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float32
0
59.2
frame_index
int64
0
592
episode_index
int64
0
4
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int64
0
2.96k
task_index
int64
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[ -5.378667831420898, -98.07905578613281, 98.91839599609375, 71.69987487792969, -54.45237731933594, 3.633108615875244 ]
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0.1
1
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1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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11
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
22
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2.3
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2.4
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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3.1
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3.2
32
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3.3
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3.4
34
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3.5
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3.6
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3.7
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3.8
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3.9
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4
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4.1
41
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4.2
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4.3
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4.4
44
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4.5
45
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4.6
46
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4.7
47
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4.8
48
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4.9
49
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49
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5
50
0
50
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5.1
51
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51
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5.2
52
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52
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5.3
53
0
53
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5.4
54
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54
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5.5
55
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55
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5.6
56
0
56
0
[ -3.0034823417663574, -97.59017944335938, 99.46028137207031, 73.78372955322266, -54.60517883300781, 3.225754737854004 ]
[ -2.4571855068206787, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
5.7
57
0
57
0
[ -2.9775872230529785, -97.69046020507812, 99.55842590332031, 73.97437286376953, -54.644012451171875, 3.293682098388672 ]
[ -2.4571855068206787, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
5.8
58
0
58
0
[ -2.492905616760254, -97.49310302734375, 99.51087951660156, 73.61308288574219, -54.621009826660156, 3.2504701614379883 ]
[ -2.75502610206604, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
5.9
59
0
59
0
[ -2.4829583168029785, -98.01729583740234, 99.48350524902344, 73.83476257324219, -54.740726470947266, 3.1053285598754883 ]
[ -3.0528666973114014, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6
60
0
60
0
[ -2.8174571990966797, -98.15621948242188, 99.45348358154297, 73.57925415039062, -54.68376922607422, 3.1224632263183594 ]
[ -2.6061058044433594, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6.1
61
0
61
0
[ -3.383730888366699, -98.18878173828125, 99.58572387695312, 73.48136138916016, -54.73571014404297, 3.1310415267944336 ]
[ -2.9039463996887207, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6.2
62
0
62
0
[ -3.3641738891601562, -97.83350372314453, 99.6826171875, 73.8124771118164, -54.67856979370117, 3.228093147277832 ]
[ -2.9039463996887207, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6.3
63
0
63
0
[ -3.13156795501709, -98.05607604980469, 99.61444091796875, 73.86771392822266, -54.877925872802734, 3.0870790481567383 ]
[ -3.201786994934082, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6.4
64
0
64
0
[ -3.637688159942627, -98.1387939453125, 99.65139770507812, 72.83710479736328, -54.92906188964844, 3.1020145416259766 ]
[ -3.5740878582000732, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6.5
65
0
65
0
[ -3.3729333877563477, -97.80940246582031, 99.21401977539062, 72.53290557861328, -54.95602798461914, 2.9918060302734375 ]
