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- pick_objects_multiscene0/scene9/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene0/scene9/meta/modality.json +35 -0
- pick_objects_multiscene0/scene9/meta/stats.json +202 -0
- pick_objects_multiscene2/scene1/meta/episodes.jsonl +99 -0
- pick_objects_multiscene2/scene1/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene2/scene1/meta/info.json +127 -0
- pick_objects_multiscene2/scene1/meta/modality.json +35 -0
- pick_objects_multiscene2/scene1/meta/stats.json +202 -0
- pick_objects_multiscene2/scene1/meta/tasks.jsonl +3 -0
- pick_objects_multiscene2/scene2/meta/episodes.jsonl +99 -0
- pick_objects_multiscene2/scene2/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene2/scene2/meta/info.json +127 -0
- pick_objects_multiscene2/scene2/meta/modality.json +35 -0
- pick_objects_multiscene2/scene2/meta/stats.json +202 -0
- pick_objects_multiscene2/scene2/meta/tasks.jsonl +3 -0
- pick_objects_multiscene2/scene4/meta/episodes.jsonl +99 -0
- pick_objects_multiscene2/scene4/meta/episodes_stats.jsonl +0 -0
- pick_objects_multiscene2/scene4/meta/info.json +127 -0
- pick_objects_multiscene2/scene4/meta/modality.json +35 -0
- pick_objects_multiscene2/scene4/meta/stats.json +202 -0
- pick_objects_multiscene2/scene4/meta/tasks.jsonl +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000000.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000002.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000003.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000004.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000005.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000007.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000010.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000012.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000014.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000015.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000016.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000017.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000018.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000020.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000021.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000024.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000026.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000027.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000028.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000029.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000031.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000033.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000034.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000039.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000040.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000041.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000045.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000047.parquet +3 -0
- pick_objects_multiscene2/scene9/data/chunk-000/episode_000048.parquet +3 -0
pick_objects_multiscene0/scene9/meta/episodes_stats.jsonl
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pick_objects_multiscene0/scene9/meta/modality.json
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pick_objects_multiscene0/scene9/meta/stats.json
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+
}
|
| 202 |
+
}
|
pick_objects_multiscene2/scene1/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
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|
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|
|
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|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 186}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 132}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 224}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 180}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 179}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 155}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 168}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 201}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 152}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 137}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 172}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 191}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 172}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 152}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 154}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 232}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 175}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 189}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 143}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 170}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 180}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 229}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 241}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 172}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 149}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 130}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 174}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 166}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 148}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 153}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 196}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 274}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 138}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 179}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 180}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 152}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 126}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 192}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 224}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 154}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 185}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 179}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 230}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 204}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 176}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 152}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 192}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 