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Datasets:
n1robotics
/
G1_Brainco_StackCups_Dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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@@ -11,97 +11,592 @@ configs:
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  path: data/*/*.parquet
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  ---
13
 
14
- # G1 Brainco Stack Cups Dataset
15
 
16
- Teleoperation dataset for the Unitree G1 humanoid robot with Brainco dexterous hands, performing a cup stacking task. Collected using [xr_teleoperate](https://github.com/unitreerobotics/xr_teleoperate) and converted to [LeRobot](https://github.com/huggingface/lerobot) v3.0 format.
17
 
18
- ## Dataset Overview
19
 
20
- | Property | Value |
21
- |---|---|
22
- | Robot | Unitree G1 (29-DOF arms) + Brainco hands |
23
- | Task | Stack cups |
24
- | Episodes | 102 |
25
- | Total frames | 22,777 |
26
- | FPS | 30 |
27
- | Cameras | Head (1280x720) + Surround (480x270) |
28
- | Video codec | AV1 |
29
 
30
- ## Features
 
 
31
 
32
- ### Observations (per frame)
33
 
34
- | Feature | Shape | Description |
35
- |---|---|---|
36
- | `observation.state` | [26] | Joint positions: left arm (7) + right arm (7) + left hand (6) + right hand (6) |
37
- | `observation.velocity` | [26] | Joint velocities (same layout) |
38
- | `observation.effort` | [26] | Joint torques (same layout) |
39
- | `observation.arm_ddq` | [14] | Arm joint accelerations: left (7) + right (7) |
40
- | `observation.arm_external_torque` | [14] | Arm external torques |
41
- | `observation.arm_compensation_torque` | [14] | Arm gravity compensation torques |
42
- | `observation.cartesian_pos` | [6] | End-effector positions: left (3) + right (3) |
43
- | `observation.cartesian_axis_angle` | [6] | End-effector orientations (axis-angle) |
44
- | `observation.cartesian_vel` | [12] | End-effector velocities: left (6) + right (6) |
45
- | `observation.cartesian_accel` | [12] | End-effector accelerations |
46
- | `observation.cartesian_external_wrench` | [12] | External wrenches at end-effectors |
47
- | `observation.rotor_temperature` | [28] | Motor temperatures: 7 joints x 2 sensors x 2 arms |
48
- | `observation.fingertip_positions` | [30] | Fingertip 3D positions: left 5 fingers (15) + right 5 fingers (15) |
49
- | `observation.tactile_normal_force` | [10] | Fingertip normal forces: left (5) + right (5) |
50
- | `observation.tactile_tangential_force` | [10] | Fingertip tangential forces |
51
- | `observation.tactile_tangential_direction` | [10] | Fingertip tangential directions |
52
- | `observation.tactile_proximity` | [10] | Fingertip proximity sensors |
53
- | `observation.camera_pose_head` | [13] | Per-frame head camera pose: position (3) + rotation (9) + detected (1) |
54
- | `observation.camera_pose_surround` | [13] | Per-frame surround camera pose (same layout) |
55
-
56
- ### Actions (per frame)
57
-
58
- | Feature | Shape | Description |
59
- |---|---|---|
60
- | `action` | [26] | Target joint positions (same layout as observation.state) |
61
- | `action.arm_velocity` | [14] | Target arm velocities |
62
- | `action.arm_effort` | [14] | Target arm torques |
63
- | `action.arm_ddq` | [14] | Target arm accelerations |
64
- | `action.arm_compensation_torque` | [14] | Target compensation torques |
65
- | `action.cartesian_pos` | [6] | Target end-effector positions |
66
- | `action.cartesian_axis_angle` | [6] | Target end-effector orientations |
67
- | `action.cartesian_vel` | [12] | Target end-effector velocities |
68
- | `action.cartesian_accel` | [12] | Target end-effector accelerations |
69
- | `action.fingertip_positions` | [30] | Target fingertip positions |
70
-
71
- ### Video Streams
72
-
73
- | Stream | Resolution | Description |
74
- |---|---|---|
75
- | `observation.images.head_camera` | 1280x720 | Head-mounted RGB camera |
76
- | `observation.images.surround_camera` | 480x270 | Surround/third-person RGB camera |
77
- | `observation.images.head_camera_depth_rgb` | 1280x720 | Head camera colorized depth |
78
- | `observation.images.surround_camera_depth_rgb` | 480x270 | Surround camera colorized depth |
79
-
80
- ### Camera Calibration
81
-
82
- Static camera intrinsics, depth calibration, and extrinsics are stored in [meta/info.json](meta/info.json) under each camera feature's `info` block. Per-frame camera poses are in the parquet data as `observation.camera_pose_head` and `observation.camera_pose_surround`.
83
-
84
- **Head camera** (RealSense, serial: 243722075296):
85
- - Color intrinsics: fx=907.40, fy=906.65, ppx=649.87, ppy=371.69 (inverse Brown-Conrady, zero distortion)
86
- - Depth intrinsics: fx=644.35, fy=644.35, ppx=643.02, ppy=368.78 (Brown-Conrady, zero distortion)
87
- - Depth scale: 0.001 m/unit
88
- - Extrinsics: identity (reference frame)
89
-
90
- **Surround camera** (RealSense, serial: 412622271947):
91
- - Color intrinsics: fx=245.12, fy=244.84, ppx=236.89, ppy=133.22 (inverse Brown-Conrady, non-zero distortion)
92
- - Depth intrinsics: fx=243.47, fy=243.47, ppx=238.75, ppy=132.40 (Brown-Conrady, zero distortion)
93
- - Depth scale: 0.0001 m/unit
94
- - Extrinsics: 4x4 transform relative to head camera
95
-
96
- ## Usage
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
97
 
