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Datasets:
ETHrobotlearning
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tv-config2-red-green-blue

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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Dask
Polars
License:
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observation.state
list
timestamp
float32
0
17.1
frame_index
int64
0
171
episode_index
int64
0
32
index
int64
0
4.84k
task_index
int64
0
2
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0
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0.1
1
0
1
0
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0.2
2
0
2
0
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0.3
3
0
3
0
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0.4
4
0
4
0
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0.5
5
0
5
0
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0.6
6
0
6
0
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0.7
7
0
7
0
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0.8
8
0
8
0
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0.9
9
0
9
0
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1
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0
10
0
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1.1
11
0
11
0
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1.2
12
0
12
0
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1.3
13
0
13
0
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1.4
14
0
14
0
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1.5
15
0
15
0
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1.6
16
0
16
0
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1.7
17
0
17
0
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1.8
18
0
18
0
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1.9
19
0
19
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2
20
0
20
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2.1
21
0
21
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2.2
22
0
22
0
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2.3
23
0
23
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2.4
24
0
24
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2.5
25
0
25
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2.6
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26
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2.7
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27
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2.8
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28
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2.9
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3
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30
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3.1
31
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31
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3.2
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32
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3.3
33
0
33
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3.4
34
0
34
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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
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0
37
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3.8
38
0
38
0
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3.9
39
0
39
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4
40
0
40
0
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4.1
41
0
41
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4.2
42
0
42
0
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4.3
43
0
43
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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
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4.7
47
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47
0
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4.8
48
0
48
0
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4.9
49
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49
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5
50
0
50
0