220}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 177}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 214}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 240}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 168}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 167}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 158}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 153}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 156}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 140}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 190}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 196}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 229}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 156}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 121}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 144}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 134}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 154}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 144}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 185}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 137}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 232}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 266}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 145}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 131}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 146}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 177}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 132}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 140}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 146}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 231}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 187}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 230}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 147}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 267}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 169}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 177}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 150}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 175}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 149}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 220}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 202}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 155}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 143}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 153}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 173}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 176}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 194}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 214}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 131}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 179}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 235}
|
pick_objects_multiscene2/scene1/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene2/scene1/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 17494,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"timestamp": {
|
| 92 |
+
"dtype": "float32",
|
| 93 |
+
"shape": [
|
| 94 |
+
1
|
| 95 |
+
],
|
| 96 |
+
"names": null
|
| 97 |
+
},
|
| 98 |
+
"frame_index": {
|
| 99 |
+
"dtype": "int64",
|
| 100 |
+
"shape": [
|
| 101 |
+
1
|
| 102 |
+
],
|
| 103 |
+
"names": null
|
| 104 |
+
},
|
| 105 |
+
"episode_index": {
|
| 106 |
+
"dtype": "int64",
|
| 107 |
+
"shape": [
|
| 108 |
+
1
|
| 109 |
+
],
|
| 110 |
+
"names": null
|
| 111 |
+
},
|
| 112 |
+
"index": {
|
| 113 |
+
"dtype": "int64",
|
| 114 |
+
"shape": [
|
| 115 |
+
1
|
| 116 |
+
],
|
| 117 |
+
"names": null
|
| 118 |
+
},
|
| 119 |
+
"task_index": {
|
| 120 |
+
"dtype": "int64",
|
| 121 |
+
"shape": [
|
| 122 |
+
1
|
| 123 |
+
],
|
| 124 |
+
"names": null
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
pick_objects_multiscene2/scene1/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene2/scene1/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
|
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|
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|
|
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|
|
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|
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|
|
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|
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|
|
|
|
| 1 |
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{
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| 2 |
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| 201 |
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|
| 202 |
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|
pick_objects_multiscene2/scene1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene2/scene2/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 171}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 164}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 231}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 187}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 183}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 199}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 200}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 178}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 175}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 186}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 192}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 160}
|
| 13 |
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{"episode_index": 12, "tasks": ["touch the red cube"], "length": 178}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 149}
|
| 15 |
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{"episode_index": 14, "tasks": ["touch the red cube"], "length": 216}
|
| 16 |
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{"episode_index": 15, "tasks": ["touch the red cube"], "length": 167}
|
| 17 |
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{"episode_index": 16, "tasks": ["touch the red cube"], "length": 185}
|
| 18 |
