Datasets:
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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/episodes.jsonl +2 -0
- meta/info.json +127 -0
- meta/stats.json +280 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.front/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.front/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.phone/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:f9512a82a26bf1834ba0be8ab301594b69a9e3b673625dcdee45ecabc8e075c4
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size 13684
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:9e3f64c9bb852e6a91d27672579c09013a5b1c1ccdfc7b5c8abf70e04427b7f3
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size 10393
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp a blue paper tape and put it in the bin."], "length": 234}
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{"episode_index": 1, "tasks": ["Grasp a blue paper tape and put it in the bin."], "length": 159}
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meta/info.json
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meta/stats.json
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