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Datasets:
RobotisSW
/
test_3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
11.8
frame_index
int64
0
118
episode_index
int64
0
1
index
int64
0
202
task_index
int64
0
0
[ 44.560546875, 92.724609375, 103.623046875, 81.123046875, 6.6796875, 23.115234375 ]
[ 43.9453125, 91.7578125, 106.787109375, 86.1328125, 7.734375, 23.73046875 ]
0
0
0
0
0
[ 44.47265625, 92.63671875, 103.88671875, 78.22265625, 6.767578125, 22.939453125 ]
[ 43.9453125, 91.669921875, 106.787109375, 83.056640625, 7.734375, 23.642578125 ]
0.1
1
0
1
0
[ 44.560546875, 92.63671875, 103.974609375, 76.376953125, 6.943359375, 18.984375 ]
[ 43.857421875, 91.7578125, 106.787109375, 79.892578125, 7.734375, 22.67578125 ]
0.2
2
0
2
0
[ 44.6484375, 92.63671875, 103.88671875, 75.05859375, 7.03125, 10.72265625 ]
[ 43.9453125, 91.7578125, 106.787109375, 77.6953125, 7.119140625, 18.984375 ]
0.3
3
0
3
0
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[ 43.9453125, 91.669921875, 106.787109375, 76.552734375, 6.85546875, 11.513671875 ]
0.4
4
0
4
0
[ 44.6484375, 92.63671875, 103.974609375, 74.443359375, 6.85546875, 6.943359375 ]
[ 43.9453125, 91.7578125, 106.787109375, 75.5859375, 6.767578125, 7.734375 ]
0.5
5
0
5
0
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0.6
6
0
6
0
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[ 43.9453125, 91.7578125, 106.787109375, 74.970703125, 6.767578125, 6.591796875 ]
0.7
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0
7
0
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[ 43.9453125, 91.7578125, 106.787109375, 74.970703125, 6.767578125, 6.6796875 ]
0.8
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0
8
0
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[ 43.9453125, 91.7578125, 106.787109375, 74.970703125, 6.767578125, 6.6796875 ]
0.9
9
0
9
0
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[ 43.2421875, 91.93359375, 105.380859375, 74.970703125, 6.767578125, 6.6796875 ]
1
10
0
10
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1.1
11
0
11
0
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1.2
12
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12
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1.3
13
0
13
0
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1.4
14
0
14
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1.5
15
0
15
0
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[ 25.83984375, 102.3046875, 73.388671875, 85.166015625, 6.767578125, 6.6796875 ]
1.6
16
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16
0
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[ 20.0390625, 102.3046875, 67.412109375, 87.890625, 6.6796875, 6.6796875 ]
1.7
17
0
17
0
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1.8
18
0
18
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[ 5.44921875, 102.3046875, 62.2265625, 88.41796875, 6.767578125, 6.6796875 ]
1.9
19
0
19
0
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2
20
0
20
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[ -11.513671875, 103.623046875, 57.83203125, 88.41796875, 6.85546875, 6.6796875 ]
2.1
21
0
21
0
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[ -20.0390625, 106.083984375, 57.919921875, 88.9453125, 6.767578125, 6.6796875 ]
2.2
22
0
22
0
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[ -31.201171875, 110.21484375, 57.83203125, 92.109375, 6.767578125, 6.6796875 ]
2.3
23
0
23
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[ -43.154296875, 113.37890625, 57.83203125, 94.658203125, 6.767578125, 6.6796875 ]
2.4
24
0
24
0
