Datasets:
Tasks:
Robotics
Formats:
parquet
Languages:
English
Size:
100M - 1B
ArXiv:
Tags:
robotics
robot-learning
robot-manipulation
imitation-learning
vision-language-action
world-action-model
License:
Add files using upload-large-folder tool
Browse files- chunk-0041/part-0000/_SUCCESS +1 -0
- chunk-0041/part-0000/meta/info.json +392 -0
- chunk-0041/part-0000/meta/modality.json +106 -0
- chunk-0041/part-0000/meta/stats.json +914 -0
- chunk-0042/part-0000/_SUCCESS +1 -0
- chunk-0042/part-0000/meta/info.json +392 -0
- chunk-0042/part-0000/meta/modality.json +106 -0
- chunk-0042/part-0000/meta/stats.json +914 -0
- chunk-0043/part-0000/_SUCCESS +1 -0
- chunk-0043/part-0000/meta/info.json +392 -0
- chunk-0043/part-0000/meta/modality.json +106 -0
- chunk-0043/part-0000/meta/stats.json +914 -0
chunk-0041/part-0000/_SUCCESS
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{"batch_index": 0, "batch_name": "part-0000", "conversion_signature": "d6875fb7f1397c9e8150d0b75eb337c3cbf2d3b4", "created_at_unix": 1784217440.1803472, "input_bytes": 21467183065, "input_signature": "46dd79324872e600300479c5978348349cba28a6", "sample_count": 1136, "script": "convert_standard_umi_alike_to_lerobotv3_tos.py", "status": "success", "uploaded_bytes": 40569117650, "uploaded_count": 12, "video_profile": "medium_native_mosaic"}
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chunk-0041/part-0000/meta/info.json
ADDED
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| 1 |
+
{
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| 2 |
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"codebase_version": "v3.0",
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| 3 |
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| 221 |
+
1
|
| 222 |
+
],
|
| 223 |
+
"names": null,
|
| 224 |
+
"fps": 25.0
|
| 225 |
+
},
|
| 226 |
+
"task_index": {
|
| 227 |
+
"dtype": "int64",
|
| 228 |
+
"shape": [
|
| 229 |
+
1
|
| 230 |
+
],
|
| 231 |
+
"names": null,
|
| 232 |
+
"fps": 25.0
|
| 233 |
+
},
|
| 234 |
+
"valid.frame": {
|
| 235 |
+
"dtype": "bool",
|
| 236 |
+
"shape": [
|
| 237 |
+
1
|
| 238 |
+
],
|
| 239 |
+
"names": null,
|
| 240 |
+
"fps": 25.0
|
| 241 |
+
}
|
| 242 |
+
},
|
| 243 |
+
"data_files_size_in_mb": 100,
|
| 244 |
+
"video_files_size_in_mb": 500,
|
| 245 |
+
"state_layout": {
|
| 246 |
+
"feature": "observation.state",
|
| 247 |
+
"order": [
|
| 248 |
+
"right",
|
| 249 |
+
"left"
|
| 250 |
+
],
|
| 251 |
+
"per_side": [
|
| 252 |
+
"x",
|
| 253 |
+
"y",
|
| 254 |
+
"z",
|
| 255 |
+
"rot6d_0",
|
| 256 |
+
"rot6d_1",
|
| 257 |
+
"rot6d_2",
|
| 258 |
+
"rot6d_3",
|
| 259 |
+
"rot6d_4",
|
| 260 |
+
"rot6d_5",
|
| 261 |
+
"gripper_angle_rad"
|
| 262 |
+
],
|
| 263 |
+
"rotation_6d_layout": "first_two_rows",
|
| 264 |
+
"gripper_unit": "rad",
|
| 265 |
+
"invalid_policy": "carry_forward_state_with_observation.state_valid_false"
|
| 266 |
+
},
|
| 267 |
+
"action_layout": {
|
| 268 |
+
"feature": "action",
|
| 269 |
+
"type": "absolute_next_state_target",
|
| 270 |
+
"order": [
|
| 271 |
+
"right",
|
| 272 |
+
"left"
|
| 273 |
+
],
|
| 274 |
+
"per_side": [
|
| 275 |
+
"x",
|
| 276 |
+
"y",
|
| 277 |
+
"z",
|
| 278 |
+
"rot6d_0",
|
| 279 |
+
"rot6d_1",
|
| 280 |
+
"rot6d_2",
|
| 281 |
+
"rot6d_3",
|
| 282 |
+
"rot6d_4",
|
| 283 |
+
"rot6d_5",
|
| 284 |
+
"target_gripper_angle_rad"
|
| 285 |
+
],
|
| 286 |
+
"rotation_6d_layout": "first_two_rows",
|
| 287 |
+
"gripper_unit": "rad",
|
| 288 |
+
"shift_policy": "action rows are [state_1, state_2, ..., state_last, state_last]; single-frame episodes use state_0"
|
| 289 |
+
},
|
| 290 |
+
"video_processing": {
|
| 291 |
+
"source": "materialized_from_extra_video_proxy_medium_frame_index_or_implicit_row_index",
|
| 292 |
+
"media_policy": "video streams are read from extra/video_proxy_medium; samples missing any required stream are skipped",
|
| 293 |
+
"present_media_policy": "invalid frame indices on present streams set valid.frame=false and are encoded as black frames",
|
| 294 |
+
"read_policy": "sequential_when_frame_indices_are_nondecreasing_else_seek_cache",
|
| 295 |
+
"read_modes_used": [
|
| 296 |
+
"sequential"
|
| 297 |
+
],
|
| 298 |
+
"video_profile": "medium_native_mosaic",
|
| 299 |
+
"crop": "none",
|
| 300 |
+
"resize": null,
|
| 301 |
+
"output_sizes": {
|
| 302 |
+
"observation.images.head_main": [
|
| 303 |
+
640,
|
| 304 |
+
512
|
| 305 |
+
],
|
| 306 |
+
"observation.images.head_main_stereo_right": [
|
| 307 |
+
640,
|
| 308 |
+
512
|
| 309 |
+
],
|
| 310 |
+
"observation.images.left_hand_down": [
|
| 311 |
+
640,
|
| 312 |
+
512
|
| 313 |
+
],
|
| 314 |
+
"observation.images.left_hand_up": [
|
| 315 |
+
640,
|
| 316 |
+
512
|
| 317 |
+
],
|
| 318 |
+
"observation.images.right_hand_down": [
|
| 319 |
+
640,
|
| 320 |
+
512
|
| 321 |
+
],
|
| 322 |
+
"observation.images.right_hand_up": [
|
| 323 |
+
640,
|
| 324 |
+
512
|
| 325 |
+
]
|
| 326 |
+
},
|
| 327 |
+
"face_anonymization": {
|
| 328 |
+
"enabled": true,
|
| 329 |
+
"failure_policy": "fail_closed_per_sample",
|
| 330 |
+
"faces_json_policy": "reuse_valid_streams_detect_missing",
|
| 331 |
+
"model": "yolov11s-face.pt",
|
| 332 |
+
"device": "auto",
|
| 333 |
+
"batch_size": 64,
|
| 334 |
+
"mosaic": {
|
| 335 |
+
"box_scale": 1.15,
|
| 336 |
+
"center_fraction": 0.45,
|
| 337 |
+
"pixel_block": 12,
|
| 338 |
+
"feather_px": 8,
|
| 339 |
+
"opacity": 0.92,
|
| 340 |
+
"center_mean_mix": 0.08,
|
| 341 |
+
"shape": "ellipse"
|
| 342 |
+
},
|
| 343 |
+
"total_detected_faces": 665789
|
| 344 |
+
},
|
| 345 |
+
"codec": "h264",
|
| 346 |
+
"gop_size": 4,
|
| 347 |
+
"backend_requested": "auto",
|
| 348 |
+
"backend_used": [
|
| 349 |
+
"gpu"
|
| 350 |
+
],
|
| 351 |
+
"decode_backend_requested": "cpu",
|
| 352 |
+
"decode_backend_used": [
|
| 353 |
+
"cpu"
|
| 354 |
+
],
|
| 355 |
+
"frame_preprocess_requested": "cpu",
|
| 356 |
+
"frame_preprocess_used": [
|
| 357 |
+
"cpu_native_mosaic"
|
| 358 |
+
],
|
| 359 |
+
"pix_fmt": "yuv420p",
|
| 360 |
+
"crf_or_cq": 20,
|
| 361 |
+
"aligned_video_frames": "one video frame per data row"
|
| 362 |
+
},
|
| 363 |
+
"parallelism": {
|
| 364 |
+
"workers": 16,
|
| 365 |
+
"video_workers": 8,
|
| 366 |
+
"progress": true,
|
| 367 |
+
