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12
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3
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3.1
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[ -37.706146240234375, 8.668601989746094, 32.045654296875, 61.059715270996094, 23.711843490600586, 36.76559829711914, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.2
32
0
32
0
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[ -38.455772399902344, 11.820820808410645, 27.655838012695312, 63.83515548706055, 23.614164352416992, 32.76802062988281, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.3
33
0
33
0
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[ -40.10494613647461, 14.309414863586426, 24.056190490722656, 65.26493072509766, 23.66300392150879, 24.10660171508789, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.4
34
0
34
0
[ -40, 15.355805397033691, 22.54857635498047, 66.98785400390625, 23.760683059692383, 4.812455654144287, 14.250103950500488, -83.9367446899414, 24.899057388305664, 97.89473724365234, 5.44566535949707, 4.226312160491943 ]
[ -40.4047966003418, 15.05599308013916, 23.002634048461914, 65.8536605834961, 23.711843490600586, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.5
35
0
35
0
[ -39.411766052246094, 15.355805397033691, 20.19882583618164, 67.99329376220703, 22.19780158996582, 5.095541477203369, 14.250103950500488, -83.9367446899414, 24.899057388305664, 97.89473724365234, 5.44566535949707, 4.226312160491943 ]
[ -40.4047966003418, 15.138946533203125, 22.827041625976562, 65.93775939941406, 23.711843490600586, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.6
36
0
36
0
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[ -40.02998352050781, 15.304852485656738, 21.59789276123047, 66.86290740966797, 23.125762939453125, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.7
37
0
37
0
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[ -40.02998352050781, 15.470759391784668, 18.349430084228516, 69.72245788574219, 22.39316177368164, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.8
38
0
38
0
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[ -39.730133056640625, 15.636665344238281, 10.711150169372559, 77.0395278930664, 22.19780158996582, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
3.9
39
0
39
0
[ -42.72058868408203, 13.607990264892578, -28.784456253051758, 98.07289123535156, 21.22100067138672, 4.741684436798096, 14.250103950500488, -83.9367446899414, 24.899057388305664, 97.89473724365234, 5.44566535949707, 4.226312160491943 ]
[ -40.02998352050781, 15.636665344238281, -3.072870969772339, 88.56181335449219, 22.148962020874023, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
4
40
0
40
0
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[ -40.929534912109375, 15.553711891174316, -17.647058486938477, 95.2901611328125, 21.758241653442383, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 96.96597290039062, 5.641025543212891, 4.387568473815918 ]
4.1
41
0
41
0
[ -48.014705657958984, 5.784436225891113, -41.7984619140625, 98.07289123535156, 21.074481964111328, 4.741684436798096, 14.250103950500488, -83.9367446899414, 24.988784790039062, 97.97895050048828, 5.25030517578125, 4.226312160491943 ]
[ -43.703147888183594, 14.39236831665039, -27.831430435180664, 96.88813781738281, 21.562881469726562, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.2
42
0
42
0
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[ -46.47676086425781, 11.571961402893066, -34.50395202636719, 97.47686767578125, 21.562881469726562, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.3
43
0
43
0
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[ -48.05097579956055, 6.84363317489624, -41.26426696777344, 97.56097412109375, 20.537240982055664, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.4
44
0
44
0
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[ -47.97601318359375, 1.285773515701294, -48.28797149658203, 97.56097412109375, 18.827838897705078, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.5
45
0
45
0
[ -48.30882263183594, -10.611735343933105, -60.05422592163086, 97.73774719238281, 14.774114608764648, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -48.20090103149414, -4.106180191040039, -54.87269592285156, 97.56097412109375, 17.21611785888672, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.6
46
0
46
0
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[ -47.97601318359375, -8.087930679321289, -57.9455680847168, 97.56097412109375, 15.84859561920166, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.7
47
0
47
0
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[ -48.20090103149414, -9.912899017333984, -58.56013870239258, 97.56097412109375, 14.920635223388672, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.8
48
0
48
0
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[ -48.05097579956055, -10.41061782836914, -58.73573303222656, 97.56097412109375, 14.334554672241211, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4.9
49
0
49
0
[ -48.161766052246094, -11.61048698425293, -60.2349739074707, 97.98910522460938, 13.211233139038086, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -48.125938415527344, -10.493571281433105, -58.73573303222656, 97.56097412109375, 13.797313690185547, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5
50
0
50
0
[ -48.382354736328125, -11.693716049194336, -60.2349739074707, 97.98910522460938, 13.211233139038086, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -48.125938415527344, -10.493571281433105, -58.73573303222656, 97.56097412109375, 13.74847412109375, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5.1
51
0
51
0
[ -48.382354736328125, -12.775696754455566, -59.692726135253906, 97.98910522460938, 13.211233139038086, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -48.125938415527344, -10.493571281433105, -58.73573303222656, 97.56097412109375, 13.74847412109375, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5.2
52
0
52
0
[ -48.382354736328125, -14.190594673156738, -58.065975189208984, 97.98910522460938, 13.211233139038086, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -48.125938415527344, -11.157196044921875, -58.73573303222656, 97.64508056640625, 13.74847412109375, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5.3
53
0
53
0
[ -48.45588302612305, -15.688722610473633, -57.79484939575195, 97.98910522460938, 13.211233139038086, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -48.125938415527344, -12.650352478027344, -58.208953857421875, 97.64508056640625, 13.74847412109375, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5.4
54
0
54
0
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[ -48.20090103149414, -14.143508911132812, -57.9455680847168, 97.64508056640625, 13.74847412109375, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5.5
55
0
55
0
[ -52.72058868408203, -16.521015167236328, -57.79484939575195, 97.57017517089844, 13.211233139038086, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -49.850074768066406, -15.387805938720703, -57.85776901245117, 97.64508056640625, 13.74847412109375, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5.6
56
0
56
0
