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data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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size 31515
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Grasp the pen put into the 1st bin, grasp the block and put in 2nd bin."], "length": 536}
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meta/info.json
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meta/stats.json
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meta/tasks.jsonl
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{"task_index": 0, "task": "Grasp the pen put into the 1st bin, grasp the block and put in 2nd bin."}
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