"order_policy": "parallel tasks are written back by sorted sample index before parquet writing and video concat"
|
| 368 |
+
},
|
| 369 |
+
"invalid_policy": {
|
| 370 |
+
"training_filter": "valid.frame == true",
|
| 371 |
+
"state": "state requires both eef pose and selected gripper valid",
|
| 372 |
+
"media": "present media rows require valid frame indices; samples missing required extra/selected video profile streams are skipped"
|
| 373 |
+
},
|
| 374 |
+
"source": {
|
| 375 |
+
"format": "robot_sample_v1_sparse_revision",
|
| 376 |
+
"converter": "convert_standard_umi_alike_to_lerobotv3.py",
|
| 377 |
+
"robot_types": [
|
| 378 |
+
"simpleai_umi_4.0"
|
| 379 |
+
],
|
| 380 |
+
"robot_type_source": "revision_json_embodiment_name",
|
| 381 |
+
"media_map": {
|
| 382 |
+
"head_main": "observation.images.head_main",
|
| 383 |
+
"head_main_stereo_right": "observation.images.head_main_stereo_right",
|
| 384 |
+
"left_hand_down": "observation.images.left_hand_down",
|
| 385 |
+
"left_hand_up": "observation.images.left_hand_up",
|
| 386 |
+
"right_hand_down": "observation.images.right_hand_down",
|
| 387 |
+
"right_hand_up": "observation.images.right_hand_up"
|
| 388 |
+
},
|
| 389 |
+
"media_key_source": "revision_json_components_media_key",
|
| 390 |
+
"gripper_mode": "angle"
|
| 391 |
+
}
|
| 392 |
+
}
|
chunk-0041/part-0000/meta/modality.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"_README": [
|
| 3 |
+
"UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
|
| 4 |
+
"state/action vectors are [right_10d, left_10d].",
|
| 5 |
+
"Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
|
| 6 |
+
"Actions are absolute next-state targets with the final target repeated at the last row.",
|
| 7 |
+
"Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
|
| 8 |
+
],
|
| 9 |
+
"state": {
|
| 10 |
+
"right_eef_pose": {
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 9,
|
| 13 |
+
"rotation_type": "rotation_6d",
|
| 14 |
+
"rotation_6d_layout": "first_two_rows",
|
| 15 |
+
"absolute": true,
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"original_key": "observation.state"
|
| 18 |
+
},
|
| 19 |
+
"right_eef_gripper": {
|
| 20 |
+
"start": 9,
|
| 21 |
+
"end": 10,
|
| 22 |
+
"absolute": true,
|
| 23 |
+
"dtype": "float32",
|
| 24 |
+
"unit": "rad",
|
| 25 |
+
"original_key": "observation.state"
|
| 26 |
+
},
|
| 27 |
+
"left_eef_pose": {
|
| 28 |
+
"start": 10,
|
| 29 |
+
"end": 19,
|
| 30 |
+
"rotation_type": "rotation_6d",
|
| 31 |
+
"rotation_6d_layout": "first_two_rows",
|
| 32 |
+
"absolute": true,
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"original_key": "observation.state"
|
| 35 |
+
},
|
| 36 |
+
"left_eef_gripper": {
|
| 37 |
+
"start": 19,
|
| 38 |
+
"end": 20,
|
| 39 |
+
"absolute": true,
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"unit": "rad",
|
| 42 |
+
"original_key": "observation.state"
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"action": {
|
| 46 |
+
"right_eef_pose": {
|
| 47 |
+
"start": 0,
|
| 48 |
+
"end": 9,
|
| 49 |
+
"rotation_type": "rotation_6d",
|
| 50 |
+
"rotation_6d_layout": "first_two_rows",
|
| 51 |
+
"absolute": true,
|
| 52 |
+
"dtype": "float32",
|
| 53 |
+
"original_key": "action"
|
| 54 |
+
},
|
| 55 |
+
"right_eef_gripper": {
|
| 56 |
+
"start": 9,
|
| 57 |
+
"end": 10,
|
| 58 |
+
"absolute": true,
|
| 59 |
+
"dtype": "float32",
|
| 60 |
+
"unit": "rad",
|
| 61 |
+
"original_key": "action"
|
| 62 |
+
},
|
| 63 |
+
"left_eef_pose": {
|
| 64 |
+
"start": 10,
|
| 65 |
+
"end": 19,
|
| 66 |
+
"rotation_type": "rotation_6d",
|
| 67 |
+
"rotation_6d_layout": "first_two_rows",
|
| 68 |
+
"absolute": true,
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"original_key": "action"
|
| 71 |
+
},
|
| 72 |
+
"left_eef_gripper": {
|
| 73 |
+
"start": 19,
|
| 74 |
+
"end": 20,
|
| 75 |
+
"absolute": true,
|
| 76 |
+
"dtype": "float32",
|
| 77 |
+
"unit": "rad",
|
| 78 |
+
"original_key": "action"
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"video": {
|
| 82 |
+
"head_main": {
|
| 83 |
+
"original_key": "observation.images.head_main"
|
| 84 |
+
},
|
| 85 |
+
"head_main_stereo_right": {
|
| 86 |
+
"original_key": "observation.images.head_main_stereo_right"
|
| 87 |
+
},
|
| 88 |
+
"left_hand_down": {
|
| 89 |
+
"original_key": "observation.images.left_hand_down"
|
| 90 |
+
},
|
| 91 |
+
"left_hand_up": {
|
| 92 |
+
"original_key": "observation.images.left_hand_up"
|
| 93 |
+
},
|
| 94 |
+
"right_hand_down": {
|
| 95 |
+
"original_key": "observation.images.right_hand_down"
|
| 96 |
+
},
|
| 97 |
+
"right_hand_up": {
|
| 98 |
+
"original_key": "observation.images.right_hand_up"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"annotation": {
|
| 102 |
+
"human.action.task_description": {
|
| 103 |
+
"original_key": "task_index"
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
}
|
chunk-0041/part-0000/meta/stats.json
ADDED
|
@@ -0,0 +1,914 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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[
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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[
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| 15 |
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|
| 16 |
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| 17 |
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| 18 |
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|
| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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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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[
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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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| 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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| 61 |
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| 62 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 71 |
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| 74 |
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| 75 |
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| 77 |
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| 91 |
