Add files using upload-large-folder tool
Browse files- README.md +50 -0
- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
- meta/.conversion_complete +4 -0
- meta/conversion_config.json +47 -0
- meta/conversion_validation.json +7 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +314 -0
- meta/noop_audit.json +14 -0
- meta/noop_audit_episodes.jsonl +0 -0
- meta/stats.json +705 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.front/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.wrist/chunk-000/file-004.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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- libero
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- libero-plus
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pretty_name: LIBERO Plus libero_plus_object (detailed LeRobot v3.0)
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---
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# libero_plus_object: detailed LeRobot v3.0
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This dataset was converted from the LIBERO Plus LeRobot v2.1 `libero_plus_object` partition.
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The original 8D state and 7D action vectors are preserved exactly as
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`raw_state.ref_state` and `raw_action.ref_action`. Canonical low-dimensional fields follow
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`failure_rollout_data/dataset.md`; `debug.gripper_eef_*` contains the ground-truth next-step
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relative EEF motion for inspection.
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## Required camera transform for canonical training
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The source `observation.images.front` and `observation.images.wrist` videos are preserved
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unchanged. **For canonical training, horizontally flip both camera views at load time.** The
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videos in this repository are deliberately not rewritten or re-encoded.
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The source-pipeline root cause is a composition of two image transforms: robosuite returns a
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vertically inverted render, and the original dataset writer then rotates it by 180 degrees (flips
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both image axes). The vertical flips cancel, leaving the stored image horizontally mirrored. This
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is also tracked in [LeRobot issue #3830](https://github.com/huggingface/lerobot/issues/3830).
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For an array whose layout ends in `(height, width, channels)`:
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```python
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image = np.flip(image, axis=-2)
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```
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For a tensor whose width is the last dimension, such as `(..., channels, height, width)`:
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```python
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image = torch.flip(image, dims=(-1,))
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```
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Apply the image transform only to the camera pixels. Do not flip or negate `raw_state.*`,
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`raw_target.*`, `state.*`, `target.*`, or `debug.*`; those fields remain proper right-handed
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coordinate representations.
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## Conversion notes
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- No frames were filtered. The historical LIBERO no-op predicate is audit-only; see
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`meta/noop_audit.json` and `meta/noop_audit_episodes.jsonl`.
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- Rotation and reconstruction checks are recorded in `meta/conversion_validation.json`.
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- Alignment and controller-scale assumptions are recorded in `meta/conversion_config.json`.
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data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:24debac9017c9d1ce56cd64061373acfef82130ade4c8c3d8fcec83680d6a1fd
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size 64578697
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data/chunk-000/file-001.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:e176a9c9354ffe017c261f77469141cef5c21f5335f35c66c698c0ac1b960b6e
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size 64873735
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data/chunk-000/file-002.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:aaa0812847597af3b8e0f943f6a26bbaa236ecd199f1eb5e0814f45e9860ddea
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size 22454223
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meta/.conversion_complete
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{
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"total_episodes": 4520,
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"total_frames": 666720
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}
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meta/conversion_config.json
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{
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"source_dir": "/scratch/cgao304/dev/datasets/libero_plus/libero_plus_object",
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"source_version": "v2.1",
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"output_version": "v3.0",
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"fps": 20,
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| 6 |
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"position_action_scale": 0.05,
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| 7 |
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"rotation_action_scale": 0.5,
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"rotation_target_composition": "R_target = R_delta @ R_state",
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"world_alignment": [
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[
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1.0,
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0.0,
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[
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[
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0.0,
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1.0
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]
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],
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"gripper_alignment": [
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[
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0.0,
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1.0,
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0.0
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[
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-1.0,
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0.0,
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[
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0.0,
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1.0
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| 43 |
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"finger_limit_m": 0.04,
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| 44 |
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"frames_filtered": 0,
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| 45 |
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"camera_videos_modified": false,
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| 46 |
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"canonical_training_camera_transform": "horizontal_flip_both_views_at_load_time"
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}
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meta/conversion_validation.json
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{
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"max_rotation_orthogonality_error": 1.1920928955078125e-06,
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| 3 |
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"max_rotation_determinant_error": 6.556510925292969e-07,
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| 4 |
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"max_debug_rotation_reconstruction_error": 1.1920928955078125e-06,
|
| 5 |
+
"max_debug_xyz_reconstruction_error": 1.4901161193847656e-08,
|
| 6 |
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"max_target_axis_angle_roundtrip_error": 8.940696716308594e-07
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| 7 |
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}
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:1d79aef2febaff3d8c8e0572ac3ba8068e9641e270f635b9e54c83c79f74687f
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size 6208480
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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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"robot_type": "panda",
|
| 4 |
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"total_episodes": 4520,
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| 5 |
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"total_frames": 666720,
|
| 6 |
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"total_tasks": 10,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
+
"fps": 20,
|
| 9 |
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"splits": {
|
| 10 |
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"train": "0:4520"
|
| 11 |
+
},
|
| 12 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 14 |
+
"features": {
|
| 15 |
+
"observation.images.front": {
|
| 16 |
+
"dtype": "video",
|
| 17 |
+
"shape": [
|
| 18 |
+
256,
|
| 19 |
+
256,
|
| 20 |
+
3
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"height",
|
| 24 |
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"width",
|
| 25 |
+
"channel"
|
| 26 |
+
],
|
| 27 |
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"info": {
|
| 28 |
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"video.height": 256,
|
| 29 |
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"video.width": 256,
|
| 30 |
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"video.codec": "av1",
|
| 31 |
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"video.pix_fmt": "yuv420p",
|
| 32 |
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"video.is_depth_map": false,
|
| 33 |
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"video.fps": 20,
|
| 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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| 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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| 255 |
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| 261 |
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|
| 263 |
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| 264 |
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|
| 265 |
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| 266 |
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|
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| 269 |
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|
| 270 |
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| 271 |
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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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| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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| 296 |
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| 297 |
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| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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| 303 |
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| 304 |
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| 305 |
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|
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| 308 |
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|
| 313 |
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|
| 314 |
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}
|
meta/noop_audit.json
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"definition": {
|
| 3 |
+
"arm_norm_threshold": 0.0001,
|
| 4 |
+
"requires_unchanged_gripper": true,
|
| 5 |
+
"previous_action_is_previous_would_be_retained_action": true
|
| 6 |
+
},
|
| 7 |
+
"policy": "audit_only_no_frames_filtered",
|
| 8 |
+
"total_episodes": 4520,
|
| 9 |
+
"total_frames": 666720,
|
| 10 |
+
"candidate_noop_frames": 0,
|
| 11 |
+
"candidate_noop_proportion": 0.0,
|
| 12 |
+
"filtered_frames": 0,
|
| 13 |
+
"filtered_proportion": 0.0
|
| 14 |
+
}
|
meta/noop_audit_episodes.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
meta/stats.json
ADDED
|
@@ -0,0 +1,705 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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