Upload folder using huggingface_hub
Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- data/chunk-000/episode_000002.parquet +3 -0
- data/chunk-000/episode_000003.parquet +3 -0
- meta/episodes.jsonl +4 -0
- meta/episodes_stats.jsonl +4 -0
- meta/info.json +102 -0
- meta/tasks.jsonl +1 -0
data/chunk-000/episode_000000.parquet
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data/chunk-000/episode_000002.parquet
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meta/episodes.jsonl
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meta/episodes_stats.jsonl
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meta/info.json
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| 47 |
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},
|
| 48 |
+
"rewards": {
|
| 49 |
+
"dtype": "float32",
|
| 50 |
+
"shape": [
|
| 51 |
+
1
|
| 52 |
+
],
|
| 53 |
+
"names": [
|
| 54 |
+
"rewards"
|
| 55 |
+
]
|
| 56 |
+
},
|
| 57 |
+
"done": {
|
| 58 |
+
"dtype": "float32",
|
| 59 |
+
"shape": [
|
| 60 |
+
1
|
| 61 |
+
],
|
| 62 |
+
"names": [
|
| 63 |
+
"done"
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
+
"timestamp": {
|
| 67 |
+
"dtype": "float32",
|
| 68 |
+
"shape": [
|
| 69 |
+
1
|
| 70 |
+
],
|
| 71 |
+
"names": null
|
| 72 |
+
},
|
| 73 |
+
"frame_index": {
|
| 74 |
+
"dtype": "int64",
|
| 75 |
+
"shape": [
|
| 76 |
+
1
|
| 77 |
+
],
|
| 78 |
+
"names": null
|
| 79 |
+
},
|
| 80 |
+
"episode_index": {
|
| 81 |
+
"dtype": "int64",
|
| 82 |
+
"shape": [
|
| 83 |
+
1
|
| 84 |
+
],
|
| 85 |
+
"names": null
|
| 86 |
+
},
|
| 87 |
+
"index": {
|
| 88 |
+
"dtype": "int64",
|
| 89 |
+
"shape": [
|
| 90 |
+
1
|
| 91 |
+
],
|
| 92 |
+
"names": null
|
| 93 |
+
},
|
| 94 |
+
"task_index": {
|
| 95 |
+
"dtype": "int64",
|
| 96 |
+
"shape": [
|
| 97 |
+
1
|
| 98 |
+
],
|
| 99 |
+
"names": null
|
| 100 |
+
}
|
| 101 |
+
}
|
| 102 |
+
}
|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pickup the cube"}
|