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observation.state
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action
list
timestamp
float32
0
27.6
frame_index
int64
0
276
episode_index
int64
0
9
index
int64
0
2.33k
task_index
int64
0
0
[ 0.000010967254638671875, -1.5707943439483643, -1.5708388090133667, -1.5708075761795044, 1.57079017162323, 3.1415953636169434, 0.2981697618961334, -0.1318168342113495, 0.3035656809806824, -2.2223916053771973, -2.219418525695801, 0.002820764435455203 ]
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0.1
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0
1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
12
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1.3
13
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1.4
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1.5
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1.6
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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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2.2
22
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2.3
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2.4
24
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2.5
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2.6
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2.7
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2.8
28
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2.9
29
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3
30
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3.1
31
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3.2
32
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3.3
33
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3.4
34
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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
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
0
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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
[ -0.09775049239397049, -2.0905039310455322, -1.5691851377487183, -1.0061289072036743, 1.5975258350372314, 2.993467092514038, 0.3810630440711975, -0.16735462844371796, 0.16993919014930725, 2.1502974033355713, 2.261624336242676, 0.07365421950817108 ]
[ -0.020554663613438606, -0.044460736215114594, -0.015533148311078548, -0.014767427928745747, 0.019270475953817368, 0.2436818778514862, 0.38239043951034546 ]
7.3
73
0
73
0
[ -0.1087072566151619, -2.093465566635132, -1.570739507675171, -1.0038647651672363, 1.597482442855835, 2.959789276123047, 0.37915629148483276, -0.17151707410812378, 0.16854260861873627, 2.1250360012054443, 2.286465883255005, 0.0708012580871582 ]
[ -0.021538332104682922, -0.04412177950143814, -0.015666360035538673, -0.015282956883311272, 0.02047363482415676, 0.23924586176872253, 0.38239043951034546 ]
7.4
74
0
74
0
[ -0.11941749602556229, -2.0964109897613525, -1.5724642276763916, -1.001765251159668, 1.597143530845642, 2.926948308944702, 0.37719106674194336, -0.17558544874191284, 0.1670912355184555, 2.100311517715454, 2.310537338256836, 0.06739173084497452 ]
[ -0.022499699145555496, -0.04381529241800308, -0.015312322415411472, -0.015026223845779896, 0.020108385011553764, 0.23510773479938507, 0.38239043951034546 ]
7.5
75
0
75
0
[ -0.13045436143875122, -2.099191427230835, -1.5744647979736328, -0.9995087385177612, 1.5967974662780762, 2.8937528133392334, 0.3750756084918976, -0.17974813282489777, 0.16564489901065826, 2.0752954483032227, 2.3343896865844727, 0.06410019099712372 ]
[ -0.02042744867503643, -0.04271817207336426, -0.014743284322321415, -0.011744638904929161, 0.014391555450856686, 0.2240447849035263, 0.38239043951034546 ]
7.6
76
0
76
0
[ -0.14091521501541138, -2.102246046066284, -1.575920581817627, -0.9972109198570251, 1.5965126752853394, 2.8622071743011475, 0.37312883138656616, -0.1836807131767273, 0.16424359381198883, 2.0511927604675293, 2.3567898273468018, 0.06127655878663063 ]
[ -0.018586821854114532, -0.04037855193018913, -0.014017606154084206, -0.009953920729458332, 0.011582090519368649, 0.2112157940864563, 0.38299182057380676 ]
7.7
77
0
77
0
[ -0.1512349247932434, -2.1056864261627197, -1.5765480995178223, -0.9947694540023804, 1.596480131149292, 2.8315324783325195, 0.37134504318237305, -0.18754388391971588, 0.16292856633663177, 2.027508020401001, 2.377985715866089, 0.059358008205890656 ]
[ -0.017399676144123077, -0.0383274108171463, -0.013038614764809608, -0.008719999343156815, 0.009719790890812874, 0.20027977228164673, 0.38299182057380676 ]
7.8
78
0
78
0
[ -0.16095668077468872, -2.109084367752075, -1.5767920017242432, -0.9926158785820007, 1.5963973999023438, 2.803288221359253, 0.3696799576282501, -0.19118094444274902, 0.1617082804441452, 2.0057694911956787, 2.397068738937378, 0.05757908150553703 ]