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2.5
25
0
25
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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[ -94.833984375, 114.169921875, 57.65625, 94.921875, 31.640625, 6.6796875 ]
2.9
29
0
29
0
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[ -99.052734375, 111.26953125, 58.798828125, 94.921875, 41.30859375, 6.6796875 ]
3
30
0
30
0
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[ -103.0078125, 106.875, 58.798828125, 94.921875, 50.537109375, 6.6796875 ]
3.1
31
0
31
0
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[ -105.46875, 101.865234375, 58.798828125, 94.921875, 58.88671875, 6.6796875 ]
3.2
32
0
32
0
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[ -107.2265625, 96.50390625, 58.88671875, 94.833984375, 66.796875, 6.6796875 ]
3.3
33
0
33
0
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[ -107.841796875, 92.021484375, 62.578125, 94.921875, 74.1796875, 6.6796875 ]
3.4
34
0
34
0
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[ -108.10546875, 90.52734375, 70.48828125, 95.09765625, 81.2109375, 6.6796875 ]
3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
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3.8
38
0
38
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3.9
39
0
39
0
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4
40
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40
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[ -107.40234375, 90.52734375, 74.35546875, 94.833984375, 84.990234375, 19.248046875 ]
4.1
41
0
41
0
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[ -107.666015625, 90.52734375, 74.35546875, 94.833984375, 84.990234375, 19.248046875 ]
4.2
42
0
42
0
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[ -107.9296875, 90.966796875, 74.794921875, 94.74609375, 84.990234375, 26.455078125 ]
4.3
43
0
43
0
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[ -107.9296875, 93.955078125, 76.46484375, 94.833984375, 85.166015625, 31.201171875 ]
4.4
44
0
44
0
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[ -108.544921875, 99.140625, 76.376953125, 94.833984375, 85.078125, 32.34375 ]
4.5
45
0
45
0
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[ -109.599609375, 104.765625, 76.376953125, 95.009765625, 85.25390625, 32.34375 ]
4.6
46
0
46
0
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[ -109.6875, 110.91796875, 76.376953125, 94.921875, 85.25390625, 32.34375 ]
4.7
47
0
47
0
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[ -109.072265625, 117.421875, 76.376953125, 94.39453125, 85.25390625, 32.34375 ]
4.8
48
0
48
0
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[ -106.5234375, 122.255859375, 76.376953125, 93.427734375, 85.25390625, 32.34375 ]
4.9
49
0
49
0
[ -95.80078125, 127.6171875, 74.53125, 89.47265625, 67.1484375, 33.3984375 ]
[ -100.986328125, 124.716796875, 76.376953125, 93.33984375, 81.123046875, 32.34375 ]
5
50
0
50
0
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[ -95.537109375, 125.859375, 76.376953125, 92.8125, 71.3671875, 32.34375 ]
5.1
51
0
51
0
[ -84.814453125, 130.60546875, 74.53125, 86.220703125, 44.296875, 33.3984375 ]
[ -91.58203125, 127.44140625, 76.376953125, 91.23046875, 59.326171875, 32.34375 ]
5.2
52
0
52
0
[ -77.6953125, 132.36328125, 74.443359375, 85.60546875, 34.013671875, 33.3984375 ]
[ -84.990234375, 128.84765625, 76.376953125, 90.087890625, 47.900390625, 32.34375 ]
5.3
53
0
53
0
[ -68.818359375, 133.857421875, 74.443359375, 85.078125, 26.3671875, 33.3984375 ]
[ -78.046875, 129.638671875, 76.376953125, 89.296875, 37.705078125, 32.34375 ]
