c709d27fe6534cc7a5ffc2157407e04f5c940ca881fdf
+size 2240

bimanual_microwave_cook_delta_n100/ph_finetune/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746fe3e83fa60d91d557b3a22c6fe75b31fe11e4711e4f080c2632f22836a666
+size 21694302

bimanual_microwave_cook_delta_n100/ph_pretrain/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f1d1350ff6837db4f6c709d27fe6534cc7a5ffc2157407e04f5c940ca881fdf
+size 2240

bimanual_microwave_cook_delta_n100/ph_pretrain/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df92069a7e91dfedf17fcf073ce7aa3bedbc605abec3c519086ef7f468c39951
+size 21692756

bimanual_microwave_cook_delta_n100/videos.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6fbb4a35273d5db6a6ce5b0f799197081f7446ef8abaeae565d1f3a187e1e2d
+size 687690973

bimanual_photograph_delta_n100/ph_finetune/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1eabc6b570c4d6293777d0096fab9a1a901bddfafbfb50f88f2a32851d4c17
+size 2179

bimanual_photograph_delta_n100/ph_finetune/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bd0162215fcb60eec44d5a5d79248c1339cb89305e3b1a506f813716114714a
+size 9040543

bimanual_photograph_delta_n100/ph_pretrain/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1eabc6b570c4d6293777d0096fab9a1a901bddfafbfb50f88f2a32851d4c17
+size 2179

bimanual_photograph_delta_n100/ph_pretrain/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17966aefcdc5cdda9346e9282febd6e632cfdfff0d9946ef308fc999008c10d3
+size 9039285

bimanual_photograph_delta_n100/videos.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:644232842b70a799d7cadc96cc588eefe18f8dc6aa5e6c99620784e703247f51
+size 265701218

bimanual_unlock_ipad_delta_n100/ph_finetune/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fee7f3e7ce2d3ce10433195ff8af31982b8d56e4bd3ac29d63fb21c6916f0b
+size 2145

bimanual_unlock_ipad_delta_n100/ph_finetune/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62dd0290f36e3e3d4c421ef7879199e96565ff3c826e0f8eb6a13a737db166eb
+size 10846477

bimanual_unlock_ipad_delta_n100/ph_pretrain/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fee7f3e7ce2d3ce10433195ff8af31982b8d56e4bd3ac29d63fb21c6916f0b
+size 2145

bimanual_unlock_ipad_delta_n100/ph_pretrain/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0b7b31c81219e2c3cc5b8cee27fad7869e7e1ecd52f6169ffa87af94c89cebf
+size 10845179

bimanual_unlock_ipad_delta_n100/videos.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c95569291101ca08bf9defb169554d727e020395339019ba50945fe4eac442
+size 403314668

fold_glasses_delta_n100/ph_finetune/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1d3f2170aa7a5f71cd8236eafe43c27298057a420c76ba28379c2560ff2171
+size 1906

fold_glasses_delta_n100/ph_finetune/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4806dab81316c7c66e88159d5f1f931748e3dd169b0847f367a365f81df203
+size 8478506

fold_glasses_delta_n100/ph_pretrain/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1d3f2170aa7a5f71cd8236eafe43c27298057a420c76ba28379c2560ff2171
+size 1906

fold_glasses_delta_n100/ph_pretrain/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8aa968a19e2e42d5784857f41420b85dbfe98c12025220a1b062803ca01f89c
+size 8477074

fold_glasses_delta_n100/videos.zip

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932e0372b027a9315050ab62931dfde69760c67ae9e4d39ca76036f620d6fb5f
+size 519492903

