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action
list | observation.state
list | timestamp
float32 0
17
| frame_index
int64 0
511
| episode_index
int64 0
49
| index
int64 0
16.7k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
92.98828125,
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[
92.900390625,
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92.724609375,
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[
92.900390625,
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92.900390625,
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92.724609375,
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92.98828125,
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[
92.724609375,
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[
92.900390625,
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92.724609375,
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92.900390625,
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92.724609375,
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[
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92.724609375,
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92.98828125,
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[
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[
92.98828125,
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[
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[
92.724609375,
131.30859375,
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[
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[
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[
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[
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[
92.724609375,
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[
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[
92.98828125,
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[
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[
94.482421875,
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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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[
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[
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[
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[
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131.30859375,
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[
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137.021484375,
177.626953125,
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[
93.779296875,
131.30859375,
175.78125,
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[
94.39453125,
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177.71484375,
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[
93.779296875,
131.30859375,
175.869140625,
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| 46
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[
94.482421875,
137.021484375,
177.626953125,
4.21875,
79.365234375,
34.541015625
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[
93.779296875,
131.30859375,
175.78125,
-0.263671875,
79.453125,
33.837890625
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| 47
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[
94.482421875,
136.93359375,
177.626953125,
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79.365234375,
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[
93.779296875,
131.30859375,
175.78125,
-0.263671875,
79.453125,
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| 48
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| 48
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[
94.482421875,
137.021484375,
177.626953125,
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79.365234375,
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[
93.779296875,
131.30859375,
175.78125,
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79.365234375,
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| 49
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| 49
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[
94.482421875,
137.021484375,
177.626953125,
4.21875,
79.365234375,
34.541015625
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[
93.779296875,
131.30859375,
175.78125,
-0.263671875,
79.453125,
33.837890625
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| 50
| 0
| 50
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[
94.482421875,
136.93359375,
177.626953125,
4.21875,
79.365234375,
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[
93.779296875,
131.30859375,
175.78125,
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79.453125,
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[
94.482421875,
136.93359375,
177.626953125,
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79.365234375,
34.541015625
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[
93.779296875,
131.30859375,