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{"episode_index": 17, "tasks": ["touch the red cube"], "length": 188}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 153}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 223}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 138}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 203}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 166}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 207}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 193}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 239}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 188}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 233}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 230}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 170}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 226}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 253}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 131}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 135}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 197}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 160}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 246}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 143}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 183}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 204}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 137}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 145}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 179}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 175}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 222}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 152}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 214}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 170}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 148}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 179}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 162}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 159}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 150}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 206}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 159}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 137}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 190}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 211}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 169}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 255}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 174}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 161}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 197}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 159}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 181}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 176}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 211}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 196}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 161}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 203}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 250}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 180}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 192}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 169}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 174}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 196}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 162}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 196}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 170}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 182}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 199}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 185}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 170}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 215}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 191}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 184}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 170}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 162}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 214}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 218}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 223}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 180}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 161}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 176}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 189}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 132}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 204}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 178}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 155}
|
pick_objects_multiscene2/scene2/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene2/scene2/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "SO100",
|
| 4 |
+
"total_episodes": 99,
|
| 5 |
+
"total_frames": 18245,
|
| 6 |
+
"total_tasks": 3,
|
| 7 |
+
"total_videos": 198,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:99"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
6
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
+
},
|
| 31 |
+
"observation.images.front_cam": {
|
| 32 |
+
"dtype": "video",
|
| 33 |
+
"shape": [
|
| 34 |
+
480,
|
| 35 |
+
640,
|
| 36 |
+
3
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"height",
|
| 40 |
+
"width",
|
| 41 |
+
"channels"
|
| 42 |
+
],
|
| 43 |
+
"info": {
|
| 44 |
+
"video.height": 480,
|
| 45 |
+
"video.width": 640,
|
| 46 |
+
"video.codec": "av1",
|
| 47 |
+
"video.pix_fmt": "yuv420p",
|
| 48 |
+
"video.is_depth_map": false,
|
| 49 |
+
"video.fps": 30,
|
| 50 |
+
"video.channels": 3,
|
| 51 |
+
"has_audio": false
|
| 52 |
+
}
|
| 53 |
+
},
|
| 54 |
+
"observation.images.wrist_cam": {
|
| 55 |
+
"dtype": "video",
|
| 56 |
+
"shape": [
|
| 57 |
+
480,
|
| 58 |
+
640,
|
| 59 |
+
3
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"height",
|
| 63 |
+
"width",
|
| 64 |
+
"channels"
|
| 65 |
+
],
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 480,
|
| 68 |
+
"video.width": 640,
|
| 69 |
+
"video.codec": "av1",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 30,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"action": {
|
| 78 |
+
"dtype": "float32",
|
| 79 |
+
"shape": [
|
| 80 |
+
6
|
| 81 |
+
],
|
| 82 |
+
"names": [
|
| 83 |
+
"a_1",
|
| 84 |
+
"a_2",
|
| 85 |
+
"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"timestamp": {
|
| 92 |
+
"dtype": "float32",
|
| 93 |
+
"shape": [
|
| 94 |
+
1
|
| 95 |
+
],
|
| 96 |
+
"names": null
|
| 97 |
+