[ -7.472527503967285, -45.27472686767578, -0.21978022158145905, 89.5824203491211, 79.86813354492188, 2.3882896900177 ]
[ -7.340659141540527, -44.39560317993164, 2.065934181213379, 92.3956069946289, 79.25274658203125, 2.1607022285461426 ]
5.1
51
0
51
0
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[ -7.340659141540527, -44.57143020629883, 2.065934181213379, 90.9011001586914, 79.42857360839844, 2.1607022285461426 ]
5.2
52
0
52
0
[ -7.384615421295166, -45.27472686767578, -0.21978022158145905, 88.87911987304688, 79.78022003173828, 3.929121732711792 ]
[ -7.340659141540527, -44.57143020629883, 2.065934181213379, 89.93406677246094, 79.42857360839844, 2.1607022285461426 ]
5.3
53
0
53
0
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[ -7.340659141540527, -44.57143020629883, 2.065934181213379, 89.67032623291016, 79.42857360839844, 3.241053342819214 ]
5.4
54
0
54
0
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[ -7.252747058868408, -44.57143020629883, 2.065934181213379, 89.4945068359375, 78.72527313232422, 6.279541015625 ]
5.5
55
0
55
0
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[ -6.285714149475098, -44.57143020629883, 2.065934181213379, 89.4945068359375, 77.84615325927734, 16.812963485717773 ]
5.6
56
0
56
0
[ -3.8681318759918213, -45.27472686767578, -0.21978022158145905, 89.05494689941406, 77.31867980957031, 28.659475326538086 ]
[ -4.9670329093933105, -44.57143020629883, 2.065934181213379, 89.4945068359375, 77.75823974609375, 25.320728302001953 ]
5.7
57
0
57
0
[ -3.8681318759918213, -45.27472686767578, -0.21978022158145905, 89.14286041259766, 77.4065933227539, 28.659475326538086 ]
[ -4.263736248016357, -44.57143020629883, 2.065934181213379, 89.4945068359375, 77.75823974609375, 27.548954010009766 ]
5.8
58
0
58
0
[ -3.076923131942749, -44.74725341796875, -0.21978022158145905, 91.25274658203125, 77.14286041259766, 28.582433700561523 ]
[ -4.263736248016357, -44.57143020629883, 2.065934181213379, 89.4945068359375, 77.75823974609375, 28.15665054321289 ]
5.9
59
0
59
0
[ -0.2637362778186798, -43.9560432434082, 0.04395604506134987, 91.86813354492188, 72.74725341796875, 28.659475326538086 ]
[ -3.6483516693115234, -44.57143020629883, 2.065934181213379, 90.63735961914062, 77.4945068359375, 28.224172592163086 ]
6
60
0
60
0
[ 4.043956279754639, -39.56044006347656, 0.48351648449897766, 95.03296661376953, 70.989013671875, 28.73651695251465 ]
[ -1.802197813987732, -44.131866455078125, 2.065934181213379, 91.51648712158203, 74.76923370361328, 28.359216690063477 ]
6.1
61
0
61
0
[ 7.472527503967285, -33.758243560791016, 0.8351648449897766, 99.16483306884766, 70.72527313232422, 28.73651695251465 ]
[ 1.4505494832992554, -41.93406677246094, 2.065934181213379, 93.80220031738281, 72.13186645507812, 28.494260787963867 ]
6.2
62
0
62
0
[ 8.79120922088623, -30.241758346557617, 4.087912082672119, 99.42857360839844, 70.72527313232422, 28.73651695251465 ]
[ 5.406593322753906, -36.92307662963867, 2.065934181213379, 97.14286041259766, 71.16483306884766, 28.494260787963867 ]
6.3
63
0
63
0
[ 8.79120922088623, -30.065933227539062, 11.032966613769531, 98.19779968261719, 70.63735961914062, 28.659475326538086 ]
[ 7.780219554901123, -32, 3.6483516693115234, 98.9011001586914, 71.07691955566406, 28.494260787963867 ]
6.4
64
0
64
0
[ 8.967033386230469, -30.153846740722656, 19.824174880981445, 93.62637329101562, 69.31867980957031, 28.582433700561523 ]
[ 8.219779968261719, -30.505495071411133, 7.252747058868408, 98.63735961914062, 71.07691955566406, 28.494260787963867 ]
6.5
65
0
65
0
[ 9.05494499206543, -30.593406677246094, 29.670330047607422, 88.26373291015625, 69.05494689941406, 28.582433700561523 ]
[ 8.747252464294434, -30.241758346557617, 14.461538314819336, 95.9120864868164, 69.84615325927734, 28.494260787963867 ]
6.6
66
0
66
0
[ 8.967033386230469, -32.70329666137695, 39.340660095214844, 82.37362670898438, 69.05494689941406, 28.50539207458496 ]
[ 8.483516693115234, -30.241758346557617, 23.16483497619629, 91.51648712158203, 69.4065933227539, 28.494260787963867 ]
6.7
67
0
67
0
[ 9.230769157409668, -33.846153259277344, 46.81318664550781, 76.3956069946289, 69.05494689941406, 28.50539207458496 ]
[ 8.835165023803711, -31.120878219604492, 33.010990142822266, 86.4175796508789, 69.31867980957031, 28.494260787963867 ]