98
- ```python
99
- from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
100
 
101
- dataset = LeRobotDataset("n1robotics/G1_Brainco_StackCups_Dataset")
102
- print(dataset[0].keys())
103
- ```
104
 
105
- ## License
106
 
107
- Apache 2.0
 
 
 
11
  path: data/*/*.parquet
12
  ---
13
 
14
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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16
+ ## Dataset Description
17
 
 
18
 
 
 
 
 
 
 
 
 
 
19
 
20
+ - **Homepage:** [More Information Needed]
21
+ - **Paper:** [More Information Needed]
22
+ - **License:** apache-2.0
23
 
24
+ ## Dataset Structure
25
 
26
+ [meta/info.json](meta/info.json):
27
+ ```json
28
+ {
29
+ "codebase_version": "v3.0",
30
+ "robot_type": "Unitree_G1_Brainco",
31
+ "total_episodes": 102,
32
+ "total_frames": 22777,
33
+ "total_tasks": 1,
34
+ "chunks_size": 1000,
35
+ "data_files_size_in_mb": 100,
36
+ "video_files_size_in_mb": 500,
37
+ "fps": 30,
38
+ "splits": {
39
+ "train": "0:102"
40
+ },
41
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
42
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
43
+ "features": {
44
+ "observation.state": {
45
+ "dtype": "float32",
46
+ "shape": [
47
+ 26
48
+ ],
49
+ "names": [
50
+ [
51
+ "kLeftShoulderPitch",
52
+ "kLeftShoulderRoll",
53
+ "kLeftShoulderYaw",
54
+ "kLeftElbow",
55
+ "kLeftWristRoll",
56
+ "kLeftWristPitch",
57
+ "kLeftWristYaw",
58
+ "kRightShoulderPitch",
59
+ "kRightShoulderRoll",
60
+ "kRightShoulderYaw",
61
+ "kRightElbow",
62
+ "kRightWristRoll",
63
+ "kRightWristPitch",
64
+ "kRightWristYaw",
65
+ "kLeftHandThumb",
66
+ "kLeftHandThumbAux",
67
+ "kLeftHandIndex",
68
+ "kLeftHandMiddle",
69
+ "kLeftHandRing",
70
+ "kLeftHandPinky",
71
+ "kRightHandThumb",
72
+ "kRightHandThumbAux",
73
+ "kRightHandIndex",
74
+ "kRightHandMiddle",
75
+ "kRightHandRing",
76
+ "kRightHandPinky"
77
+ ]
78
+ ]
79
+ },
80
+ "action": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 26
84
+ ],
85
+ "names": [
86
+ [
87
+ "kLeftShoulderPitch",
88
+ "kLeftShoulderRoll",
89
+ "kLeftShoulderYaw",
90
+ "kLeftElbow",
91
+ "kLeftWristRoll",
92
+ "kLeftWristPitch",
93
+ "kLeftWristYaw",
94
+ "kRightShoulderPitch",
95
+ "kRightShoulderRoll",
96
+ "kRightShoulderYaw",
97
+ "kRightElbow",
98
+ "kRightWristRoll",
99
+ "kRightWristPitch",
100
+ "kRightWristYaw",
101
+ "kLeftHandThumb",
102
+ "kLeftHandThumbAux",
103
+ "kLeftHandIndex",
104
+ "kLeftHandMiddle",
105
+ "kLeftHandRing",
