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nepyope
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G1_Dex3_ToastedBread_Dataset

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Robotics
Modalities:
Tabular
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Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
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Dataset card Data Studio Files
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README.md ADDED
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1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
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+ tags:
6
+ - LeRobot
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+ configs:
8
+ - config_name: default
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+ data_files: data/*/*.parquet
10
+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) and converted to
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+ 3.0.
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+
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+ ## Dataset Description
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+
17
+
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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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+
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+ - **Task Objective:** Part 1: Place the bread from the serving tray into the toaster. Part 2: After the bread is toasted, hand the toast to the human.
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+ - **Operational Objects:** Bread and Toaster（Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.60Va2WXFUDHazdQ?tk=uzwkeJCxTWW MF278 「苏泊尔DJ805烤面包机吐司机小型家用早餐机多士炉烤吐司三明治机」点击链接直接打开 或者 淘宝搜索直接打开]）.
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+ - **Operation Duration:** Each operation takes approximately 20 to 40 seconds.
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+ - **Recording Frequency:** 30 Hz.
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+ - **Robot Type:** 7-DOF dual-arm G1 robot.
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+ - **End Effector:** Three-fingered dexterous hands.
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+ - **Dual-Arm Operation:** Yes.
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+ - **Image Resolution:** 640x480.
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+ - **Camera Positions:** Wrist-mounted (monocular camera) + head-mounted (binocular cameras).
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+ - **Data Content:**
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+ • Robot's current state.
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+ • Robot's next action.
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+ • Current camera view images.
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+ - **Robot Initial Posture:** The first robot state in each dataset entry.
38
+ - **Object Placement:** Place the toaster and serving tray within the fully extended reach of the robotic arm, positioned at approximately a ​45-degree angle relative to the robot.
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+ - **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).
40
+
41
+ - **Important Notes:**
42
+ 1. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).
43
+ 2. Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
44
+
45
+
46
+ ## Dataset Structure
47
+
48
+ [meta/info.json](meta/info.json):
49
+ ```json
50
+ {
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+ "codebase_version": "v2.0",
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+ "robot_type": "Unitree_G1",
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+ "total_episodes": 418,
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+ "total_frames": 352022,
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+ "total_tasks": 1,
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+ "total_videos": 1672,
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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": "0:418"
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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.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 28
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw",
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+ "kLeftHandThumb0",
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+ "kLeftHandThumb1",
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+ "kLeftHandThumb2",
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+ "kLeftHandMiddle0",
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+ "kLeftHandMiddle1",
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+ "kLeftHandIndex0",
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+ "kLeftHandIndex1",
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+ "kRightHandThumb0",
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+ "kRightHandThumb1",
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+ "kRightHandThumb2",
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+ "kRightHandIndex0",
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+ "kRightHandIndex1",
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+ "kRightHandMiddle0",
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+ "kRightHandMiddle1"
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+ ]
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 28
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw",
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+ "kLeftHandThumb0",
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+ "kLeftHandThumb1",
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+ "kLeftHandThumb2",
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+ "kLeftHandMiddle0",
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+ "kLeftHandMiddle1",
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+ "kLeftHandIndex0",
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+ "kLeftHandIndex1",
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+ "kRightHandThumb0",
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+ "kRightHandThumb1",
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+ "kRightHandThumb2",
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+ "kRightHandIndex0",
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+ "kRightHandIndex1",
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+ "kRightHandMiddle0",
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+ "kRightHandMiddle1"
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+ ]
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+ ]
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+ },
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+ "observation.images.cam_left_high": {
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+ "dtype": "video",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width"
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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": "av1",
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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_high": {
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+ "dtype": "video",
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+ "shape": [
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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width"
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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": "av1",
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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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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width"
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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": "av1",
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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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+ 3,
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+ 480,
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+ 640
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+ ],
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+ "names": [
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+ "channels",
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+ "height",
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+ "width"
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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": "av1",
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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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+ ```
272
+
273
+
274
+ ## Citation
275
+
276
+ **BibTeX:**
277
+
278
+ ```bibtex
279
+ [More Information Needed]
280
+ ```
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