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sequence | observation.state
sequence | timestamp
float32 0
22.2
| frame_index
int64 0
665
| episode_index
int64 0
1
| index
int64 0
1.32k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
0.3515625,
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131.044921875,
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2.4609375,
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[
2.021484375,
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131.396484375,
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117.861328125,
131.30859375,
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131.30859375,
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131.30859375,
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[
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[
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106.875,
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128.759765625,
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118.828125,
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[
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[
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113.90625,
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[
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[
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[
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[
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[
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111.4453125,
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87.01171875,
108.80859375,
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85.4296875,
106.875,
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[
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104.677734375,
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[
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[
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102.12890625,
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[
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81.03515625,
100.01953125,
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[
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78.75,
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[
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79.541015625,
97.998046875,
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[
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[
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78.22265625,
96.416015625,
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[
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[
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[
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93.603515625,
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[
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75.9375,
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[
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[
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[
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74.35546875,
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[
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[
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84.375,
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73.564453125,
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[
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84.375,
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[
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84.90234375,
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[
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[
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[
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[
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[
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73.564453125,
84.90234375,
-20.830078125,
5.625,
34.98046875
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[
-12.48046875,
74.970703125,
84.375,
-21.181640625,
6.85546875,
34.98046875
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[
-13.53515625,
73.564453125,
84.90234375,
-20.830078125,
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[
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75.498046875,
84.375,
-21.181640625,
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34.98046875
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[
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73.564453125,
84.90234375,
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[
-11.42578125,
76.2890625,
84.375,
-21.181640625,
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34.98046875
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[
-12.041015625,
73.740234375,
84.90234375,
-20.830078125,
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[
-11.25,
77.16796875,
84.375,
-21.181640625,
7.646484375,
34.98046875
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[
-11.6015625,
74.35546875,
84.90234375,
-20.830078125,
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[
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84.375,
-21.181640625,
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[
-11.42578125,
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84.90234375,
-20.830078125,
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[
-11.25,
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84.375,
-21.181640625,
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34.98046875
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[
-11.42578125,
76.201171875,
84.90234375,
-20.91796875,
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[
-11.162109375,
79.365234375,
84.375,
-21.09375,
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[
-11.42578125,
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84.90234375,
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[
-11.162109375,
80.5078125,
84.375,
-21.181640625,
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[
-11.337890625,
77.51953125,
84.90234375,
-20.830078125,
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[
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84.375,
-21.181640625,
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[
-11.25,
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84.90234375,
-20.830078125,
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[
-11.162109375,
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84.375,
-21.181640625,
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[
-11.25,
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84.90234375,
-20.91796875,
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[
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84.375,
-21.181640625,
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[
-11.25,
80.859375,
84.90234375,
-20.830078125,
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[
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83.759765625,
84.375,
-21.09375,
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34.98046875
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[
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81.5625,
84.90234375,
-20.830078125,
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[
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84.19921875,
84.375,
-21.09375,
7.3828125,
34.98046875
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[
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82.08984375,
84.90234375,
-20.830078125,
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[
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84.375,
-20.91796875,
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[
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[
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84.90234375,
84.375,
-20.830078125,
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[
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[
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84.375,
-20.830078125,
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34.98046875
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[
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[
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84.375,
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[
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[
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84.375,
-20.830078125,
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[
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[
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84.375,
-20.830078125,
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[
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[
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87.5390625,
84.375,
-20.7421875,
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[
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84.90234375,
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[
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84.375,
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34.98046875
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[
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84.90234375,
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[
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84.55078125,
-20.7421875,
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34.98046875
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[
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86.572265625,
84.90234375,
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[
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90,
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34.98046875
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[
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87.71484375,
84.90234375,
-20.654296875,
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[
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90.087890625,
84.638671875,
-20.7421875,
7.20703125,
34.98046875
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[
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88.330078125,
84.90234375,
-20.654296875,
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34.98046875
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[
2.197265625,
90.087890625,
84.638671875,
-20.7421875,
7.20703125,
34.98046875
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[
0.615234375,
88.505859375,
84.90234375,
-20.654296875,
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34.98046875
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[
3.779296875,
90.087890625,
84.638671875,
-20.7421875,
7.20703125,
34.98046875
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[
2.021484375,
88.505859375,
84.90234375,
-20.654296875,
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34.98046875
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[
5.44921875,
90.087890625,
84.638671875,
-20.7421875,
7.20703125,
34.98046875
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[
3.427734375,
88.59375,
84.90234375,
-20.654296875,
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35.068359375
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[
7.03125,
90.087890625,
84.55078125,
-20.7421875,
7.20703125,
34.98046875
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[
5.009765625,
88.59375,
84.90234375,
-20.654296875,
7.3828125,
34.98046875
] | 2.966667 | 89 | 0 | 89 | 0 |
[
8.4375,
90.087890625,
84.55078125,
-20.7421875,
7.20703125,
34.98046875
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[
6.6796875,
88.59375,
84.90234375,
-20.654296875,
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34.98046875
] | 3 | 90 | 0 | 90 | 0 |
[
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90.087890625,
84.375,
-20.7421875,
7.20703125,
34.98046875
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[
8.173828125,
88.505859375,
84.90234375,
-20.654296875,
7.3828125,
34.98046875
] | 3.033333 | 91 | 0 | 91 | 0 |
[
10.8984375,
90.087890625,
84.375,
-20.7421875,
7.20703125,
34.98046875
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[
9.404296875,
88.505859375,
84.90234375,
-20.654296875,
7.294921875,
34.98046875
] | 3.066667 | 92 | 0 | 92 | 0 |
[
12.216796875,
90.087890625,
84.375,
-20.7421875,
7.20703125,
34.98046875
] |
[
10.546875,
88.59375,
84.90234375,
-20.654296875,
7.3828125,
34.98046875
] | 3.1 | 93 | 0 | 93 | 0 |
[
13.359375,
90.263671875,
84.375,
-20.7421875,
7.20703125,
34.98046875
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[
11.865234375,
88.505859375,
84.90234375,
-20.654296875,
7.3828125,
34.98046875
] | 3.133333 | 94 | 0 | 94 | 0 |
[
14.677734375,
90.615234375,
84.375,
-20.7421875,
7.20703125,
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[
13.095703125,
88.59375,
84.90234375,
-20.654296875,
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34.98046875
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[
15.908203125,
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84.375,
-20.7421875,
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[
14.326171875,
88.76953125,
84.90234375,
-20.654296875,
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34.98046875
] | 3.2 | 96 | 0 | 96 | 0 |
[
17.138671875,
91.318359375,
84.375,
-20.830078125,
7.20703125,
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[
15.64453125,
89.296875,
84.90234375,
-20.654296875,
7.3828125,
34.98046875
] | 3.233333 | 97 | 0 | 97 | 0 |
[
18.45703125,
91.845703125,
84.375,
-20.7421875,
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[
16.787109375,
89.82421875,
84.90234375,
-20.654296875,
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34.98046875
] | 3.266667 | 98 | 0 | 98 | 0 |
[
19.599609375,
92.197265625,
84.375,
-20.7421875,
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[
18.10546875,
90.17578125,
84.90234375,
-20.654296875,
7.3828125,
34.98046875
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 2,
"total_frames": 1316,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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": [
6
],
"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": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"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": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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