manifest.json

@@ -181,6 +181,309 @@
         "ego_right"
       ],
       "image_storage": "zip"
+    },
+    "fold_glasses": {
+      "directory": "fold_glasses_delta_n100",
+      "n_episodes": 100,
+      "n_transitions": 53878,
+      "obs_dim": 38,
+      "action_dim": 22,
+      "files": {
+        "fold_glasses_delta_n100/episodes.json": {
+          "sha256": "06a6a304cfe46fec499e64ec85cd49b95bb96679b9414c9d8df87b749cb50357",
+          "size": 113350
+        },
+        "fold_glasses_delta_n100/ph_pretrain/train.npz": {
+          "sha256": "d8aa968a19e2e42d5784857f41420b85dbfe98c12025220a1b062803ca01f89c",
+          "size": 8477074
+        },
+        "fold_glasses_delta_n100/ph_pretrain/normalization.npz": {
+          "sha256": "7c1d3f2170aa7a5f71cd8236eafe43c27298057a420c76ba28379c2560ff2171",
+          "size": 1906
+        },
+        "fold_glasses_delta_n100/ph_finetune/train.npz": {
+          "sha256": "4e4806dab81316c7c66e88159d5f1f931748e3dd169b0847f367a365f81df203",
+          "size": 8478506
+        },
+        "fold_glasses_delta_n100/ph_finetune/normalization.npz": {
+          "sha256": "7c1d3f2170aa7a5f71cd8236eafe43c27298057a420c76ba28379c2560ff2171",
+          "size": 1906
+        },
+        "fold_glasses_delta_n100/images.json": {
+          "sha256": "2757d69c842e1466ed25be206189a6b6573bfe0d98569c63d219351d594eb02f",
+          "size": 180643
+        },
+        "fold_glasses_delta_n100/videos.zip": {
+          "sha256": "932e0372b027a9315050ab62931dfde69760c67ae9e4d39ca76036f620d6fb5f",
+          "size": 519492903
+        }
+      },
+      "image_cameras": [
+        "front",
+        "wrist",
+        "ego_left",
+        "ego_right"
+      ],
+      "image_storage": "zip"
+    },
+    "water_plant": {
+      "directory": "water_plant_delta_n100",
+      "n_episodes": 100,
+      "n_transitions": 27745,
+      "obs_dim": 38,
+      "action_dim": 22,
+      "files": {
+        "water_plant_delta_n100/episodes.json": {
+          "sha256": "0769891ddb0478abdb31a4077f30c16a0a372fd950c462a2eb7608e605fa7033",
+          "size": 109994
+        },
+        "water_plant_delta_n100/ph_pretrain/train.npz": {
+          "sha256": "e8b750f5c1bf6981e0e255558c46692f54d1a2c87384b612be8b1bf538a028fb",
+          "size": 4483959
+        },
+        "water_plant_delta_n100/ph_pretrain/normalization.npz": {
+          "sha256": "1b99cd5b91fd91e7b9119f6815fe478e4d0ea8555914abb75b2befade6500341",
+          "size": 1901
+        },
+        "water_plant_delta_n100/ph_finetune/train.npz": {
+          "sha256": "6621faa6df9510b517985129ac645546640fc14bf6908caae14b98fa0d3dbfd4",
+          "size": 4485151
+        },
+        "water_plant_delta_n100/ph_finetune/normalization.npz": {
+          "sha256": "1b99cd5b91fd91e7b9119f6815fe478e4d0ea8555914abb75b2befade6500341",
+          "size": 1901
+        },
+        "water_plant_delta_n100/images.json": {
+          "sha256": "725c4ea0079ac226898c3b724924ffa415c63588dd509871b2f6a22d7a7792f8",
+          "size": 180422
+        },
+        "water_plant_delta_n100/videos.zip": {
+          "sha256": "ba526e81f664631bae7193f725c340cc8278f568642978fa6e5c00776e99251b",
+          "size": 267493219
+        }
+      },
+      "image_cameras": [
+        "front",
+        "wrist",
+        "ego_left",
+        "ego_right"
+      ],
+      "image_storage": "zip"
+    },
+    "bimanual_assembly": {
+      "directory": "bimanual_assembly_delta_n100",
+      "n_episodes": 100,
+      "n_transitions": 54630,
+      "obs_dim": 61,
+      "action_dim": 44,
+      "files": {
+        "bimanual_assembly_delta_n100/episodes.json": {
+          "sha256": "87d67e05cbcc0f292c171f42a26167918f297c13e916e86322a201a8acff99fe",
+          "size": 109885
+        },
+        "bimanual_assembly_delta_n100/ph_pretrain/train.npz": {
+          "sha256": "04173401ea1d0bb145dcc3eb9604f9f036a053003068c7ae4cfa84e6426e15eb",
+          "size": 17218714
+        },
+        "bimanual_assembly_delta_n100/ph_pretrain/normalization.npz": {
+          "sha256": "61718cda055322b313cbced610fae057983f4d33a8fe6f13efcfd0d5df0808f5",
+          "size": 2245
+        },