},
|
| 98 |
+
"frame_index": {
|
| 99 |
+
"dtype": "int64",
|
| 100 |
+
"shape": [
|
| 101 |
+
1
|
| 102 |
+
],
|
| 103 |
+
"names": null
|
| 104 |
+
},
|
| 105 |
+
"episode_index": {
|
| 106 |
+
"dtype": "int64",
|
| 107 |
+
"shape": [
|
| 108 |
+
1
|
| 109 |
+
],
|
| 110 |
+
"names": null
|
| 111 |
+
},
|
| 112 |
+
"index": {
|
| 113 |
+
"dtype": "int64",
|
| 114 |
+
"shape": [
|
| 115 |
+
1
|
| 116 |
+
],
|
| 117 |
+
"names": null
|
| 118 |
+
},
|
| 119 |
+
"task_index": {
|
| 120 |
+
"dtype": "int64",
|
| 121 |
+
"shape": [
|
| 122 |
+
1
|
| 123 |
+
],
|
| 124 |
+
"names": null
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
}
|
pick_objects_multiscene2/scene2/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene2/scene2/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
pick_objects_multiscene2/scene2/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "touch the red cube"}
|
| 2 |
+
{"task_index": 1, "task": "touch the green cube"}
|
| 3 |
+
{"task_index": 2, "task": "touch the blue cube"}
|
pick_objects_multiscene2/scene4/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,99 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["touch the red cube"], "length": 197}
|
| 2 |
+
{"episode_index": 1, "tasks": ["touch the red cube"], "length": 148}
|
| 3 |
+
{"episode_index": 2, "tasks": ["touch the red cube"], "length": 209}
|
| 4 |
+
{"episode_index": 3, "tasks": ["touch the red cube"], "length": 242}
|
| 5 |
+
{"episode_index": 4, "tasks": ["touch the red cube"], "length": 153}
|
| 6 |
+
{"episode_index": 5, "tasks": ["touch the red cube"], "length": 219}
|
| 7 |
+
{"episode_index": 6, "tasks": ["touch the red cube"], "length": 207}
|
| 8 |
+
{"episode_index": 7, "tasks": ["touch the red cube"], "length": 180}
|
| 9 |
+
{"episode_index": 8, "tasks": ["touch the red cube"], "length": 156}
|
| 10 |
+
{"episode_index": 9, "tasks": ["touch the red cube"], "length": 162}
|
| 11 |
+
{"episode_index": 10, "tasks": ["touch the red cube"], "length": 189}
|
| 12 |
+
{"episode_index": 11, "tasks": ["touch the red cube"], "length": 145}
|
| 13 |
+
{"episode_index": 12, "tasks": ["touch the red cube"], "length": 197}
|
| 14 |
+
{"episode_index": 13, "tasks": ["touch the red cube"], "length": 149}
|
| 15 |
+
{"episode_index": 14, "tasks": ["touch the red cube"], "length": 193}
|
| 16 |
+
{"episode_index": 15, "tasks": ["touch the red cube"], "length": 194}
|
| 17 |
+
{"episode_index": 16, "tasks": ["touch the red cube"], "length": 172}
|
| 18 |
+
{"episode_index": 17, "tasks": ["touch the red cube"], "length": 176}
|
| 19 |
+
{"episode_index": 18, "tasks": ["touch the red cube"], "length": 270}
|
| 20 |
+
{"episode_index": 19, "tasks": ["touch the red cube"], "length": 163}
|
| 21 |
+
{"episode_index": 20, "tasks": ["touch the red cube"], "length": 191}
|
| 22 |
+
{"episode_index": 21, "tasks": ["touch the red cube"], "length": 242}
|
| 23 |
+
{"episode_index": 22, "tasks": ["touch the red cube"], "length": 274}
|
| 24 |
+
{"episode_index": 23, "tasks": ["touch the red cube"], "length": 133}
|
| 25 |
+
{"episode_index": 24, "tasks": ["touch the red cube"], "length": 139}
|
| 26 |
+
{"episode_index": 25, "tasks": ["touch the red cube"], "length": 182}
|
| 27 |
+
{"episode_index": 26, "tasks": ["touch the red cube"], "length": 194}
|
| 28 |
+
{"episode_index": 27, "tasks": ["touch the red cube"], "length": 155}
|
| 29 |
+
{"episode_index": 28, "tasks": ["touch the red cube"], "length": 143}
|
| 30 |
+
{"episode_index": 29, "tasks": ["touch the red cube"], "length": 150}
|
| 31 |
+
{"episode_index": 30, "tasks": ["touch the red cube"], "length": 176}
|
| 32 |
+
{"episode_index": 31, "tasks": ["touch the red cube"], "length": 243}
|
| 33 |
+
{"episode_index": 32, "tasks": ["touch the red cube"], "length": 195}
|
| 34 |
+
{"episode_index": 33, "tasks": ["touch the green cube"], "length": 159}
|
| 35 |
+
{"episode_index": 34, "tasks": ["touch the green cube"], "length": 209}
|
| 36 |
+
{"episode_index": 35, "tasks": ["touch the green cube"], "length": 168}
|
| 37 |
+
{"episode_index": 36, "tasks": ["touch the green cube"], "length": 152}
|
| 38 |
+
{"episode_index": 37, "tasks": ["touch the green cube"], "length": 164}
|
| 39 |
+
{"episode_index": 38, "tasks": ["touch the green cube"], "length": 166}
|
| 40 |
+
{"episode_index": 39, "tasks": ["touch the green cube"], "length": 207}
|
| 41 |
+
{"episode_index": 40, "tasks": ["touch the green cube"], "length": 142}
|
| 42 |
+
{"episode_index": 41, "tasks": ["touch the green cube"], "length": 143}
|
| 43 |
+
{"episode_index": 42, "tasks": ["touch the green cube"], "length": 216}
|
| 44 |
+
{"episode_index": 43, "tasks": ["touch the green cube"], "length": 135}
|
| 45 |
+
{"episode_index": 44, "tasks": ["touch the green cube"], "length": 175}
|
| 46 |
+
{"episode_index": 45, "tasks": ["touch the green cube"], "length": 209}
|
| 47 |
+
{"episode_index": 46, "tasks": ["touch the green cube"], "length": 194}
|
| 48 |
+
{"episode_index": 47, "tasks": ["touch the green cube"], "length": 176}
|
| 49 |
+
{"episode_index": 48, "tasks": ["touch the green cube"], "length": 217}
|
| 50 |
+
{"episode_index": 49, "tasks": ["touch the green cube"], "length": 152}
|
| 51 |
+
{"episode_index": 50, "tasks": ["touch the green cube"], "length": 142}
|
| 52 |
+
{"episode_index": 51, "tasks": ["touch the green cube"], "length": 129}
|
| 53 |
+
{"episode_index": 52, "tasks": ["touch the green cube"], "length": 159}
|
| 54 |
+
{"episode_index": 53, "tasks": ["touch the green cube"], "length": 183}
|
| 55 |
+
{"episode_index": 54, "tasks": ["touch the green cube"], "length": 211}
|
| 56 |
+
{"episode_index": 55, "tasks": ["touch the green cube"], "length": 175}
|
| 57 |
+
{"episode_index": 56, "tasks": ["touch the green cube"], "length": 207}
|
| 58 |
+
{"episode_index": 57, "tasks": ["touch the green cube"], "length": 186}
|
| 59 |
+
{"episode_index": 58, "tasks": ["touch the green cube"], "length": 189}
|
| 60 |
+
{"episode_index": 59, "tasks": ["touch the green cube"], "length": 161}
|
| 61 |
+
{"episode_index": 60, "tasks": ["touch the green cube"], "length": 187}
|
| 62 |
+
{"episode_index": 61, "tasks": ["touch the green cube"], "length": 150}
|
| 63 |
+
{"episode_index": 62, "tasks": ["touch the green cube"], "length": 157}
|
| 64 |
+
{"episode_index": 63, "tasks": ["touch the green cube"], "length": 194}
|
| 65 |
+
{"episode_index": 64, "tasks": ["touch the green cube"], "length": 152}
|
