Datasets:
Upload folder using huggingface_hub
Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +161 -0
- meta/stats.json +992 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.cam_head/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:f319387e0a0e749d17383096912fa22ffdc964b6ae9eccf2a4e95765ecd054e3
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size 70312920
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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oid sha256:093cf086f0e876012f1a50ccd03dc3f78a63fc68a4061721924587d014d9a214
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size 320125
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meta/info.json
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{
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"codebase_version": "v3.0",
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| 3 |
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"robot_type": "Unitree_G1_Inspire_Head",
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| 4 |
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"total_episodes": 57,
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| 5 |
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"total_frames": 36562,
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| 6 |
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"total_tasks": 1,
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| 7 |
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"chunks_size": 1000,
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| 8 |
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"data_files_size_in_mb": 100,
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| 9 |
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"video_files_size_in_mb": 500,
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| 10 |
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"fps": 30,
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| 11 |
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"splits": {
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| 12 |
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"train": "0:57"
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| 13 |
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},
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| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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| 16 |
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"features": {
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| 17 |
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"observation.state": {
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| 18 |
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"dtype": "float32",
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| 19 |
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"shape": [
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| 20 |
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26
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| 21 |
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],
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| 22 |
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"names": [
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[
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"kLeftShoulderPitch",
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"kLeftShoulderRoll",
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| 26 |
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"kLeftShoulderYaw",
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| 27 |
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"kLeftElbow",
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| 28 |
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"kLeftWristRoll",
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| 29 |
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"kLeftWristPitch",
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| 30 |
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"kLeftWristYaw",
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| 31 |
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"kRightShoulderPitch",
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| 32 |
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"kRightShoulderRoll",
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| 33 |
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"kRightShoulderYaw",
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| 34 |
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"kRightElbow",
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| 35 |
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"kRightWristRoll",
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| 36 |
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"kRightWristPitch",
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| 37 |
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"kRightWristYaw",
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| 38 |
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"kLeftHandPinky",
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| 39 |
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"kLeftHandRing",
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| 40 |
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"kLeftHandMiddle",
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| 41 |
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"kLeftHandIndex",
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| 42 |
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"kLeftHandThumbBend",
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| 43 |
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"kLeftHandThumbRotation",
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| 44 |
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"kRightHandPinky",
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| 45 |
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"kRightHandRing",
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| 46 |
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"kRightHandMiddle",
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| 47 |
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"kRightHandIndex",
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| 48 |
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"kRightHandThumbBend",
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| 49 |
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"kRightHandThumbRotation"
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| 50 |
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]
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| 51 |
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]
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| 52 |
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},
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| 53 |
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"action": {
|
| 54 |
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"dtype": "float32",
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| 55 |
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"shape": [
|
| 56 |
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26
|
| 57 |
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],
|
| 58 |
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"names": [
|
| 59 |
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[
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| 60 |
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"kLeftShoulderPitch",
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| 61 |
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"kLeftShoulderRoll",
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| 62 |
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"kLeftShoulderYaw",
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| 63 |
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"kLeftElbow",
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| 64 |
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"kLeftWristRoll",
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| 65 |
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"kLeftWristPitch",
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| 66 |
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"kLeftWristYaw",
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| 67 |
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"kRightShoulderPitch",
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| 68 |
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"kRightShoulderRoll",
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| 69 |
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"kRightShoulderYaw",
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| 70 |
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"kRightElbow",
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| 71 |
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"kRightWristRoll",
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| 72 |
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"kRightWristPitch",
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| 73 |
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"kRightWristYaw",
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| 74 |
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"kLeftHandPinky",
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| 75 |
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"kLeftHandRing",
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| 76 |
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"kLeftHandMiddle",
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| 77 |
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"kLeftHandIndex",
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| 78 |
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"kLeftHandThumbBend",
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| 79 |
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"kLeftHandThumbRotation",
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| 80 |
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"kRightHandPinky",
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| 81 |
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"kRightHandRing",
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| 82 |
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"kRightHandMiddle",
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| 83 |
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"kRightHandIndex",
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| 84 |
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"kRightHandThumbBend",
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| 85 |
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"kRightHandThumbRotation"
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| 86 |
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]
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| 87 |
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]
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| 88 |
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},
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| 89 |
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"observation.images.cam_head": {
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| 90 |
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"dtype": "video",
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| 91 |
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"shape": [
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| 92 |
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| 93 |
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640,
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| 94 |
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| 95 |
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],
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| 96 |
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"names": [
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| 97 |
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"height",
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| 98 |
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"width",
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| 99 |
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"channel"
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| 100 |
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],
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| 101 |
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"info": {
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| 102 |
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"video.height": 480,
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| 103 |
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"video.width": 640,
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| 104 |
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"video.codec": "av1",
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| 105 |
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"video.pix_fmt": "yuv420p",
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| 106 |
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"video.is_depth_map": false,
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| 107 |
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"video.fps": 30,
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| 108 |
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"video.channels": 3,
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| 109 |
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"has_audio": false
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| 110 |
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}
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| 111 |
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},
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| 112 |
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"observation.mask_pick": {
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| 113 |
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"dtype": "image",
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| 114 |
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"shape": [
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| 115 |
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480,
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| 116 |
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| 117 |
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|
| 118 |
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],
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| 119 |
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"names": [
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| 120 |
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| 121 |
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| 122 |
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"channel"
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| 123 |
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]
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| 124 |
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},
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| 125 |
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"timestamp": {
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| 126 |
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"dtype": "float32",
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| 127 |
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"shape": [
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| 128 |
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| 130 |
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"names": null
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| 131 |
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| 132 |
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"frame_index": {
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| 133 |
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| 134 |
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| 138 |
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| 139 |
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"names": null
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| 159 |
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}
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| 160 |
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}
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| 161 |
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}
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meta/stats.json
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| 1 |
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| 2 |
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| 32 |
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| 33 |
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