[ -3.4251675605773926, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6.6
66
0
66
0
[ 2.4937033653259277, -98.2872314453125, 98.63069915771484, 73.45507049560547, -55.085662841796875, 2.960709571838379 ]
[ -3.648548126220703, -97.47368621826172, 99.01433563232422, 73.8573226928711, -54.411766052246094, 3.7234041690826416 ]
6.7
67
0
67
0
[ -0.36109018325805664, -98.58949279785156, 98.93258666992188, 73.07048797607422, -55.00475311279297, 3.05954647064209 ]
[ -2.6061058044433594, -97.55789184570312, 99.01433563232422, 73.94275665283203, -54.621849060058594, 3.590425491333008 ]
6.8
68
0
68
0
[ -1.5083589553833008, -98.49838256835938, 99.43310546875, 72.72755432128906, -55.041229248046875, 2.747982978820801 ]
[ 0.5956813097000122, -97.726318359375, 98.92472839355469, 73.94275665283203, -55.14706039428711, 3.590425491333008 ]
6.9
69
0
69
0
[ -1.0955328941345215, -98.66339111328125, 99.06853485107422, 72.76177978515625, -55.09850311279297, 2.7567453384399414 ]
[ -0.5956813097000122, -97.97895050048828, 98.92472839355469, 73.8573226928711, -54.88445281982422, 3.590425491333008 ]
7
70
0
70
0
[ -0.7618646621704102, -98.66903686523438, 99.24061584472656, 72.40485382080078, -54.91694641113281, 2.8211917877197266 ]
[ -1.4147430658340454, -97.97895050048828, 98.92472839355469, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
7.1
71
0
71
0
[ 0.735288143157959, -98.48005676269531, 98.87235260009766, 72.42403411865234, -54.992156982421875, 2.845735549926758 ]
[ -0.8935219645500183, -97.97895050048828, 98.92472839355469, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
7.2
72
0
72
0
[ 8.863725662231445, -98.35260009765625, 98.24565124511719, 73.03743743896484, -54.952301025390625, 2.924738883972168 ]
[ -0.5212211608886719, -97.97895050048828, 98.92472839355469, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
7.3
73
0
73
0
[ 8.688037872314453, -98.20532989501953, 98.7415771484375, 73.08839416503906, -54.834503173828125, 2.8956079483032227 ]
[ 1.2658227682113647, -97.97895050048828, 98.92472839355469, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
7.4
74
0
74
0
[ 7.976247310638428, -98.65779113769531, 98.58927154541016, 73.23674774169922, -54.87044906616211, 2.946165084838867 ]
[ 6.701414585113525, -97.97895050048828, 98.83512878417969, 73.8573226928711, -55.199581146240234, 3.457446813583374 ]
7.5
75
0
75
0
[ 8.53066635131836, -98.0145034790039, 98.31340789794922, 73.00089263916016, -55.000057220458984, 3.0497055053710938 ]
[ 7.520476341247559, -97.97895050048828, 98.83512878417969, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
7.6
76
0
76
0
[ 12.113367080688477, -98.42514038085938, 98.25169372558594, 73.44338989257812, -54.98533248901367, 3.046698570251465 ]
[ 7.96723747253418, -97.89473724365234, 98.83512878417969, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
7.7
77
0
77
0
[ 12.778181076049805, -98.53251647949219, 98.04105377197266, 72.80791473388672, -54.97163391113281, 3.180293083190918 ]
[ 9.009679794311523, -97.89473724365234, 98.83512878417969, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
7.8
78
0
78
0
[ 13.795629501342773, -98.21385955810547, 97.891845703125, 73.21037292480469, -54.99641036987305, 3.061939239501953 ]
[ 11.466865539550781, -97.89473724365234, 98.83512878417969, 73.8573226928711, -55.094539642333984, 3.457446813583374 ]
7.9
79
0
79
0
[ 13.550189971923828, -98.120361328125, 96.74568176269531, 72.67401885986328, -54.90210723876953, 3.165281295776367 ]
[ 12.732687950134277, -97.89473724365234, 98.83512878417969, 73.8573226928711, -54.831932067871094, 3.457446813583374 ]
8
80
0
80
0
[ 15.92109489440918, -97.98654174804688, 97.59597778320312, 71.26580810546875, -55.079444885253906, 3.254362106323242 ]
[ 13.40282917022705, -97.89473724365234, 98.29749298095703, 73.8573226928711, -55.042015075683594, 3.457446813583374 ]
8.1
81
0
81
0
[ 15.630647659301758, -98.02517700195312, 98.1190414428711, 71.85050964355469, -54.92040252685547, 3.2024173736572266 ]
[ 14.07297134399414, -97.89473724365234, 98.29749298095703, 73.17385864257812, -54.831932067871094, 3.457446813583374 ]
8.2
82
0
82
0
[ 16.23738670349121, -98.36178588867188, 97.48955535888672, 72.36515808105469, -55.10021209716797, 3.159958839416504 ]
[ 15.115413665771484, -97.8105239868164, 98.29749298095703, 72.74668884277344, -54.831932067871094, 3.457446813583374 ]
8.3
83
0
83
0
[ 16.020971298217773, -97.9464340209961, 96.03176879882812, 72.70802307128906, -54.94511413574219, 3.050124168395996 ]
[ 15.487713813781738, -97.8105239868164, 98.29749298095703, 72.74668884277344, -54.831932067871094, 3.457446813583374 ]
8.4
84
0
84
0