| 66 |
+
{"episode_index": 65, "tasks": ["touch the green cube"], "length": 140}
|
| 67 |
+
{"episode_index": 66, "tasks": ["touch the blue cube"], "length": 179}
|
| 68 |
+
{"episode_index": 67, "tasks": ["touch the blue cube"], "length": 172}
|
| 69 |
+
{"episode_index": 68, "tasks": ["touch the blue cube"], "length": 204}
|
| 70 |
+
{"episode_index": 69, "tasks": ["touch the blue cube"], "length": 247}
|
| 71 |
+
{"episode_index": 70, "tasks": ["touch the blue cube"], "length": 144}
|
| 72 |
+
{"episode_index": 71, "tasks": ["touch the blue cube"], "length": 161}
|
| 73 |
+
{"episode_index": 72, "tasks": ["touch the blue cube"], "length": 229}
|
| 74 |
+
{"episode_index": 73, "tasks": ["touch the blue cube"], "length": 284}
|
| 75 |
+
{"episode_index": 74, "tasks": ["touch the blue cube"], "length": 157}
|
| 76 |
+
{"episode_index": 75, "tasks": ["touch the blue cube"], "length": 157}
|
| 77 |
+
{"episode_index": 76, "tasks": ["touch the blue cube"], "length": 170}
|
| 78 |
+
{"episode_index": 77, "tasks": ["touch the blue cube"], "length": 146}
|
| 79 |
+
{"episode_index": 78, "tasks": ["touch the blue cube"], "length": 149}
|
| 80 |
+
{"episode_index": 79, "tasks": ["touch the blue cube"], "length": 134}
|
| 81 |
+
{"episode_index": 80, "tasks": ["touch the blue cube"], "length": 185}
|
| 82 |
+
{"episode_index": 81, "tasks": ["touch the blue cube"], "length": 238}
|
| 83 |
+
{"episode_index": 82, "tasks": ["touch the blue cube"], "length": 170}
|
| 84 |
+
{"episode_index": 83, "tasks": ["touch the blue cube"], "length": 241}
|
| 85 |
+
{"episode_index": 84, "tasks": ["touch the blue cube"], "length": 139}
|
| 86 |
+
{"episode_index": 85, "tasks": ["touch the blue cube"], "length": 166}
|
| 87 |
+
{"episode_index": 86, "tasks": ["touch the blue cube"], "length": 148}
|
| 88 |
+
{"episode_index": 87, "tasks": ["touch the blue cube"], "length": 157}
|
| 89 |
+
{"episode_index": 88, "tasks": ["touch the blue cube"], "length": 165}
|
| 90 |
+
{"episode_index": 89, "tasks": ["touch the blue cube"], "length": 172}
|
| 91 |
+
{"episode_index": 90, "tasks": ["touch the blue cube"], "length": 147}
|
| 92 |
+
{"episode_index": 91, "tasks": ["touch the blue cube"], "length": 208}
|
| 93 |
+
{"episode_index": 92, "tasks": ["touch the blue cube"], "length": 172}
|
| 94 |
+
{"episode_index": 93, "tasks": ["touch the blue cube"], "length": 181}
|
| 95 |
+
{"episode_index": 94, "tasks": ["touch the blue cube"], "length": 154}
|
| 96 |
+
{"episode_index": 95, "tasks": ["touch the blue cube"], "length": 155}
|
| 97 |
+
{"episode_index": 96, "tasks": ["touch the blue cube"], "length": 236}
|
| 98 |
+
{"episode_index": 97, "tasks": ["touch the blue cube"], "length": 207}
|
| 99 |
+
{"episode_index": 98, "tasks": ["touch the blue cube"], "length": 163}
|
pick_objects_multiscene2/scene4/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pick_objects_multiscene2/scene4/meta/info.json
ADDED
|
@@ -0,0 +1,127 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
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"robot_type": "SO100",
|
| 4 |
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"total_episodes": 99,
|
| 5 |
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"total_frames": 17781,
|
| 6 |
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"total_tasks": 3,
|
| 7 |
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|
| 8 |
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|
| 9 |
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"chunks_size": 1000,
|
| 10 |
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"fps": 30,
|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:99"
|
| 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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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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6
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"a_1",
|
| 24 |
+
"a_2",
|
| 25 |
+
"a_3",
|
| 26 |
+
"a_4",
|
| 27 |
+
"a_5",
|
| 28 |
+
"a_6"
|
| 29 |
+
]
|
| 30 |
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},
|
| 31 |
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"observation.images.front_cam": {
|
| 32 |
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"dtype": "video",
|
| 33 |
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"shape": [
|
| 34 |
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480,
|
| 35 |
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640,
|
| 36 |
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3
|
| 37 |
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],
|
| 38 |
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"names": [
|
| 39 |
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"height",
|
| 40 |
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"width",
|
| 41 |
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"channels"
|
| 42 |
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],
|
| 43 |
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|
| 44 |
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"video.height": 480,
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"video.fps": 30,
|
| 50 |
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"video.channels": 3,
|
| 51 |
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"has_audio": false
|
| 52 |
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}
|
| 53 |
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},
|
| 54 |
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"observation.images.wrist_cam": {
|
| 55 |
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"dtype": "video",
|
| 56 |
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"shape": [
|
| 57 |
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480,
|
| 58 |
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640,
|
| 59 |
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3
|
| 60 |
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],
|
| 61 |
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"names": [
|
| 62 |
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"height",
|
| 63 |
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"width",
|
| 64 |
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"channels"
|
| 65 |
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],
|
| 66 |
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"info": {
|
| 67 |