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| 92 |
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| 93 |
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chunk-0042/part-0000/_SUCCESS
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| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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| 20 |
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| 21 |
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| 22 |
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| 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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| 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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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
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|
| 82 |
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|
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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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3,
|
| 89 |
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512,
|
| 90 |
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640
|
| 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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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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3,
|
| 112 |
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512,
|
| 113 |
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640
|
| 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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|
| 127 |
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|
| 128 |
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|
| 129 |
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}
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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3,
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| 135 |
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512,
|
| 136 |
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640
|
| 137 |
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],
|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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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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|
| 148 |
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|
| 149 |
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|
| 150 |
+
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|
| 151 |
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|
| 152 |
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}
|
| 153 |
+
},
|
| 154 |
+
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|
| 155 |
+
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|
| 156 |
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|
| 157 |
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20
|
| 158 |
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],
|
| 159 |
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|
| 160 |
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|
| 161 |
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],
|
| 162 |
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|
| 163 |
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},
|
| 164 |
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|
| 165 |
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"dtype": "bool",
|
| 166 |
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|
| 167 |
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20
|
| 168 |
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| 169 |
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|
| 170 |
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|
| 171 |
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],
|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
+
"shape": [
|
| 177 |
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20
|
| 178 |
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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 |
+
},
|
| 184 |
+
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|
| 185 |
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"dtype": "bool",
|
| 186 |
+
"shape": [
|
| 187 |
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20
|
| 188 |
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],
|
| 189 |
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|
| 190 |
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"action_dim"
|
| 191 |
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],
|
| 192 |
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|
| 193 |
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},
|
| 194 |
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"timestamp": {
|
| 195 |
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|
| 196 |
+
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|
| 197 |
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1
|
| 198 |
+
],
|
| 199 |
+
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|
| 200 |
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|
| 201 |
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},
|
| 202 |
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|
| 203 |
+
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|
| 204 |
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|
| 205 |
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1
|
| 206 |
+
],
|
| 207 |
+
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|
| 208 |
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|
| 209 |
+
},
|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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1
|
| 214 |
+
],
|
| 215 |
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|
| 216 |
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|
| 217 |
+
},
|
| 218 |
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"index": {
|
| 219 |
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|
| 220 |
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|
| 221 |
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1