106
+ "kLeftHandPinky",
107
+ "kRightHandThumb",
108
+ "kRightHandThumbAux",
109
+ "kRightHandIndex",
110
+ "kRightHandMiddle",
111
+ "kRightHandRing",
112
+ "kRightHandPinky"
113
+ ]
114
+ ]
115
+ },
116
+ "observation.velocity": {
117
+ "dtype": "float32",
118
+ "shape": [
119
+ 26
120
+ ],
121
+ "names": [
122
+ [
123
+ "kLeftShoulderPitch",
124
+ "kLeftShoulderRoll",
125
+ "kLeftShoulderYaw",
126
+ "kLeftElbow",
127
+ "kLeftWristRoll",
128
+ "kLeftWristPitch",
129
+ "kLeftWristYaw",
130
+ "kRightShoulderPitch",
131
+ "kRightShoulderRoll",
132
+ "kRightShoulderYaw",
133
+ "kRightElbow",
134
+ "kRightWristRoll",
135
+ "kRightWristPitch",
136
+ "kRightWristYaw",
137
+ "kLeftHandThumb",
138
+ "kLeftHandThumbAux",
139
+ "kLeftHandIndex",
140
+ "kLeftHandMiddle",
141
+ "kLeftHandRing",
142
+ "kLeftHandPinky",
143
+ "kRightHandThumb",
144
+ "kRightHandThumbAux",
145
+ "kRightHandIndex",
146
+ "kRightHandMiddle",
147
+ "kRightHandRing",
148
+ "kRightHandPinky"
149
+ ]
150
+ ]
151
+ },
152
+ "observation.effort": {
153
+ "dtype": "float32",
154
+ "shape": [
155
+ 26
156
+ ],
157
+ "names": [
158
+ [
159
+ "kLeftShoulderPitch",
160
+ "kLeftShoulderRoll",
161
+ "kLeftShoulderYaw",
162
+ "kLeftElbow",
163
+ "kLeftWristRoll",
164
+ "kLeftWristPitch",
165
+ "kLeftWristYaw",
166
+ "kRightShoulderPitch",
167
+ "kRightShoulderRoll",
168
+ "kRightShoulderYaw",
169
+ "kRightElbow",
170
+ "kRightWristRoll",
171
+ "kRightWristPitch",
172
+ "kRightWristYaw",
173
+ "kLeftHandThumb",
174
+ "kLeftHandThumbAux",
175
+ "kLeftHandIndex",
176
+ "kLeftHandMiddle",
177
+ "kLeftHandRing",
178
+ "kLeftHandPinky",
179
+ "kRightHandThumb",
180
+ "kRightHandThumbAux",
181
+ "kRightHandIndex",
182
+ "kRightHandMiddle",
183
+ "kRightHandRing",
184
+ "kRightHandPinky"
185
+ ]
186
+ ]
187
+ },
188
+ "observation.arm_ddq": {
189
+ "dtype": "float32",
190
+ "shape": [
191
+ 14
192
+ ],
193
+ "names": [
194
+ [
195
+ "kLeftShoulderPitch",
196
+ "kLeftShoulderRoll",
197
+ "kLeftShoulderYaw",
198
+ "kLeftElbow",
199
+ "kLeftWristRoll",
200
+ "kLeftWristPitch",
201
+ "kLeftWristYaw",
202
+ "kRightShoulderPitch",
203
+ "kRightShoulderRoll",
204
+ "kRightShoulderYaw",
205
+ "kRightElbow",
206
+ "kRightWristRoll",
207
+ "kRightWristPitch",
208
+ "kRightWristYaw"
209
+ ]
210
+ ]
211
+ },
212
+ "observation.arm_external_torque": {
213
+ "dtype": "float32",
214
+ "shape": [
215
+ 14
216
+ ],
217
+ "names": [
218
+ [
219
+ "kLeftShoulderPitch",
220
