Augmented dataset from mkohegyi/oakfirst
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +150 -0
- meta/stats.json +650 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.context/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.context/chunk-001/file-000.mp4 +3 -0
- videos/observation.images.context/chunk-002/file-000.mp4 +3 -0
- videos/observation.images.context/chunk-003/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-001/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-002/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-003/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:70d1ff4dc02abd6577f3f8fc2906c552f7c439a5bc771af63ef65fc16754b882
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size 98079
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meta/episodes/chunk-000/file-000.parquet
ADDED
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+
version https://git-lfs.github.com/spec/v1
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oid sha256:a14d60b566a7c3c1e5ec236cf1778b064fe3719eb8fa547789917270f00a6bd0
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size 55061
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meta/info.json
ADDED
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@@ -0,0 +1,150 @@
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| 1 |
+
{
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| 2 |
+
"codebase_version": "v3.0",
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| 3 |
+
"robot_type": "dk1_follower",
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| 4 |
+
"total_episodes": 8,
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| 5 |
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"total_frames": 3528,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 200,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:8"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"action": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"names": [
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| 20 |
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"joint_1.pos",
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| 21 |
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"joint_2.pos",
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| 22 |
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"joint_3.pos",
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| 23 |
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"joint_4.pos",
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| 24 |
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"joint_5.pos",
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| 25 |
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"joint_6.pos",
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| 26 |
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"gripper.pos"
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| 27 |
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],
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| 28 |
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"shape": [
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| 29 |
+
7
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| 30 |
+
]
|
| 31 |
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},
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| 32 |
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"observation.state": {
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| 33 |
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"dtype": "float32",
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| 34 |
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"names": [
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| 35 |
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"joint_1.pos",
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| 36 |
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"joint_2.pos",
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| 37 |
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"joint_3.pos",
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| 38 |
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"joint_4.pos",
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| 39 |
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"joint_5.pos",
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| 40 |
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"joint_6.pos",
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| 41 |
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"gripper.pos"
|
| 42 |
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],
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| 43 |
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"shape": [
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| 44 |
+
7
|
| 45 |
+
]
|
| 46 |
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},
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| 47 |
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"observation.images.context": {
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| 48 |
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"dtype": "video",
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| 49 |
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"shape": [
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| 50 |
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480,
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| 51 |
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640,
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| 52 |
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3
|
| 53 |
+
],
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| 54 |
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"names": [
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| 55 |
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"height",
|
| 56 |
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"width",
|
| 57 |
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"channels"
|
| 58 |
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],
|
| 59 |
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"info": {
|
| 60 |
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"video.height": 480,
|
| 61 |
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"video.width": 640,
|
| 62 |
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"video.codec": "av1",
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| 63 |
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"video.pix_fmt": "yuv420p",
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| 64 |
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"video.is_depth_map": false,
|
| 65 |
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"video.fps": 30,
|
| 66 |
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"video.channels": 3,
|
| 67 |
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"has_audio": false
|
| 68 |
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}
|
| 69 |
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},
|
| 70 |
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"observation.images.wrist": {
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| 71 |
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"dtype": "video",
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| 72 |
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"shape": [
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| 73 |
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480,
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| 74 |
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640,
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| 75 |
+
3
|
| 76 |
+
],
|
| 77 |
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"names": [
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| 78 |
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"height",
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| 79 |
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"width",
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| 80 |
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"channels"
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| 81 |
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],
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| 82 |
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"info": {
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| 83 |
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"video.height": 480,
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| 84 |
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"video.width": 640,
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| 85 |
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"video.codec": "av1",
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| 86 |
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"video.pix_fmt": "yuv420p",
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| 87 |
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"video.is_depth_map": false,
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| 88 |
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"video.fps": 30,
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| 89 |
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"video.channels": 3,
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| 90 |
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"has_audio": false
|
| 91 |
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}
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| 92 |
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},
|
| 93 |
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"timestamp": {
|
| 94 |
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"dtype": "float32",
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| 95 |
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"shape": [
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| 96 |
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1
|
| 97 |
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],
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| 98 |
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"names": null
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| 99 |
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},
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| 100 |
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"frame_index": {
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| 101 |
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"dtype": "int64",
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| 102 |
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"shape": [
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| 103 |
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1
|
| 104 |
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],
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| 105 |
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"names": null
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| 106 |
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},
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| 107 |
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"episode_index": {
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| 108 |
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"dtype": "int64",
|
| 109 |
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"shape": [
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| 110 |
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1
|
| 111 |
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],
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| 112 |
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"names": null
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| 113 |
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},
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| 114 |
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"index": {
|
| 115 |
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"dtype": "int64",
|
| 116 |
+
"shape": [
|
| 117 |
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1
|
| 118 |
+
],
|
| 119 |
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"names": null
|
| 120 |
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},
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| 121 |
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"task_index": {
|
| 122 |
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"dtype": "int64",
|
| 123 |
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"shape": [
|
| 124 |
+
1
|
| 125 |
+
],
|
| 126 |
+
"names": null
|
| 127 |
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}
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| 128 |
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},
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| 129 |
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"augmentation": {
|
| 130 |
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"pipeline_mode": "stacked",
|
| 131 |
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"transforms": [
|
| 132 |
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{
|
| 133 |
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"type": "LightingAugmentation",
|
| 134 |
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"enabled": true,
|
| 135 |
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"name": "lighting",
|
| 136 |
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"brightness_min": 0.85,
|
| 137 |
+
"brightness_max": 1.15,
|
| 138 |
+
"contrast_min": 0.9,
|
| 139 |
+
"contrast_max": 1.1,
|
| 140 |
+
"color_temp_min": -1250.0,
|
| 141 |
+
"color_temp_max": 1250.0
|
| 142 |
+
}
|
| 143 |
+
],
|
| 144 |
+
"multiplier": 3,
|
| 145 |
+
"effective_copies": 3,
|
| 146 |
+
"original_episodes": 2,
|
| 147 |
+
"original_frames": 882,
|
| 148 |
+
"seed": 2093176956
|
| 149 |
+
}
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| 150 |
+
}
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meta/stats.json
ADDED
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@@ -0,0 +1,650 @@
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