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Datasets:
ankile
/
franka-stack-two-blocks-v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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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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+
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+ ## Dataset Structure
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+
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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": "franka",
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+ "total_episodes": 50,
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+ "total_frames": 7986,
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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": 15,
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+ "splits": {
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+ "train": "0:50"
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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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+ 7
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+ ],
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+ "names": [
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+ "cart_pos_x",
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+ "cart_pos_y",
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+ "cart_pos_z",
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+ "cart_rot_x",
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+ "cart_rot_y",
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+ "cart_rot_z",
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+ "gripper_position"
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+ ]
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+ },
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+ "observation.joint_positions": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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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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+ 7
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+ ],
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+ "names": [
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+ "vel_x",
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+ "vel_y",
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+ "vel_z",
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+ "vel_roll",
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+ "vel_pitch",
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+ "vel_yaw",
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+ "gripper_action"
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+ ]
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+ },
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+ "steps_to_go": {
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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": [
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+ "steps_to_go"
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+ ]
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+ },
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+ "source": {
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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": [
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+ "source_id"
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+ ]
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+ },
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+ "success": {
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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": [
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+ "success_flag"
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+ ]
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+ },
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+ "is_valid": {
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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": [
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+ "is_valid_flag"
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+ ]
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+ },
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+ "reward": {
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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": [
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+ "reward"
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+ ]
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+ },
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+ "done": {
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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": [
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+ "done_flag"
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+ ]
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+ },
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+ "observation.images.18650758_left": {
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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": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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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.18650758_right": {
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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": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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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.25916956_left": {
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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": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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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.25916956_right": {
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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": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 15,
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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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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```