[ 14.701400756835938, -98.51731872558594, 97.05609130859375, 72.8560562133789, -54.937782287597656, 2.983142852783203 ]
[ 16.008935928344727, -97.8105239868164, 98.11827850341797, 72.74668884277344, -54.936973571777344, 3.457446813583374 ]
8.5
85
0
85
0
[ 16.182113647460938, -98.39651489257812, 94.50273132324219, 72.47331237792969, -55.20512771606445, 3.2312936782836914 ]
[ 15.562173843383789, -97.8105239868164, 98.11827850341797, 72.74668884277344, -54.831932067871094, 3.457446813583374 ]
8.6
86
0
86
0
[ 18.07478141784668, -98.45338439941406, 93.11283111572266, 69.60311126708984, -55.09039306640625, 3.117015838623047 ]
[ 15.115413665771484, -97.97895050048828, 97.8494644165039, 72.74668884277344, -54.831932067871094, 3.457446813583374 ]
8.7
87
0
87
0
[ 18.065893173217773, -97.78776550292969, 91.7019271850586, 67.97723388671875, -55.202476501464844, 3.040151596069336 ]
[ 16.45569610595703, -98.06315612792969, 97.75985717773438, 71.97779083251953, -54.831932067871094, 3.457446813583374 ]
8.8
88
0
88
0
[ 19.248210906982422, -98.33406066894531, 90.74406433105469, 67.69474792480469, -55.148746490478516, 3.0532960891723633 ]
[ 17.795978546142578, -97.97895050048828, 97.40143585205078, 70.18368530273438, -55.042015075683594, 3.457446813583374 ]
8.9
89
0
89
0
[ 19.113685607910156, -98.78987121582031, 87.11425018310547, 65.5138931274414, -54.79627227783203, 3.2696943283081055 ]
[ 18.019359588623047, -98.06315612792969, 96.415771484375, 69.15847778320312, -54.831932067871094, 3.457446813583374 ]
9
90
0
90
0
[ 18.151247024536133, -98.7502670288086, 84.37429809570312, 64.13481903076172, -54.72310256958008, 3.1502466201782227 ]
[ 18.615041732788086, -98.06315612792969, 94.9820785522461, 68.04784393310547, -54.77941131591797, 3.457446813583374 ]
9.1
91
0
91
0
[ 17.540149688720703, -98.65696716308594, 82.77021026611328, 58.339447021484375, -54.87525939941406, 3.096554756164551 ]
[ 18.46611976623535, -97.97895050048828, 91.93548583984375, 66.33917236328125, -54.726890563964844, 3.457446813583374 ]
9.2
92
0
92
0
[ 16.75438690185547, -97.59378051757812, 81.66104125976562, 51.302757263183594, -54.370914459228516, 3.2725400924682617 ]
[ 17.870439529418945, -98.06315612792969, 89.247314453125, 64.20333099365234, -54.726890563964844, 3.457446813583374 ]
9.3
93
0
93
0
[ 17.333436965942383, -95.78958892822266, 79.57276916503906, 52.01220703125, -53.69053268432617, 3.1943769454956055 ]
[ 17.274757385253906, -97.8105239868164, 87.5447998046875, 59.41905212402344, -54.67436981201172, 3.457446813583374 ]
9.4
94
0
94
0
[ 18.880104064941406, -97.14553833007812, 82.08292388916016, 55.44292068481445, -54.06703567504883, 3.4673805236816406 ]
[ 16.902456283569336, -97.0526351928711, 85.93190002441406, 54.80563735961914, -54.09663772583008, 3.457446813583374 ]
9.5
95
0
95
0
[ 18.539033889770508, -93.53318786621094, 76.83950805664062, 48.7741584777832, -53.64546203613281, 3.335247039794922 ]
[ 17.870439529418945, -96.80000305175781, 85.12545013427734, 54.7202033996582, -54.04411697387695, 3.457446813583374 ]
9.6
96
0
96
0
[ 17.791885375976562, -79.76554870605469, 68.90579223632812, 42.8840446472168, -52.7355842590332, 3.3306217193603516 ]
[ 18.46611976623535, -95.78947448730469, 84.67742156982422, 54.37847137451172, -53.83403396606445, 3.457446813583374 ]
9.7
97
0
97
0
[ 18.26961326599121, -84.22918701171875, 68.99691772460938, 41.19527816772461, -53.240318298339844, 3.319578170776367 ]
[ 18.16827964782715, -93.01052856445312, 81.36200714111328, 50.021358489990234, -53.30882263183594, 3.457446813583374 ]
9.8
98
0
98
0
[ 19.391489028930664, -74.36590576171875, 65.35773468017578, 40.26311111450195, -52.37248229980469, 3.441812515258789 ]
[ 17.795978546142578, -84.50526428222656, 75.80644989013672, 44.980777740478516, -53.15126037597656, 3.457446813583374 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101_follower",
    "total_episodes": 5,
    "total_frames": 2961,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
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            "names": [
                "height",
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                "channels"
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            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.front": {
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            "shape": [
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                3
            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
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            "shape": [
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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