6.8
68
0
68
0
[ 9.934065818786621, -33.758243560791016, 50.769229888916016, 71.73626708984375, 69.4065933227539, 28.582433700561523 ]
[ 8.659340858459473, -32.35165023803711, 42.241756439208984, 80.70330047607422, 69.31867980957031, 28.494260787963867 ]
6.9
69
0
69
0
[ 10.461538314819336, -32.79121017456055, 52.61538314819336, 68.92308044433594, 69.4945068359375, 28.582433700561523 ]
[ 9.626373291015625, -32.70329666137695, 48.39560317993164, 74.9011001586914, 69.4065933227539, 28.494260787963867 ]
7
70
0
70
0
[ 10.813186645507812, -30.681318283081055, 53.758243560791016, 66.46154022216797, 69.5824203491211, 28.582433700561523 ]
[ 9.802197456359863, -32.43955993652344, 51.912086486816406, 70.94505310058594, 69.4065933227539, 28.494260787963867 ]
7.1
71
0
71
0
[ 10.813186645507812, -27.516483306884766, 54.63736343383789, 63.47252655029297, 69.5824203491211, 28.582433700561523 ]
[ 10.417582511901855, -31.120878219604492, 53.406593322753906, 67.95604705810547, 69.4065933227539, 28.494260787963867 ]
7.2
72
0
72
0
[ 11.164834976196289, -24.439559936523438, 55.78022003173828, 59.868133544921875, 69.5824203491211, 28.50539207458496 ]
[ 10.417582511901855, -28.571428298950195, 54.46154022216797, 65.05494689941406, 69.4065933227539, 28.494260787963867 ]
7.3
73
0
73
0
[ 11.780220031738281, -21.714284896850586, 56.21977996826172, 57.58241653442383, 69.67032623291016, 28.50539207458496 ]
[ 10.857142448425293, -25.58241844177246, 55.42856979370117, 61.626373291015625, 69.4065933227539, 28.494260787963867 ]
7.4
74
0
74
0
[ 12.395604133605957, -19.16483497619629, 56.21977996826172, 56.17582321166992, 70.46154022216797, 28.50539207458496 ]
[ 11.384614944458008, -22.681318283081055, 56.0439567565918, 58.81318664550781, 69.4065933227539, 28.494260787963867 ]
7.5
75
0
75
0
[ 13.626373291015625, -16.96703338623047, 56.21977996826172, 54.32966995239258, 71.25274658203125, 28.50539207458496 ]
[ 11.824175834655762, -19.868131637573242, 56.21977996826172, 57.05494689941406, 70.02198028564453, 28.494260787963867 ]
7.6
76
0
76
0
[ 14.857142448425293, -16.175825119018555, 56.0439567565918, 53.71428680419922, 72.21977996826172, 28.4283504486084 ]
[ 12.79120922088623, -17.58241844177246, 56.30769348144531, 55.20878982543945, 70.72527313232422, 28.494260787963867 ]
7.7
77
0
77
0
[ 15.912087440490723, -16.175825119018555, 56.0439567565918, 53.71428680419922, 73.18681335449219, 27.73497772216797 ]
[ 13.934065818786621, -16.439559936523438, 56.30769348144531, 54.241756439208984, 71.6043930053711, 28.494260787963867 ]
7.8
78
0
78
0
[ 16.175825119018555, -16.175825119018555, 56.0439567565918, 53.89011001586914, 73.18681335449219, 19.1063175201416 ]
[ 15.076923370361328, -16.08791160583496, 56.39560317993164, 54.41758346557617, 72.65933990478516, 28.089128494262695 ]
7.9
79
0
79
0
[ 15.912087440490723, -16.08791160583496, 56.0439567565918, 53.89011001586914, 73.010986328125, 2.69645619392395 ]
[ 15.604395866394043, -16.08791160583496, 56.39560317993164, 54.41758346557617, 72.83516693115234, 25.320728302001953 ]
8
80
0
80
0
[ 15.912087440490723, -16, 55.9560432434082, 53.89011001586914, 72.83516693115234, 2.234206438064575 ]
[ 15.692307472229004, -16.08791160583496, 56.39560317993164, 54.41758346557617, 72.83516693115234, 16.070222854614258 ]
8.1
81
0
81
0
[ 15.912087440490723, -16, 55.9560432434082, 53.89011001586914, 72.74725341796875, 2.0030815601348877 ]
[ 15.692307472229004, -16.08791160583496, 56.39560317993164, 54.41758346557617, 72.83516693115234, 7.494935989379883 ]
8.2
82
0
82
0
[ 16, -16, 55.9560432434082, 53.80219650268555, 72.65933990478516, 2.0030815601348877 ]
[ 15.692307472229004, -16.08791160583496, 56.39560317993164, 54.41758346557617, 72.83516693115234, 6.414584636688232 ]
8.3
83
0
83
0
[ 15.824175834655762, -16.263736724853516, 55.60439682006836, 53.71428680419922, 71.6043930053711, 1.9260400533676147 ]
[ 15.692307472229004, -16.08791160583496, 56.39560317993164, 54.41758346557617, 72.83516693115234, 6.414584636688232 ]
8.4
84
0
84
0
[ 15.648351669311523, -18.10988998413086, 49.4505500793457, 58.10988998413086, 69.4945068359375, 1.9260400533676147 ]