5.4
54
0
54
0
[ -56.953125, 135, 74.53125, 84.111328125, 19.51171875, 33.3984375 ]
[ -69.43359375, 129.814453125, 76.376953125, 89.12109375, 29.091796875, 32.34375 ]
5.5
55
0
55
0
[ -43.505859375, 134.912109375, 75.146484375, 82.529296875, 14.0625, 33.3984375 ]
[ -58.18359375, 129.990234375, 76.376953125, 88.41796875, 21.796875, 32.34375 ]
5.6
56
0
56
0
[ -32.431640625, 134.82421875, 76.728515625, 80.68359375, 10.72265625, 33.3984375 ]
[ -45.703125, 129.990234375, 76.376953125, 86.572265625, 16.083984375, 32.34375 ]
5.7
57
0
57
0
[ -26.279296875, 135, 81.650390625, 77.783203125, 7.03125, 33.3984375 ]
[ -34.1015625, 129.990234375, 76.376953125, 84.638671875, 11.689453125, 32.34375 ]
5.8
58
0
58
0
[ -23.291015625, 135.17578125, 88.154296875, 74.00390625, 1.58203125, 33.3984375 ]
[ -27.158203125, 130.078125, 82.79296875, 82.08984375, 8.4375, 32.34375 ]
5.9
59
0
59
0
[ -20.390625, 135.087890625, 95.185546875, 68.642578125, -2.8125, 33.3984375 ]
[ -23.73046875, 129.990234375, 90.966796875, 78.92578125, 3.427734375, 32.255859375 ]
6
60
0
60
0
[ -15.99609375, 135.263671875, 104.765625, 60.029296875, -3.603515625, 33.486328125 ]
[ -20.478515625, 129.990234375, 97.294921875, 74.00390625, -0.439453125, 32.34375 ]
6.1
61
0
61
0
[ -11.953125, 135.3515625, 114.609375, 50.9765625, -3.515625, 33.486328125 ]
[ -15.8203125, 130.078125, 107.2265625, 66.357421875, -2.021484375, 32.34375 ]
6.2
62
0
62
0
[ -9.580078125, 135.703125, 123.310546875, 43.76953125, -3.515625, 33.486328125 ]
[ -11.513671875, 130.078125, 116.982421875, 57.041015625, -2.021484375, 32.34375 ]
6.3
63
0
63
0
[ -7.294921875, 135.703125, 130.25390625, 38.232421875, -3.8671875, 33.486328125 ]
[ -9.31640625, 129.990234375, 125.68359375, 48.8671875, -2.021484375, 32.431640625 ]
6.4
64
0
64
0
[ -4.74609375, 135.703125, 136.845703125, 34.541015625, -3.8671875, 33.486328125 ]
[ -7.119140625, 130.078125, 132.36328125, 43.505859375, -2.021484375, 32.431640625 ]
6.5
65
0
65
0
[ -3.33984375, 135.703125, 142.470703125, 30.849609375, -3.8671875, 33.486328125 ]
[ -4.482421875, 129.990234375, 138.427734375, 39.111328125, -2.021484375, 32.431640625 ]
6.6
66
0
66
0
[ -1.845703125, 135.703125, 148.53515625, 26.982421875, -3.8671875, 33.486328125 ]
[ -3.251953125, 129.990234375, 144.052734375, 35.15625, -2.021484375, 32.431640625 ]
6.7
67
0
67
0
[ -1.40625, 135.703125, 155.126953125, 23.115234375, -3.8671875, 33.486328125 ]
[ -1.23046875, 129.990234375, 150.205078125, 30.9375, -2.021484375, 32.431640625 ]
6.8
68
0
68
0
[ -1.40625, 135.703125, 160.6640625, 19.16015625, -3.8671875, 33.3984375 ]
[ -1.142578125, 130.078125, 157.060546875, 27.24609375, -2.109375, 32.431640625 ]
6.9
69
0
69
0
[ -1.142578125, 135.791015625, 165.76171875, 15.205078125, -3.8671875, 33.3984375 ]
[ -0.791015625, 130.078125, 161.103515625, 22.32421875, -2.109375, 32.607421875 ]
7
70
0
70
0
[ 0.263671875, 135.791015625, 170.15625, 11.689453125, -3.69140625, 33.486328125 ]
[ -1.0546875, 129.990234375, 165.673828125, 16.171875, -2.021484375, 32.51953125 ]
7.1
71
0
71
0
[ 0.52734375, 135.791015625, 174.0234375, 7.646484375, -3.69140625, 33.486328125 ]
[ -0.439453125, 130.078125, 170.419921875, 10.986328125, -1.93359375, 32.51953125 ]
7.2
72
0
72
0
[ 0.615234375, 135.791015625, 178.06640625, 3.779296875, -3.33984375, 33.486328125 ]
[ -0.263671875, 130.078125, 173.84765625, 6.591796875, -1.845703125, 32.51953125 ]
7.3
73
0
73
0
[ 0.52734375, 135.52734375, 181.0546875, 1.58203125, -3.076171875, 33.486328125 ]
[ 0, 130.078125, 177.1875, 2.28515625, -1.845703125, 32.51953125 ]
7.4
74
0
74
0
