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| "robot_type": null, | |
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| "total_frames": 9375, | |
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| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500, | |
| "fps": 10, | |
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| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", | |
| "features": { | |
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| 96, | |
| 3 | |
| ], | |
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| "channels" | |
| ] | |
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| ], | |
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| ] | |
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| ], | |
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| "a1", | |
| "a2", | |
| "a3", | |
| "a4", | |
| "a5", | |
| "a6", | |
| "a7" | |
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| "normalized_performance": { | |
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| "headless": true, | |
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| "render_mode": "cloth", | |
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| "deterministic": false, | |
| "save_cached_states": false | |
| } | |
| } | |
| } |