+ "kLeftShoulderRoll",
221
+ "kLeftShoulderYaw",
222
+ "kLeftElbow",
223
+ "kLeftWristRoll",
224
+ "kLeftWristPitch",
225
+ "kLeftWristYaw",
226
+ "kRightShoulderPitch",
227
+ "kRightShoulderRoll",
228
+ "kRightShoulderYaw",
229
+ "kRightElbow",
230
+ "kRightWristRoll",
231
+ "kRightWristPitch",
232
+ "kRightWristYaw"
233
+ ]
234
+ ]
235
+ },
236
+ "observation.arm_compensation_torque": {
237
+ "dtype": "float32",
238
+ "shape": [
239
+ 14
240
+ ],
241
+ "names": [
242
+ [
243
+ "kLeftShoulderPitch",
244
+ "kLeftShoulderRoll",
245
+ "kLeftShoulderYaw",
246
+ "kLeftElbow",
247
+ "kLeftWristRoll",
248
+ "kLeftWristPitch",
249
+ "kLeftWristYaw",
250
+ "kRightShoulderPitch",
251
+ "kRightShoulderRoll",
252
+ "kRightShoulderYaw",
253
+ "kRightElbow",
254
+ "kRightWristRoll",
255
+ "kRightWristPitch",
256
+ "kRightWristYaw"
257
+ ]
258
+ ]
259
+ },
260
+ "observation.cartesian_pos": {
261
+ "dtype": "float32",
262
+ "shape": [
263
+ 6
264
+ ]
265
+ },
266
+ "observation.cartesian_axis_angle": {
267
+ "dtype": "float32",
268
+ "shape": [
269
+ 6
270
+ ]
271
+ },
272
+ "observation.cartesian_vel": {
273
+ "dtype": "float32",
274
+ "shape": [
275
+ 12
276
+ ]
277
+ },
278
+ "observation.cartesian_accel": {
279
+ "dtype": "float32",
280
+ "shape": [
281
+ 12
282
+ ]
283
+ },
284
+ "observation.cartesian_external_wrench": {
285
+ "dtype": "float32",
286
+ "shape": [
287
+ 12
288
+ ]
289
+ },
290
+ "observation.rotor_temperature": {
291
+ "dtype": "float32",
292
+ "shape": [
293
+ 28
294
+ ]
295
+ },
296
+ "observation.fingertip_positions": {
297
+ "dtype": "float32",
298
+ "shape": [
299
+ 30
300
+ ]
301
+ },
302
+ "observation.tactile_normal_force": {
303
+ "dtype": "float32",
304
+ "shape": [
305
+ 10
306
+ ]
307
+ },
308
+ "observation.tactile_tangential_force": {
309
+ "dtype": "float32",
310
+ "shape": [
311
+ 10
312
+ ]
313
+ },
314
+ "observation.tactile_tangential_direction": {
315
+ "dtype": "float32",
316
+ "shape": [
317
+ 10
318
+ ]
319
+ },
320
+ "observation.tactile_proximity": {
321
+ "dtype": "float32",
322
+ "shape": [
323
+ 10
324
+ ]
325
+ },
326
+ "observation.camera_pose_head": {
327
+ "dtype": "float32",
328
+ "shape": [
329
+ 13
330
+ ]
331
+ },
332
+ "observation.camera_pose_surround": {
333
+ "dtype": "float32",
334
+ "shape": [
335
+ 13
336
+ ]
337
+ },
338
+ "action.arm_velocity": {
339
+ "dtype": "float32",
340
+ "shape": [
341
+ 14
342
+ ],
343
+ "names": [
344
+ [
345
+ "kLeftShoulderPitch",