[ 0.263671875, 135.263671875, 180.966796875, 2.109375, -3.076171875, 33.486328125 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 32.51953125 ]
7.5
75
0
75
0
[ 0.263671875, 134.912109375, 180.87890625, 3.076171875, -2.98828125, 33.662109375 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 32.51953125 ]
7.6
76
0
76
0
[ -0.087890625, 134.912109375, 180.87890625, 3.515625, -2.98828125, 33.92578125 ]
[ 0, 129.990234375, 179.033203125, -0.52734375, -1.845703125, 32.51953125 ]
7.7
77
0
77
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 32.51953125 ]
7.8
78
0
78
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.900390625, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
7.9
79
0
79
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
8
80
0
80
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
8.1
81
0
81
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
8.2
82
0
82
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
8.3
83
0
83
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 129.990234375, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
0
0
1
84
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
0.1
1
1
85
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.900390625, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
0.2
2
1
86
0
[ 0.087890625, 135, 180.87890625, 3.515625, -2.8125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
0.3
3
1
87
0
[ 0.17578125, 135, 180.87890625, 3.515625, -2.900390625, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
0.4
4
1
88
0
[ 0.3515625, 134.912109375, 180.966796875, 3.515625, -3.603515625, 34.013671875 ]
[ 0, 129.990234375, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
0.5
5
1
89
0
[ 0.615234375, 135.087890625, 180.966796875, 3.427734375, -3.603515625, 33.92578125 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.3984375 ]
0.6
6
1
90
0
[ 0.615234375, 135.087890625, 180.87890625, 3.515625, -3.515625, 34.013671875 ]
[ 0, 129.990234375, 179.033203125, -0.52734375, -1.845703125, 33.134765625 ]
0.7
7
1
91
0
[ 0.615234375, 135.087890625, 180.87890625, 3.515625, -3.515625, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.57421875 ]
0.8
8
1
92
0
[ 0.703125, 135.087890625, 180.966796875, 3.515625, -3.33984375, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.57421875 ]
0.9
9
1
93
0
[ 0.615234375, 135.087890625, 180.87890625, 3.515625, -3.076171875, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.57421875 ]
1
10
1
94
0
[ 0.703125, 135.087890625, 180.966796875, 3.515625, -2.98828125, 34.013671875 ]
[ 0, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.57421875 ]
1.1
11
1
95
0
[ 1.93359375, 135.087890625, 180.966796875, 3.427734375, -3.603515625, 34.013671875 ]
[ 0, 129.990234375, 179.033203125, -0.52734375, -1.845703125, 33.57421875 ]
1.2
12
1
96
0
[ 4.74609375, 135.087890625, 180.87890625, 3.515625, -2.98828125, 34.013671875 ]
[ 0.439453125, 130.078125, 179.033203125, -0.52734375, -1.845703125, 33.57421875 ]
1.3
13
1
97
0
[ 5.44921875, 135.3515625, 180.966796875, 2.63671875, -3.076171875, 34.013671875 ]
[ 3.076171875, 130.078125, 179.033203125, -0.52734375, -1.7578125, 33.57421875 ]
1.4
14
1
98
0
[ 7.03125, 135.791015625, 180.17578125, 2.197265625, -2.98828125, 34.013671875 ]
[ 4.306640625, 130.078125, 179.033203125, -0.52734375, -1.7578125, 33.57421875 ]
1.5
15
1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch",
    "total_episodes": 2,
    "total_frames": 203,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 10.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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