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Datasets:
garySue
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eval_act_grasping_cylinder_vision

Tasks:
Robotics
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Tabular
Time-series
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Formats:
parquet
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Tags:
LeRobot
ur5
tutorial
eval
Libraries:
Datasets
pandas
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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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+ - ur5
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+ - tutorial
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+ - eval
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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": "v2.0",
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+ "robot_type": "bi_ur5",
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+ "total_episodes": 1,
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+ "total_frames": 68,
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+ "total_tasks": 1,
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+ "total_videos": 7,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 30,
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+ "splits": {
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+ "train": "0:1"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+ "features": {
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_shoulder_pan",
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+ "left_shoulder_lift",
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+ "left_elbow_flex",
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+ "left_wrist_1",
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+ "left_wrist_2",
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+ "left_wrist_3",
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+ "left_gripper",
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+ "right_shoulder_pan",
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+ "right_shoulder_lift",
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+ "right_elbow_flex",
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+ "right_wrist_1",
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+ "right_wrist_2",
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+ "right_wrist_3",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "arms": [
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+ "left_shoulder_pan",
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+ "left_shoulder_lift",
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+ "left_elbow_flex",
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+ "left_wrist_1",
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+ "left_wrist_2",
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+ "left_wrist_3",
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+ "left_gripper",
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+ "right_shoulder_pan",
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+ "right_shoulder_lift",
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+ "right_elbow_flex",
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+ "right_wrist_1",
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+ "right_wrist_2",
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+ "right_wrist_3",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "observation.velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": {
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+ "arms": [
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+ "left_shoulder_pan",
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+ "left_shoulder_lift",
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+ "left_elbow_flex",
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+ "left_wrist_1",
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+ "left_wrist_2",
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+ "left_wrist_3",
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+ "left_gripper",
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+ "right_shoulder_pan",
108
+ "right_shoulder_lift",
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+ "right_elbow_flex",
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+ "right_wrist_1",
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+ "right_wrist_2",
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+ "right_wrist_3",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "observation.gripper_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "gripper": [
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+ "left_gripper",
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+ "right_gripper"
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+ ]
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+ }
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+ },
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+ "observation.images.top_rgb": {
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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.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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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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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.left_rgb": {
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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.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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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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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.right_rgb": {
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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.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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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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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.tac_left_a_rgb": {
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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.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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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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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.tac_left_d_rgb": {
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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.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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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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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.tac_right_b_rgb": {
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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.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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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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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.tac_right_c_rgb": {
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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.fps": 30.0,
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+ "video.height": 480,
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+ "video.width": 640,
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+ "video.channels": 3,
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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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+ "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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+ ```