175.78125,
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| 52
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[
94.482421875,
137.021484375,
177.71484375,
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79.365234375,
34.541015625
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[
93.779296875,
131.30859375,
175.78125,
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[
94.5703125,
137.021484375,
177.71484375,
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[
93.779296875,
131.30859375,
175.78125,
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[
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[
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| 55
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[
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177.626953125,
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[
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| 56
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[
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177.626953125,
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[
93.779296875,
131.30859375,
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[
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175.869140625,
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[
94.658203125,
137.021484375,
177.5390625,
4.21875,
77.431640625,
34.189453125
] |
[
93.779296875,
131.30859375,
175.78125,
-0.17578125,
79.27734375,
33.837890625
] | 1.966667
| 59
| 0
| 59
| 0
|
[
94.74609375,
136.93359375,
177.5390625,
4.21875,
76.728515625,
34.189453125
] |
[
93.779296875,
131.30859375,
175.78125,
-0.17578125,
78.92578125,
33.837890625
] | 2
| 60
| 0
| 60
| 0
|
[
94.833984375,
136.93359375,
177.5390625,
4.21875,
76.640625,
34.189453125
] |
[
93.8671875,
131.30859375,
175.78125,
-0.263671875,
78.310546875,
33.837890625
] | 2.033333
| 61
| 0
| 61
| 0
|
[
94.74609375,
136.93359375,
177.626953125,
4.21875,
76.81640625,
34.27734375
] |
[
93.955078125,
131.30859375,
175.78125,
-0.263671875,
77.34375,
33.837890625
] | 2.066667
| 62
| 0
| 62
| 0
|
[
94.39453125,
136.93359375,
177.626953125,
4.21875,
76.904296875,
34.365234375
] |
[
94.04296875,
131.30859375,
175.78125,
-0.263671875,
77.34375,
33.837890625
] | 2.1
| 63
| 0
| 63
| 0
|
[
94.39453125,
136.93359375,
177.626953125,
4.21875,
76.904296875,
34.27734375
] |
[
94.04296875,
131.30859375,
175.78125,
-0.263671875,
77.34375,
33.837890625
] | 2.133333
| 64
| 0
| 64
| 0
|
[
94.74609375,
136.93359375,
177.626953125,
4.21875,
76.640625,
33.57421875
] |
[
94.04296875,
131.30859375,
175.78125,
-0.263671875,
77.34375,
33.837890625
] | 2.166667
| 65
| 0
| 65
| 0
|
[
95.361328125,
137.021484375,
177.626953125,
4.21875,
75.673828125,
32.16796875
] |
[
94.130859375,
131.30859375,
175.78125,
-0.17578125,
77.34375,
33.837890625
] | 2.2
| 66
| 0
| 66
| 0
|
[
96.064453125,
137.021484375,
177.626953125,
4.21875,
72.59765625,
32.16796875
] |
[
94.482421875,
131.30859375,
175.78125,
-0.263671875,
76.81640625,
33.046875
] | 2.233333
| 67
| 0
| 67
| 0
|
[
95.712890625,
137.021484375,
177.626953125,
4.21875,
72.59765625,
33.134765625
] |
[
94.833984375,
131.30859375,
175.78125,
-0.263671875,
75.849609375,
32.958984375
] | 2.266667
| 68
| 0
| 68
| 0
|
[
95.80078125,
136.93359375,
177.626953125,
4.306640625,
72.685546875,
33.92578125
] |
[
95.009765625,
131.30859375,
175.78125,
-0.263671875,
74.619140625,
33.046875
] | 2.3
| 69
| 0
| 69
| 0
|
[
95.80078125,
137.021484375,
177.626953125,
4.306640625,
72.7734375,
33.92578125
] |
[
95.009765625,
131.30859375,
175.78125,
-0.263671875,
73.65234375,
33.22265625
] | 2.333333
| 70
| 0
| 70
| 0
|
[
95.9765625,
137.021484375,
177.626953125,
4.21875,
72.7734375,
33.92578125
] |
[
95.09765625,
131.30859375,
175.78125,
-0.263671875,
73.212890625,
33.22265625
] | 2.366667
| 71
| 0
| 71
| 0
|
[
96.064453125,
137.021484375,
177.71484375,
4.21875,
72.861328125,
33.837890625
] |
[
95.185546875,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.4
| 72
| 0
| 72
| 0
|
[
96.064453125,
136.93359375,
177.626953125,
4.21875,
72.7734375,
33.837890625
] |
[
95.185546875,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.433333
| 73
| 0
| 73
| 0
|
[
96.064453125,
136.93359375,
177.626953125,
4.21875,
72.861328125,
33.92578125
] |
[
95.2734375,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.466667
| 74
| 0
| 74
| 0
|
[
96.064453125,
137.021484375,
177.626953125,
4.21875,
73.125,
33.837890625
] |
[
95.361328125,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.5
| 75
| 0
| 75
| 0
|
[
95.9765625,
136.93359375,
177.626953125,
4.21875,
73.4765625,
33.75
] |
[
95.2734375,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.533333
| 76
| 0
| 76
| 0
|
[
95.9765625,
136.93359375,
177.626953125,
4.21875,
73.4765625,
33.75
] |
[
95.361328125,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.566667
| 77
| 0
| 77
| 0
|
[
95.9765625,
136.93359375,
177.626953125,
4.21875,
