Upload folder using huggingface_hub
Browse files- README.md +212 -0
- data/chunk-000/episode_000000.parquet +3 -0
- meta/.ipynb_checkpoints/episodes-checkpoint.jsonl +60 -0
- meta/episodes.jsonl +1 -0
- meta/info.json +175 -0
- meta/stats.json +428 -0
- meta/tasks.jsonl +1 -0
- videos/videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
README.md
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1 |
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---
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license: apache-2.0
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task_categories:
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- robotics
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tags:
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- LeRobot
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- so100
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- tutorial
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v2.0",
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"robot_type": "so100",
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"total_episodes": 60,
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"total_frames": 41082,
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"total_tasks": 1,
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"total_videos": 240,
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"total_chunks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:60"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"action": {
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"dtype": "float32",
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"shape": [
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7
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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper",
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"main_extra_wrist"
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]
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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+
7
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],
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"names": [
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"main_shoulder_pan",
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"main_shoulder_lift",
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"main_elbow_flex",
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"main_wrist_flex",
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"main_wrist_roll",
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"main_gripper",
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"main_extra_wrist"
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72 |
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]
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},
|
74 |
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"observation.images.laptop": {
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"dtype": "video",
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"shape": [
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480,
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78 |
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640,
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79 |
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3
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80 |
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],
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81 |
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"names": [
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"height",
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83 |
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"width",
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84 |
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"channels"
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85 |
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],
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86 |
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"info": {
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"video.fps": 30.0,
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88 |
+
"video.height": 480,
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89 |
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"video.width": 640,
|
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"video.channels": 3,
|
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"video.codec": "av1",
|
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"video.pix_fmt": "yuv420p",
|
93 |
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"video.is_depth_map": false,
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"has_audio": false
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}
|
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},
|
97 |
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"observation.images.phone": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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],
|
104 |
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"names": [
|
105 |
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"height",
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"width",
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"channels"
|
108 |
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],
|
109 |
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"info": {
|
110 |
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"video.fps": 30.0,
|
111 |
+
"video.height": 480,
|
112 |
+
"video.width": 640,
|
113 |
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"video.channels": 3,
|
114 |
+
"video.codec": "av1",
|
115 |
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"video.pix_fmt": "yuv420p",
|
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"video.is_depth_map": false,
|
117 |
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"has_audio": false
|
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}
|
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},
|
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"observation.images.Lwebcam": {
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"dtype": "video",
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"shape": [
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480,
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640,
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3
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126 |
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],
|
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"names": [
|
128 |
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"height",
|
129 |
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"width",
|
130 |
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"channels"
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131 |
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],
|
132 |
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"info": {
|
133 |
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"video.fps": 30.0,
|
134 |
+
"video.height": 480,
|
135 |
+
"video.width": 640,
|
136 |
+
"video.channels": 3,
|
137 |
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"video.codec": "av1",
|
138 |
+
"video.pix_fmt": "yuv420p",
|
139 |
+
"video.is_depth_map": false,
|
140 |
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"has_audio": false
|
141 |
+
}
|
142 |
+
},
|
143 |
+
"observation.images.macwebcam": {
|
144 |
+
"dtype": "video",
|
145 |
+
"shape": [
|
146 |
+
480,
|
147 |
+
640,
|
148 |
+
3
|
149 |
+
],
|
150 |
+
"names": [
|
151 |
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"height",
|
152 |
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"width",
|
153 |
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"channels"
|
154 |
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],
|
155 |
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"info": {
|
156 |
+
"video.fps": 30.0,
|
157 |
+
"video.height": 480,
|
158 |
+
"video.width": 640,
|
159 |
+
"video.channels": 3,
|
160 |
+
"video.codec": "av1",
|
161 |
+
"video.pix_fmt": "yuv420p",
|
162 |
+
"video.is_depth_map": false,
|
163 |
+
"has_audio": false
|
164 |
+
}
|
165 |
+
},
|
166 |
+
"timestamp": {
|
167 |
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"dtype": "float32",
|
168 |
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"shape": [
|
169 |
+
1
|
170 |
+
],
|
171 |
+
"names": null
|
172 |
+
},
|
173 |
+
"frame_index": {
|
174 |
+
"dtype": "int64",
|
175 |
+
"shape": [
|
176 |
+
1
|
177 |
+
],
|
178 |
+
"names": null
|
179 |
+
},
|
180 |
+
"episode_index": {
|
181 |
+
"dtype": "int64",
|
182 |
+
"shape": [
|
183 |
+
1
|
184 |
+
],
|
185 |
+
"names": null
|
186 |
+
},
|
187 |
+
"index": {
|
188 |
+
"dtype": "int64",
|
189 |
+
"shape": [
|
190 |
+
1
|
191 |
+
],
|
192 |
+
"names": null
|
193 |
+
},
|
194 |
+
"task_index": {
|
195 |
+
"dtype": "int64",
|
196 |
+
"shape": [
|
197 |
+
1
|
198 |
+
],
|
199 |
