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README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
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| 4 |
+
- robotics
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| 5 |
+
tags:
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| 6 |
+
- LeRobot
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| 7 |
+
- language_table
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| 8 |
+
- openx
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| 9 |
+
- franka
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| 10 |
+
configs:
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| 11 |
+
- config_name: default
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| 12 |
+
data_files: data/*.parquet
|
| 13 |
+
---
|
| 14 |
+
Language Table (LeRobot) — Embedding-Only Release
|
| 15 |
+
(DINOv3 + SigLIP2 image features; EmbeddingGemma task-text features)
|
| 16 |
+
|
| 17 |
+
This repository packages a re-encoded variant of [IPEC-COMMUNITY/cmu_play_fusion_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/cmu_play_fusion_lerobot) where raw videos are replaced by fixed-length image embeddings, and task strings are augmented with text embeddings. All indices, splits, and semantics remain consistent with the source dataset while storage and I/O are substantially lighter. To make the dataset practical to upload/download and stream from the Hub, we also consolidated tiny per-episode Parquet files into N large Parquet shards under a single data/ folder. The file meta/sharded_index.json preserves a precise mapping from each original episode (referenced by a normalized identifier of the form data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet) to its shard path and row range, so you keep original addressing without paying the small-file tax.
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| 18 |
+
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| 19 |
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- Robot: Franka
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| 20 |
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- Modalities kept: states, actions, timestamps, frame/episode indices, image embeddings, task-text embeddings
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| 21 |
+
- Removed:
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| 22 |
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- observation.images.image
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| 23 |
+
- License: apache-2.0 (inherits from source)
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| 24 |
+
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| 25 |
+
----------------------------------------------------------------
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| 26 |
+
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| 27 |
+
Quick Stats
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| 28 |
+
|
| 29 |
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From meta/info.json and meta/task_text_embeddings_info.json:
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| 30 |
+
|
| 31 |
+
- Episodes: 576
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| 32 |
+
- Frames: 235,922
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| 33 |
+
- Tasks (unique): 44
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| 34 |
+
- Chunks (original layout): 1 (chunks_size=1000)
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| 35 |
+
- Shards (this release): 64 Parquet files under data/ (see meta/sharded_index.json)
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| 36 |
+
- FPS: 5
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| 37 |
+
- Image embeddings (per frame):
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| 38 |
+
- observation.images.image_dinov3 → float32 [1024] (DINOv3 ViT-L/16 CLS)
|
| 39 |
+
- observation.images.image_siglip2 → float32 [768] (SigLIP2-base)
|
| 40 |
+
- Task-text embeddings (per unique task):
|
| 41 |
+
- embedding → float32 [768] from google/embeddinggemma-300m
|
| 42 |
+
- Count: 44 rows (one per task)
|
| 43 |
+
|
| 44 |
+
Note: This is an embedding-only package. The original pixel arrays listed under “Removed” are dropped.
|
| 45 |
+
|
| 46 |
+
----------------------------------------------------------------
|
| 47 |
+
|
| 48 |
+
<details>
|
| 49 |
+
<summary><b>Contents</b></summary>
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| 50 |
+
|
| 51 |
+
<pre>
|
| 52 |
+
.
|
| 53 |
+
|-- meta/
|
| 54 |
+
| |-- info.json
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| 55 |
+
| |-- sharded_index.json
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| 56 |
+
| |-- tasks.jsonl
|
| 57 |
+
| |-- episodes.jsonl
|
| 58 |
+
| `-- task_text_embeddings_info.json
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| 59 |
+
|-- data/
|
| 60 |
+
| |-- shard-00000-of-000NN.parquet
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| 61 |
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| |-- shard-00001-of-000NN.parquet
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| 62 |
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| |-- ...