73.388671875,
33.75
] |
[
95.361328125,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.6
| 78
| 0
| 78
| 0
|
[
95.9765625,
136.93359375,
177.451171875,
4.306640625,
73.388671875,
33.662109375
] |
[
95.361328125,
131.30859375,
175.78125,
-0.263671875,
73.125,
33.22265625
] | 2.633333
| 79
| 0
| 79
| 0
|
[
95.9765625,
136.93359375,
176.923828125,
4.482421875,
73.388671875,
33.57421875
] |
[
95.361328125,
131.30859375,
175.78125,
-0.263671875,
73.212890625,
33.22265625
] | 2.666667
| 80
| 0
| 80
| 0
|
[
95.9765625,
136.93359375,
175.341796875,
5.712890625,
73.30078125,
33.486328125
] |
[
95.2734375,
131.30859375,
175.78125,
-0.263671875,
73.212890625,
33.22265625
] | 2.7
| 81
| 0
| 81
| 0
|
[
95.9765625,
136.93359375,
172.79296875,
7.998046875,
73.30078125,
33.134765625
] |
[
95.361328125,
131.30859375,
175.4296875,
-0.17578125,
73.125,
33.22265625
] | 2.733333
| 82
| 0
| 82
| 0
|
[
95.2734375,
136.93359375,
169.716796875,
11.337890625,
73.037109375,
32.958984375
] |
[
95.361328125,
131.30859375,
174.462890625,
0.615234375,
73.125,
33.22265625
] | 2.766667
| 83
| 0
| 83
| 0
|
[
94.482421875,
136.93359375,
166.904296875,
13.974609375,
72.24609375,
32.607421875
] |
[
95.09765625,
131.30859375,
172.177734375,
3.251953125,
73.037109375,
33.22265625
] | 2.8
| 84
| 0
| 84
| 0
|
[
93.515625,
136.93359375,
163.828125,
16.787109375,
70.83984375,
32.607421875
] |
[
95.09765625,
131.30859375,
169.716796875,
7.55859375,
72.7734375,
33.134765625
] | 2.833333
| 85
| 0
| 85
| 0
|
[
92.900390625,
136.93359375,
161.19140625,
18.80859375,
68.73046875,
32.51953125
] |
[
94.5703125,
131.30859375,
167.6953125,
11.689453125,
72.421875,
33.134765625
] | 2.866667
| 86
| 0
| 86
| 0
|
[
92.109375,
137.021484375,
159.08203125,
19.3359375,
65.390625,
32.51953125
] |
[
93.779296875,
131.30859375,
165.41015625,
15.556640625,
71.630859375,
33.134765625
] | 2.9
| 87
| 0
| 87
| 0
|
[
91.494140625,
136.93359375,
157.5,
19.3359375,
61.259765625,
32.431640625
] |
[
92.98828125,
131.30859375,
163.65234375,
18.6328125,
70.048828125,
33.134765625
] | 2.933333
| 88
| 0
| 88
| 0
|
[
91.23046875,
136.93359375,
156.4453125,
19.3359375,
56.162109375,
32.431640625
] |
[
91.7578125,
131.30859375,
160.83984375,
20.56640625,
64.423828125,
33.134765625
] | 2.966667
| 89
| 0
| 89
| 0
|
[
91.142578125,
137.021484375,
155.21484375,
19.3359375,
50.009765625,
32.431640625
] |
[
91.58203125,
131.220703125,
160.13671875,
20.478515625,
61.787109375,
33.134765625
] | 3
| 90
| 0
| 90
| 0
|
[
91.40625,
136.93359375,
152.9296875,
19.423828125,
45.791015625,
32.431640625
] |
[
91.318359375,
131.30859375,
158.73046875,
20.56640625,
55.634765625,
33.134765625
] | 3.033333
| 91
| 0
| 91
| 0
|
[
91.669921875,
136.93359375,
150.1171875,
19.423828125,
43.154296875,
32.34375
] |
[
91.40625,
131.30859375,
157.32421875,
20.56640625,
50.361328125,
33.134765625
] | 3.066667
| 92
| 0
| 92
| 0
|
[
91.93359375,
136.494140625,
148.447265625,
20.21484375,
41.923828125,
31.640625
] |
[
91.7578125,
131.30859375,
153.984375,
20.56640625,
45.52734375,
33.134765625
] | 3.1
| 93
| 0
| 93
| 0
|
[
92.724609375,
135.791015625,
146.513671875,
22.8515625,
40.693359375,
29.70703125
] |
[
92.28515625,
131.30859375,
150.8203125,
21.005859375,
43.154296875,
32.34375
] | 3.133333
| 94
| 0
| 94
| 0
|
[
92.98828125,
134.384765625,
144.404296875,
26.89453125,
39.90234375,
29.619140625
] |
[
92.373046875,
131.30859375,
149.853515625,
21.884765625,
42.451171875,
31.46484375
] | 3.166667
| 95
| 0
| 95
| 0
|
[
93.515625,
133.330078125,
143.525390625,
28.212890625,
39.814453125,
29.619140625
] |
[
92.63671875,
131.220703125,
148.623046875,
23.73046875,
41.572265625,
30.76171875
] | 3.2
| 96
| 0
| 96
| 0
|
[
93.8671875,
132.275390625,
142.822265625,
28.212890625,
39.814453125,
29.619140625
] |
[
93.251953125,
130.95703125,
147.392578125,
28.212890625,
40.60546875,
30.673828125
] | 3.233333
| 97
| 0
| 97
| 0
|
[
93.8671875,
129.90234375,
141.328125,
28.30078125,
39.814453125,
29.70703125
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[
93.603515625,
129.990234375,
146.865234375,
29.35546875,
40.341796875,
30.673828125
] | 3.266667
| 98
| 0
| 98
| 0
|
[
93.69140625,
126.123046875,
139.482421875,
28.388671875,
39.638671875,
29.70703125
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[
93.603515625,
129.814453125,
146.42578125,
29.35546875,
40.341796875,
30.673828125
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 2,
"total_frames": 586,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_above": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
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"has_audio": false
}
},
"observation.images.cam_left": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
1
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},
"index": {
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1
],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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