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"video.height": 480,
|
| 68 |
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"video.width": 640,
|
| 69 |
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"video.codec": "av1",
|
| 70 |
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"video.pix_fmt": "yuv420p",
|
| 71 |
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"video.is_depth_map": false,
|
| 72 |
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"video.fps": 30,
|
| 73 |
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"video.channels": 3,
|
| 74 |
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"has_audio": false
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
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"action": {
|
| 78 |
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"dtype": "float32",
|
| 79 |
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"shape": [
|
| 80 |
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6
|
| 81 |
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],
|
| 82 |
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"names": [
|
| 83 |
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"a_1",
|
| 84 |
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"a_2",
|
| 85 |
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"a_3",
|
| 86 |
+
"a_4",
|
| 87 |
+
"a_5",
|
| 88 |
+
"a_6"
|
| 89 |
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]
|
| 90 |
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},
|
| 91 |
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"timestamp": {
|
| 92 |
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"dtype": "float32",
|
| 93 |
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"shape": [
|
| 94 |
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1
|
| 95 |
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],
|
| 96 |
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"names": null
|
| 97 |
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},
|
| 98 |
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"frame_index": {
|
| 99 |
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"dtype": "int64",
|
| 100 |
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"shape": [
|
| 101 |
+
1
|
| 102 |
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],
|
| 103 |
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"names": null
|
| 104 |
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},
|
| 105 |
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"episode_index": {
|
| 106 |
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"dtype": "int64",
|
| 107 |
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"shape": [
|
| 108 |
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1
|
| 109 |
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],
|
| 110 |
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"names": null
|
| 111 |
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},
|
| 112 |
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"index": {
|
| 113 |
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"dtype": "int64",
|
| 114 |
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"shape": [
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| 115 |
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1
|
| 116 |
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],
|
| 117 |
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|
| 118 |
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},
|
| 119 |
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"task_index": {
|
| 120 |
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"dtype": "int64",
|
| 121 |
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"shape": [
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| 122 |
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1
|
| 123 |
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|
| 124 |
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|
| 125 |
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}
|
| 126 |
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}
|
| 127 |
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}
|
pick_objects_multiscene2/scene4/meta/modality.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"single_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 5
|
| 6 |
+
},
|
| 7 |
+
"gripper": {
|
| 8 |
+
"start": 5,
|
| 9 |
+
"end": 6
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"single_arm": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 5
|
| 16 |
+
},
|
| 17 |
+
"gripper": {
|
| 18 |
+
"start": 5,
|
| 19 |
+
"end": 6
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front": {
|
| 24 |
+
"original_key": "observation.images.front_cam"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist_cam"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"human.task_description": {
|
| 32 |
+
"original_key": "task_index"
|
| 33 |
+
}
|
| 34 |
+
}
|
| 35 |
+
}
|
pick_objects_multiscene2/scene4/meta/stats.json
ADDED
|
@@ -0,0 +1,202 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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| 4 |
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| 5 |
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| 19 |
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| 21 |
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| 27 |
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| 28 |
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|
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+
size 23124
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000045.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:0d9ff3d9777a46a8ec596d536c0875539d9e65dec0e19d1bfb1240e0e0e29052
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| 3 |
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size 20950
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000047.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d644bae2980f48952e9b277a1d10dbfe91884888b8fc1f0d11fc1ff2a8257151
|
| 3 |
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size 18427
|
pick_objects_multiscene2/scene9/data/chunk-000/episode_000048.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:008bd20bca0acba65b6dfde912ad2fb2d5e8429939f7cea67a1668d25683eeb8
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| 3 |
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size 16651
|