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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:79ed19599c21fcde25d68b53f23bcc6cca1eded2c58592b56bd94d0289ba6397
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size 1900306
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:979273c984f20ee3b3e2b9d783150baedf5b307edf9ff065363e23d9e4c70966
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size 85424
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meta/info.json
CHANGED
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@@ -1,18 +1,16 @@
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{
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-
"codebase_version": "
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| 3 |
"robot_type": "Franka",
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| 4 |
"total_episodes": 50,
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| 5 |
"total_frames": 13811,
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| 6 |
"total_tasks": 1,
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| 7 |
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"total_videos": 100,
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"fps": 10,
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"train": "0:50"
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"data_path": "data/chunk-{
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"video_path": "videos/chunk-{
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"features": {
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"action": {
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"dtype": "float64",
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"joint_5",
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"joint_6",
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"gripper"
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"observation.state": {
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"dtype": "float64",
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"joint_5",
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"joint_6",
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"gripper"
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{
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"codebase_version": "v3.0",
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"total_frames": 13811,
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"train": "0:50"
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"features": {
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"action": {
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"dtype": "float64",
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"joint_5",
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"joint_6",
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"joint_5",
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"data_files_size_in_mb": 100,
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"video_files_size_in_mb": 500
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meta/stats.json
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