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| 63 |
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| `-- task_text_embeddings.parquet
|
| 64 |
+
`-- README.md
|
| 65 |
+
</pre>
|
| 66 |
+
</details>
|
| 67 |
+
|
| 68 |
+
----------------------------------------------------------------
|
| 69 |
+
|
| 70 |
+
How This Was Generated (Reproducible Pipeline)
|
| 71 |
+
|
| 72 |
+
1) Episode → Image Embeddings (drop pixels)
|
| 73 |
+
convert_lerobot_to_embeddings_mono.py (GPU-accelerated preprocessing).
|
| 74 |
+
Adds:
|
| 75 |
+
- observation.images.image_dinov3 (float32[1024])
|
| 76 |
+
- observation.images.image_siglip2 (float32[768])
|
| 77 |
+
Removes:
|
| 78 |
+
- observation.images.image
|
| 79 |
+
|
| 80 |
+
2) Task-Text Embeddings (one row per unique task)
|
| 81 |
+
build_task_text_embeddings.py with SentenceTransformer("google/embeddinggemma-300m") → data/task_text_embeddings.parquet + meta/task_text_embeddings_info.json.
|
| 82 |
+
|
| 83 |
+
3) Data Consolidation (this release)
|
| 84 |
+
All per-episode Parquets were consolidated into N large Parquet shards in one data/ folder.
|
| 85 |
+
- The index meta/sharded_index.json records, for each episode, its normalized source identifier data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet, the destination shard path, and the (row_offset, num_rows) range inside that shard.
|
| 86 |
+
- This preserves original addressing while making Hub sync/clone/stream far faster and more reliable.
|
| 87 |
+
|
| 88 |
+
----------------------------------------------------------------
|
| 89 |
+
|
| 90 |
+
Metadata (Excerpts)
|
| 91 |
+
|
| 92 |
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meta/task_text_embeddings_info.json
|
| 93 |
+
|
| 94 |
+
~~~json
|
| 95 |
+
{
|
| 96 |
+
"model": "google/embeddinggemma-300m",
|
| 97 |
+
"dimension": 768,
|
| 98 |
+
"normalized": true,
|
| 99 |
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"count": 44,
|
| 100 |
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"file": "task_text_embeddings.parquet"
|
| 101 |
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}
|
| 102 |
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~~~
|
| 103 |
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|
| 104 |
+
|
| 105 |
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meta/info.json (embedding-only + shards)
|
| 106 |
+
|
| 107 |
+
~~~json
|
| 108 |
+
{
|
| 109 |
+
"codebase_version": "v2.1-embeddings-sharded",
|
| 110 |
+
"robot_type": "franka",
|
| 111 |
+
"total_episodes": 576,
|
| 112 |
+
"total_frames": 235922,
|
| 113 |
+
"total_tasks": 44,
|
| 114 |
+
"total_videos": 576,
|
| 115 |
+
"total_chunks": 1,
|
| 116 |
+
"chunks_size": 1000,
|
| 117 |
+
"fps": 5,
|
| 118 |
+
"splits": {
|
| 119 |
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"train": "0:576"
|
| 120 |
+
},
|
| 121 |
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"data_path": "data/shard-{shard_id:05d}-of-{num_shards:05d}.parquet",
|
| 122 |
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"features": {
|
| 123 |
+
"observation.state": {
|
| 124 |
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"dtype": "float32",
|
| 125 |
+
"shape": [
|
| 126 |
+
8
|
| 127 |
+
],
|
| 128 |
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"names": {
|
| 129 |
+
"motors": [
|
| 130 |
+
"motor_0",
|
| 131 |
+
"motor_1",
|
| 132 |
+
"motor_2",
|
| 133 |
+
"motor_3",
|
| 134 |
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"motor_4",
|
| 135 |
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"motor_5",
|
| 136 |
+
"motor_6",
|
| 137 |
+
"gripper"
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"action": {
|
| 142 |
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"dtype": "float32",
|
| 143 |
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"shape": [
|
| 144 |
+
7
|
| 145 |
+
],
|
| 146 |
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"names": {
|
| 147 |
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"motors": [
|
| 148 |
+
"x",
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| 149 |
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"y",
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| 150 |
+
"z",
|
| 151 |
+
"roll",
|
| 152 |
+
"pitch",
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| 153 |
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"yaw",
|
| 154 |
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"gripper"
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
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},
|
| 158 |
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"timestamp": {
|
| 159 |
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"dtype": "float32",
|
| 160 |
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"shape": [
