Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-003.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +238 -0
- meta/stats.json +1009 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.left_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.left_wrist/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.top/chunk-000/file-003.mp4 +3 -0
data/chunk-000/file-000.parquet
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data/chunk-000/file-003.parquet
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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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|
meta/stats.json
ADDED
|
@@ -0,0 +1,1009 @@
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| 1 |
+
{
|
| 2 |
+
"skill.goal_position.gripper": {
|
| 3 |
+
"min": [
|
| 4 |
+
0.0
|
| 5 |
+
],
|
| 6 |
+
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