Upload folder using huggingface_hub
Browse files- pose_texture_light_randomized_fixed_camera/data/chunk-000/file-000.parquet +3 -0
- pose_texture_light_randomized_fixed_camera/meta/episodes/chunk-000/file-000.parquet +3 -0
- pose_texture_light_randomized_fixed_camera/meta/info.json +117 -0
- pose_texture_light_randomized_fixed_camera/meta/stats.json +650 -0
- pose_texture_light_randomized_fixed_camera/meta/tasks.parquet +3 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/dataset_manifest.json +19 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0000_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0000_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0000_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0001_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0001_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0001_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0002_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0002_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0002_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0003_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0003_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0003_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0004_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0004_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0004_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0005_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0005_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0005_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0006_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0006_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0006_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0007_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0007_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0007_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0008_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0008_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0008_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0009_episode_metadata.json +218 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0009_scene_snapshot.json +79 -0
- pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0009_variables.json +212 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.global_cam/chunk-000/file-000.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.global_cam/chunk-000/file-001.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.global_cam/chunk-000/file-002.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.global_cam/chunk-000/file-003.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.global_cam/chunk-000/file-004.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.global_cam/chunk-000/file-005.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.global_cam/chunk-000/file-006.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.wrist_cam/chunk-000/file-000.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.wrist_cam/chunk-000/file-001.mp4 +3 -0
- pose_texture_light_randomized_fixed_camera/videos/observation.images.wrist_cam/chunk-000/file-002.mp4 +3 -0
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pose_texture_light_randomized_fixed_camera/meta/info.json
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pose_texture_light_randomized_fixed_camera/meta/stats.json
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pose_texture_light_randomized_fixed_camera/source_metadata/dataset_manifest.json
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0000_scene_snapshot.json
ADDED
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@@ -0,0 +1,79 @@
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0000_variables.json
ADDED
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@@ -0,0 +1,212 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0001_episode_metadata.json
ADDED
|
@@ -0,0 +1,218 @@
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0001_scene_snapshot.json
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0001_variables.json
ADDED
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0002_episode_metadata.json
ADDED
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@@ -0,0 +1,218 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0002_scene_snapshot.json
ADDED
|
@@ -0,0 +1,79 @@
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0002_variables.json
ADDED
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@@ -0,0 +1,212 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0003_episode_metadata.json
ADDED
|
@@ -0,0 +1,218 @@
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0003_scene_snapshot.json
ADDED
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@@ -0,0 +1,79 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0003_variables.json
ADDED
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@@ -0,0 +1,212 @@
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|
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|
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0004_episode_metadata.json
ADDED
|
@@ -0,0 +1,218 @@
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|
| 1 |
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0004_scene_snapshot.json
ADDED
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0004_variables.json
ADDED
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0005_episode_metadata.json
ADDED
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@@ -0,0 +1,218 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0005_scene_snapshot.json
ADDED
|
@@ -0,0 +1,79 @@
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0005_variables.json
ADDED
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@@ -0,0 +1,212 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0006_episode_metadata.json
ADDED
|
@@ -0,0 +1,218 @@
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| 1 |
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0006_scene_snapshot.json
ADDED
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@@ -0,0 +1,79 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0006_variables.json
ADDED
|
@@ -0,0 +1,212 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0007_episode_metadata.json
ADDED
|
@@ -0,0 +1,218 @@
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|
| 1 |
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| 2 |
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0007_scene_snapshot.json
ADDED
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@@ -0,0 +1,79 @@
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0007_variables.json
ADDED
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ADDED
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@@ -0,0 +1,218 @@
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| 217 |
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|
| 218 |
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0008_scene_snapshot.json
ADDED
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pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0008_variables.json
ADDED
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@@ -0,0 +1,212 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0009_episode_metadata.json
ADDED
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@@ -0,0 +1,218 @@
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| 1 |
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0009_scene_snapshot.json
ADDED
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@@ -0,0 +1,79 @@
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|
pose_texture_light_randomized_fixed_camera/source_metadata/sample_previews/sample_0009_variables.json
ADDED
|
@@ -0,0 +1,212 @@
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