+        "bimanual_assembly_delta_n100/ph_finetune/train.npz": {
+          "sha256": "12a99e896cd5afeea96d6affbd354f76dacac1cffe49ef710646d09eb20915f2",
+          "size": 17220136
+        },
+        "bimanual_assembly_delta_n100/ph_finetune/normalization.npz": {
+          "sha256": "61718cda055322b313cbced610fae057983f4d33a8fe6f13efcfd0d5df0808f5",
+          "size": 2245
+        },
+        "bimanual_assembly_delta_n100/images.json": {
+          "sha256": "2fad5ef0d2645668ce5323de479bdc172a5dbba5c463d375d80916519183339b",
+          "size": 141140
+        },
+        "bimanual_assembly_delta_n100/videos.zip": {
+          "sha256": "498827bfef4bdc206d01ca2f37e14ad08eb02cd4d5cd844e17bb5e81a2b19f88",
+          "size": 434683565
+        }
+      },
+      "image_cameras": [
+        "ego",
+        "wrist_left",
+        "wrist_right"
+      ],
+      "image_storage": "zip"
+    },
+    "bimanual_hanoi": {
+      "directory": "bimanual_hanoi_delta_n100",
+      "n_episodes": 100,
+      "n_transitions": 107764,
+      "obs_dim": 50,
+      "action_dim": 44,
+      "files": {
+        "bimanual_hanoi_delta_n100/episodes.json": {
+          "sha256": "2a27a0f5e8d40c3e499ae93f8667ec53e3e7ef873120bca7309d660d50104b18",
+          "size": 109022
+        },
+        "bimanual_hanoi_delta_n100/ph_pretrain/train.npz": {
+          "sha256": "4f969712577fe58da63d74f40927e3d61bbb5c36f12b55d6b0a50fe3fd9bd6a1",
+          "size": 33120062
+        },
+        "bimanual_hanoi_delta_n100/ph_pretrain/normalization.npz": {
+          "sha256": "4ce3bd01a52845b0ab6455cdc9ab6af19fce4fda310ae866216cc5e16d56aa80",
+          "size": 2192
+        },
+        "bimanual_hanoi_delta_n100/ph_finetune/train.npz": {
+          "sha256": "24e6995481d3f6986dc66544883ddc9f310c520e615e5c75c785f003d47357f9",
+          "size": 33121930
+        },
+        "bimanual_hanoi_delta_n100/ph_finetune/normalization.npz": {
+          "sha256": "4ce3bd01a52845b0ab6455cdc9ab6af19fce4fda310ae866216cc5e16d56aa80",
+          "size": 2192
+        },
+        "bimanual_hanoi_delta_n100/images.json": {
+          "sha256": "7f22a721c8c88b4af1b8c345d21d36571f5b148a53f4af82b6db6f322727af85",
+          "size": 141186
+        },
+        "bimanual_hanoi_delta_n100/videos.zip": {
+          "sha256": "7a619aa382b72cbc828985aefa802fc8c57b0eb8c7550a87d68692f3ed5d7eae",
+          "size": 857219405
+        }
+      },
+      "image_cameras": [
+        "ego",
+        "wrist_left",
+        "wrist_right"
+      ],
+      "image_storage": "zip"
+    },
+    "bimanual_microwave_cook": {
+      "directory": "bimanual_microwave_cook_delta_n100",
+      "n_episodes": 100,
+      "n_transitions": 68503,
+      "obs_dim": 61,
+      "action_dim": 44,
+      "files": {
+        "bimanual_microwave_cook_delta_n100/episodes.json": {
+          "sha256": "d243a584fe83955e1fd4ef627b6bbba7cf23317eca821506a38258f410cad66a",
+          "size": 112888
+        },
+        "bimanual_microwave_cook_delta_n100/ph_pretrain/train.npz": {
+          "sha256": "df92069a7e91dfedf17fcf073ce7aa3bedbc605abec3c519086ef7f468c39951",
+          "size": 21692756
+        },
+        "bimanual_microwave_cook_delta_n100/ph_pretrain/normalization.npz": {
+          "sha256": "6f1d1350ff6837db4f6c709d27fe6534cc7a5ffc2157407e04f5c940ca881fdf",
+          "size": 2240
+        },
+        "bimanual_microwave_cook_delta_n100/ph_finetune/train.npz": {
+          "sha256": "746fe3e83fa60d91d557b3a22c6fe75b31fe11e4711e4f080c2632f22836a666",
+          "size": 21694302
+        },
+        "bimanual_microwave_cook_delta_n100/ph_finetune/normalization.npz": {
+          "sha256": "6f1d1350ff6837db4f6c709d27fe6534cc7a5ffc2157407e04f5c940ca881fdf",
+          "size": 2240
+        },
+        "bimanual_microwave_cook_delta_n100/images.json": {
+          "sha256": "266737f8812a3e54adbc441cae128a57abf8afbcc122d33dadb7ea20b93264d2",
+          "size": 141736
+        },
+        "bimanual_microwave_cook_delta_n100/videos.zip": {
+          "sha256": "a6fbb4a35273d5db6a6ce5b0f799197081f7446ef8abaeae565d1f3a187e1e2d",
+          "size": 687690973
+        }
+      },
+      "image_cameras": [
+        "ego",
