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- .gitattributes +467 -0
- dataset_info.json +499 -0
- features.json +152 -0
- toto-test.tfrecord-00000-of-00052 +3 -0
- toto-test.tfrecord-00001-of-00052 +3 -0
- toto-test.tfrecord-00002-of-00052 +3 -0
- toto-test.tfrecord-00003-of-00052 +3 -0
- toto-test.tfrecord-00004-of-00052 +3 -0
- toto-test.tfrecord-00005-of-00052 +3 -0
- toto-test.tfrecord-00006-of-00052 +3 -0
- toto-test.tfrecord-00007-of-00052 +3 -0
- toto-test.tfrecord-00008-of-00052 +3 -0
- toto-test.tfrecord-00009-of-00052 +3 -0
- toto-test.tfrecord-00010-of-00052 +3 -0
- toto-test.tfrecord-00011-of-00052 +3 -0
- toto-test.tfrecord-00012-of-00052 +3 -0
- toto-test.tfrecord-00013-of-00052 +3 -0
- toto-test.tfrecord-00014-of-00052 +3 -0
- toto-test.tfrecord-00015-of-00052 +3 -0
- toto-test.tfrecord-00016-of-00052 +3 -0
- toto-test.tfrecord-00017-of-00052 +3 -0
- toto-test.tfrecord-00018-of-00052 +3 -0
- toto-test.tfrecord-00019-of-00052 +3 -0
- toto-test.tfrecord-00020-of-00052 +3 -0
- toto-test.tfrecord-00021-of-00052 +3 -0
- toto-test.tfrecord-00022-of-00052 +3 -0
- toto-test.tfrecord-00023-of-00052 +3 -0
- toto-test.tfrecord-00024-of-00052 +3 -0
- toto-test.tfrecord-00025-of-00052 +3 -0
- toto-test.tfrecord-00026-of-00052 +3 -0
- toto-test.tfrecord-00027-of-00052 +3 -0
- toto-test.tfrecord-00028-of-00052 +3 -0
- toto-test.tfrecord-00029-of-00052 +3 -0
- toto-test.tfrecord-00030-of-00052 +3 -0
- toto-test.tfrecord-00031-of-00052 +3 -0
- toto-test.tfrecord-00032-of-00052 +3 -0
- toto-test.tfrecord-00033-of-00052 +3 -0
- toto-test.tfrecord-00034-of-00052 +3 -0
- toto-test.tfrecord-00035-of-00052 +3 -0
- toto-test.tfrecord-00036-of-00052 +3 -0
- toto-test.tfrecord-00037-of-00052 +3 -0
- toto-test.tfrecord-00038-of-00052 +3 -0
- toto-test.tfrecord-00039-of-00052 +3 -0
- toto-test.tfrecord-00040-of-00052 +3 -0
- toto-test.tfrecord-00041-of-00052 +3 -0
- toto-test.tfrecord-00042-of-00052 +3 -0
- toto-test.tfrecord-00043-of-00052 +3 -0
- toto-test.tfrecord-00044-of-00052 +3 -0
- toto-test.tfrecord-00045-of-00052 +3 -0
- toto-test.tfrecord-00046-of-00052 +3 -0
.gitattributes
CHANGED
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*.jpg filter=lfs diff=lfs merge=lfs -text
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*.jpeg filter=lfs diff=lfs merge=lfs -text
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| 53 |
*.jpg filter=lfs diff=lfs merge=lfs -text
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*.jpeg filter=lfs diff=lfs merge=lfs -text
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*.webp filter=lfs diff=lfs merge=lfs -text
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+
toto-test.tfrecord-00000-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00001-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00002-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00003-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00004-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00005-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00006-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00007-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00008-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00009-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00010-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00011-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00012-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00013-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00014-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00015-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00016-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00017-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00018-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00019-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00020-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00021-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00022-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00023-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00024-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00025-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00026-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00027-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00028-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00029-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00030-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00031-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00032-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00033-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00034-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00035-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00036-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00037-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00038-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00039-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00040-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00041-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00042-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00043-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00044-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00045-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00046-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00047-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00048-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00049-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00050-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-test.tfrecord-00051-of-00052 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00000-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00001-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00002-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00003-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00004-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00005-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00006-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00007-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00008-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00009-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00010-of-00415 filter=lfs diff=lfs merge=lfs -text