|
| 161 |
+
1
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| 162 |
+
],
|
| 163 |
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"names": null
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| 164 |
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},
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| 165 |
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"frame_index": {
|
| 166 |
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"dtype": "int64",
|
| 167 |
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"shape": [
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| 168 |
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1
|
| 169 |
+
],
|
| 170 |
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"names": null
|
| 171 |
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},
|
| 172 |
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"episode_index": {
|
| 173 |
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"dtype": "int64",
|
| 174 |
+
"shape": [
|
| 175 |
+
1
|
| 176 |
+
],
|
| 177 |
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"names": null
|
| 178 |
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},
|
| 179 |
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"index": {
|
| 180 |
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"dtype": "int64",
|
| 181 |
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"shape": [
|
| 182 |
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1
|
| 183 |
+
],
|
| 184 |
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"names": null
|
| 185 |
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},
|
| 186 |
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"task_index": {
|
| 187 |
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"dtype": "int64",
|
| 188 |
+
"shape": [
|
| 189 |
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1
|
| 190 |
+
],
|
| 191 |
+
"names": null
|
| 192 |
+
},
|
| 193 |
+
"observation.images.image_dinov3": {
|
| 194 |
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"dtype": "float32",
|
| 195 |
+
"shape": [
|
| 196 |
+
1024
|
| 197 |
+
],
|
| 198 |
+
"names": null
|
| 199 |
+
},
|
| 200 |
+
"observation.images.image_siglip2": {
|
| 201 |
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"dtype": "float32",
|
| 202 |
+
"shape": [
|
| 203 |
+
768
|
| 204 |
+
],
|
| 205 |
+
"names": null
|
| 206 |
+
}
|
| 207 |
+
},
|
| 208 |
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"video_keys": [
|
| 209 |
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"observation.images.image"
|
| 210 |
+
],
|
| 211 |
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"num_shards": 64,
|
| 212 |
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"index_path": "meta/sharded_index.json"
|
| 213 |
+
}
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| 214 |
+
~~~
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| 215 |
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| 216 |
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----------------------------------------------------------------
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| 217 |
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| 218 |
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Environment & Dependencies
|
| 219 |
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|
| 220 |
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Python ≥ 3.9 • PyTorch ≥ 2.1 • transformers • sentence-transformers • pyarrow • tqdm • decord (and optionally av)
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| 221 |
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|
| 222 |
+
----------------------------------------------------------------
|
| 223 |
+
|
| 224 |
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Provenance, License, and Citation
|
| 225 |
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|
| 226 |
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- Source dataset: [IPEC-COMMUNITY/cmu_play_fusion_lerobot](https://huggingface.co/datasets/IPEC-COMMUNITY/cmu_play_fusion_lerobot)
|
| 227 |
+
- License: apache-2.0 (inherits from the source)
|
| 228 |
+
- Encoders to cite:
|
| 229 |
+
- facebook/dinov3-vitl16-pretrain-lvd1689m
|
| 230 |
+
- google/siglip2-base-patch16-384
|
| 231 |
+
- google/embeddinggemma-300m
|
| 232 |
+
|
| 233 |
+
----------------------------------------------------------------
|
| 234 |
+
|
| 235 |
+
Changelog
|
| 236 |
+
|
| 237 |
+
- v2.0-embeddings-sharded — Replaced video tensors with DINOv3 + SigLIP2 features; added EmbeddingGemma task-text embeddings; consolidated per-episode Parquets into N shards with a repo-local index; preserved original indexing/splits via normalized episode identifiers.