+        "wrist_left",
+        "wrist_right"
+      ],
+      "image_storage": "zip"
+    },
+    "bimanual_photograph": {
+      "directory": "bimanual_photograph_delta_n100",
+      "n_episodes": 100,
+      "n_transitions": 34377,
+      "obs_dim": 61,
+      "action_dim": 44,
+      "files": {
+        "bimanual_photograph_delta_n100/episodes.json": {
+          "sha256": "485acc4404d9879d04896504db8cab4e2300621d49345a3f5ff21ddc4b2d8568",
+          "size": 111732
+        },
+        "bimanual_photograph_delta_n100/ph_pretrain/train.npz": {
+          "sha256": "17966aefcdc5cdda9346e9282febd6e632cfdfff0d9946ef308fc999008c10d3",
+          "size": 9039285
+        },
+        "bimanual_photograph_delta_n100/ph_pretrain/normalization.npz": {
+          "sha256": "fa1eabc6b570c4d6293777d0096fab9a1a901bddfafbfb50f88f2a32851d4c17",
+          "size": 2179
+        },
+        "bimanual_photograph_delta_n100/ph_finetune/train.npz": {
+          "sha256": "7bd0162215fcb60eec44d5a5d79248c1339cb89305e3b1a506f813716114714a",
+          "size": 9040543
+        },
+        "bimanual_photograph_delta_n100/ph_finetune/normalization.npz": {
+          "sha256": "fa1eabc6b570c4d6293777d0096fab9a1a901bddfafbfb50f88f2a32851d4c17",
+          "size": 2179
+        },
+        "bimanual_photograph_delta_n100/images.json": {
+          "sha256": "9a56b21474950a88a9b3b15362537fd7779da64c108e985657a9cdf796d6e0bc",
+          "size": 141156
+        },
+        "bimanual_photograph_delta_n100/videos.zip": {
+          "sha256": "644232842b70a799d7cadc96cc588eefe18f8dc6aa5e6c99620784e703247f51",
+          "size": 265701218
+        }
+      },
+      "image_cameras": [
+        "ego",
+        "wrist_left",
+        "wrist_right"
+      ],
+      "image_storage": "zip"
+    },
+    "bimanual_unlock_ipad": {
+      "directory": "bimanual_unlock_ipad_delta_n100",
+      "n_episodes": 100,
+      "n_transitions": 41042,
+      "obs_dim": 61,
+      "action_dim": 44,
+      "files": {
+        "bimanual_unlock_ipad_delta_n100/episodes.json": {
+          "sha256": "a271263c0cdade3ea359c32f10c0357450c4f0c87d93301b6170a053c2e2a257",
+          "size": 110960
+        },
+        "bimanual_unlock_ipad_delta_n100/ph_pretrain/train.npz": {
+          "sha256": "f0b7b31c81219e2c3cc5b8cee27fad7869e7e1ecd52f6169ffa87af94c89cebf",
+          "size": 10845179
+        },
+        "bimanual_unlock_ipad_delta_n100/ph_pretrain/normalization.npz": {
+          "sha256": "08fee7f3e7ce2d3ce10433195ff8af31982b8d56e4bd3ac29d63fb21c6916f0b",
+          "size": 2145
+        },
+        "bimanual_unlock_ipad_delta_n100/ph_finetune/train.npz": {
+          "sha256": "62dd0290f36e3e3d4c421ef7879199e96565ff3c826e0f8eb6a13a737db166eb",
+          "size": 10846477
+        },
+        "bimanual_unlock_ipad_delta_n100/ph_finetune/normalization.npz": {
+          "sha256": "08fee7f3e7ce2d3ce10433195ff8af31982b8d56e4bd3ac29d63fb21c6916f0b",
+          "size": 2145
+        },
+        "bimanual_unlock_ipad_delta_n100/images.json": {
+          "sha256": "ac047c57f444a9e317e8148a90683032b808a53dd84e91721599dd63624e5e24",
+          "size": 141449
+        },
+        "bimanual_unlock_ipad_delta_n100/videos.zip": {
+          "sha256": "70c95569291101ca08bf9defb169554d727e020395339019ba50945fe4eac442",
+          "size": 403314668
+        }
+      },
+      "image_cameras": [
+        "ego",
+        "wrist_left",
+        "wrist_right"
+      ],
+      "image_storage": "zip"
     }
   }
 }

water_plant_delta_n100/ph_finetune/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b99cd5b91fd91e7b9119f6815fe478e4d0ea8555914abb75b2befade6500341
+size 1901

water_plant_delta_n100/ph_finetune/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6621faa6df9510b517985129ac645546640fc14bf6908caae14b98fa0d3dbfd4
+size 4485151

water_plant_delta_n100/ph_pretrain/normalization.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b99cd5b91fd91e7b9119f6815fe478e4d0ea8555914abb75b2befade6500341
+size 1901

water_plant_delta_n100/ph_pretrain/train.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b750f5c1bf6981e0e255558c46692f54d1a2c87384b612be8b1bf538a028fb
+size 4483959