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toto-train.tfrecord-00400-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 509 |
+
toto-train.tfrecord-00401-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 510 |
+
toto-train.tfrecord-00402-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 511 |
+
toto-train.tfrecord-00403-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 512 |
+
toto-train.tfrecord-00404-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 513 |
+
toto-train.tfrecord-00405-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 514 |
+
toto-train.tfrecord-00406-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 515 |
+
toto-train.tfrecord-00407-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 516 |
+
toto-train.tfrecord-00408-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 517 |
+
toto-train.tfrecord-00409-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 518 |
+
toto-train.tfrecord-00410-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 519 |
+
toto-train.tfrecord-00411-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 520 |
+
toto-train.tfrecord-00412-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 521 |
+
toto-train.tfrecord-00413-of-00415 filter=lfs diff=lfs merge=lfs -text
|
| 522 |
+
toto-train.tfrecord-00414-of-00415 filter=lfs diff=lfs merge=lfs -text
|
dataset_info.json
ADDED
|
@@ -0,0 +1,499 @@
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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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|
|
|
| 1 |
+
{
|
| 2 |
+
"citation": "@inproceedings{zhou2023train,\n author={Zhou, Gaoyue and Dean, Victoria and Srirama, Mohan Kumar and Rajeswaran, Aravind and Pari, Jyothish and Hatch, Kyle and Jain, Aryan and Yu, Tianhe and Abbeel, Pieter and Pinto, Lerrel and Finn, Chelsea and Gupta, Abhinav},\n booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)}, \n title={Train Offline, Test Online: A Real Robot Learning Benchmark}, \n year={2023},\n }",
|
| 3 |
+
"description": "Franka scooping and pouring tasks",
|
| 4 |
+
"fileFormat": "tfrecord",
|
| 5 |
+
"location": {
|
| 6 |
+
"urls": [
|
| 7 |
+
"https://toto-benchmark.org/"
|
| 8 |
+
]
|
| 9 |
+
},
|
| 10 |
+
"moduleName": "tensorflow_datasets.robotics.rtx.rtx",
|
| 11 |
+
"name": "toto",
|
| 12 |
+
"releaseNotes": {
|
| 13 |
+
"0.1.0": "Initial release."
|
| 14 |
+
},
|
| 15 |
+
"splits": [
|
| 16 |
+
{
|
| 17 |
+
"filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
|
| 18 |
+
"name": "train",
|
| 19 |
+
"numBytes": "123928282679",
|
| 20 |
+
"shardLengths": [
|
| 21 |
+
"4",
|
| 22 |
+
"3",
|
| 23 |
+
"5",
|
| 24 |
+
"2",
|
| 25 |
+
"2",
|
| 26 |
+
"3",
|
| 27 |
+
"1",
|
| 28 |
+
"2",
|
| 29 |
+
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|
| 30 |
+
"3",
|
| 31 |
+
"2",
|
| 32 |
+
"2",
|
| 33 |
+
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|
| 34 |
+
"2",
|
| 35 |
+
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|
| 36 |
+
"1",
|
| 37 |
+
"4",
|
| 38 |
+
"1",
|
| 39 |
+
"4",
|
| 40 |
+
"3",
|
| 41 |
+
"2",
|
| 42 |
+
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|
| 43 |
+
"3",
|
| 44 |
+
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|
| 45 |
+
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|
| 46 |
+
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|
| 47 |
+
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|
| 48 |
+
"4",
|
| 49 |
+
"4",
|
| 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 |
+
"4",
|
| 66 |
+
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|
| 67 |
+
"3",
|
| 68 |
+
"1",
|
| 69 |
+
"1",
|
| 70 |
+
"1",
|
| 71 |
+
"3",
|
| 72 |
+
"2",
|
| 73 |
+
"5",
|
| 74 |
+
"2",
|
| 75 |
+
"4",
|
| 76 |
+
"2",
|
| 77 |
+
"2",
|
| 78 |
+
"2",
|
| 79 |
+
"1",
|
| 80 |
+
"1",
|
| 81 |
+
"1",
|
| 82 |
+
"2",
|
| 83 |
+
"5",
|
| 84 |
+
"1",
|
| 85 |
+
"1",
|
| 86 |
+
"3",
|
| 87 |
+
"2",
|
| 88 |
+
"1",
|
| 89 |
+
"3",
|
| 90 |
+
"1",
|
| 91 |
+
"2",
|
| 92 |
+
"4",
|
| 93 |
+
"1",
|
| 94 |
+
"1",
|
| 95 |
+
"1",
|
| 96 |
+
"3",
|
| 97 |
+
"2",
|
| 98 |
+
"3",
|
| 99 |
+
"2",
|
| 100 |
+
"1",
|
| 101 |
+
"4",
|
| 102 |
+
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|
| 103 |
+
"1",
|
| 104 |
+
"5",
|
| 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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|
| 112 |
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|
| 113 |
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|
| 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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|
| 135 |
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|
| 136 |
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|
| 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 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 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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|
