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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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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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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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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": "v2.1", |
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"robot_type": "a2d", |
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"total_episodes": 325, |
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"total_frames": 183325, |
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"total_tasks": 4, |
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"total_videos": 975, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 25, |
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"splits": { |
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"train": "0:325" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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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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16 |
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], |
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"names": [ |
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"left_shoulder_roll", |
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"left_shoulder_pitch", |
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"left_shoulder_yaw", |
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"left_elbow_pitch", |
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"left_wrist_roll", |
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"left_wrist_pitch", |
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"left_wrist_yaw", |
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"right_shoulder_roll", |
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"right_shoulder_pitch", |
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"right_shoulder_yaw", |
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"right_elbow_pitch", |
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"right_wrist_roll", |
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"right_wrist_pitch", |
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"right_wrist_yaw", |
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"left_gripper", |
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"right_gripper" |
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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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16 |
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], |
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"names": [ |
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"left_shoulder_roll", |
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"left_shoulder_pitch", |
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"left_shoulder_yaw", |
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"left_elbow_pitch", |
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"left_wrist_roll", |
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"left_wrist_pitch", |
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"left_wrist_yaw", |
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"right_shoulder_roll", |
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"right_shoulder_pitch", |
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"right_shoulder_yaw", |
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"right_elbow_pitch", |
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"right_wrist_roll", |
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"right_wrist_pitch", |
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"right_wrist_yaw", |
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"left_gripper", |
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"right_gripper" |
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] |
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}, |
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"observation.force": { |
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"dtype": "float32", |
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"shape": [ |
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12 |
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], |
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"names": [ |
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"left_force_x", |
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"left_force_y", |
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"left_force_z", |
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"left_torque_x", |
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"left_torque_y", |
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"left_torque_z", |
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"right_force_x", |
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"right_force_y", |
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"right_force_z", |
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"right_torque_x", |
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"right_torque_y", |
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"right_torque_z" |
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] |
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}, |
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"observation.ee_pose": { |
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"dtype": "float32", |
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"shape": [ |
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12 |
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], |
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"names": [ |
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"left_ee_x", |
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"left_ee_y", |
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"left_ee_z", |
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"left_ee_rx", |
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"left_ee_ry", |
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"left_ee_rz", |
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"right_ee_x", |
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"right_ee_y", |
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"right_ee_z", |
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"right_ee_rx", |
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"right_ee_ry", |
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"right_ee_rz" |
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] |
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}, |
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"observation.images.head_color": { |
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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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"video.fps": 25.0, |
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"video.height": 480, |
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"video.width": 640, |
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"video.channels": 3, |
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"video.codec": "h264", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"dtype": "video" |
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}, |
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"observation.images.head_depth": { |
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"shape": [ |
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480, |
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640, |
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1 |
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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": null, |
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"dtype": "image" |
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}, |
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"observation.images.hand_left_color": { |
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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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"video.fps": 25.0, |
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"video.height": 480, |
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"video.width": 640, |
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"video.channels": 3, |
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"video.codec": "h264", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"dtype": "video" |
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}, |
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"observation.images.hand_right_color": { |
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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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"video.fps": 25.0, |
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"video.height": 480, |
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"video.width": 640, |
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"video.channels": 3, |
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"video.codec": "h264", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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}, |
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"dtype": "video" |
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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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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
