Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- meta/episodes.jsonl +1 -0
- meta/info.json +110 -0
- meta/stats.json +414 -0
- meta/tasks.jsonl +1 -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:e074128cf9a5cb952e705c6ab404a113bc9d20f6ac0a77eecd421bec1c1ba1f8
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size 90144063
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["pick the red cube"], "length": 165}
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meta/info.json
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{
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meta/stats.json
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meta/tasks.jsonl
ADDED
@@ -0,0 +1 @@
|
|
|
|
|
1 |
+
{"task_index": 0, "task": "pick the red cube"}
|