|
| 222 |
+
],
|
| 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 |
+
"shape": [
|
| 229 |
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1
|
| 230 |
+
],
|
| 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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"dtype": "bool",
|
| 236 |
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"shape": [
|
| 237 |
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1
|
| 238 |
+
],
|
| 239 |
+
"names": null,
|
| 240 |
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"fps": 25.0
|
| 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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"feature": "observation.state",
|
| 247 |
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|
| 248 |
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"right",
|
| 249 |
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"left"
|
| 250 |
+
],
|
| 251 |
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|
| 252 |
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"x",
|
| 253 |
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"y",
|
| 254 |
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"z",
|
| 255 |
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"rot6d_0",
|
| 256 |
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"rot6d_1",
|
| 257 |
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"rot6d_2",
|
| 258 |
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"rot6d_3",
|
| 259 |
+
"rot6d_4",
|
| 260 |
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"rot6d_5",
|
| 261 |
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"gripper_angle_rad"
|
| 262 |
+
],
|
| 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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"feature": "action",
|
| 269 |
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"type": "absolute_next_state_target",
|
| 270 |
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"order": [
|
| 271 |
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"right",
|
| 272 |
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"left"
|
| 273 |
+
],
|
| 274 |
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|
| 275 |
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"x",
|
| 276 |
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"y",
|
| 277 |
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"z",
|
| 278 |
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"rot6d_0",
|
| 279 |
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"rot6d_1",
|
| 280 |
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"rot6d_2",
|
| 281 |
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"rot6d_3",
|
| 282 |
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"rot6d_4",
|
| 283 |
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"rot6d_5",
|
| 284 |
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"target_gripper_angle_rad"
|
| 285 |
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],
|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
+
},
|
| 290 |
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|
| 291 |
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"source": "materialized_from_extra_video_proxy_medium_frame_index_or_implicit_row_index",
|
| 292 |
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"media_policy": "video streams are read from extra/video_proxy_medium; samples missing any required stream are skipped",
|
| 293 |
+
"present_media_policy": "invalid frame indices on present streams set valid.frame=false and are encoded as black frames",
|
| 294 |
+
"read_policy": "sequential_when_frame_indices_are_nondecreasing_else_seek_cache",
|
| 295 |
+
"read_modes_used": [
|
| 296 |
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"sequential"
|
| 297 |
+
],
|
| 298 |
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"video_profile": "medium_native_mosaic",
|
| 299 |
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|
| 300 |
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|
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|
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|
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640,
|
| 304 |
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512
|
| 305 |
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],
|
| 306 |
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|
| 307 |
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640,
|
| 308 |
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512
|
| 309 |
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|
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640,
|
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512
|
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|
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640,
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512
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|
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"observation.images.right_hand_down": [
|
| 319 |
+
640,
|
| 320 |
+
512
|
| 321 |
+
],
|
| 322 |
+
"observation.images.right_hand_up": [
|
| 323 |
+
640,
|
| 324 |
+
512
|
| 325 |
+
]
|
| 326 |
+
},
|
| 327 |
+
"face_anonymization": {
|
| 328 |
+
"enabled": true,
|
| 329 |
+
"failure_policy": "fail_closed_per_sample",
|
| 330 |
+
"faces_json_policy": "reuse_valid_streams_detect_missing",
|
| 331 |
+
"model": "yolov11s-face.pt",
|
| 332 |
+
"device": "auto",
|
| 333 |
+
"batch_size": 64,
|
| 334 |
+
"mosaic": {
|
| 335 |
+
"box_scale": 1.15,
|
| 336 |
+
"center_fraction": 0.45,
|
| 337 |
+
"pixel_block": 12,
|
| 338 |
+
"feather_px": 8,
|
| 339 |
+
"opacity": 0.92,
|
| 340 |
+
"center_mean_mix": 0.08,
|
| 341 |
+
"shape": "ellipse"
|
| 342 |
+
},
|
| 343 |
+
"total_detected_faces": 709077
|
| 344 |
+
},
|
| 345 |
+
"codec": "h264",
|
| 346 |
+
"gop_size": 4,
|
| 347 |
+
"backend_requested": "auto",
|
| 348 |
+
"backend_used": [
|
| 349 |
+
"gpu"
|
| 350 |
+
],
|
| 351 |
+
"decode_backend_requested": "cpu",
|
| 352 |
+
"decode_backend_used": [
|
| 353 |
+
"cpu"
|
| 354 |
+
],
|
| 355 |
+
"frame_preprocess_requested": "cpu",
|
| 356 |
+
"frame_preprocess_used": [
|
| 357 |
+
"cpu_native_mosaic"
|
| 358 |
+
],
|
| 359 |
