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--- |
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license: apache-2.0 |
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language: |
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- en |
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- zh |
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task_categories: |
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- robotics |
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tags: |
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- RobotCoin |
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- LeRobot |
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size_categories: <1K |
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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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## Dataset Authors |
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contributed by [[RobotCoin](https://RobotCoin.github.io)] |
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annotated by [[RobotCoin](https://RobotCoin.github.io)] |
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## Dataset Description |
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This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot. |
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- **Homepage:** |
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- **Paper:** |
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- **License:** apache-2.0 |
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## Dataset Tags |
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- RobotCoin |
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- LeRobot |
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## Task Descriptions |
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### tasks |
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stack basket |
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### sub_tasks |
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Place the light basket on the dark basket with the right gripper |
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Pick up the dark basket with the left gripper |
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Place the dark basket on the light basket with the right gripper |
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Place the light basket in the center of view with the left gripper |
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Place the dark basket in the center of view with the left gripper |
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Pick up the light basket with the left gripper |
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Pick up the dark basket with the right gripper |
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Pick up the light basket with the right gripper |
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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": "v2.1", |
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"robot_type": "realman", |
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"total_episodes": 499, |
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"total_frames": 290587, |
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"total_tasks": 1, |
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"total_videos": 1497, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 25, |
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"splits": { |
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"train": "0:499" |
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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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"observation.images.cam_high": { |
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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": 25.0, |
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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.cam_left_wrist": { |
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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": 25.0, |
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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.cam_right_wrist": { |
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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": 25.0, |
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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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"states": { |
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"dtype": "float32", |
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"shape": [ |
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30 |
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], |
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"name": [ |
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"right_arm_joint_1", |
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"right_arm_joint_2", |
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"right_arm_joint_3", |
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"right_arm_joint_4", |
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"right_arm_joint_5", |
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"right_arm_joint_6", |
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"right_arm_joint_7", |
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"right_gripper_joint", |
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"right_end_effector_positions_x", |
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"right_end_effector_positions_y", |
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"right_end_effector_positions_z", |
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"right_end_effector_quat_x", |
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"right_end_effector_quat_y", |
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"right_end_effector_quat_z", |
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"right_end_effector_quat_w", |
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"left_arm_joint_1", |
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"left_arm_joint_2", |
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"left_arm_joint_3", |
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"left_arm_joint_4", |
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"left_arm_joint_5", |
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"left_arm_joint_6", |
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"left_arm_joint_7", |
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"left_gripper_joint", |
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"left_end_effector_positions_x", |
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"left_end_effector_positions_y", |
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"left_end_effector_positions_z", |
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"left_end_effector_quat_x", |
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"left_end_effector_quat_y", |
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"left_end_effector_quat_z", |
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"left_end_effector_quat_w" |
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] |
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}, |
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"actions": { |
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"dtype": "float32", |
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"shape": [ |
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30 |
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], |
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"name": [ |
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"right_arm_joint_1", |
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"right_arm_joint_2", |
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"right_arm_joint_3", |
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"right_arm_joint_4", |
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"right_arm_joint_5", |
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"right_arm_joint_6", |
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"right_arm_joint_7", |
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"right_gripper_joint", |
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"right_end_effector_positions_x", |
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"right_end_effector_positions_y", |
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"right_end_effector_positions_z", |
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"right_end_effector_quat_x", |
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"right_end_effector_quat_y", |
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"right_end_effector_quat_z", |
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"right_end_effector_quat_w", |
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"left_arm_joint_1", |
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"left_arm_joint_2", |
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"left_arm_joint_3", |
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"left_arm_joint_4", |
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"left_arm_joint_5", |
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"left_arm_joint_6", |
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"left_arm_joint_7", |
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"left_gripper_joint", |
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"left_end_effector_positions_x", |
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"left_end_effector_positions_y", |
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"left_end_effector_positions_z", |
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"left_end_effector_quat_x", |
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"left_end_effector_quat_y", |
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"left_end_effector_quat_z", |
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"left_end_effector_quat_w" |
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] |
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}, |
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"next.done": { |
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"dtype": "bool", |
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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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"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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## Citation |
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```bibtex |
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``` |
