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README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
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+
task_categories:
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- robotics
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+
tags:
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- LeRobot
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- H
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| 8 |
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- u
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| 9 |
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- a
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| 10 |
+
- i
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| 11 |
+
- h
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| 12 |
+
- a
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| 13 |
+
- i
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| 14 |
+
- L
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| 15 |
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- y
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| 16 |
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- u
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| 17 |
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- /
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| 18 |
+
- g
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| 19 |
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- r
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| 20 |
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- o
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| 21 |
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- c
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| 22 |
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- e
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| 23 |
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- r
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| 24 |
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- i
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| 25 |
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- e
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- s
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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| 35 |
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| 36 |
+
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| 37 |
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- **Homepage:** [More Information Needed]
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| 39 |
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- **Paper:** [More Information Needed]
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| 40 |
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- **License:** apache-2.0
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| 41 |
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## Dataset Structure
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| 43 |
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v2.0",
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"robot_type": "aloha",
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| 49 |
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"total_episodes": 25,
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| 50 |
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"total_frames": 17065,
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| 51 |
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"total_tasks": 1,
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| 52 |
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"total_videos": 75,
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"total_chunks": 1,
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| 54 |
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"chunks_size": 1000,
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| 55 |
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"fps": 30,
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| 56 |
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"splits": {
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| 57 |
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"train": "0:25"
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| 58 |
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 60 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 61 |
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"features": {
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| 62 |
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"observation.state": {
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| 63 |
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"dtype": "float32",
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| 64 |
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"shape": [
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| 65 |
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14
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| 66 |
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],
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| 67 |
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"names": [
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| 68 |
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[
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| 69 |
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"right_waist",
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| 70 |
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"right_shoulder",
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| 71 |
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"right_elbow",
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| 72 |
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"right_forearm_roll",
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| 73 |
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"right_wrist_angle",
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| 74 |
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"right_wrist_rotate",
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| 75 |
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"right_gripper",
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| 76 |
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"left_waist",
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| 77 |
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"left_shoulder",
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| 78 |
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"left_elbow",
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| 79 |
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"left_forearm_roll",
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| 80 |
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"left_wrist_angle",
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| 81 |
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"left_wrist_rotate",
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| 82 |
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"left_gripper"
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| 83 |
+
]
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| 84 |
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]
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| 85 |
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},
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| 86 |
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"action": {
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| 87 |
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"dtype": "float32",
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| 88 |
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"shape": [
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| 89 |
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14
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| 90 |
+
],
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| 91 |
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"names": [
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| 92 |
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[
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| 93 |
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"right_waist",
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| 94 |
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"right_shoulder",
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| 95 |
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"right_elbow",
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| 96 |
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"right_forearm_roll",
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| 97 |
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"right_wrist_angle",
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| 98 |
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"right_wrist_rotate",
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| 99 |
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"right_gripper",
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| 100 |
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"left_waist",
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| 101 |
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"left_shoulder",
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| 102 |
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"left_elbow",
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| 103 |
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"left_forearm_roll",
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| 104 |
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"left_wrist_angle",
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| 105 |
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"left_wrist_rotate",
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| 106 |
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"left_gripper"
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| 107 |
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]
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| 108 |
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]
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| 109 |
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},
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| 110 |
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"observation.images.cam_high": {
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| 111 |
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"dtype": "video",
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| 112 |
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"shape": [
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| 113 |
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3,
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| 114 |
+
480,
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| 115 |
+
640
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| 116 |
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],
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| 117 |
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"names": [
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| 118 |
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"channels",
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| 119 |
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"height",
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| 120 |
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"width"
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| 121 |
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],
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| 122 |
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"info": {
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| 123 |
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"video.fps": 30.0,
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| 124 |
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"video.height": 720,
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| 125 |
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"video.width": 1280,
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| 126 |
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"video.channels": 3,
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| 127 |
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"video.codec": "h264",
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| 128 |
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"video.pix_fmt": "yuv420p",
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| 129 |
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"video.is_depth_map": false,
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| 130 |
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"has_audio": false
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| 131 |
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}
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| 132 |
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},
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| 133 |
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"observation.images.cam_left_wrist": {
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| 134 |
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"dtype": "video",
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| 135 |
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"shape": [
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| 136 |
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3,
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| 137 |
+
480,
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| 138 |
+
640
|
| 139 |
+
],
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| 140 |
+
"names": [
|
| 141 |
+
"channels",
|
| 142 |
+
"height",
|
| 143 |
+
"width"
|
| 144 |
+
],
|
| 145 |
+
"info": {
|
| 146 |
+
"video.fps": 30.0,
|
| 147 |
+
"video.height": 480,
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| 148 |
+
"video.width": 640,
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| 149 |
+
"video.channels": 3,
|
| 150 |
+
"video.codec": "h264",
|
| 151 |
+
"video.pix_fmt": "yuv420p",
|
| 152 |
+
"video.is_depth_map": false,
|
| 153 |
+
"has_audio": false
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| 154 |
+
}
|
| 155 |
+
},
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| 156 |
+
"observation.images.cam_right_wrist": {
|
| 157 |
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"dtype": "video",
|
| 158 |
+
"shape": [
|
| 159 |
+
3,
|
| 160 |
+
480,
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| 161 |
+
640
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| 162 |
+
],
|
| 163 |
+
"names": [
|
| 164 |
+
"channels",
|
| 165 |
+
"height",
|
| 166 |
+
"width"
|
| 167 |
+
],
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| 168 |
+
"info": {
|
| 169 |
+
"video.fps": 30.0,
|
| 170 |
+
"video.height": 480,
|
| 171 |
+
"video.width": 640,
|
| 172 |
+
"video.channels": 3,
|
| 173 |
+
"video.codec": "h264",
|
| 174 |
+
"video.pix_fmt": "yuv420p",
|
| 175 |
+
"video.is_depth_map": false,
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| 176 |
+
"has_audio": false
|
| 177 |
+
}
|
| 178 |
+
},
|
| 179 |
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"timestamp": {
|
| 180 |
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"dtype": "float32",
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| 181 |
+
"shape": [
|
| 182 |
+
1
|
| 183 |
+
],
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| 184 |
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"names": null
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| 185 |
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},
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| 186 |
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"frame_index": {
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| 187 |
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"dtype": "int64",
|
| 188 |
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"shape": [
|
| 189 |
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1
|
| 190 |
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],
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| 191 |
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"names": null
|
| 192 |
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},
|
| 193 |
+
"episode_index": {
|
| 194 |
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"dtype": "int64",
|
| 195 |
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"shape": [
|
| 196 |
+
1
|
| 197 |
+
],
|
| 198 |
+
"names": null
|
| 199 |
+
},
|
| 200 |
+
"index": {
|
| 201 |
+
"dtype": "int64",
|
| 202 |
+
"shape": [
|
| 203 |
+
1
|
| 204 |
+
],
|
| 205 |
+
"names": null
|
| 206 |
+
},
|
| 207 |
+
"task_index": {
|
| 208 |
+
"dtype": "int64",
|
| 209 |
+
"shape": [
|
| 210 |
+
1
|
| 211 |
+
],
|
| 212 |
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"names": null
|
| 213 |
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}
|
| 214 |
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}
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| 215 |
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}
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| 216 |
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```
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| 217 |
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| 218 |
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| 219 |
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## Citation
|
| 220 |
+
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| 221 |
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**BibTeX:**
|
| 222 |
+
|
| 223 |
+
```bibtex
|
| 224 |
+
[More Information Needed]
|
| 225 |
+
```
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