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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** [UnifoLM-VLA-0](https://unigen-x.github.io/unifolm-vla.github.io/) |
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- **License:** apache-2.0 |
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- **Task Objective:** Organize and tidy the items on the table. |
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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:** Gripper. |
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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. |
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- **Object Placement:** Randomly placed within the robot arm's motion range and the field of view of the robot's head-mounted camera. |
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- **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate). |
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- **Important Notes:** |
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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). |
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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. |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "G1_ALL", |
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"total_episodes": 200, |
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"total_frames": 265701, |
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"total_tasks": 1, |
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"total_videos": 800, |
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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": "0:200" |
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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.left_arm": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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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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] |
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}, |
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"observation.right_arm": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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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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] |
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}, |
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"observation.left_gripper": { |
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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": [ |
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"kLeftGripper" |
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] |
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}, |
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"observation.right_gripper": { |
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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": [ |
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"kRightGripper" |
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] |
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}, |
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"observation.left_ee": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"kLeftEEX", |
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"kLeftEEY", |
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"kLeftEEZ", |
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"kLeftEER", |
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"kLeftEEP", |
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"kLeftEEY" |
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] |
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}, |
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"observation.right_ee": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"kRightEEX", |
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"kRightEEY", |
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"kRightEEZ", |
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"kRightEER", |
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"kRightEEP", |
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"kRightEEY" |
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] |
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}, |
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"observation.body": { |
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"dtype": "float32", |
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"shape": [ |
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29 |
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], |
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"names": [ |
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"kLeftHipPitch", |
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"kLeftHipRoll", |
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"kLeftHipYaw", |
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"kLeftKnee", |
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"kLeftAnklePitch", |
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"kLeftAnkleRoll", |
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"kRightHipPitch", |
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"kRightHipRoll", |
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"kRightHipYaw", |
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"kRightKnee", |
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"kRightAnklePitch", |
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"kRightAnkleRoll", |
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"kWaistYaw", |
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"kWaistRoll", |
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"kWaistPitch", |
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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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] |
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}, |
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"action.left_arm": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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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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] |
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}, |
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"action.right_arm": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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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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] |
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}, |
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"action.left_gripper": { |
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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": [ |
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"kLeftGripper" |
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] |
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}, |
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"action.right_gripper": { |
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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": [ |
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"kRightGripper" |
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] |
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}, |
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"action.left_ee": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"kLeftEEX", |
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"kLeftEEY", |
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"kLeftEEZ", |
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"kLeftEER", |
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"kLeftEEP", |
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"kLeftEEY" |
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] |
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}, |
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"action.right_ee": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"kRightEEX", |
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"kRightEEY", |
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"kRightEEZ", |
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"kRightEER", |
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"kRightEEP", |
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"kRightEEY" |
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] |
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}, |
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"action.body": { |
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"dtype": "float32", |
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"shape": [ |
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7 |
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], |
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"names": [ |
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"RobotVX", |
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"RobotVY", |
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"RobotAngZ", |
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"RobotYaw", |
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"RobotPitch", |
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"RobotRoll", |
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"RobotHeight" |
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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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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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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": 30, |
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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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"observation.images.cam_right_high": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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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": 30, |
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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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"observation.images.cam_left_wrist": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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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": 30, |
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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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"observation.images.cam_right_wrist": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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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": 30, |
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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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"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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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