+
"pix_fmt": "yuv420p",
|
| 360 |
+
"crf_or_cq": 20,
|
| 361 |
+
"aligned_video_frames": "one video frame per data row"
|
| 362 |
+
},
|
| 363 |
+
"parallelism": {
|
| 364 |
+
"workers": 16,
|
| 365 |
+
"video_workers": 8,
|
| 366 |
+
"progress": true,
|
| 367 |
+
"order_policy": "parallel tasks are written back by sorted sample index before parquet writing and video concat"
|
| 368 |
+
},
|
| 369 |
+
"invalid_policy": {
|
| 370 |
+
"training_filter": "valid.frame == true",
|
| 371 |
+
"state": "state requires both eef pose and selected gripper valid",
|
| 372 |
+
"media": "present media rows require valid frame indices; samples missing required extra/selected video profile streams are skipped"
|
| 373 |
+
},
|
| 374 |
+
"source": {
|
| 375 |
+
"format": "robot_sample_v1_sparse_revision",
|
| 376 |
+
"converter": "convert_standard_umi_alike_to_lerobotv3.py",
|
| 377 |
+
"robot_types": [
|
| 378 |
+
"simpleai_umi_4.0"
|
| 379 |
+
],
|
| 380 |
+
"robot_type_source": "revision_json_embodiment_name",
|
| 381 |
+
"media_map": {
|
| 382 |
+
"head_main": "observation.images.head_main",
|
| 383 |
+
"head_main_stereo_right": "observation.images.head_main_stereo_right",
|
| 384 |
+
"left_hand_down": "observation.images.left_hand_down",
|
| 385 |
+
"left_hand_up": "observation.images.left_hand_up",
|
| 386 |
+
"right_hand_down": "observation.images.right_hand_down",
|
| 387 |
+
"right_hand_up": "observation.images.right_hand_up"
|
| 388 |
+
},
|
| 389 |
+
"media_key_source": "revision_json_components_media_key",
|
| 390 |
+
"gripper_mode": "angle"
|
| 391 |
+
}
|
| 392 |
+
}
|
chunk-0042/part-0000/meta/modality.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"_README": [
|
| 3 |
+
"UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
|
| 4 |
+
"state/action vectors are [right_10d, left_10d].",
|
| 5 |
+
"Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
|
| 6 |
+
"Actions are absolute next-state targets with the final target repeated at the last row.",
|
| 7 |
+
"Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
|
| 8 |
+
],
|
| 9 |
+
"state": {
|
| 10 |
+
"right_eef_pose": {
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 9,
|
| 13 |
+
"rotation_type": "rotation_6d",
|
| 14 |
+
"rotation_6d_layout": "first_two_rows",
|
| 15 |
+
"absolute": true,
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"original_key": "observation.state"
|
| 18 |
+
},
|
| 19 |
+
"right_eef_gripper": {
|
| 20 |
+
"start": 9,
|
| 21 |
+
"end": 10,
|
| 22 |
+
"absolute": true,
|
| 23 |
+
"dtype": "float32",
|
| 24 |
+
"unit": "rad",
|
| 25 |
+
"original_key": "observation.state"
|
| 26 |
+
},
|
| 27 |
+
"left_eef_pose": {
|
| 28 |
+
"start": 10,
|
| 29 |
+
"end": 19,
|
| 30 |
+
"rotation_type": "rotation_6d",
|
| 31 |
+
"rotation_6d_layout": "first_two_rows",
|
| 32 |
+
"absolute": true,
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"original_key": "observation.state"
|
| 35 |
+
},
|
| 36 |
+
"left_eef_gripper": {
|
| 37 |
+
"start": 19,
|
| 38 |
+
"end": 20,
|
| 39 |
+
"absolute": true,
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"unit": "rad",
|
| 42 |
+
"original_key": "observation.state"
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"action": {
|
| 46 |
+
"right_eef_pose": {
|
| 47 |
+
"start": 0,
|
| 48 |
+
"end": 9,
|
| 49 |
+
"rotation_type": "rotation_6d",
|
| 50 |
+
"rotation_6d_layout": "first_two_rows",
|
| 51 |
+
"absolute": true,
|
| 52 |
+
"dtype": "float32",
|
| 53 |
+
"original_key": "action"
|
| 54 |
+
},
|
| 55 |
+
"right_eef_gripper": {
|
| 56 |
+
"start": 9,
|
| 57 |
+
"end": 10,
|
| 58 |
+
"absolute": true,
|
| 59 |
+
"dtype": "float32",
|
| 60 |
+
"unit": "rad",
|
| 61 |
+
"original_key": "action"
|
| 62 |
+
},
|
| 63 |
+
"left_eef_pose": {
|
| 64 |
+
"start": 10,
|
| 65 |
+
"end": 19,
|
| 66 |
+
"rotation_type": "rotation_6d",
|
| 67 |
+
"rotation_6d_layout": "first_two_rows",
|
| 68 |
+
"absolute": true,
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"original_key": "action"
|
| 71 |
+
},
|
| 72 |
+
"left_eef_gripper": {
|
| 73 |
+
"start": 19,
|
| 74 |
+
"end": 20,
|
| 75 |
+
"absolute": true,
|
| 76 |
+
"dtype": "float32",
|
| 77 |
+
"unit": "rad",
|
| 78 |
+
"original_key": "action"
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"video": {
|
| 82 |
+
"head_main": {
|
| 83 |
+
"original_key": "observation.images.head_main"
|
| 84 |
+
},
|
| 85 |
+
"head_main_stereo_right": {
|
| 86 |
+
"original_key": "observation.images.head_main_stereo_right"
|
| 87 |
+
},
|
| 88 |
+
"left_hand_down": {
|
| 89 |
+
"original_key": "observation.images.left_hand_down"
|
| 90 |
+
},
|
| 91 |
+
"left_hand_up": {
|
| 92 |
+
"original_key": "observation.images.left_hand_up"
|
| 93 |
+
},
|
| 94 |
+
"right_hand_down": {
|
| 95 |
+
"original_key": "observation.images.right_hand_down"
|
| 96 |
+
},
|
| 97 |
+
"right_hand_up": {
|
| 98 |
+
"original_key": "observation.images.right_hand_up"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"annotation": {
|
| 102 |
+
"human.action.task_description": {
|
| 103 |
+
"original_key": "task_index"
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
}
|
chunk-0042/part-0000/meta/stats.json
ADDED
|
@@ -0,0 +1,914 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
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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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chunk-0043/part-0000/_SUCCESS
ADDED
|
@@ -0,0 +1 @@
|
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|
| 1 |
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{"batch_index": 0, "batch_name": "part-0000", "conversion_signature": "d6875fb7f1397c9e8150d0b75eb337c3cbf2d3b4", "created_at_unix": 1784218943.9537723, "input_bytes": 21459390449, "input_signature": "02d8d091d349cb8d062cb2f6e21223aeb9416c1f", "sample_count": 1268, "script": "convert_standard_umi_alike_to_lerobotv3_tos.py", "status": "success", "uploaded_bytes": 40626978257, "uploaded_count": 12, "video_profile": "medium_native_mosaic"}
|
chunk-0043/part-0000/meta/info.json
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "simpleai_umi_4.0",
|
| 4 |
+
"dataset_id": "lerobotv3",
|
| 5 |
+
"total_episodes": 1268,
|
| 6 |
+
"total_frames": 475984,
|
| 7 |
