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K-vr
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cube_stack3

Tasks:
Robotics
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Tags:
LeRobot
bimanual
teleoperation
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+ ---
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+ 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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+ - bimanual
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+ - teleoperation
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+
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+ <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=K-vr/cube_stack3">
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+ <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
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+ <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
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+ </a>
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+
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+
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+ ## Dataset Description
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+
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+ Teleoperated bimanual demonstrations for: Stack the three cubes with the largest cube on the bottom, the mid sized cube in the middle, and the smallest cube on top.. Each frame contains follower joint state, commanded joint action, task text, and four RGB cameras, including the RealSense colour view. The dataset contains 100 episodes recorded at 30 FPS.
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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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": "v3.0",
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+ "fps": 30,
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ "left_shoulder_pan.pos",
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+ "left_shoulder_lift.pos",
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+ "left_elbow_flex.pos",
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+ "left_forearm_roll.pos",
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+ "left_wrist_flex.pos",
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+ "left_wrist_roll.pos",
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+ "left_gripper.pos",
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+ "right_shoulder_pan.pos",
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+ "right_shoulder_lift.pos",
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+ "right_elbow_flex.pos",
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+ "right_forearm_roll.pos",
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+ "right_wrist_flex.pos",
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+ "right_wrist_roll.pos",
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+ "right_gripper.pos"
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+ ]
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ "left_shoulder_pan.pos",
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+ "left_shoulder_lift.pos",
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+ "left_elbow_flex.pos",
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+ "left_forearm_roll.pos",
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+ "left_wrist_flex.pos",
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+ "left_wrist_roll.pos",
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+ "left_gripper.pos",
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+ "right_shoulder_pan.pos",
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+ "right_shoulder_lift.pos",
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+ "right_elbow_flex.pos",
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+ "right_forearm_roll.pos",
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+ "right_wrist_flex.pos",
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+ "right_wrist_roll.pos",
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+ "right_gripper.pos"
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+ ]
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+ },
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+ "observation.images.left_cam_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "is_depth_map": false,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false,
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+ "video.g": 2,
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+ "video.crf": 30,
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+ "video.preset": 12,
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+ "video.fast_decode": 0,
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+ "video.video_backend": "pyav",
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+ "video.extra_options": {}
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+ }
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+ },
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+ "observation.images.left_cam_scene": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "is_depth_map": false,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false,
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+ "video.g": 2,
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+ "video.crf": 30,
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+ "video.preset": 12,
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+ "video.fast_decode": 0,
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+ "video.video_backend": "pyav",
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+ "video.extra_options": {}
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+ }
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+ },
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+ "observation.images.right_cam_right": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "is_depth_map": false,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false,
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+ "video.g": 2,
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+ "video.crf": 30,
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+ "video.preset": 12,
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+ "video.fast_decode": 0,
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+ "video.video_backend": "pyav",
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+ "video.extra_options": {}
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+ }
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+ },
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+ "observation.images.right_cam_scene_realsense": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "is_depth_map": false,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false,
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+ "video.g": 2,
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+ "video.crf": 30,
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+ "video.preset": 12,
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+ "video.fast_decode": 0,
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+ "video.video_backend": "pyav",
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+ "video.extra_options": {}
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ },
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+ "total_episodes": 100,
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+ "total_frames": 56222,
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+ "total_tasks": 2,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 0.001,
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+ "video_files_size_in_mb": 0.001,
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "robot_type": "bi_so_follower_7dof",
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+ "splits": {
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+ "train": "0:100"
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```