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observation.state
listlengths
18
18
action
listlengths
17
17
timestamp
float32
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36.9
frame_index
int64
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369
episode_index
int64
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99
index
int64
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28.2k
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int64
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0.8
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1
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1.1
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1.3
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1.4
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1.5
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1.7
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1.8
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1.9
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2
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2.1
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21
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2.2
22
0
22
0
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2.3
23
0
23
0
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2.4
24
0
24
0
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2.5
25
0
25
0
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
0
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
[ -0.09978163987398148, 0.8691399693489075, 0.16443128883838654, 0.011934950016438961, 0.9995194673538208, -0.004194889683276415, 0.028297878801822662, 0.2133982926607132, 0.7927843332290649, 0.3104119896888733, -0.012716231867671013, -0.981909990310669, -0.06057758256793022, 0.17894521355628967, 0.009001586586236954, 0.009001586586236954, 0.03497406840324402, 0.03497406840324402 ]
[ -0.09426022320985794, 0.8788148760795593, 0.15782630443572998, 0.013972911052405834, 0.9993136525154114, -0.005979664158076048, 0.033782608807086945, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
8.8
88
0
88
0
[ -0.09914077073335648, 0.8724632859230042, 0.16040459275245667, 0.011264891363680363, 0.9994565844535828, -0.006418925244361162, 0.030306609347462654, 0.21338769793510437, 0.7927836179733276, 0.3104182481765747, -0.012704942375421524, -0.9819095134735107, -0.06058036908507347, 0.17894776165485382, 0.009002571925520897, 0.009002571925520897, 0.03497505187988281, 0.03497505187988281 ]
[ -0.0938185453414917, 0.8810416460037231, 0.15442591905593872, 0.013902467675507069, 0.999259889125824, -0.007796242367476225, 0.03500877320766449, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
8.9
89
0
89
0
[ -0.09841512888669968, 0.8750271797180176, 0.1566975712776184, 0.011230510659515858, 0.9993953704833984, -0.008444453589618206, 0.03180417791008949, 0.21338073909282684, 0.7927842736244202, 0.3104206621646881, -0.012698343954980373, -0.9819086790084839, -0.06058239936828613, 0.1789521723985672, 0.009002571925520897, 0.009002571925520897, 0.03497505187988281, 0.03497505187988281 ]
[ -0.09349972009658813, 0.8828170299530029, 0.15138496458530426, 0.014235437847673893, 0.9992095828056335, -0.009261930361390114, 0.03594164922833443, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9
90
0
90
0
[ -0.09757613390684128, 0.8770506978034973, 0.15335150063037872, 0.012190664187073708, 0.9993309378623962, -0.01011152844876051, 0.032967112958431244, 0.21338367462158203, 0.7927828431129456, 0.3104190230369568, -0.012697635218501091, -0.9819090962409973, -0.06058185175061226, 0.1789499670267105, 0.009002571925520897, 0.009002571925520897, 0.03497505187988281, 0.03497505187988281 ]
[ -0.09327175468206406, 0.8842032551765442, 0.14881981909275055, 0.01474577933549881, 0.9991649985313416, -0.010403545573353767, 0.03665608912706375, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.1
91
0
91
0
[ -0.09717048704624176, 0.8788520693778992, 0.15043368935585022, 0.012480710633099079, 0.9992821216583252, -0.011502840556204319, 0.03387053683400154, 0.21339409053325653, 0.792779266834259, 0.3104133605957031, -0.01270931214094162, -0.9819096922874451, -0.06057725101709366, 0.17894749343395233, 0.009003228507936, 0.009003228507936, 0.03497505187988281, 0.03497505187988281 ]
[ -0.09310946613550186, 0.8852633237838745, 0.14674890041351318, 0.01527964137494564, 0.9991276264190674, -0.01127490121871233, 0.0371943898499012, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.2
92
0
92
0
[ -0.09688515216112137, 0.8803789615631104, 0.14804089069366455, 0.013048461638391018, 0.9992384314537048, -0.012485834769904613, 0.03458930179476738, 0.21339523792266846, 0.792777419090271, 0.31040987372398376, -0.012711359187960625, -0.981910228729248, -0.0605732724070549, 0.1789458692073822, 0.009003228507936, 0.009003228507936, 0.03497537970542908, 0.03497537970542908 ]
[ -0.0929943397641182, 0.8860613107681274, 0.14512598514556885, 0.015765465795993805, 0.999097466468811, -0.011929888278245926, 0.03759492188692093, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.3
93
0
93
0
[ -0.09628291428089142, 0.881344199180603, 0.1460597664117813, 0.013881207443773746, 0.999200701713562, -0.013324878178536892, 0.035038311034440994, 0.21339155733585358, 0.7927793264389038, 0.3104117810726166, -0.012708103284239769, -0.9819102883338928, -0.060574669390916824, 0.1789454072713852, 0.009003556333482265, 0.009003556333482265, 0.03497505187988281, 0.03497505187988281 ]
[ -0.0929127186536789, 0.8866561055183411, 0.14387841522693634, 0.016177494078874588, 0.9990737438201904, -0.012417473830282688, 0.037890635430812836, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.4
94
0
94
0