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|
| 166 |
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|
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|
| 168 |
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|
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|
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|
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|
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| 175 |
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|
| 498 |
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|
| 499 |
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}
|
features.json
ADDED
|
@@ -0,0 +1,152 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 3 |
+
"featuresDict": {
|
| 4 |
+
"features": {
|
| 5 |
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"steps": {
|
| 6 |
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"pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
|
| 7 |
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|
| 8 |
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"feature": {
|
| 9 |
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"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 10 |
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"featuresDict": {
|
| 11 |
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"features": {
|
| 12 |
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"is_last": {
|
| 13 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 14 |
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|
| 15 |
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|
| 16 |
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"dtype": "bool",
|
| 17 |
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"encoding": "none"
|
| 18 |
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}
|
| 19 |
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},
|
| 20 |
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"is_terminal": {
|
| 21 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 22 |
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"tensor": {
|
| 23 |
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"shape": {},
|
| 24 |
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"dtype": "bool",
|
| 25 |
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"encoding": "none"
|
| 26 |
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}
|
| 27 |
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},
|
| 28 |
+
"action": {
|
| 29 |
+
"pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
|
| 30 |
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"featuresDict": {
|
| 31 |
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"features": {
|
| 32 |
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"open_gripper": {
|
| 33 |
+
"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 34 |
+
"tensor": {
|
| 35 |
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"shape": {},
|
| 36 |
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"dtype": "bool",
|
| 37 |
+
"encoding": "none"
|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
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"world_vector": {
|
| 41 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 42 |
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"tensor": {
|
| 43 |
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"shape": {
|
| 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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"dtype": "float32",
|
| 49 |
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"encoding": "none"
|
| 50 |
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}
|
| 51 |
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},
|
| 52 |
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"terminate_episode": {
|
| 53 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 54 |
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"tensor": {
|
| 55 |
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"shape": {},
|
| 56 |
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"dtype": "float32",
|
| 57 |
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"encoding": "none"
|
| 58 |
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}
|
| 59 |
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},
|
| 60 |
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"rotation_delta": {
|
| 61 |
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"pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
|
| 62 |
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"tensor": {
|
| 63 |
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"shape": {
|
| 64 |
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|
| 65 |
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"3"
|
| 66 |
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]
|
| 67 |
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},
|
| 68 |
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"dtype": "float32",
|
| 69 |
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"encoding": "none"
|
| 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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"reward": {
|
| 76 |
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"pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
|
| 77 |
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"tensor": {
|
| 78 |
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"shape": {},
|
| 79 |
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"dtype": "float32",
|
| 80 |
+
"encoding": "none"
|
| 81 |
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