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oxe-auge
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jaco_play_train_0_976_augmented

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robotics
lerobot
oxe-auge
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  1. README.md +140 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/info.json +528 -0
  5. meta/stats.json +2211 -0
  6. meta/tasks.parquet +3 -0
  7. videos/observation.images.google_robot/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.kinova3/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.panda/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
  13. videos/observation.images.ur5e/chunk-000/file-000.mp4 +3 -0
  14. videos/observation.images.widowX/chunk-000/file-000.mp4 +3 -0
  15. videos/observation.images.xarm7/chunk-000/file-000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,140 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ ---
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+ pretty_name: "jaco_play_train_0_976"
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+ license: "cc-by-4.0"
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+ tags: [robotics, lerobot, oxe-auge, dataset]
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+ task_categories: [robotics]
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+
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+ oxe_aug:
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+ codebase_version: "v3.0"
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+ robots: ["google_robot", "images", "kinova3", "kuka_iiwa", "panda", "sawyer", "ur5e", "widowX", "xarm7"]
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+ fps: 10
11
+ total_episodes: 976
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+ total_frames: 70127
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+ total_videos: null
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+
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+ configs:
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+ - config_name: default
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+ data_files:
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+ - split: train
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+ path:
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+ - "data/chunk-*/file-*.parquet"
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+ ---
22
+ # jaco_play_train_0_976
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+
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+ ## Overview
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+
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+ - **Codebase version**: `v3.0`
27
+ - **Robots**: google_robot, images, kinova3, kuka_iiwa, panda, sawyer, ur5e, widowX, xarm7
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+ - **FPS**: 10
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+ - **Episodes**: 976
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+ - **Frames**: 70,127
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+ - **Splits**:
32
+ - `train`: `0:976`
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+
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+ ## Data Layout
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+
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+ ```text
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+ data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
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+ video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
39
+ ```
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+
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+ ## Features
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+
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+ | Feature | dtype | shape | description |
44
+ |---|---:|---:|---|
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+ | `observation.images.google_robot` | `video` | `224×224×3` | Augmented image for google_robot robot |
46
+ | `observation.images.image` | `video` | `224×224×3` | Source robot's image from original dataset |
47
+ | `observation.images.kinova3` | `video` | `224×224×3` | Augmented image for kinova3 robot |
48
+ | `observation.images.kuka_iiwa` | `video` | `224×224×3` | Augmented image for kuka_iiwa robot |
49
+ | `observation.images.panda` | `video` | `224×224×3` | Augmented image for panda robot |
50
+ | `observation.images.sawyer` | `video` | `224×224×3` | Augmented image for sawyer robot |
51
+ | `observation.images.ur5e` | `video` | `224×224×3` | Augmented image for ur5e robot |
52
+ | `observation.images.widowX` | `video` | `224×224×3` | Augmented image for widowX robot |
53
+ | `observation.images.xarm7` | `video` | `224×224×3` | Augmented image for xarm7 robot |
54
+ | `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
55
+ | `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
56
+ | `index` | `int64` | `1` | Global frame index across the whole dataset. |
57
+ | `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
58
+ | `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
59
+ | `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
60
+ | `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
61
+ | `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
62
+ | `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
63
+ | `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
64
+ | `observation.joints` | `float32` | `7` | Joint angle of source robot |
65
+ | `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
66
+ | `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
67
+ | `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
68
+ | `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
69
+ | `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
70
+ | `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
71
+ | `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
72
+ | `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
73
+ | `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
74
+ | `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
75
+ | `observation.panda.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
76
+ | `observation.panda.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
77
+ | `observation.panda.ee_error` | `float32` | `7` | The eef difference between the augmented panda robot and the original robot |
78
+ | `observation.panda.ee_pose` | `float32` | `7` | The eef position of panda robot |
79
+ | `observation.panda.joints` | `float32` | `8` | The joint position of panda robot |
80
+ | `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
81
+ | `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
82
+ | `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
83
+ | `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
84
+ | `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
85
+ | `observation.state` | `float32` | `7` | Copy of the state field in source robot's RLDS dataset |
86
+ | `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
87
+ | `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
88
+ | `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
89
+ | `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
90
+ | `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
91
+ | `observation.widowX.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
92
+ | `observation.widowX.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
93
+ | `observation.widowX.ee_error` | `float32` | `7` | The eef difference between the augmented widowX robot and the original robot |
94
+ | `observation.widowX.ee_pose` | `float32` | `7` | The eef position of widowX robot |
95
+ | `observation.widowX.joints` | `float32` | `7` | The joint position of widowX robot |
96
+ | `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
97
+ | `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
98
+ | `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
99
+ | `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
100
+ | `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 robot |
101
+ | `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
102
+ | `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
103
+
104
+ ## Website
105
+
106
+ - Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
107
+ - Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
108
+
109
+ ## Paper
110
+
111
+ - [https://github.com/clvrai/clvr_jaco_play_dataset](https://github.com/clvrai/clvr_jaco_play_dataset)
112
+
113
+ ## Citation Policy
114
+
115
+ If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
116
+
117
+ ## Upstream Dataset Citation (original dataset)
118
+
119
+ ```bibtex
120
+ @software{dass2023jacoplay,
121
+ author = {Dass, Shivin and Yapeter, Jullian and Zhang, Jesse and Zhang, Jiahui
122
+ and Pertsch, Karl and Nikolaidis, Stefanos and Lim, Joseph J.},
123
+ title = {CLVR Jaco Play Dataset},
124
+ url = {https://github.com/clvrai/clvr_jaco_play_dataset},
125
+ version = {1.0.0},
126
+ year = {2023}
127
+ }
128
+ ```
129
+
130
+ ## OXE-AugE Dataset Citation (ours)
131
+
132
+ ```bibtex
133
+ @misc{
134
+ ji2025oxeaug,
135
+ title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
136
+ author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
137
+ year = {2025},
138
+ note = {Manuscript}
139
+ }
140
+ ```
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": "mixed",
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+ "total_tasks": 88,
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+ "fps": 10,
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+ "splits": {
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+ "train": "0:976"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ ],
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+ ],
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+ },
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+ },
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+ ],
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+ "fps": 10
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+ },
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+ "dtype": "video",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "info": {
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+ "video.width": 224,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "fps": 10
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+ },
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 10
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+ },
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+ },
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+ },
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+ 7
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+ ],
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+ "fps": 10
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+ },
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+ "observation.images.sawyer": {
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+ "dtype": "video",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 224,
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+ "video.width": 224,
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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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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ "shape": [
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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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+ },
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+ "observation.images.ur5e": {
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+ "dtype": "video",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 224,
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+ "video.width": 224,
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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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+ "video.fps": 10,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "fps": 10
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+ },
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+ "dtype": "float32",
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+ ],
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+ },
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+ 3
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+ ],
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "fps": 10
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 10
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+ },
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+ "observation.images.google_robot": {
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+ "dtype": "video",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 224,
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+ "video.width": 224,
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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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+ "video.fps": 10,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "dtype": "float32",
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+ "shape": [
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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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+ },
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+ ],
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+ "info": {
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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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