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  1. .gitattributes +16 -0
  2. dataset_info.json +36 -0
  3. features.json +143 -0
  4. robo_verse_dataset-train.tfrecord-00000-of-00016 +3 -0
  5. robo_verse_dataset-train.tfrecord-00001-of-00016 +3 -0
  6. robo_verse_dataset-train.tfrecord-00002-of-00016 +3 -0
  7. robo_verse_dataset-train.tfrecord-00003-of-00016 +3 -0
  8. robo_verse_dataset-train.tfrecord-00004-of-00016 +3 -0
  9. robo_verse_dataset-train.tfrecord-00005-of-00016 +3 -0
  10. robo_verse_dataset-train.tfrecord-00006-of-00016 +3 -0
  11. robo_verse_dataset-train.tfrecord-00007-of-00016 +3 -0
  12. robo_verse_dataset-train.tfrecord-00008-of-00016 +3 -0
  13. robo_verse_dataset-train.tfrecord-00009-of-00016 +3 -0
  14. robo_verse_dataset-train.tfrecord-00010-of-00016 +3 -0
  15. robo_verse_dataset-train.tfrecord-00011-of-00016 +3 -0
  16. robo_verse_dataset-train.tfrecord-00012-of-00016 +3 -0
  17. robo_verse_dataset-train.tfrecord-00013-of-00016 +3 -0
  18. robo_verse_dataset-train.tfrecord-00014-of-00016 +3 -0
  19. robo_verse_dataset-train.tfrecord-00015-of-00016 +3 -0
.gitattributes CHANGED
@@ -57,3 +57,19 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  # Video files - compressed
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  *.mp4 filter=lfs diff=lfs merge=lfs -text
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  *.webm filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00000-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00001-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00002-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00003-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00004-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00005-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00006-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00007-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00008-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00009-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00010-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00011-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00012-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00013-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00014-of-00016 filter=lfs diff=lfs merge=lfs -text
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+ robo_verse_dataset-train.tfrecord-00015-of-00016 filter=lfs diff=lfs merge=lfs -text
dataset_info.json ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "citation": "// TODO(example_dataset): BibTeX citation",
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+ "description": "TODO(example_dataset): Markdown description of your dataset.\nDescription is **formatted** as markdown.\n\nIt should also contain any processing which has been applied (if any),\n(e.g. corrupted example skipped, images cropped,...):",
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+ "fileFormat": "tfrecord",
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+ "moduleName": "roboverse.roboverse_dataset_builder",
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+ "name": "robo_verse_dataset",
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+ "releaseNotes": {
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+ "1.0.0": "Initial release."
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+ },
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+ "splits": [
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+ {
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+ "filepathTemplate": "{DATASET}-{SPLIT}.{FILEFORMAT}-{SHARD_X_OF_Y}",
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+ "name": "train",
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+ "numBytes": "1228476655",
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+ "shardLengths": [
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+ "7",
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+ "7",
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+ "6",
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+ "7",
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+ "7",
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+ "6",
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+ "7",
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+ "7",
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+ "7",
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+ "7",
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+ "6",
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+ "7",
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+ "7",
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+ "6",
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+ "7",
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+ "7"
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+ ]
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+ }
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+ ],
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+ "version": "1.0.0"
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+ }
features.json ADDED
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+ {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "steps": {
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+ "pythonClassName": "tensorflow_datasets.core.features.dataset_feature.Dataset",
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+ "sequence": {
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+ "feature": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "action": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "8"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot action, qpos or RTX version: consists of [7x joint velocities, 2x gripper velocities, 1x terminate episode]."
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+ },
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+ "is_terminal": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on last step of the episode if it is a terminal step, True for demos."
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+ },
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+ "is_last": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on last step of the episode."
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+ },
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+ "language_instruction": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Language Instruction."
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+ },
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+ "observation": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "image": {
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+ "pythonClassName": "tensorflow_datasets.core.features.image_feature.Image",
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+ "image": {
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+ "shape": {
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+ "dimensions": [
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+ "256",
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+ "256",
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+ "3"
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+ ]
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+ },
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+ "dtype": "uint8",
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+ "encodingFormat": "png"
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+ },
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+ "description": "Main camera RGB observation."
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+ },
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+ "state": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "8"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot state, qpos or RTX version: consists of [7x robot joint angles, 2x gripper position, 1x door opening angle]."
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+ },
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+ "proprio": {
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+ "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
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+ "tensor": {
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+ "shape": {
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+ "dimensions": [
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+ "9"
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+ ]
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+ },
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Robot state, qpos or RTX version: consists of [7x robot joint angles, 2x gripper position"
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+ }
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+ }
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+ }
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+ },
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+ "is_first": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "bool",
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+ "encoding": "none"
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+ },
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+ "description": "True on first step of the episode."
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+ },
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+ "discount": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Discount if provided, default to 1."
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+ },
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+ "reward": {
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+ "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
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+ "tensor": {
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+ "shape": {},
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+ "dtype": "float32",
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+ "encoding": "none"
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+ },
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+ "description": "Reward if provided, 1 on final step for demos."
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+ }
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+ }
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+ }
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+ },
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+ "length": "-1"
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+ }
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+ },
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+ "episode_metadata": {
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+ "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+ "featuresDict": {
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+ "features": {
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+ "file_path": {
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+ "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
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+ "text": {},
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+ "description": "Path to the original data file."
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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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