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data/shard-00000-of-00064.parquet
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
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|
| 1 |
+
{"episode_index": 0, "tasks": ["pick pot and place in sink"], "length": 299}
|
| 2 |
+
{"episode_index": 1, "tasks": ["pick yellow bowl and place in dish rack"], "length": 191}
|
| 3 |
+
{"episode_index": 2, "tasks": ["pick radish and place in red cup"], "length": 428}
|
| 4 |
+
{"episode_index": 3, "tasks": ["open oven, then pick pineapple and place insid oven"], "length": 484}
|
| 5 |
+
{"episode_index": 4, "tasks": ["open oven, then pick pineapple and place insid oven"], "length": 433}
|
| 6 |
+
{"episode_index": 5, "tasks": ["pick yellow cup and place in sink"], "length": 214}
|
| 7 |
+
{"episode_index": 6, "tasks": ["pick banana and place in blue plate"], "length": 306}
|
| 8 |
+
{"episode_index": 7, "tasks": ["open oven, then pick steak and place insid oven"], "length": 671}
|
| 9 |
+
{"episode_index": 8, "tasks": ["pick yellow bowl and place in sink"], "length": 208}
|
| 10 |
+
{"episode_index": 9, "tasks": ["pick pot and place on wooden hanger"], "length": 381}
|
| 11 |
+
{"episode_index": 10, "tasks": ["pick knife and place in pink bowl"], "length": 376}
|
| 12 |
+
{"episode_index": 11, "tasks": ["open pot, then pick bread and place insid pot"], "length": 711}
|
| 13 |
+
{"episode_index": 12, "tasks": ["open pot, then pick pineapple and place insid pot"], "length": 557}
|
| 14 |
+
{"episode_index": 13, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 246}
|
| 15 |
+
{"episode_index": 14, "tasks": ["pick banana and place in pink bowl"], "length": 288}
|
| 16 |
+
{"episode_index": 15, "tasks": ["open oven, then pick chicken and place insid oven"], "length": 539}
|
| 17 |
+
{"episode_index": 16, "tasks": ["pick banana and place in blue plate"], "length": 301}
|
| 18 |
+
{"episode_index": 17, "tasks": ["open oven, then pick chicken and place insid oven"], "length": 523}
|
| 19 |
+
{"episode_index": 18, "tasks": ["pick orange cup and place on wooden hanger"], "length": 270}
|
| 20 |
+
{"episode_index": 19, "tasks": ["pick knife and place in blue plate"], "length": 414}
|
| 21 |
+
{"episode_index": 20, "tasks": ["pick knife and place in pink bowl"], "length": 310}
|
| 22 |
+
{"episode_index": 21, "tasks": ["pick orange cup and place on wooden hanger"], "length": 237}
|
| 23 |
+
{"episode_index": 22, "tasks": ["pick yellow cup and place in dish rack"], "length": 219}
|
| 24 |
+
{"episode_index": 23, "tasks": ["pick carrot and place in blue plate"], "length": 334}
|
| 25 |
+
{"episode_index": 24, "tasks": ["pick yellow bowl and place in dish rack"], "length": 187}
|
| 26 |
+
{"episode_index": 25, "tasks": ["pick orange cup and place in dish rack"], "length": 178}
|
| 27 |
+
{"episode_index": 26, "tasks": ["pick yellow cup and place in sink"], "length": 227}
|
| 28 |
+
{"episode_index": 27, "tasks": ["open grill, then pick carrot and place insid grill"], "length": 687}
|
| 29 |
+
{"episode_index": 28, "tasks": ["pick yellow cup and place in sink"], "length": 187}
|
| 30 |
+
{"episode_index": 29, "tasks": ["pick orange cup and place on wooden hanger"], "length": 250}
|
| 31 |
+
{"episode_index": 30, "tasks": ["open pot, then pick chicken and place insid pot"], "length": 743}
|
| 32 |
+
{"episode_index": 31, "tasks": ["pick yellow cup and place on wooden hanger"], "length": 311}
|
| 33 |
+
{"episode_index": 32, "tasks": ["pick radish and place in pink bowl"], "length": 382}
|
| 34 |
+
{"episode_index": 33, "tasks": ["pick yellow cup and place in dish rack"], "length": 242}
|
| 35 |
+
{"episode_index": 34, "tasks": ["open pot, then pick pineapple and place insid pot"], "length": 575}
|
| 36 |
+
{"episode_index": 35, "tasks": ["pick yellow cup and place on wooden hanger"], "length": 279}
|
| 37 |
+
{"episode_index": 36, "tasks": ["pick yellow cup and place in sink"], "length": 205}
|
| 38 |
+
{"episode_index": 37, "tasks": ["pick pot and place in dish rack"], "length": 282}
|
| 39 |
+
{"episode_index": 38, "tasks": ["open grill, then pick pineapple and place insid grill"], "length": 615}
|
| 40 |
+
{"episode_index": 39, "tasks": ["pick orange cup and place in sink"], "length": 197}
|
| 41 |
+
{"episode_index": 40, "tasks": ["pick yellow bowl and place in sink"], "length": 238}
|
| 42 |
+
{"episode_index": 41, "tasks": ["pick yellow bowl and place in sink"], "length": 208}
|
| 43 |
+
{"episode_index": 42, "tasks": ["pick yellow bowl and place in sink"], "length": 200}
|
| 44 |
+
{"episode_index": 43, "tasks": ["pick spoon and place in pink bowl"], "length": 307}
|
| 45 |
+
{"episode_index": 44, "tasks": ["pick radish and place in red cup"], "length": 355}
