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Browse files- data/chunk-000/episode_000000.parquet +3 -0
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|
| 8 |
+
{"episode_index": 7, "tasks": ["pick up the cracker box"], "length": 87}
|
| 9 |
+
{"episode_index": 8, "tasks": ["pick up the cracker box"], "length": 82}
|
| 10 |
+
{"episode_index": 9, "tasks": ["pick up the cracker box"], "length": 116}
|
| 11 |
+
{"episode_index": 10, "tasks": ["pick up the cracker box"], "length": 100}
|
| 12 |
+
{"episode_index": 11, "tasks": ["pick up the cracker box"], "length": 71}
|
| 13 |
+
{"episode_index": 12, "tasks": ["pick up the cracker box"], "length": 109}
|
| 14 |
+
{"episode_index": 13, "tasks": ["pick up the cracker box"], "length": 81}
|
| 15 |
+
{"episode_index": 14, "tasks": ["pick up the cracker box"], "length": 89}
|
| 16 |
+
{"episode_index": 15, "tasks": ["pick up the cracker box"], "length": 89}
|
| 17 |
+
{"episode_index": 16, "tasks": ["pick up the cracker box"], "length": 116}
|
| 18 |
+
{"episode_index": 17, "tasks": ["pick up the cracker box"], "length": 96}
|
| 19 |
+
{"episode_index": 18, "tasks": ["pick up the mustard bottle from the basket"], "length": 91}
|
| 20 |
+
{"episode_index": 19, "tasks": ["pick up the mustard bottle from the basket"], "length": 104}
|
| 21 |
+
{"episode_index": 20, "tasks": ["pick up the mustard bottle from the basket"], "length": 87}
|
| 22 |
+
{"episode_index": 21, "tasks": ["pick up the mustard bottle from the basket"], "length": 102}
|
| 23 |
+
{"episode_index": 22, "tasks": ["pick up the mustard bottle from the basket"], "length": 108}
|
| 24 |
+
{"episode_index": 23, "tasks": ["pick up the mustard bottle from the basket"], "length": 106}
|
| 25 |
+
{"episode_index": 24, "tasks": ["pick up the mustard bottle from the basket"], "length": 100}
|
| 26 |
+
{"episode_index": 25, "tasks": ["pick up the mustard bottle from the basket"], "length": 91}
|
| 27 |
+
{"episode_index": 26, "tasks": ["pick up the mustard bottle from the basket"], "length": 102}
|
| 28 |
+
{"episode_index": 27, "tasks": ["pick up the mustard bottle from the basket"], "length": 89}
|
| 29 |
+
{"episode_index": 28, "tasks": ["pick up the mustard bottle from the basket"], "length": 100}
|
| 30 |
+
{"episode_index": 29, "tasks": ["pick up the mustard bottle from the basket"], "length": 91}
|
| 31 |
+
{"episode_index": 30, "tasks": ["pick up the mustard bottle from the basket"], "length": 98}
|
| 32 |
+
{"episode_index": 31, "tasks": ["pick up the mustard bottle from the basket"], "length": 103}
|
| 33 |
+
{"episode_index": 32, "tasks": ["pick up the mustard bottle from the basket"], "length": 122}
|
| 34 |
+
{"episode_index": 33, "tasks": ["pick up the mustard bottle from the basket"], "length": 149}
|
| 35 |
+
{"episode_index": 34, "tasks": ["pick up the mustard bottle from the basket"], "length": 113}
|
| 36 |
+
{"episode_index": 35, "tasks": ["pick up the mustard bottle from the basket"], "length": 113}
|
| 37 |
+
{"episode_index": 36, "tasks": ["pick up the mustard bottle from the basket"], "length": 146}
|
| 38 |
+
{"episode_index": 37, "tasks": ["pick up the mustard bottle from the basket"], "length": 120}
|
meta/episodes_stats.jsonl
ADDED
|
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|
|
|
meta/info.json
ADDED
|
@@ -0,0 +1,117 @@
|
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "franka",
|
| 4 |
+
"total_episodes": 38,
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"fps": 50,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:38"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"image": {
|
| 18 |
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"dtype": "image",
|
| 19 |
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"shape": [
|
| 20 |
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224,
|
| 21 |
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|
| 22 |
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3
|
| 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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},
|
| 30 |
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"wrist_image": {
|
| 31 |
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"dtype": "image",
|
| 32 |
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"shape": [
|
| 33 |
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224,
|
| 34 |
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224,
|
| 35 |
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3
|
| 36 |
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],
|
| 37 |
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"names": [
|
| 38 |
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"height",
|
| 39 |
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"width",
|
| 40 |
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"channel"
|
| 41 |
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]
|
| 42 |
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},
|
| 43 |
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"state": {
|
| 44 |
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|
| 45 |
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|
| 46 |
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7
|
| 47 |
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],
|
| 48 |
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"names": [
|
| 49 |
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"state"
|
| 50 |
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|
| 51 |
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},
|
| 52 |
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"actions": {
|
| 53 |
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|
| 54 |
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"shape": [
|
| 55 |
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7
|
| 56 |
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],
|
| 57 |
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"names": [
|
| 58 |
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"actions"
|
| 59 |
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]
|
| 60 |
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},
|
| 61 |
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"gripper_id": {
|
| 62 |
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"dtype": "int32",
|
| 63 |
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"shape": [
|
| 64 |
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1
|
| 65 |
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],
|
| 66 |
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"names": [
|
| 67 |
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"gripper_id"
|
| 68 |
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]
|
| 69 |
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},
|
| 70 |
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"gripper_tracks": {
|
| 71 |
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"dtype": "float32",
|
| 72 |
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"shape": [
|
| 73 |
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2,
|
| 74 |
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2
|
| 75 |
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],
|
| 76 |
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"names": [
|
| 77 |
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"tips",
|
| 78 |
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"xy"
|
| 79 |
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]
|
| 80 |
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},
|
| 81 |
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"timestamp": {
|
| 82 |
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"dtype": "float32",
|
| 83 |
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"shape": [
|
| 84 |
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1
|
| 85 |
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],
|
| 86 |
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"names": null
|
| 87 |
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},
|
| 88 |
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"frame_index": {
|
| 89 |
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|
| 90 |
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|
| 91 |
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1
|
| 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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"dtype": "int64",
|
| 97 |
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|
| 98 |
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1
|
| 99 |
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],
|
| 100 |
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"names": null
|
| 101 |
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|
| 102 |
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"index": {
|
| 103 |
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"dtype": "int64",
|
| 104 |
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"shape": [
|
| 105 |
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1
|
| 106 |
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],
|
| 107 |
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"names": null
|
| 108 |
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|
| 109 |
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"task_index": {
|
| 110 |
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"dtype": "int64",
|
| 111 |
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"shape": [
|
| 112 |
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1
|
| 113 |
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],
|
| 114 |
+
"names": null
|
| 115 |
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}
|
| 116 |
+
}
|
| 117 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick up the cracker box"}
|
| 2 |
+
{"task_index": 1, "task": "pick up the mustard bottle from the basket"}
|