Add files using upload-large-folder tool
Browse files- README.md +9 -0
- data/chunk-000/file-000.parquet +3 -0
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- meta/ee_transform.json +70 -0
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- meta/quaternion_continuity.json +4 -0
- meta/source_manifest.json +1202 -0
- meta/stats.json +0 -0
- meta/tasks.parquet +3 -0
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- videos/observation.images.left_cam/chunk-000/file-011.mp4 +3 -0
README.md
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---
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tags:
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- LeRobot
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- robotics
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---
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# UMI 1-150 EE fix
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Derived from `kimyg119/Box_palletizing_UMI_ep_1_150_filtered_20260919` by right-multiplying the supplied left/right tracker-to-EE transforms into both `observation.state` and `action`. The source covers logical episodes 1-150 and retains 144 episodes after its existing short-episode filter. Exact matrices and the composition convention are recorded in `meta/ee_transform.json`.
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meta/ee_transform.json
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{
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"repo_id": "kimyg119/UMI_1-50_EE_FIX",
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"source_dataset": "/home/rcv/.cache/huggingface/lerobot/kimyg119/Box_palletizing_UMI_ep_1_150_filtered_20260919",
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"source_repo_id": "kimyg119/Box_palletizing_UMI_ep_1_150_filtered_20260919",
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"source_logical_episode_range": [
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1,
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150
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],
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"source_retained_episodes": 144,
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"source_total_frames": 270283,
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"operation": "T_base_EE = T_base_pose @ T_Tracker_EE",
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"pose_layout": "xyz + quaternion_xyzw",
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"features_modified": [
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"observation.state",
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"action"
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],
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"head_yaw_modified": false,
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"T_RightTracker_RightEE": [
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"T_LeftTracker_LeftEE": [
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[
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}
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meta/episodes/chunk-000/file-000.parquet
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meta/info.json
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{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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"fps": 30,
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| 4 |
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"features": {
|
| 5 |
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"action": {
|
| 6 |
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"dtype": "float32",
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| 7 |
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"names": [
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| 8 |
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"left_ee.x",
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| 9 |
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"left_ee.y",
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| 10 |
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"left_ee.z",
|
| 11 |
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|
| 12 |
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"left_ee.qy",
|
| 13 |
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|
| 14 |
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"left_ee.qw",
|
| 15 |
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|
| 16 |
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"right_ee.y",
|
| 17 |
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"right_ee.z",
|
| 18 |
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"right_ee.qx",
|
| 19 |
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"right_ee.qy",
|
| 20 |
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"right_ee.qz",
|
| 21 |
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|
| 22 |
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"head.yaw"
|
| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 77 |
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| 78 |
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|
| 79 |
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|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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|
| 85 |
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|
| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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| 96 |
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| 97 |
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| 100 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 137 |
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| 140 |
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| 142 |
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|
| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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|
| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 172 |
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| 175 |
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| 176 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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| 189 |
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|
| 190 |
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| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 204 |
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| 205 |
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| 206 |
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|
| 207 |
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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|
| 213 |
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| 214 |
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| 215 |
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|
| 216 |
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| 217 |
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| 218 |
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| 219 |
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| 220 |
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| 221 |
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| 222 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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| 229 |
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| 230 |
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| 231 |
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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| 239 |
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|
| 240 |
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| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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"video_files_size_in_mb": 200,
|
| 286 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 287 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 288 |
+
"robot_type": "igris_c_umi",
|
| 289 |
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|
| 290 |
+
"train": "0:144"
|
| 291 |
+
}
|
| 292 |
+
}
|
meta/quaternion_continuity.json
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"left_quaternion_rows_flipped": 2336,
|
| 3 |
+
"right_quaternion_rows_flipped": 41019
|
| 4 |
+
}
|
meta/source_manifest.json
ADDED
|
@@ -0,0 +1,1202 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"logical_episode": 1,
|
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