|
| 46 |
+
{"episode_index": 45, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 312}
|
| 47 |
+
{"episode_index": 46, "tasks": ["pick radish and place in blue plate"], "length": 313}
|
| 48 |
+
{"episode_index": 47, "tasks": ["pick yellow cup and place in dish rack"], "length": 224}
|
| 49 |
+
{"episode_index": 48, "tasks": ["open oven, then pick pineapple and place insid oven"], "length": 514}
|
| 50 |
+
{"episode_index": 49, "tasks": ["pick knife and place in red cup"], "length": 372}
|
| 51 |
+
{"episode_index": 50, "tasks": ["pick spoon and place in pink bowl"], "length": 382}
|
| 52 |
+
{"episode_index": 51, "tasks": ["pick radish and place in red cup"], "length": 420}
|
| 53 |
+
{"episode_index": 52, "tasks": ["pick knife and place in red cup"], "length": 312}
|
| 54 |
+
{"episode_index": 53, "tasks": ["open oven, then pick pineapple and place insid oven"], "length": 446}
|
| 55 |
+
{"episode_index": 54, "tasks": ["pick banana and place in blue plate"], "length": 295}
|
| 56 |
+
{"episode_index": 55, "tasks": ["open oven, then pick chicken and place insid oven"], "length": 491}
|
| 57 |
+
{"episode_index": 56, "tasks": ["pick orange cup and place in sink"], "length": 205}
|
| 58 |
+
{"episode_index": 57, "tasks": ["open grill, then pick carrot and place insid grill"], "length": 635}
|
| 59 |
+
{"episode_index": 58, "tasks": ["open pot, then pick carrot and place insid pot"], "length": 731}
|
| 60 |
+
{"episode_index": 59, "tasks": ["open grill, then pick pineapple and place insid grill"], "length": 586}
|
| 61 |
+
{"episode_index": 60, "tasks": ["open oven, then pick steak and place insid oven"], "length": 702}
|
| 62 |
+
{"episode_index": 61, "tasks": ["open pot, then pick bread and place insid pot"], "length": 672}
|
| 63 |
+
{"episode_index": 62, "tasks": ["open pot, then pick chicken and place insid pot"], "length": 564}
|
| 64 |
+
{"episode_index": 63, "tasks": ["pick orange cup and place in sink"], "length": 178}
|
| 65 |
+
{"episode_index": 64, "tasks": ["open pot, then pick bread and place insid pot"], "length": 649}
|
| 66 |
+
{"episode_index": 65, "tasks": ["pick orange cup and place in sink"], "length": 240}
|
| 67 |
+
{"episode_index": 66, "tasks": ["pick yellow cup and place in dish rack"], "length": 200}
|
| 68 |
+
{"episode_index": 67, "tasks": ["open oven, then pick bread and place insid oven"], "length": 611}
|
| 69 |
+
{"episode_index": 68, "tasks": ["open grill, then pick chicken and place insid grill"], "length": 561}
|
| 70 |
+
{"episode_index": 69, "tasks": ["pick spoon and place in red cup"], "length": 516}
|
| 71 |
+
{"episode_index": 70, "tasks": ["pick spoon and place in pink bowl"], "length": 397}
|
| 72 |
+
{"episode_index": 71, "tasks": ["open oven, then pick carrot and place insid oven"], "length": 486}
|
| 73 |
+
{"episode_index": 72, "tasks": ["open oven, then pick carrot and place insid oven"], "length": 591}
|
| 74 |
+
{"episode_index": 73, "tasks": ["pick knife and place in pink bowl"], "length": 291}
|
| 75 |
+
{"episode_index": 74, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 243}
|
| 76 |
+
{"episode_index": 75, "tasks": ["open oven, then pick chicken and place insid oven"], "length": 477}
|
| 77 |
+
{"episode_index": 76, "tasks": ["open grill, then pick carrot and place insid grill"], "length": 906}
|
| 78 |
+
{"episode_index": 77, "tasks": ["pick banana and place in pink bowl"], "length": 295}
|
| 79 |
+
{"episode_index": 78, "tasks": ["open pot, then pick bread and place insid pot"], "length": 641}
|
| 80 |
+
{"episode_index": 79, "tasks": ["pick orange cup and place in dish rack"], "length": 192}
|
| 81 |
+
{"episode_index": 80, "tasks": ["open pot, then pick bread and place insid pot"], "length": 621}
|
| 82 |
+
{"episode_index": 81, "tasks": ["open pot, then pick pineapple and place insid pot"], "length": 600}
|
| 83 |
+
{"episode_index": 82, "tasks": ["open oven, then pick chicken and place insid oven"], "length": 478}
|
| 84 |
+
{"episode_index": 83, "tasks": ["open oven, then pick carrot and place insid oven"], "length": 672}
|
| 85 |
+
{"episode_index": 84, "tasks": ["pick yellow bowl and place in dish rack"], "length": 183}
|
| 86 |
+
{"episode_index": 85, "tasks": ["open oven, then pick carrot and place insid oven"], "length": 599}
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| 87 |
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|
| 497 |
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{"episode_index": 496, "tasks": ["pick carrot and place in pink bowl"], "length": 361}
|
| 498 |
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{"episode_index": 497, "tasks": ["pick carrot and place in pink bowl"], "length": 321}