346
+ "kLeftShoulderRoll",
347
+ "kLeftShoulderYaw",
348
+ "kLeftElbow",
349
+ "kLeftWristRoll",
350
+ "kLeftWristPitch",
351
+ "kLeftWristYaw",
352
+ "kRightShoulderPitch",
353
+ "kRightShoulderRoll",
354
+ "kRightShoulderYaw",
355
+ "kRightElbow",
356
+ "kRightWristRoll",
357
+ "kRightWristPitch",
358
+ "kRightWristYaw"
359
+ ]
360
+ ]
361
+ },
362
+ "action.arm_effort": {
363
+ "dtype": "float32",
364
+ "shape": [
365
+ 14
366
+ ],
367
+ "names": [
368
+ [
369
+ "kLeftShoulderPitch",
370
+ "kLeftShoulderRoll",
371
+ "kLeftShoulderYaw",
372
+ "kLeftElbow",
373
+ "kLeftWristRoll",
374
+ "kLeftWristPitch",
375
+ "kLeftWristYaw",
376
+ "kRightShoulderPitch",
377
+ "kRightShoulderRoll",
378
+ "kRightShoulderYaw",
379
+ "kRightElbow",
380
+ "kRightWristRoll",
381
+ "kRightWristPitch",
382
+ "kRightWristYaw"
383
+ ]
384
+ ]
385
+ },
386
+ "action.arm_ddq": {
387
+ "dtype": "float32",
388
+ "shape": [
389
+ 14
390
+ ],
391
+ "names": [
392
+ [
393
+ "kLeftShoulderPitch",
394
+ "kLeftShoulderRoll",
395
+ "kLeftShoulderYaw",
396
+ "kLeftElbow",
397
+ "kLeftWristRoll",
398
+ "kLeftWristPitch",
399
+ "kLeftWristYaw",
400
+ "kRightShoulderPitch",
401
+ "kRightShoulderRoll",
402
+ "kRightShoulderYaw",
403
+ "kRightElbow",
404
+ "kRightWristRoll",
405
+ "kRightWristPitch",
406
+ "kRightWristYaw"
407
+ ]
408
+ ]
409
+ },
410
+ "action.arm_compensation_torque": {
411
+ "dtype": "float32",
412
+ "shape": [
413
+ 14
414
+ ],
415
+ "names": [
416
+ [
417
+ "kLeftShoulderPitch",
418
+ "kLeftShoulderRoll",
419
+ "kLeftShoulderYaw",
420
+ "kLeftElbow",
421
+ "kLeftWristRoll",
422
+ "kLeftWristPitch",
423
+ "kLeftWristYaw",
424
+ "kRightShoulderPitch",
425
+ "kRightShoulderRoll",
426
+ "kRightShoulderYaw",
427
+ "kRightElbow",
428
+ "kRightWristRoll",
429
+ "kRightWristPitch",
430
+ "kRightWristYaw"
431
+ ]
432
+ ]
433
+ },
434
+ "action.cartesian_pos": {
435
+ "dtype": "float32",
436
+ "shape": [
437
+ 6
438
+ ]
439
+ },
440
+ "action.cartesian_axis_angle": {
441
+ "dtype": "float32",
442
+ "shape": [
443
+ 6
444
+ ]
445
+ },
446
+ "action.cartesian_vel": {
447
+ "dtype": "float32",
448
+ "shape": [
449
+ 12
450
+ ]
451
+ },
452
+ "action.cartesian_accel": {
453
+ "dtype": "float32",
454
+ "shape": [
455
+ 12
456
+ ]
457
+ },
458
+ "action.fingertip_positions": {
459
+ "dtype": "float32",
460
+ "shape": [
461
+ 30
462
+ ]
463
+ },
464
+ "observation.images.head_camera": {
465
+ "dtype": "video",
466
+ "shape": [
467
+ 720,
