Datasets:
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Browse files
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:fb894b779951de1d9204c13e47c1a8be519e549423676a0301716537537565ce
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| 3 |
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size 1649108
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:bb4c4779ce61adafa6c93c47673ee8861634638f567ee1125a59371c42ae18ff
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| 3 |
+
size 188124
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meta/info.json
ADDED
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@@ -0,0 +1,136 @@
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| 1 |
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{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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"robot_type": "ur10_rtde",
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| 4 |
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"total_episodes": 50,
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| 5 |
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"total_frames": 18622,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 15,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:50"
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| 13 |
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},
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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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"features": {
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| 17 |
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"action": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"names": [
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| 20 |
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"delta_ee_pose.x",
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| 21 |
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"delta_ee_pose.y",
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| 22 |
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"delta_ee_pose.z",
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| 23 |
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"delta_ee_pose.rx",
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| 24 |
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"delta_ee_pose.ry",
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| 25 |
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"delta_ee_pose.rz",
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| 26 |
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"gripper_cmd_bin"
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| 27 |
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],
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| 28 |
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"shape": [
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| 29 |
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7
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| 30 |
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]
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},
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| 32 |
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"observation.state": {
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| 33 |
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"dtype": "float32",
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| 34 |
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"names": [
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"joint_1.pos",
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"joint_2.pos",
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"joint_3.pos",
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"joint_4.pos",
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| 39 |
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"joint_5.pos",
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"joint_6.pos",
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| 41 |
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"ee_pose.x",
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"ee_pose.y",
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| 43 |
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"ee_pose.z",
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| 44 |
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"ee_pose.rx",
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| 45 |
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"ee_pose.ry",
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"ee_pose.rz",
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| 47 |
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"gripper_state_norm",
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| 48 |
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"gripper_cmd_bin"
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| 49 |
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],
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| 50 |
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"shape": [
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| 51 |
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14
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| 52 |
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]
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| 53 |
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},
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| 54 |
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"observation.images.scene": {
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"dtype": "video",
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| 56 |
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"shape": [
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480,
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| 58 |
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640,
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3
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| 60 |
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],
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| 61 |
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"names": [
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| 62 |
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"height",
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| 63 |
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"width",
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| 64 |
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"channels"
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| 65 |
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],
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"info": {
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| 67 |
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"video.height": 480,
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"video.width": 640,
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| 69 |
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"video.codec": "h264",
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| 70 |
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 15,
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| 73 |
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"video.channels": 3,
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"has_audio": false
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| 75 |
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}
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| 76 |
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},
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| 77 |
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"observation.images.wrist": {
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| 78 |
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"dtype": "video",
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| 79 |
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"shape": [
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| 80 |
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480,
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| 81 |
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640,
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| 82 |
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| 83 |
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],
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| 84 |
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"names": [
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| 85 |
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"height",
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"width",
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"channels"
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],
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"info": {
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| 90 |
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"video.height": 480,
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"video.width": 640,
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| 92 |
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"video.codec": "h264",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 15,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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"names": null
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"frame_index": {
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"dtype": "int64",
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"names": null
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"episode_index": {
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}
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meta/stats.json
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