|
| 499 |
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{"episode_index": 498, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 327}
|
| 500 |
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{"episode_index": 499, "tasks": ["open pot, then pick bread and place insid pot"], "length": 545}
|
| 501 |
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{"episode_index": 500, "tasks": ["pick pot and place on wooden hanger"], "length": 361}
|
| 502 |
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{"episode_index": 501, "tasks": ["pick yellow cup and place in dish rack"], "length": 207}
|
| 503 |
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|
| 504 |
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|
| 505 |
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|
| 506 |
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|
| 507 |
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|
| 508 |
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|
| 509 |
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| 510 |
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|
| 511 |
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|
| 512 |
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|
| 513 |
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|
| 514 |
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|
| 515 |
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{"episode_index": 514, "tasks": ["pick knife and place in blue plate"], "length": 361}
|
| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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{"episode_index": 518, "tasks": ["pick carrot and place in blue plate"], "length": 397}
|
| 520 |
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{"episode_index": 519, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 227}
|
| 521 |
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{"episode_index": 520, "tasks": ["pick orange cup and place in sink"], "length": 229}
|
| 522 |
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{"episode_index": 521, "tasks": ["pick yellow bowl and place in dish rack"], "length": 266}
|
| 523 |
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{"episode_index": 522, "tasks": ["pick orange cup and place in sink"], "length": 170}
|
| 524 |
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{"episode_index": 523, "tasks": ["pick orange cup and place on wooden hanger"], "length": 264}
|
| 525 |
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{"episode_index": 524, "tasks": ["open grill, then pick steak and place insid grill"], "length": 706}
|
| 526 |
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{"episode_index": 525, "tasks": ["open grill, then pick pineapple and place insid grill"], "length": 544}
|
| 527 |
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{"episode_index": 526, "tasks": ["pick yellow cup and place on wooden hanger"], "length": 272}
|
| 528 |
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{"episode_index": 527, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 250}
|
| 529 |
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{"episode_index": 528, "tasks": ["pick orange cup and place on wooden hanger"], "length": 227}
|
| 530 |
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{"episode_index": 529, "tasks": ["pick radish and place in red cup"], "length": 434}
|
| 531 |
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{"episode_index": 530, "tasks": ["pick pot and place in sink"], "length": 244}
|
| 532 |
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{"episode_index": 531, "tasks": ["pick pot and place on wooden hanger"], "length": 394}
|
| 533 |
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|
| 534 |
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{"episode_index": 533, "tasks": ["open oven, then pick chicken and place insid oven"], "length": 586}
|
| 535 |
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| 536 |
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| 537 |
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| 538 |
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{"episode_index": 537, "tasks": ["open grill, then pick carrot and place insid grill"], "length": 639}
|
| 539 |
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| 540 |
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| 541 |
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{"episode_index": 540, "tasks": ["open pot, then pick steak and place insid pot"], "length": 711}
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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|
