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README.md
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---
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license:
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---
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| 1 |
---
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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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<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Transfo1919/G1_form">
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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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## 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": "v3.0",
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"robot_type": "Unitree_G1_Inspire_SingleCam",
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"total_episodes": 60,
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"total_frames": 44350,
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"total_tasks": 1,
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"chunks_size": 1000,
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"data_files_size_in_mb": 100,
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"video_files_size_in_mb": 200,
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"fps": 30,
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"splits": {
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"train": "0:60"
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},
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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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"features": {
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"observation.state": {
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"dtype": "float32",
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"shape": [
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26
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],
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"names": [
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[
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"kLeftShoulderPitch",
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"kLeftShoulderRoll",
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"kLeftShoulderYaw",
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"kLeftElbow",
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"kLeftWristRoll",
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"kLeftWristPitch",
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"kLeftWristYaw",
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"kRightShoulderPitch",
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"kRightShoulderRoll",
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"kRightShoulderYaw",
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"kRightElbow",
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"kRightWristRoll",
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"kRightWristPitch",
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"kRightWristYaw",
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"kLeftHandPinky",
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"kLeftHandRing",
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"kLeftHandMiddle",
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"kLeftHandIndex",
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"kLeftHandThumbBend",
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"kLeftHandThumbRotation",
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"kRightHandPinky",
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"kRightHandRing",
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"kRightHandMiddle",
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"kRightHandIndex",
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"kRightHandThumbBend",
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"kRightHandThumbRotation"
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]
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]
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},
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"action": {
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"dtype": "float32",
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"shape": [
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26
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],
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"names": [
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[
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"kLeftShoulderPitch",
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"kLeftShoulderRoll",
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"kLeftShoulderYaw",
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"kLeftElbow",
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"kLeftWristRoll",
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"kLeftWristPitch",
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"kLeftWristYaw",
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"kRightShoulderPitch",
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"kRightShoulderRoll",
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"kRightShoulderYaw",
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"kRightElbow",
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"kRightWristRoll",
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"kRightWristPitch",
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"kRightWristYaw",
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"kLeftHandPinky",
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"kLeftHandRing",
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"kLeftHandMiddle",
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"kLeftHandIndex",
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"kLeftHandThumbBend",
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"kLeftHandThumbRotation",
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"kRightHandPinky",
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"kRightHandRing",
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"kRightHandMiddle",
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"kRightHandIndex",
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"kRightHandThumbBend",
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"kRightHandThumbRotation"
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]
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]
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},
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"observation.images.cam_high": {
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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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"channel"
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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": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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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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}
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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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```
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