[ 15.692307472229004, -16.08791160583496, 56.39560317993164, 54.41758346557617, 72.04395294189453, 6.347062587738037 ]
8.5
85
0
85
0
[ 14.681318283081055, -23.47252655029297, 38.5494499206543, 68.65933990478516, 68.61538696289062, 1.9260400533676147 ]
[ 15.692307472229004, -16.52747344970703, 54.46154022216797, 56.35165023803711, 70.46154022216797, 6.347062587738037 ]
8.6
86
0
86
0
[ 11.516483306884766, -30.241758346557617, 25.27472496032715, 79.64835357666016, 66.68132019042969, 1.9260400533676147 ]
[ 15.340659141540527, -19.16483497619629, 49.27472686767578, 60.92307662963867, 69.14286041259766, 6.347062587738037 ]
8.7
87
0
87
0
[ 7.296703338623047, -35.16483688354492, 10.593406677246094, 90.9011001586914, 65.71428680419922, 1.9260400533676147 ]
[ 13.406593322753906, -24, 37.846153259277344, 71.64835357666016, 67.47252655029297, 6.347062587738037 ]
8.8
88
0
88
0
[ 3.780219793319702, -36.39560317993164, -1.5384615659713745, 100.48351287841797, 64.48351287841797, 1.9260400533676147 ]
[ 10.065934181213379, -30.329669952392578, 24.659339904785156, 82.28571319580078, 66.24176025390625, 6.347062587738037 ]
8.9
89
0
89
0
[ 3.164835214614868, -38.153846740722656, -8.219779968261719, 101.71428680419922, 62.72527313232422, 1.9260400533676147 ]
[ 5.934065818786621, -34.021976470947266, 10.417582511901855, 93.010986328125, 65.010986328125, 6.347062587738037 ]
9
90
0
90
0
[ 3.164835214614868, -42.19780349731445, -10.15384578704834, 101.62637329101562, 62.28571319580078, 1.9260400533676147 ]
[ 3.912087917327881, -36.39560317993164, -0.9230769276618958, 99.25274658203125, 63.42856979370117, 6.347062587738037 ]
9.1
91
0
91
0
[ 2.1978023052215576, -45.71428680419922, -10.417582511901855, 101.0988998413086, 56.83516311645508, 1.9260400533676147 ]
[ 3.472527503967285, -39.64834976196289, -6.109889984130859, 100.48351287841797, 62.81318664550781, 6.347062587738037 ]
9.2
92
0
92
0
[ -0.8791208863258362, -47.47252655029297, -10.417582511901855, 100.92308044433594, 44, 1.9260400533676147 ]
[ 2.769230842590332, -43.42856979370117, -7.956043720245361, 100.48351287841797, 59.64834976196289, 6.347062587738037 ]
9.3
93
0
93
0
[ -2.549450635910034, -47.20878982543945, -10.329669952392578, 98.72527313232422, 23.25274658203125, 2.0030815601348877 ]
[ 0.3956044018268585, -46.5054931640625, -8.307692527770996, 100.48351287841797, 54.10988998413086, 6.279541015625 ]
9.4
94
0
94
0
[ -3.5164835453033447, -47.03296661376953, -10.329669952392578, 97.84615325927734, 11.296703338623047, 2.0030815601348877 ]
[ -1.7142857313156128, -47.03296661376953, -8.307692527770996, 99.69230651855469, 40.21977996826172, 6.144496917724609 ]
9.5
95
0
95
0
[ -7.648351669311523, -47.03296661376953, -10.065934181213379, 97.31867980957031, 6.285714149475098, 2.0030815601348877 ]
[ -2.9450550079345703, -47.03296661376953, -8.307692527770996, 98.81318664550781, 22.63736343383789, 6.144496917724609 ]
9.6
96
0
96
0
[ -9.582417488098145, -47.03296661376953, -10.065934181213379, 97.23076629638672, 3.296703338623047, 2.0030815601348877 ]
[ -5.406593322753906, -47.03296661376953, -8.307692527770996, 98.28571319580078, 11.032966613769531, 6.144496917724609 ]
9.7
97
0
97
0
[ -9.84615421295166, -47.03296661376953, -10.065934181213379, 96.96703338623047, 2.241758346557617, 2.0030815601348877 ]
[ -8.483516693115234, -46.94505310058594, -8.307692527770996, 98.28571319580078, 5.670329570770264, 6.144496917724609 ]
9.8
98
0
98
0
[ -9.84615421295166, -47.03296661376953, -10.065934181213379, 96.87911987304688, 2.241758346557617, 1.9260400533676147 ]
[ -9.450549125671387, -46.94505310058594, -8.307692527770996, 98.10989379882812, 3.296703338623047, 6.144496917724609 ]
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": "v3.0",
    "fps": 10,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
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                "video.extra_options": {}
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        "task_index": {
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    "total_episodes": 33,
    "total_frames": 4837,
    "total_tasks": 3,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:33"
    }
}

Citation

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