468
+ 1280,
469
+ 3
470
+ ],
471
+ "names": [
472
+ "height",
473
+ "width",
474
+ "channel"
475
+ ],
476
+ "info": {
477
+ "video.height": 720,
478
+ "video.width": 1280,
479
+ "video.codec": "av1",
480
+ "video.pix_fmt": "yuv420p",
481
+ "video.is_depth_map": false,
482
+ "video.fps": 30,
483
+ "video.channels": 3,
484
+ "has_audio": false
485
+ }
486
+ },
487
+ "observation.images.surround_camera": {
488
+ "dtype": "video",
489
+ "shape": [
490
+ 270,
491
+ 480,
492
+ 3
493
+ ],
494
+ "names": [
495
+ "height",
496
+ "width",
497
+ "channel"
498
+ ],
499
+ "info": {
500
+ "video.height": 270,
501
+ "video.width": 480,
502
+ "video.codec": "av1",
503
+ "video.pix_fmt": "yuv420p",
504
+ "video.is_depth_map": false,
505
+ "video.fps": 30,
506
+ "video.channels": 3,
507
+ "has_audio": false
508
+ }
509
+ },
510
+ "observation.images.head_camera_depth_rgb": {
511
+ "dtype": "video",
512
+ "shape": [
513
+ 720,
514
+ 1280,
515
+ 3
516
+ ],
517
+ "names": [
518
+ "height",
519
+ "width",
520
+ "channel"
521
+ ],
522
+ "info": {
523
+ "video.height": 720,
524
+ "video.width": 1280,
525
+ "video.codec": "av1",
526
+ "video.pix_fmt": "yuv420p",
527
+ "video.is_depth_map": false,
528
+ "video.fps": 30,
529
+ "video.channels": 3,
530
+ "has_audio": false
531
+ }
532
+ },
533
+ "observation.images.surround_camera_depth_rgb": {
534
+ "dtype": "video",
535
+ "shape": [
536
+ 270,
537
+ 480,
538
+ 3
539
+ ],
540
+ "names": [
541
+ "height",
542
+ "width",
543
+ "channel"
544
+ ],
545
+ "info": {
546
+ "video.height": 270,
547
+ "video.width": 480,
548
+ "video.codec": "av1",
549
+ "video.pix_fmt": "yuv420p",
550
+ "video.is_depth_map": false,
551
+ "video.fps": 30,
552
+ "video.channels": 3,
553
+ "has_audio": false
554
+ }
555
+ },
556
+ "timestamp": {
557
+ "dtype": "float32",
558
+ "shape": [
559
+ 1
560
+ ],
561
+ "names": null
562
+ },
563
+ "frame_index": {
564
+ "dtype": "int64",
565
+ "shape": [
566
+ 1
567
+ ],
568
+ "names": null
569
+ },
570
+ "episode_index": {
571
+ "dtype": "int64",
572
+ "shape": [
573
+ 1
574
+ ],
575
+ "names": null
576
+ },
577
+ "index": {
578
+ "dtype": "int64",
579
+ "shape": [
580
+ 1
581
+ ],
582
+ "names": null
583
+ },
584
+ "task_index": {
585
+ "dtype": "int64",
586
+ "shape": [
587
+ 1
588
+ ],
589
+ "names": null
590
+ }
591
+ }
592
+ }
593
+ ```
594
 
 
 
595
 
596
+ ## Citation
 
 
597
 
598
+ **BibTeX:**
599
 
600
+ ```bibtex
601
+ [More Information Needed]
602
+ ```