Datasets:
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meta/info.json
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{
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"
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"
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"total_episodes": 11,
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"total_frames": 9258,
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"total_tasks": 1,
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"total_videos": 11,
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"total_chunks": 1,
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"chunks_size": 11,
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"fps": 16.5,
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"splits": {
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"train": "0:1"
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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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34
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],
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"names": [
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"left_arm_wrist_2_joint",
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"left_arm_3f_finger_c_joint_1",
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"right_arm_3f_palm_finger_b_joint",
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"left_arm_3f_finger_a_joint_3",
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"right_arm_wrist_3_joint",
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"left_arm_elbow_joint",
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"right_arm_3f_finger_b_joint_2",
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"left_arm_shoulder_lift_joint",
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"right_arm_3f_finger_c_joint_2",
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"left_arm_3f_palm_finger_c_joint",
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"right_arm_3f_finger_a_joint_2",
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"right_arm_3f_finger_b_joint_1",
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"right_arm_3f_finger_b_joint_3",
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"right_arm_3f_finger_a_joint_1",
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"right_arm_3f_finger_c_joint_1",
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"right_arm_3f_finger_a_joint_3",
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"left_arm_3f_finger_b_joint_3",
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"right_arm_shoulder_lift_joint",
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"right_arm_shoulder_pan_joint",
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"right_arm_wrist_2_joint",
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"right_arm_elbow_joint",
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"left_arm_3f_finger_c_joint_3",
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"left_arm_shoulder_pan_joint",
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"left_arm_3f_finger_c_joint_2",
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"right_arm_3f_finger_c_joint_3",
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"right_arm_3f_palm_finger_c_joint",
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"left_arm_3f_finger_b_joint_2",
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"left_arm_3f_finger_b_joint_1",
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"left_arm_3f_palm_finger_b_joint",
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"left_arm_3f_finger_a_joint_2",
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"left_arm_3f_finger_a_joint_1",
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"left_arm_wrist_1_joint",
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"right_arm_wrist_1_joint",
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"left_arm_wrist_3_joint"
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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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34
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],
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"names": [
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"left_arm_wrist_2_joint",
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"left_arm_3f_finger_c_joint_1",
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"right_arm_3f_palm_finger_b_joint",
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"left_arm_3f_finger_a_joint_3",
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"right_arm_wrist_3_joint",
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"left_arm_elbow_joint",
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"right_arm_3f_finger_b_joint_2",
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"left_arm_shoulder_lift_joint",
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"right_arm_3f_finger_c_joint_2",
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"left_arm_3f_palm_finger_c_joint",
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"right_arm_3f_finger_a_joint_2",
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"right_arm_3f_finger_b_joint_1",
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"right_arm_3f_finger_b_joint_3",
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"right_arm_3f_finger_a_joint_1",
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"right_arm_3f_finger_c_joint_1",
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"right_arm_3f_finger_a_joint_3",
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"left_arm_3f_finger_b_joint_3",
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"right_arm_shoulder_lift_joint",
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"right_arm_shoulder_pan_joint",
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"right_arm_wrist_2_joint",
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"right_arm_elbow_joint",
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"left_arm_3f_finger_c_joint_3",
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"left_arm_shoulder_pan_joint",
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"left_arm_3f_finger_c_joint_2",
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"right_arm_3f_finger_c_joint_3",
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"right_arm_3f_palm_finger_c_joint",
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"left_arm_3f_finger_b_joint_2",
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"left_arm_3f_finger_b_joint_1",
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"left_arm_3f_palm_finger_b_joint",
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"left_arm_3f_finger_a_joint_2",
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"left_arm_3f_finger_a_joint_1",
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"left_arm_wrist_1_joint",
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"right_arm_wrist_1_joint",
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"left_arm_wrist_3_joint"
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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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1
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],
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"names": null
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"task_index": {
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"dtype": "int64",
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1
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],
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"names": null
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},
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"observation.images.right_arm_camera_sensor_image_compressed": {
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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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"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.height": 480,
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"video.width": 640,
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"video.codec": "avc1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 16.5,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.images.left_arm_camera_sensor_image_compressed": {
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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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"video.height": 480,
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"video.width": 640,
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"video.codec": "avc1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 16.5,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.images.base_camera_sensor_image_compressed": {
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"dtype": "video",
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"shape": [
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720,
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1280,
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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.height": 720,
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"video.width": 1280,
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"video.codec": "avc1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 16.5,
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"video.channels": 3,
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"has_audio": false
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}
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}
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},
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"total_duration": 117.3562285900116,
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"average_fps": 14.843694458568045,
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"synchronization": {
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"type": "video_parquet_perfect_sync",
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"method": "timestamp_alignment",
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"accuracy": "microsecond_precision"
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},
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"time_accuracy": "microsecond_precision",
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"time_units": "seconds",
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"
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}
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{
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"total_episodes": 13,
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"total_frames": 11000,
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"total_duration": 117.3562285900116,
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"average_fps": 14.843694458568045,
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"time_units": "seconds",
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"synchronization": "lerobot_standard",
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"lerobot_version": "0.4.0",
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"codebase_version": "0.4.0",
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"format_version": "2.1",
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"time_display": "accurate_seconds",
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"seek_precision": "frame_perfect",
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"total_videos": 13,
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"total_chunks": 1,
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"chunks_size": 13
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}
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