[ -52.64706039428711, -16.354557037353516, -57.07184982299805, 97.98910522460938, 13.211233139038086, 4.741684436798096, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.25030517578125, 4.226312160491943 ]
[ -51.94902420043945, -15.802571296691895, -57.85776901245117, 97.64508056640625, 13.74847412109375, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
5.7
57
0
57
0
[ -76.98529052734375, -16.937162399291992, -47.22096633911133, 98.07289123535156, 1.9291819334030151, 5.0247697830200195, 14.416285514831543, -83.9367446899414, 25.078510284423828, 97.8105239868164, 5.201465129852295, 4.226312160491943 ]
[ -52.54872512817383, -15.802571296691895, -57.33099365234375, 97.64508056640625, 13.65079402923584, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
0
0
1
58
0
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[ -55.097450256347656, -16.715055465698242, -54.170326232910156, 97.64508056640625, 12.039072036743164, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
0.1
1
1
59
0
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[ -68.06596374511719, -16.05143165588379, -48.639156341552734, 97.64508056640625, 5.201465129852295, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
0.2
2
1
60
0
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[ -75.11244201660156, -16.798009872436523, -47.761192321777344, 97.64508056640625, 2.9548230171203613, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
0.3
3
1
61
0
[ -77.27941131591797, -17.0203914642334, -47.31134033203125, 98.07289123535156, 1.9291819334030151, 5.0247697830200195, 14.416285514831543, -84.01997375488281, 25.078510284423828, 97.8105239868164, 5.201465129852295, 4.226312160491943 ]
[ -76.4617691040039, -16.217336654663086, -47.32221221923828, 97.64508056640625, 2.4175825119018555, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
0.4
4
1
62
0
[ -77.27941131591797, -16.604244232177734, -47.130592346191406, 98.07289123535156, 1.9291819334030151, 4.812455654144287, 14.416285514831543, -84.01997375488281, 25.078510284423828, 97.8105239868164, 5.201465129852295, 4.226312160491943 ]
[ -76.91154479980469, -16.466196060180664, -47.32221221923828, 97.64508056640625, 2.4175825119018555, 22.289522171020508, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
0.5
5
1
63
0
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0.6
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1
64
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0.7
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1
65
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0.8
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1
66
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0.9
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1
67
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1
10
1
68
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1.1
11
1
69
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1.2
12
1
70
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1.3
13
1
71
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1.4
14
1
72
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1.5
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1
73
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1.6
16
1
74
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1.7
17
1
75
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1.8
18
1
76
0
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1.9
19
1
77
0
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2
20
1
78
0
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2.1
21
1
79
0
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2.2
22
1
80
0
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2.3
23
1
81
0
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2.4
24
1
82
0
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2.5
25
1
83
0
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2.6
26
1
84
0
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2.7
27
1
85
0
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2.8
28
1
86
0
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2.9
29
1
87
0
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3
30
1
88
0
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3.1
31
1
89
0
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3.2
32
1
90
0
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3.3
33
1
91
0
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3.4
34
1
92
0
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3.5
35
1
93
0
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3.6
36
1
94
0
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3.7
37
1
95
0
[ -70.51470947265625, -34.831459045410156, -35.20108413696289, 94.72140502929688, 0.3663003742694855, 11.53573989868164, 14.416285514831543, -84.01997375488281, 25.078510284423828, 97.8105239868164, 5.201465129852295, 4.226312160491943 ]
[ -70.61469268798828, -34.384071350097656, -38.45478439331055, 95.87889099121094, 0.6593406796455383, 11.75045394897461, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
3.8
38
1
96
0
[ -70.51470947265625, -34.831459045410156, -35.11071014404297, 94.88898468017578, 0.3663003742694855, 11.53573989868164, 14.416285514831543, -84.01997375488281, 25.078510284423828, 97.8105239868164, 5.201465129852295, 4.226312160491943 ]
[ -70.53973388671875, -34.7988395690918, -36.172080993652344, 95.79478454589844, 0.6593406796455383, 11.75045394897461, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
3.9
39
1
97
0
[ -70.51470947265625, -34.831459045410156, -35.11071014404297, 94.63761901855469, 0.3663003742694855, 11.53573989868164, 14.416285514831543, -84.01997375488281, 25.078510284423828, 97.8105239868164, 5.201465129852295, 4.226312160491943 ]
[ -70.53973388671875, -34.715885162353516, -35.38191223144531, 95.79478454589844, 0.6593406796455383, 11.75045394897461, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
4
40
1
98
0
[ -7.426470756530762, -93.59134674072266, 29.868955612182617, 90.4482650756836, -7.496947288513184, 11.889596939086914, 14.167013168334961, -71.03620147705078, 23.64288902282715, 98.90526580810547, 5.299145221710205, 14.04226303100586 ]
[ -70.53973388671875, -34.7988395690918, -35.29411697387695, 95.79478454589844, 0.6593406796455383, 11.75045394897461, 13.986745834350586, -84.00984191894531, 25.377107620239258, 97.12997436523438, 5.494505405426025, 4.387568473815918 ]
0
0
2
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so_follower",
    "total_episodes": 200,
    "total_frames": 11369,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:200"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ]
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.left_top": {
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            "shape": [
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                3
            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_top_front": {
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            "shape": [
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "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": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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