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.laptop/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.laptop/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:d199ff2896b0fcfd40ecd70934cd734c1ca8cc8d269f4567c93c29554b145247
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size 121309
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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 sha256:161cbb72addf2f2e25b1dc90204dfd0a68bf6badbb38459609233001d3f938ad
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size 120058
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["cube"], "length": 2667}
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{"episode_index": 1, "tasks": ["cube"], "length": 2666}
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meta/info.json
ADDED
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{
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meta/stats.json
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