[ -0.01580333337187767, -0.03523053973913193, -0.012419989332556725, -0.008629124611616135, 0.009943281300365925, 0.18719470500946045, 0.38359323143959045 ]
7.9
79
0
79
0
[ -0.17003947496414185, -2.1125781536102295, -1.5768113136291504, -0.9906347393989563, 1.5963059663772583, 2.77597975730896, 0.3681294023990631, -0.1945735663175583, 0.16049480438232422, 1.984272837638855, 2.4157328605651855, 0.05582638457417488 ]
[ -0.014975867234170437, -0.033184777945280075, -0.012009984813630581, -0.008608847856521606, 0.010096698068082333, 0.17732635140419006, 0.38359323143959045 ]
8
80
0
80
0
[ -0.17820388078689575, -2.1160528659820557, -1.57676362991333, -0.9888275265693665, 1.59609055519104, 2.7512152194976807, 0.36672118306159973, -0.1976272612810135, 0.1592904031276703, 1.9646564722061157, 2.43269419670105, 0.05393216013908386 ]
[ -0.014190142042934895, -0.0321199856698513, -0.011343998834490776, -0.007440695073455572, 0.008158370852470398, 0.17056970298290253, 0.38539740443229675 ]
8.1
81
0
81
0
[ -0.18619900941848755, -2.119410753250122, -1.5762813091278076, -0.9871622323989868, 1.5959796905517578, 2.7273926734924316, 0.36539241671562195, -0.20061291754245758, 0.15823619067668915, 1.9456663131713867, 2.448540210723877, 0.052539851516485214 ]
[ -0.011078759096562862, -0.03131936118006706, -0.006509068887680769, -0.0015379589749500155, -0.0014657158171758056, 0.15957243740558624, 0.44072526693344116 ]
8.2
82
0
82
0
[ -0.19421416521072388, -2.1227519512176514, -1.57444429397583, -0.9862701296806335, 1.5961294174194336, 2.70396089553833, 0.3642371594905853, -0.2036133110523224, 0.15748462080955505, 1.9267973899841309, 2.4635355472564697, 0.051966212689876556 ]
[ -0.007347040344029665, -0.026723641902208328, -0.0012247193371877074, 0.0002594744728412479, -0.004151742905378342, 0.14035378396511078, 0.5591990947723389 ]
8.3
83
0
83
0
[ -0.20188075304031372, -2.1260502338409424, -1.5718029737472534, -0.9858123660087585, 1.5966777801513672, 2.68164324760437, 0.3632556200027466, -0.20647035539150238, 0.15692727267742157, 1.9086402654647827, 2.477522373199463, 0.052264537662267685 ]
[ -0.003907194826751947, -0.0170698594301939, 0.0030362545512616634, -0.004401364829391241, 0.003996174782514572, 0.11156801134347916, 0.7149591445922852 ]
8.4
84
0
84
0
[ -0.2086051106452942, -2.128913164138794, -1.5681661367416382, -0.9868779182434082, 1.5973807573318481, 2.6615042686462402, 0.36251115798950195, -0.2089822143316269, 0.1566755622625351, 1.8920392990112305, 2.4903550148010254, 0.05276452749967575 ]
[ -0.00280349375680089, -0.007658974267542362, 0.006543491035699844, -0.01083762850612402, 0.015532638877630234, 0.08646737039089203, 0.8677121996879578 ]
8.5
85
0
85
0
[ -0.21493417024612427, -2.1313750743865967, -1.5642671585083008, -0.9885250329971313, 1.5978209972381592, 2.6426291465759277, 0.3618253767490387, -0.21137374639511108, 0.15660105645656586, 1.8763476610183716, 2.502128839492798, 0.052973002195358276 ]
[ 0.0013366396306082606, 0.0008668347145430744, 0.007840650156140327, -0.012028411962091923, 0.018506132066249847, 0.0579533576965332, 0.9801721572875977 ]
8.6
86
0
86
0
[ -0.21950608491897583, -2.1327803134918213, -1.5605897903442383, -0.9915326833724976, 1.5978418588638306, 2.626934766769409, 0.3613215684890747, -0.21313011646270752, 0.1567673236131668, 1.8626315593719482, 2.512788772583008, 0.05231739208102226 ]
[ 0.009047211147844791, 0.009673256427049637, 0.020501956343650818, 0.004235330503433943, -0.012188567779958248, 0.02241804637014866, 1 ]
8.7
87
0
87
0
[ -0.2222927212715149, -2.1327717304229736, -1.557062029838562, -0.9955629110336304, 1.5974974632263184, 2.6153149604797363, 0.3610574007034302, -0.21424587070941925, 0.15736790001392365, 1.8515946865081787, 2.521043539047241, 0.05136274918913841 ]
[ 0.01523478515446186, 0.0207992997020483, 0.036792829632759094, 0.022286750376224518, -0.0505807138979435, -0.01579192467033863, 0.9958083033561707 ]
8.8
88
0
88
0
[ -0.22338610887527466, -2.132167100906372, -1.5532587766647339, -1.0003854036331177, 1.5973702669143677, 2.607353925704956, 0.3611367344856262, -0.21472635865211487, 0.1582137793302536, 1.843062162399292, 2.5275235176086426, 0.05083102360367775 ]
[ 0.019205423071980476, 0.0341002531349659, 0.04275168851017952, 0.026249758899211884, -0.06413229554891586, -0.056744955480098724, 0.9867874383926392 ]
8.9
89
0
89
0
[ -0.22307425737380981, -2.1300652027130127, -1.5492318868637085, -1.0057990550994873, 1.59779691696167, 2.602612257003784, 0.3615058362483978, -0.214644655585289, 0.15967106819152832, 1.8363275527954102, 2.5317063331604004, 0.05182957649230957 ]
[ 0.020237663760781288, 0.04902523756027222, 0.04135539382696152, 0.02089652232825756, -0.05760320648550987, -0.09834029525518417, 0.9861860871315002 ]
