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README.md
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---
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license: apache-2.0
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| 1 |
+
---
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| 2 |
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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=adhdmi/mug-on-cube-auto">
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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": null,
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"total_episodes": 123,
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"total_frames": 19316,
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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": 20,
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"splits": {
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"train": "0:123"
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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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39
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],
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"names": [
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"WLJ2",
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"WLJ3",
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"HLJ1",
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"HLJ2",
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"LAJ1",
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"LAJ2",
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"LAJ3",
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"LAJ4",
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"LAJ5",
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"LAJ6",
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"LAJ7",
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"RAJ1",
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"RAJ2",
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"RAJ3",
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"RAJ4",
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"RAJ5",
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"RAJ6",
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"RAJ7",
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| 73 |
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"LHJ_thumb0",
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"LHJ_thumb2",
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"LHJ_index0",
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"RHJ_thumb0",
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"RHJ_thumb1",
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"RHJ_thumb2",
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"RHJ_index0",
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"RHJ_index1",
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"RHJ_index2",
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"RHJ_index3",
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"RHJ_middle0",
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"RHJ_middle1",
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"RHJ_middle2",
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"RHJ_middle3",
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"RHJ_ring0",
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"RHJ_ring1",
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"RHJ_ring2",
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"RHJ_ring3",
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"RHJ_little0",
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"RHJ_little1",
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"RHJ_little2"
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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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39
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],
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"names": [
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"WLJ2",
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"WLJ3",
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| 104 |
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"HLJ1",
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"HLJ2",
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"LAJ1",
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"LAJ2",
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"LAJ3",
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"LAJ4",
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"LAJ5",
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"LAJ6",
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| 112 |
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"LAJ7",
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| 113 |
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"RAJ1",
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"RAJ2",
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| 115 |
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"RAJ3",
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"RAJ4",
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"RAJ5",
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| 118 |
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"RAJ6",
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"RAJ7",
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| 120 |
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"LHJ_thumb0",
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"LHJ_thumb2",
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"LHJ_index0",
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"RHJ_thumb0",
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| 124 |
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"RHJ_thumb1",
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| 125 |
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"RHJ_thumb2",
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| 126 |
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"RHJ_index0",
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| 127 |
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"RHJ_index1",
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| 128 |
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"RHJ_index2",
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| 129 |
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"RHJ_index3",
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| 130 |
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"RHJ_middle0",
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| 131 |
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"RHJ_middle1",
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| 132 |
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"RHJ_middle2",
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| 133 |
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"RHJ_middle3",
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| 134 |
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"RHJ_ring0",
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| 135 |
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"RHJ_ring1",
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| 136 |
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"RHJ_ring2",
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"RHJ_ring3",
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| 138 |
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"RHJ_little0",
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| 139 |
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"RHJ_little1",
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| 140 |
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"RHJ_little2"
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]
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},
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"observation.images.cam_left": {
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"dtype": "video",
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| 145 |
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"shape": [
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3,
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480,
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640
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],
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"names": [
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"channels",
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| 152 |
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"height",
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"width"
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| 154 |
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],
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| 155 |
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"info": {
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| 156 |
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"video.height": 480,
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| 157 |
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"video.width": 640,
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| 158 |
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"video.codec": "av1",
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| 159 |
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"video.pix_fmt": "yuv420p",
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| 160 |
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"video.is_depth_map": false,
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| 161 |
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"video.fps": 20,
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| 162 |
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"video.channels": 3,
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| 163 |
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"has_audio": false
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| 164 |
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}
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},
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"observation.images.cam_right": {
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"dtype": "video",
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| 168 |
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"shape": [
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3,
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480,
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640
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| 172 |
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],
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| 173 |
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"names": [
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| 174 |
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"channels",
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| 175 |
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"height",
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| 176 |
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"width"
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],
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| 178 |
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"info": {
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"video.height": 480,
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| 180 |
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"video.width": 640,
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"video.codec": "av1",
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| 182 |
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"video.pix_fmt": "yuv420p",
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| 183 |
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"video.is_depth_map": false,
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| 184 |
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"video.fps": 20,
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| 185 |
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"video.channels": 3,
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"has_audio": false
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| 187 |
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}
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| 188 |
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},
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| 189 |
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"observation.images.cam_wrist_left": {
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| 190 |
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"dtype": "video",
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| 191 |
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"shape": [
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| 192 |
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3,
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480,
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640
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],
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| 196 |
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"names": [
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"channels",
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"height",
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"width"
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],
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| 201 |
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"info": {
|
| 202 |
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"video.height": 480,
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| 203 |
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"video.width": 640,
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| 204 |
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"video.codec": "av1",
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| 205 |
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"video.pix_fmt": "yuv420p",
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| 206 |
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"video.is_depth_map": false,
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| 207 |
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"video.fps": 20,
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| 208 |
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"video.channels": 3,
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| 209 |
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"has_audio": false
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| 210 |
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}
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| 211 |
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},
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| 212 |
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"observation.images.cam_wrist_right": {
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| 213 |
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"dtype": "video",
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| 214 |
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"shape": [
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| 215 |
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3,
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| 216 |
+
480,
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| 217 |
+
640
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| 218 |
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],
|
| 219 |
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"names": [
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| 220 |
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"channels",
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| 221 |
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"height",
|
| 222 |
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"width"
|
| 223 |
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],
|
| 224 |
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"info": {
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| 225 |
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"video.height": 480,
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| 226 |
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"video.width": 640,
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| 227 |
+
"video.codec": "av1",
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| 228 |
+
"video.pix_fmt": "yuv420p",
|
| 229 |
+
"video.is_depth_map": false,
|
| 230 |
+
"video.fps": 20,
|
| 231 |
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"video.channels": 3,
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| 232 |
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"has_audio": false
|
| 233 |
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}
|
| 234 |
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},
|
| 235 |
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"timestamp": {
|
| 236 |
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"dtype": "float32",
|
| 237 |
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"shape": [
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| 238 |
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1
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],
|
| 240 |
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"names": null
|
| 241 |
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},
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| 242 |
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"frame_index": {
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| 243 |
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"dtype": "int64",
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| 244 |
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"shape": [
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| 245 |
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1
|
| 246 |
+
],
|
| 247 |
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"names": null
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| 248 |
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},
|
| 249 |
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"episode_index": {
|
| 250 |
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"dtype": "int64",
|
| 251 |
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"shape": [
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| 252 |
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1
|
| 253 |
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],
|
| 254 |
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"names": null
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| 255 |
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},
|
| 256 |
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"index": {
|
| 257 |
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"dtype": "int64",
|
| 258 |
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"shape": [
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1
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| 260 |
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],
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| 261 |
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"names": null
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| 262 |
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},
|
| 263 |
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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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| 276 |
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| 277 |
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**BibTeX:**
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| 278 |
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| 279 |
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```bibtex
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| 280 |
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[More Information Needed]
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| 281 |
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```
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