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"names": null
|
200 |
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}
|
201 |
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}
|
202 |
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}
|
203 |
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```
|
204 |
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|
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+
|
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## Citation
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207 |
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|
208 |
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**BibTeX:**
|
209 |
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|
210 |
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```bibtex
|
211 |
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[More Information Needed]
|
212 |
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```
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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:334ac10aaf0d7ba9052260005e8fd3fc0dbcd0a430bc5cec4f27b38f093d9e40
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size 31239
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meta/.ipynb_checkpoints/episodes-checkpoint.jsonl
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{"episode_index": 0, "tasks": ["on off mixer"], "length": 648}
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{"episode_index": 1, "tasks": ["on off mixer"], "length": 570}
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{"episode_index": 2, "tasks": ["on off mixer"], "length": 580}
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{"episode_index": 3, "tasks": ["on off mixer"], "length": 569}
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{"episode_index": 4, "tasks": ["on off mixer"], "length": 642}
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{"episode_index": 5, "tasks": ["on off mixer"], "length": 597}
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{"episode_index": 6, "tasks": ["on off mixer"], "length": 620}
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{"episode_index": 7, "tasks": ["on off mixer"], "length": 631}
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{"episode_index": 8, "tasks": ["on off mixer"], "length": 596}
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{"episode_index": 9, "tasks": ["on off mixer"], "length": 724}
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{"episode_index": 10, "tasks": ["on off mixer"], "length": 649}
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{"episode_index": 11, "tasks": ["on off mixer"], "length": 596}
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{"episode_index": 12, "tasks": ["on off mixer"], "length": 657}
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{"episode_index": 13, "tasks": ["on off mixer"], "length": 678}
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{"episode_index": 14, "tasks": ["on off mixer"], "length": 641}
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{"episode_index": 15, "tasks": ["on off mixer"], "length": 669}
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{"episode_index": 16, "tasks": ["on off mixer"], "length": 729}
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{"episode_index": 17, "tasks": ["on off mixer"], "length": 610}
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{"episode_index": 18, "tasks": ["on off mixer"], "length": 708}
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{"episode_index": 19, "tasks": ["on off mixer"], "length": 764}
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{"episode_index": 20, "tasks": ["on off mixer"], "length": 701}
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{"episode_index": 21, "tasks": ["on off mixer"], "length": 663}
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{"episode_index": 22, "tasks": ["on off mixer"], "length": 767}
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{"episode_index": 23, "tasks": ["on off mixer"], "length": 649}
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{"episode_index": 24, "tasks": ["on off mixer"], "length": 675}
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{"episode_index": 25, "tasks": ["on off mixer"], "length": 589}
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{"episode_index": 26, "tasks": ["on off mixer"], "length": 708}
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{"episode_index": 27, "tasks": ["on off mixer"], "length": 796}
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{"episode_index": 28, "tasks": ["on off mixer"], "length": 710}
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{"episode_index": 29, "tasks": ["on off mixer"], "length": 692}
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{"episode_index": 30, "tasks": ["on off mixer"], "length": 789}
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{"episode_index": 31, "tasks": ["on off mixer"], "length": 817}
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{"episode_index": 32, "tasks": ["on off mixer"], "length": 771}
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{"episode_index": 33, "tasks": ["on off mixer"], "length": 701}
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{"episode_index": 34, "tasks": ["on off mixer"], "length": 724}
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{"episode_index": 35, "tasks": ["on off mixer"], "length": 786}
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{"episode_index": 36, "tasks": ["on off mixer"], "length": 723}
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{"episode_index": 37, "tasks": ["on off mixer"], "length": 670}
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{"episode_index": 38, "tasks": ["on off mixer"], "length": 679}
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{"episode_index": 39, "tasks": ["on off mixer"], "length": 673}
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{"episode_index": 40, "tasks": ["on off mixer"], "length": 801}
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{"episode_index": 41, "tasks": ["on off mixer"], "length": 876}
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{"episode_index": 42, "tasks": ["on off mixer"], "length": 615}
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{"episode_index": 43, "tasks": ["on off mixer"], "length": 706}
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{"episode_index": 44, "tasks": ["on off mixer"], "length": 735}
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{"episode_index": 45, "tasks": ["on off mixer"], "length": 633}
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{"episode_index": 46, "tasks": ["on off mixer"], "length": 773}
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{"episode_index": 47, "tasks": ["on off mixer"], "length": 680}
|
49 |
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{"episode_index": 48, "tasks": ["on off mixer"], "length": 687}
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50 |
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{"episode_index": 49, "tasks": ["on off mixer"], "length": 888}
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51 |
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{"episode_index": 50, "tasks": ["on off mixer"], "length": 806}
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52 |
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{"episode_index": 51, "tasks": ["on off mixer"], "length": 895}
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53 |
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{"episode_index": 52, "tasks": ["on off mixer"], "length": 1}
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{"episode_index": 53, "tasks": ["on off mixer"], "length": 703}
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55 |
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{"episode_index": 54, "tasks": ["on off mixer"], "length": 824}
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56 |
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{"episode_index": 55, "tasks": ["on off mixer"], "length": 775}
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{"episode_index": 56, "tasks": ["on off mixer"], "length": 732}
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{"episode_index": 57, "tasks": ["on off mixer"], "length": 895}
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{"episode_index": 58, "tasks": ["on off mixer"], "length": 1}
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{"episode_index": 59, "tasks": ["on off mixer"], "length": 895}
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Turn on/off the mixer"], "length": 648}
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meta/info.json
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meta/tasks.jsonl
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{"task_index": 0, "task": "Turn on/off the mixer"}
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videos/videos/chunk-000/observation.images.phone/episode_000000.mp4
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