9
90
0
90
0
[ -0.22149735689163208, -2.126704454421997, -1.5454291105270386, -1.0113495588302612, 1.5988024473190308, 2.601362466812134, 0.36208364367485046, -0.21403594315052032, 0.16156421601772308, 1.8320611715316772, 2.533409833908081, 0.054253529757261276 ]
[ 0.01816076599061489, 0.06737070530653, 0.035703808069229126, 0.010877876542508602, -0.03737518563866615, -0.14810684323310852, 0.9861860871315002 ]
9.1
91
0
91
0
[ -0.21798640489578247, -2.122159242630005, -1.5425299406051636, -1.016858458518982, 1.59981369972229, 2.603752374649048, 0.3628791868686676, -0.21268026530742645, 0.16369235515594482, 1.829830527305603, 2.5333919525146484, 0.05695212632417679 ]
[ 0.014523811638355255, 0.08609052747488022, 0.03305475041270256, 0.005360884126275778, -0.02509402297437191, -0.20392364263534546, 0.9855846762657166 ]
9.2
92
0
92
0
[ -0.2126978039741516, -2.116292715072632, -1.5412535667419434, -1.0217921733856201, 1.6007814407348633, 2.610189914703369, 0.3637550473213196, -0.21061544120311737, 0.16595755517482758, 1.8303769826889038, 2.531179904937744, 0.05984925851225853 ]
[ 0.008338847197592258, 0.10179700702428818, 0.02824464999139309, -0.00007993044710019603, -0.006132818758487701, -0.2540203630924225, 0.9855846762657166 ]
9.3
93
0
93
0
[ -0.20581895112991333, -2.109222650527954, -1.541585922241211, -1.0261982679367065, 1.601524829864502, 2.6205408573150635, 0.3646555244922638, -0.20792584121227264, 0.16830646991729736, 1.8338146209716797, 2.5267839431762695, 0.06261322647333145 ]
[ 0.001014630077406764, 0.11091867834329605, 0.022123262286186218, -0.004299499560147524, 0.01720329001545906, -0.2913883626461029, 0.9855846762657166 ]
9.4
94
0
94
0
[ -0.19702130556106567, -2.1009232997894287, -1.5440744161605835, -1.0298458337783813, 1.6019995212554932, 2.634603261947632, 0.3655485212802887, -0.20448003709316254, 0.17061251401901245, 1.8396214246749878, 2.5208897590637207, 0.06502574682235718 ]
[ -0.006512701045721769, 0.11278512328863144, 0.015942148864269257, -0.007985087111592293, 0.04133101552724838, -0.3032059669494629, 0.9861860871315002 ]
9.5
95
0
95
0
[ -0.18642789125442505, -2.09096360206604, -1.5490659475326538, -1.0329532623291016, 1.6021239757537842, 2.6529483795166016, 0.36629346013069153, -0.20031793415546417, 0.17292316257953644, 1.8487224578857422, 2.512917995452881, 0.06690756231546402 ]
[ -0.013769721612334251, 0.11439374834299088, 0.013458128087222576, -0.008774129673838615, 0.05231211706995964, -0.3130432367324829, 0.9873888492584229 ]
9.6
96
0
96
0
[ -0.17446023225784302, -2.0799672603607178, -1.556288480758667, -1.0353397130966187, 1.6018004417419434, 2.6744468212127686, 0.3668598532676697, -0.19562844932079315, 0.1750708520412445, 1.8602555990219116, 2.5035462379455566, 0.067982517182827 ]
[ -0.02093415893614292, 0.1177891343832016, 0.011387363076210022, -0.00824903417378664, 0.06084540858864784, -0.3311816155910492, 0.9879902601242065 ]
9.7
97
0
97
0
[ -0.16041356325149536, -2.067333459854126, -1.5658700466156006, -1.0372695922851562, 1.6010035276412964, 2.7000949382781982, 0.36729827523231506, -0.19015760719776154, 0.17722377181053162, 1.8744498491287231, 2.4923200607299805, 0.06838268786668777 ]
[ -0.024419784545898438, 0.12199679017066956, 0.012903948314487934, -0.00543354032561183, 0.0520695298910141, -0.35232532024383545, 0.9867874383926392 ]
9.8
98
0
98
0
[ -0.14523059129714966, -2.053492784500122, -1.5777583122253418, -1.0386645793914795, 1.6000025272369385, 2.72892165184021, 0.36742687225341797, -0.1842486560344696, 0.17922188341617584, 1.8914294242858887, 2.4794769287109375, 0.06822671741247177 ]
[ -0.02632887288928032, 0.12596917152404785, 0.013274467550218105, -0.0035723536275327206, 0.04676777124404907, -0.37239548563957214, 0.9861860871315002 ]
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",
    "robot_type": null,
    "total_episodes": 10,
    "total_frames": 2333,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "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",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "ee_x",
                "ee_y",
                "ee_z",
                "ee_rx",
                "ee_ry",
                "ee_rz"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "vx",
                "vy",
                "vz",
                "wx",
                "wy",
                "wz",
                "gripper"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
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            "names": null
        },
        "episode_index": {
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                1
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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