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"total_tasks": 50,
|
| 8 |
+
"chunks_size": 1000,
|
| 9 |
+
"fps": 25.0,
|
| 10 |
+
"splits": {
|
| 11 |
+
"train": "0:1268"
|
| 12 |
+
},
|
| 13 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 14 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 15 |
+
"features": {
|
| 16 |
+
"observation.images.head_main": {
|
| 17 |
+
"dtype": "video",
|
| 18 |
+
"shape": [
|
| 19 |
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3,
|
| 20 |
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512,
|
| 21 |
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640
|
| 22 |
+
],
|
| 23 |
+
"names": [
|
| 24 |
+
"channels",
|
| 25 |
+
"height",
|
| 26 |
+
"width"
|
| 27 |
+
],
|
| 28 |
+
"info": {
|
| 29 |
+
"video.height": 512,
|
| 30 |
+
"video.width": 640,
|
| 31 |
+
"video.codec": "h264",
|
| 32 |
+
"video.pix_fmt": "yuv420p",
|
| 33 |
+
"video.is_depth_map": false,
|
| 34 |
+
"video.fps": 25.0,
|
| 35 |
+
"video.channels": 3,
|
| 36 |
+
"has_audio": false
|
| 37 |
+
}
|
| 38 |
+
},
|
| 39 |
+
"observation.images.head_main_stereo_right": {
|
| 40 |
+
"dtype": "video",
|
| 41 |
+
"shape": [
|
| 42 |
+
3,
|
| 43 |
+
512,
|
| 44 |
+
640
|
| 45 |
+
],
|
| 46 |
+
"names": [
|
| 47 |
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"channels",
|
| 48 |
+
"height",
|
| 49 |
+
"width"
|
| 50 |
+
],
|
| 51 |
+
"info": {
|
| 52 |
+
"video.height": 512,
|
| 53 |
+
"video.width": 640,
|
| 54 |
+
"video.codec": "h264",
|
| 55 |
+
"video.pix_fmt": "yuv420p",
|
| 56 |
+
"video.is_depth_map": false,
|
| 57 |
+
"video.fps": 25.0,
|
| 58 |
+
"video.channels": 3,
|
| 59 |
+
"has_audio": false
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"observation.images.left_hand_down": {
|
| 63 |
+
"dtype": "video",
|
| 64 |
+
"shape": [
|
| 65 |
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3,
|
| 66 |
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512,
|
| 67 |
+
640
|
| 68 |
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],
|
| 69 |
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"names": [
|
| 70 |
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"channels",
|
| 71 |
+
"height",
|
| 72 |
+
"width"
|
| 73 |
+
],
|
| 74 |
+
"info": {
|
| 75 |
+
"video.height": 512,
|
| 76 |
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"video.width": 640,
|
| 77 |
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|
| 78 |
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"video.pix_fmt": "yuv420p",
|
| 79 |
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"video.is_depth_map": false,
|
| 80 |
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"video.fps": 25.0,
|
| 81 |
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"video.channels": 3,
|
| 82 |
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"has_audio": false
|
| 83 |
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}
|
| 84 |
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},
|
| 85 |
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"observation.images.left_hand_up": {
|
| 86 |
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"dtype": "video",
|
| 87 |
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"shape": [
|
| 88 |
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3,
|
| 89 |
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512,
|
| 90 |
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640
|
| 91 |
+
],
|
| 92 |
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"names": [
|
| 93 |
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"channels",
|
| 94 |
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"height",
|
| 95 |
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"width"
|
| 96 |
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],
|
| 97 |
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"info": {
|
| 98 |
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"video.height": 512,
|
| 99 |
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"video.width": 640,
|
| 100 |
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"video.codec": "h264",
|
| 101 |
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"video.pix_fmt": "yuv420p",
|
| 102 |
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"video.is_depth_map": false,
|
| 103 |
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"video.fps": 25.0,
|
| 104 |
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"video.channels": 3,
|
| 105 |
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"has_audio": false
|
| 106 |
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}
|
| 107 |
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},
|
| 108 |
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"observation.images.right_hand_down": {
|
| 109 |
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"dtype": "video",
|
| 110 |
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"shape": [
|
| 111 |
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3,
|
| 112 |
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512,
|
| 113 |
+
640
|
| 114 |
+
],
|
| 115 |
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"names": [
|
| 116 |
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"channels",
|
| 117 |
+
"height",
|
| 118 |
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"width"
|
| 119 |
+
],
|
| 120 |
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"info": {
|
| 121 |
+
"video.height": 512,
|
| 122 |
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"video.width": 640,
|
| 123 |
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"video.codec": "h264",
|
| 124 |
+
"video.pix_fmt": "yuv420p",
|
| 125 |
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|
| 126 |
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"video.fps": 25.0,
|
| 127 |
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"video.channels": 3,
|
| 128 |
+
"has_audio": false
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
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"observation.images.right_hand_up": {
|
| 132 |
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"dtype": "video",
|
| 133 |
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"shape": [
|
| 134 |
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3,