| 546 |
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| 547 |
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{"episode_index": 546, "tasks": ["pick carrot and place in red cup"], "length": 375}
|
| 548 |
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{"episode_index": 547, "tasks": ["open oven, then pick pineapple and place insid oven"], "length": 584}
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| 549 |
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|
| 550 |
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| 551 |
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|
| 552 |
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| 553 |
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{"episode_index": 552, "tasks": ["pick banana and place in blue plate"], "length": 322}
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| 554 |
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{"episode_index": 553, "tasks": ["open grill, then pick pineapple and place insid grill"], "length": 580}
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| 555 |
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|
| 556 |
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| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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{"episode_index": 559, "tasks": ["pick radish and place in pink bowl"], "length": 328}
|
| 561 |
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{"episode_index": 560, "tasks": ["open oven, then pick carrot and place insid oven"], "length": 495}
|
| 562 |
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{"episode_index": 561, "tasks": ["open grill, then pick steak and place insid grill"], "length": 617}
|
| 563 |
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{"episode_index": 562, "tasks": ["open grill, then pick bread and place insid grill"], "length": 592}
|
| 564 |
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{"episode_index": 563, "tasks": ["open grill, then pick carrot and place insid grill"], "length": 675}
|
| 565 |
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{"episode_index": 564, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 209}
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| 566 |
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{"episode_index": 565, "tasks": ["pick carrot and place in blue plate"], "length": 401}
|
| 567 |
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{"episode_index": 566, "tasks": ["pick red mug and place in dish rack"], "length": 242}
|
| 568 |
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{"episode_index": 567, "tasks": ["open grill, then pick chicken and place insid grill"], "length": 518}
|
| 569 |
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{"episode_index": 568, "tasks": ["open grill, then pick bread and place insid grill"], "length": 574}
|
| 570 |
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{"episode_index": 569, "tasks": ["pick knife and place in blue plate"], "length": 369}
|
| 571 |
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{"episode_index": 570, "tasks": ["pick orange cup and place on wooden hanger"], "length": 261}
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| 572 |
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|
| 573 |
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{"episode_index": 572, "tasks": ["pick yellow bowl and place on wooden hanger"], "length": 283}
|
| 574 |
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{"episode_index": 573, "tasks": ["open pot, then pick chicken and place insid pot"], "length": 713}
|
| 575 |
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{"episode_index": 574, "tasks": ["open oven, then pick carrot and place insid oven"], "length": 579}
|
| 576 |
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{"episode_index": 575, "tasks": ["open pot, then pick carrot and place insid pot"], "length": 777}
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meta/info.json
ADDED
|
@@ -0,0 +1,106 @@
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|
meta/sharded_index.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
meta/task_text_embeddings_info.json
ADDED
|
@@ -0,0 +1,7 @@
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|
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|
| 1 |
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{
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| 3 |
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| 5 |
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|
| 6 |
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"file": "task_text_embeddings.parquet"