[ -0.09615816920995712, 0.8823258280754089, 0.14461934566497803, 0.014203457161784172, 0.9991835951805115, -0.013780485838651657, 0.03522023931145668, 0.2133895307779312, 0.792780876159668, 0.310413658618927, -0.012706171721220016, -0.9819098711013794, -0.06057560071349144, 0.17894722521305084, 0.009003885090351105, 0.009003885090351105, 0.03497505187988281, 0.03497505187988281 ]
[ -0.09285502135753632, 0.8870949149131775, 0.14293494820594788, 0.01651161164045334, 0.9990555644035339, -0.012776902876794338, 0.038107145577669144, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.5
95
0
95
0
[ -0.09625045210123062, 0.8829837441444397, 0.14339879155158997, 0.014570002444088459, 0.9991646409034729, -0.014238671399652958, 0.03542562201619148, 0.21338823437690735, 0.7927809357643127, 0.3104132115840912, -0.012703641317784786, -0.9819099307060242, -0.06057671085000038, 0.17894688248634338, 0.009003885090351105, 0.009003885090351105, 0.03497439622879028, 0.03497439622879028 ]
[ -0.09281445294618607, 0.8874151110649109, 0.14223270118236542, 0.016773613169789314, 0.9990417957305908, -0.013038937002420425, 0.03826409578323364, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.6
96
0
96
0
[ -0.09630358964204788, 0.8833370804786682, 0.14296649396419525, 0.014505594968795776, 0.9991596937179565, -0.014419108629226685, 0.03551812469959259, 0.21338346600532532, 0.7927789688110352, 0.31041407585144043, -0.012702391482889652, -0.9819090962409973, -0.06057509407401085, 0.1789519190788269, 0.009003556333482265, 0.009003556333482265, 0.03497537970542908, 0.03497537970542908 ]
[ -0.09278585761785507, 0.8876481652259827, 0.14171305298805237, 0.016975484788417816, 0.9990314841270447, -0.013229532167315483, 0.038377705961465836, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.7
97
0
97
0
[ -0.09596320986747742, 0.8838738799095154, 0.14235524833202362, 0.014593258500099182, 0.9991475343704224, -0.01454908400774002, 0.03577084839344025, 0.21338997781276703, 0.7927783727645874, 0.3104095458984375, -0.012709533795714378, -0.9819098711013794, -0.060572706162929535, 0.17894808948040009, 0.009003556333482265, 0.009003556333482265, 0.03497537970542908, 0.03497537970542908 ]
[ -0.09276578575372696, 0.8878164887428284, 0.1413324773311615, 0.01712818443775177, 0.9990239143371582, -0.0133671211078763, 0.03845938295125961, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.8
98
0
98
0
[ -0.09537315368652344, 0.8839799761772156, 0.14187225699424744, 0.015096975490450859, 0.9991292357444763, -0.014736228622496128, 0.035995639860630035, 0.21339134871959686, 0.7927795648574829, 0.3104105591773987, -0.012707742862403393, -0.9819098711013794, -0.06057387962937355, 0.17894773185253143, 0.009003885090351105, 0.009003885090351105, 0.03497439622879028, 0.03497439622879028 ]
[ -0.09275170415639877, 0.8879374861717224, 0.14105558395385742, 0.017242247238755226, 0.9990183711051941, -0.013465999625623226, 0.038517870008945465, 0.21567822992801666, 0.7936108708381653, 0.31173622608184814, -0.016497580334544182, -0.9816773533821106, -0.062251005321741104, 0.1793382465839386, 1, 0, 0 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 100,
    "total_frames": 28189,
    "total_tasks": 1,
    "total_videos": 300,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:100"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "tcp_left_pos_x",
                "tcp_left_pos_y",
                "tcp_left_pos_z",
                "tcp_left_quat_x",
                "tcp_left_quat_y",
                "tcp_left_quat_z",
                "tcp_left_quat_w",
                "tcp_right_pos_x",
                "tcp_right_pos_y",
                "tcp_right_pos_z",
                "tcp_right_quat_x",
                "tcp_right_quat_y",
                "tcp_right_quat_z",
                "tcp_right_quat_w",
                "gripper_left_0",
                "gripper_left_1",
                "gripper_right_0",
                "gripper_right_1"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "tcp_left_x",
                "tcp_left_y",
                "tcp_left_z",
                "tcp_left_quat_x",
                "tcp_left_quat_y",
                "tcp_left_quat_z",
                "tcp_left_quat_w",
                "tcp_right_x",
                "tcp_right_y",
                "tcp_right_z",
                "tcp_right_quat_x",
                "tcp_right_quat_y",
                "tcp_right_quat_z",
                "tcp_right_quat_w",
                "gripper_left",
                "gripper_right",
                "termination_signal"
            ]
        },
        "observation.images.rgb_static": {
            "dtype": "video",
            "shape": [
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                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.rgb_left": {
            "dtype": "video",
            "shape": [
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            "names": [
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                "width",
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            "info": {
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                "video.width": 256,
                "video.codec": "av1",
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                "video.channels": 3,
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        },
        "observation.images.rgb_right": {
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            "shape": [
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            "names": [
                "height",
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                "channel"
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            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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