|
| 135 |
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512,
|
| 136 |
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640
|
| 137 |
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],
|
| 138 |
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|
| 139 |
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"channels",
|
| 140 |
+
"height",
|
| 141 |
+
"width"
|
| 142 |
+
],
|
| 143 |
+
"info": {
|
| 144 |
+
"video.height": 512,
|
| 145 |
+
"video.width": 640,
|
| 146 |
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"video.codec": "h264",
|
| 147 |
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"video.pix_fmt": "yuv420p",
|
| 148 |
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"video.is_depth_map": false,
|
| 149 |
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"video.fps": 25.0,
|
| 150 |
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"video.channels": 3,
|
| 151 |
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"has_audio": false
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
+
"observation.state": {
|
| 155 |
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"dtype": "float32",
|
| 156 |
+
"shape": [
|
| 157 |
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|
| 158 |
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],
|
| 159 |
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"names": [
|
| 160 |
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"state_dim"
|
| 161 |
+
],
|
| 162 |
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"fps": 25.0
|
| 163 |
+
},
|
| 164 |
+
"observation.state_valid": {
|
| 165 |
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"dtype": "bool",
|
| 166 |
+
"shape": [
|
| 167 |
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20
|
| 168 |
+
],
|
| 169 |
+
"names": [
|
| 170 |
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"state_dim"
|
| 171 |
+
],
|
| 172 |
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"fps": 25.0
|
| 173 |
+
},
|
| 174 |
+
"action": {
|
| 175 |
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"dtype": "float32",
|
| 176 |
+
"shape": [
|
| 177 |
+
20
|
| 178 |
+
],
|
| 179 |
+
"names": [
|
| 180 |
+
"action_dim"
|
| 181 |
+
],
|
| 182 |
+
"fps": 25.0
|
| 183 |
+
},
|
| 184 |
+
"action_valid": {
|
| 185 |
+
"dtype": "bool",
|
| 186 |
+
"shape": [
|
| 187 |
+
20
|
| 188 |
+
],
|
| 189 |
+
"names": [
|
| 190 |
+
"action_dim"
|
| 191 |
+
],
|
| 192 |
+
"fps": 25.0
|
| 193 |
+
},
|
| 194 |
+
"timestamp": {
|
| 195 |
+
"dtype": "float32",
|
| 196 |
+
"shape": [
|
| 197 |
+
1
|
| 198 |
+
],
|
| 199 |
+
"names": null,
|
| 200 |
+
"fps": 25.0
|
| 201 |
+
},
|
| 202 |
+
"frame_index": {
|
| 203 |
+
"dtype": "int64",
|
| 204 |
+
"shape": [
|
| 205 |
+
1
|
| 206 |
+
],
|
| 207 |
+
"names": null,
|
| 208 |
+
"fps": 25.0
|
| 209 |
+
},
|
| 210 |
+
"episode_index": {
|
| 211 |
+
"dtype": "int64",
|
| 212 |
+
"shape": [
|
| 213 |
+
1
|
| 214 |
+
],
|
| 215 |
+
"names": null,
|
| 216 |
+
"fps": 25.0
|
| 217 |
+
},
|
| 218 |
+
"index": {
|
| 219 |
+
"dtype": "int64",
|
| 220 |
+
"shape": [
|
| 221 |
+
1
|
| 222 |
+
],
|
| 223 |
+
"names": null,
|
| 224 |
+
"fps": 25.0
|
| 225 |
+
},
|
| 226 |
+
"task_index": {
|
| 227 |
+
"dtype": "int64",
|
| 228 |
+
"shape": [
|
| 229 |
+
1
|
| 230 |
+
],
|
| 231 |
+
"names": null,
|
| 232 |
+
"fps": 25.0
|
| 233 |
+
},
|
| 234 |
+
"valid.frame": {
|
| 235 |
+
"dtype": "bool",
|
| 236 |
+
"shape": [
|
| 237 |
+
1
|
| 238 |
+
],
|
| 239 |
+
"names": null,
|
| 240 |
+
"fps": 25.0
|
| 241 |
+
}
|
| 242 |
+
},
|
| 243 |
+
"data_files_size_in_mb": 100,
|
| 244 |
+
"video_files_size_in_mb": 500,
|
| 245 |
+
"state_layout": {
|
| 246 |
+
"feature": "observation.state",
|
| 247 |
+
"order": [
|
| 248 |
+
"right",
|
| 249 |
+
"left"
|
| 250 |
+
],
|
| 251 |
+
"per_side": [
|
| 252 |
+
"x",
|
| 253 |
+
"y",
|
| 254 |
+
"z",
|
| 255 |
+
"rot6d_0",
|
| 256 |
+
"rot6d_1",
|
| 257 |
+
"rot6d_2",
|
| 258 |
+
"rot6d_3",
|
| 259 |
+
"rot6d_4",
|
| 260 |
+
"rot6d_5",
|
| 261 |
+
"gripper_angle_rad"
|
| 262 |
+
],
|
| 263 |
+
"rotation_6d_layout": "first_two_rows",
|
| 264 |
+
"gripper_unit": "rad",
|
| 265 |
+
"invalid_policy": "carry_forward_state_with_observation.state_valid_false"
|
| 266 |
+
},
|
| 267 |
+
"action_layout": {
|
| 268 |
+
"feature": "action",
|
| 269 |
+
"type": "absolute_next_state_target",
|
| 270 |
+
"order": [
|
| 271 |
+
"right",
|
| 272 |
+
"left"
|
| 273 |
+
],
|
| 274 |
+
"per_side": [
|
| 275 |
+
"x",
|
| 276 |
+
"y",
|
| 277 |
+
"z",
|
| 278 |
+
"rot6d_0",
|
| 279 |
+
"rot6d_1",
|
| 280 |
+
"rot6d_2",
|
| 281 |
+
"rot6d_3",
|
| 282 |
+
"rot6d_4",
|
| 283 |
+
"rot6d_5",
|
| 284 |
+
"target_gripper_angle_rad"
|
| 285 |
+
],
|
| 286 |
+
"rotation_6d_layout": "first_two_rows",
|
| 287 |
+
"gripper_unit": "rad",
|
| 288 |
+
"shift_policy": "action rows are [state_1, state_2, ..., state_last, state_last]; single-frame episodes use state_0"
|
| 289 |
+
},
|
| 290 |
+
"video_processing": {
|
| 291 |
+
"source": "materialized_from_extra_video_proxy_medium_frame_index_or_implicit_row_index",
|
| 292 |
+
"media_policy": "video streams are read from extra/video_proxy_medium; samples missing any required stream are skipped",
|
| 293 |
+
"present_media_policy": "invalid frame indices on present streams set valid.frame=false and are encoded as black frames",
|
| 294 |
+
"read_policy": "sequential_when_frame_indices_are_nondecreasing_else_seek_cache",
|
| 295 |
+
"read_modes_used": [
|
| 296 |
+
"sequential"
|
| 297 |
+
],
|
| 298 |
+
"video_profile": "medium_native_mosaic",
|
| 299 |
+
"crop": "none",
|
| 300 |
+
"resize": null,
|
| 301 |
+
"output_sizes": {
|
| 302 |
+
"observation.images.head_main": [
|
| 303 |
+
640,
|
| 304 |
+
512
|
| 305 |
+
],
|
| 306 |
+
"observation.images.head_main_stereo_right": [
|
| 307 |
+
640,
|
| 308 |
+
512
|
| 309 |
+
],
|
| 310 |
+
"observation.images.left_hand_down": [
|
| 311 |
+
640,
|
| 312 |
+
512
|
| 313 |
+
],
|
| 314 |
+
"observation.images.left_hand_up": [
|
| 315 |
+
640,
|
| 316 |
+
512
|
| 317 |
+
],
|
| 318 |
+
"observation.images.right_hand_down": [
|
| 319 |
+
640,
|
| 320 |
+
512
|
| 321 |
+
],
|
| 322 |
+
"observation.images.right_hand_up": [
|
| 323 |
+
640,
|
| 324 |
+
512
|
| 325 |