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| 7 |
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|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,44 @@
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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 |
+
{"task_index": 0, "task": "pick pot and place in sink"}
|
| 2 |
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{"task_index": 1, "task": "pick yellow bowl and place in dish rack"}
|
| 3 |
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{"task_index": 2, "task": "pick radish and place in red cup"}
|
| 4 |
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{"task_index": 3, "task": "open oven, then pick pineapple and place insid oven"}
|
| 5 |
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{"task_index": 4, "task": "pick yellow cup and place in sink"}
|
| 6 |
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{"task_index": 5, "task": "pick banana and place in blue plate"}
|
| 7 |
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{"task_index": 6, "task": "open oven, then pick steak and place insid oven"}
|
| 8 |
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{"task_index": 7, "task": "pick yellow bowl and place in sink"}
|
| 9 |
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{"task_index": 8, "task": "pick pot and place on wooden hanger"}
|
| 10 |
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{"task_index": 9, "task": "pick knife and place in pink bowl"}
|
| 11 |
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{"task_index": 10, "task": "open pot, then pick bread and place insid pot"}
|
| 12 |
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{"task_index": 11, "task": "open pot, then pick pineapple and place insid pot"}
|
| 13 |
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{"task_index": 12, "task": "pick yellow bowl and place on wooden hanger"}
|
| 14 |
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{"task_index": 13, "task": "pick banana and place in pink bowl"}
|
| 15 |
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{"task_index": 14, "task": "open oven, then pick chicken and place insid oven"}
|
| 16 |
+
{"task_index": 15, "task": "pick orange cup and place on wooden hanger"}
|
| 17 |
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{"task_index": 16, "task": "pick knife and place in blue plate"}
|
| 18 |
+
{"task_index": 17, "task": "pick yellow cup and place in dish rack"}
|
| 19 |
+
{"task_index": 18, "task": "pick carrot and place in blue plate"}
|
| 20 |
+
{"task_index": 19, "task": "pick orange cup and place in dish rack"}
|
| 21 |
+
{"task_index": 20, "task": "open grill, then pick carrot and place insid grill"}
|
| 22 |
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{"task_index": 21, "task": "open pot, then pick chicken and place insid pot"}
|
| 23 |
+
{"task_index": 22, "task": "pick yellow cup and place on wooden hanger"}
|
| 24 |
+
{"task_index": 23, "task": "pick radish and place in pink bowl"}
|
| 25 |
+
{"task_index": 24, "task": "pick pot and place in dish rack"}
|
| 26 |
+
{"task_index": 25, "task": "open grill, then pick pineapple and place insid grill"}
|
| 27 |
+
{"task_index": 26, "task": "pick orange cup and place in sink"}
|
| 28 |
+
{"task_index": 27, "task": "pick spoon and place in pink bowl"}
|
| 29 |
+
{"task_index": 28, "task": "pick radish and place in blue plate"}
|
| 30 |
+
{"task_index": 29, "task": "pick knife and place in red cup"}
|
| 31 |
+
{"task_index": 30, "task": "open pot, then pick carrot and place insid pot"}
|
| 32 |
+
{"task_index": 31, "task": "open oven, then pick bread and place insid oven"}
|
| 33 |
+
{"task_index": 32, "task": "open grill, then pick chicken and place insid grill"}
|
| 34 |
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{"task_index": 33, "task": "pick spoon and place in red cup"}
|
| 35 |
+
{"task_index": 34, "task": "open oven, then pick carrot and place insid oven"}
|
| 36 |
+
{"task_index": 35, "task": "pick banana and place in red cup"}
|
| 37 |
+
{"task_index": 36, "task": "pick carrot and place in red cup"}
|
| 38 |
+
{"task_index": 37, "task": "pick spoon and place in blue plate"}
|
| 39 |
+
{"task_index": 38, "task": "pick carrot and place in pink bowl"}
|
| 40 |
+
{"task_index": 39, "task": "open grill, then pick steak and place insid grill"}
|
| 41 |
+
{"task_index": 40, "task": "open grill, then pick bread and place insid grill"}
|
| 42 |
+
{"task_index": 41, "task": "pick red mug and place on wooden hanger"}
|
| 43 |
+
{"task_index": 42, "task": "open pot, then pick steak and place insid pot"}
|
| 44 |
+
{"task_index": 43, "task": "pick red mug and place in dish rack"}
|