+
]
|
| 326 |
+
},
|
| 327 |
+
"face_anonymization": {
|
| 328 |
+
"enabled": true,
|
| 329 |
+
"failure_policy": "fail_closed_per_sample",
|
| 330 |
+
"faces_json_policy": "reuse_valid_streams_detect_missing",
|
| 331 |
+
"model": "yolov11s-face.pt",
|
| 332 |
+
"device": "auto",
|
| 333 |
+
"batch_size": 64,
|
| 334 |
+
"mosaic": {
|
| 335 |
+
"box_scale": 1.15,
|
| 336 |
+
"center_fraction": 0.45,
|
| 337 |
+
"pixel_block": 12,
|
| 338 |
+
"feather_px": 8,
|
| 339 |
+
"opacity": 0.92,
|
| 340 |
+
"center_mean_mix": 0.08,
|
| 341 |
+
"shape": "ellipse"
|
| 342 |
+
},
|
| 343 |
+
"total_detected_faces": 891515
|
| 344 |
+
},
|
| 345 |
+
"codec": "h264",
|
| 346 |
+
"gop_size": 4,
|
| 347 |
+
"backend_requested": "auto",
|
| 348 |
+
"backend_used": [
|
| 349 |
+
"gpu"
|
| 350 |
+
],
|
| 351 |
+
"decode_backend_requested": "cpu",
|
| 352 |
+
"decode_backend_used": [
|
| 353 |
+
"cpu"
|
| 354 |
+
],
|
| 355 |
+
"frame_preprocess_requested": "cpu",
|
| 356 |
+
"frame_preprocess_used": [
|
| 357 |
+
"cpu_native_mosaic"
|
| 358 |
+
],
|
| 359 |
+
"pix_fmt": "yuv420p",
|
| 360 |
+
"crf_or_cq": 20,
|
| 361 |
+
"aligned_video_frames": "one video frame per data row"
|
| 362 |
+
},
|
| 363 |
+
"parallelism": {
|
| 364 |
+
"workers": 16,
|
| 365 |
+
"video_workers": 8,
|
| 366 |
+
"progress": true,
|
| 367 |
+
"order_policy": "parallel tasks are written back by sorted sample index before parquet writing and video concat"
|
| 368 |
+
},
|
| 369 |
+
"invalid_policy": {
|
| 370 |
+
"training_filter": "valid.frame == true",
|
| 371 |
+
"state": "state requires both eef pose and selected gripper valid",
|
| 372 |
+
"media": "present media rows require valid frame indices; samples missing required extra/selected video profile streams are skipped"
|
| 373 |
+
},
|
| 374 |
+
"source": {
|
| 375 |
+
"format": "robot_sample_v1_sparse_revision",
|
| 376 |
+
"converter": "convert_standard_umi_alike_to_lerobotv3.py",
|
| 377 |
+
"robot_types": [
|
| 378 |
+
"simpleai_umi_4.0"
|
| 379 |
+
],
|
| 380 |
+
"robot_type_source": "revision_json_embodiment_name",
|
| 381 |
+
"media_map": {
|
| 382 |
+
"head_main": "observation.images.head_main",
|
| 383 |
+
"head_main_stereo_right": "observation.images.head_main_stereo_right",
|
| 384 |
+
"left_hand_down": "observation.images.left_hand_down",
|
| 385 |
+
"left_hand_up": "observation.images.left_hand_up",
|
| 386 |
+
"right_hand_down": "observation.images.right_hand_down",
|
| 387 |
+
"right_hand_up": "observation.images.right_hand_up"
|
| 388 |
+
},
|
| 389 |
+
"media_key_source": "revision_json_components_media_key",
|
| 390 |
+
"gripper_mode": "angle"
|
| 391 |
+
}
|
| 392 |
+
}
|
chunk-0043/part-0000/meta/modality.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"_README": [
|
| 3 |
+
"UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
|
| 4 |
+
"state/action vectors are [right_10d, left_10d].",
|
| 5 |
+
"Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
|
| 6 |
+
"Actions are absolute next-state targets with the final target repeated at the last row.",
|
| 7 |
+
"Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
|
| 8 |
+
],
|
| 9 |
+
"state": {
|
| 10 |
+
"right_eef_pose": {
|
| 11 |
+
"start": 0,
|
| 12 |
+
"end": 9,
|
| 13 |
+
"rotation_type": "rotation_6d",
|
| 14 |
+
"rotation_6d_layout": "first_two_rows",
|
| 15 |
+
"absolute": true,
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"original_key": "observation.state"
|
| 18 |
+
},
|
| 19 |
+
"right_eef_gripper": {
|
| 20 |
+
"start": 9,
|
| 21 |
+
"end": 10,
|
| 22 |
+
"absolute": true,
|
| 23 |
+
"dtype": "float32",
|
| 24 |
+
"unit": "rad",
|
| 25 |
+
"original_key": "observation.state"
|
| 26 |
+
},
|
| 27 |
+
"left_eef_pose": {
|
| 28 |
+
"start": 10,
|
| 29 |
+
"end": 19,
|
| 30 |
+
"rotation_type": "rotation_6d",
|
| 31 |
+
"rotation_6d_layout": "first_two_rows",
|
| 32 |
+
"absolute": true,
|
| 33 |
+
"dtype": "float32",
|
| 34 |
+
"original_key": "observation.state"
|
| 35 |
+
},
|
| 36 |
+
"left_eef_gripper": {
|
| 37 |
+
"start": 19,
|
| 38 |
+
"end": 20,
|
| 39 |
+
"absolute": true,
|
| 40 |
+
"dtype": "float32",
|
| 41 |
+
"unit": "rad",
|
| 42 |
+
"original_key": "observation.state"
|
| 43 |
+
}
|
| 44 |
+
},
|
| 45 |
+
"action": {
|
| 46 |
+
"right_eef_pose": {
|
| 47 |
+
"start": 0,
|
| 48 |
+
"end": 9,
|
| 49 |
+
"rotation_type": "rotation_6d",
|
| 50 |
+
"rotation_6d_layout": "first_two_rows",
|
| 51 |
+
"absolute": true,
|
| 52 |
+
"dtype": "float32",
|
| 53 |
+
"original_key": "action"
|
| 54 |
+
},
|
| 55 |
+
"right_eef_gripper": {
|
| 56 |
+
"start": 9,
|
| 57 |
+
"end": 10,
|
| 58 |
+
"absolute": true,
|
| 59 |
+
"dtype": "float32",
|
| 60 |
+
"unit": "rad",
|
| 61 |
+
"original_key": "action"
|
| 62 |
+
},
|
| 63 |
+
"left_eef_pose": {
|
| 64 |
+
"start": 10,
|
| 65 |
+
"end": 19,
|
| 66 |
+
"rotation_type": "rotation_6d",
|
| 67 |
+
"rotation_6d_layout": "first_two_rows",
|
| 68 |
+
"absolute": true,
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"original_key": "action"
|
| 71 |
+
},
|
| 72 |
+
"left_eef_gripper": {
|
| 73 |
+
"start": 19,
|
| 74 |
+
"end": 20,
|
| 75 |
+
"absolute": true,
|
| 76 |
+
"dtype": "float32",
|
| 77 |
+
"unit": "rad",
|
| 78 |
+
"original_key": "action"
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"video": {
|
| 82 |
+
"head_main": {
|
| 83 |
+
"original_key": "observation.images.head_main"
|
| 84 |
+
},
|
| 85 |
+
"head_main_stereo_right": {
|
| 86 |
+
"original_key": "observation.images.head_main_stereo_right"
|
| 87 |
+
},
|
| 88 |
+
"left_hand_down": {
|
| 89 |
+
"original_key": "observation.images.left_hand_down"
|
| 90 |
+
},
|
| 91 |
+
"left_hand_up": {
|
| 92 |
+
"original_key": "observation.images.left_hand_up"
|
| 93 |
+
},
|
| 94 |
+
"right_hand_down": {
|
| 95 |
+
"original_key": "observation.images.right_hand_down"
|
| 96 |
+
},
|
| 97 |
+
"right_hand_up": {
|
| 98 |
+
"original_key": "observation.images.right_hand_up"
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"annotation": {
|
| 102 |
+
"human.action.task_description": {
|
| 103 |
+
"original_key": "task_index"
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
}
|
chunk-0043/part-0000/meta/stats.json
ADDED
|
@@ -0,0 +1,914 @@
|
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