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action
sequence | observation.state
sequence | timestamp
float32 0
19.6
| frame_index
int64 0
589
| episode_index
int64 0
29
| index
int64 0
16.8k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
-6.15234375,
73.916015625,
76.728515625,
67.587890625,
20.654296875,
42.5390625
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-3.8671875,
66.09375,
82.001953125,
62.490234375,
20.0390625,
43.59375
] | 0 | 0 | 0 | 0 | 0 |
[
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74.794921875,
75.5859375,
68.994140625,
20.7421875,
42.5390625
] | [
-4.5703125,
67.763671875,
80.419921875,
64.3359375,
20.0390625,
43.06640625
] | 0.033333 | 1 | 0 | 1 | 0 |
[
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75.146484375,
74.35546875,
70.400390625,
20.91796875,
42.5390625
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69.345703125,
78.310546875,
65.7421875,
20.0390625,
42.5390625
] | 0.066667 | 2 | 0 | 2 | 0 |
[
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75.146484375,
73.125,
71.54296875,
21.181640625,
42.5390625
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-5.712890625,
71.015625,
76.552734375,
67.412109375,
20.0390625,
42.5390625
] | 0.1 | 3 | 0 | 3 | 0 |
[
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75.146484375,
72.158203125,
72.0703125,
21.181640625,
42.5390625
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-6.15234375,
72.0703125,
75.146484375,
68.90625,
20.126953125,
42.5390625
] | 0.133333 | 4 | 0 | 4 | 0 |
[
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75.05859375,
71.71875,
72.0703125,
21.181640625,
42.5390625
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72.685546875,
74.00390625,
70.224609375,
20.390625,
42.5390625
] | 0.166667 | 5 | 0 | 5 | 0 |
[
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74.619140625,
71.54296875,
71.982421875,
21.26953125,
42.5390625
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-6.50390625,
72.7734375,
73.4765625,
71.455078125,
20.654296875,
42.5390625
] | 0.2 | 6 | 0 | 6 | 0 |
[
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73.65234375,
71.54296875,
71.630859375,
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42.5390625
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-6.6796875,
72.685546875,
73.388671875,
71.71875,
20.7421875,
42.5390625
] | 0.233333 | 7 | 0 | 7 | 0 |
[
-7.91015625,
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71.455078125,
71.455078125,
21.4453125,
42.626953125
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-6.767578125,
72.509765625,
73.388671875,
71.71875,
20.830078125,
42.5390625
] | 0.266667 | 8 | 0 | 8 | 0 |
[
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70.400390625,
71.279296875,
71.19140625,
21.796875,
42.626953125
] | [
-6.85546875,
71.806640625,
73.388671875,
71.630859375,
20.91796875,
42.5390625
] | 0.3 | 9 | 0 | 9 | 0 |
[
-7.55859375,
68.818359375,
71.3671875,
70.751953125,
21.884765625,
42.626953125
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-6.85546875,
70.751953125,
73.388671875,
71.630859375,
20.91796875,
42.5390625
] | 0.333333 | 10 | 0 | 10 | 0 |
[
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67.412109375,
71.3671875,
70.400390625,
21.97265625,
42.626953125
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69.169921875,
73.388671875,
71.630859375,
20.91796875,
42.5390625
] | 0.366667 | 11 | 0 | 11 | 0 |
[
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66.09375,
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21.97265625,
42.626953125
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67.5,
73.388671875,
71.54296875,
20.91796875,
42.5390625
] | 0.4 | 12 | 0 | 12 | 0 |
[
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64.86328125,
71.015625,
69.169921875,
21.97265625,
42.626953125
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-6.943359375,
66.181640625,
73.4765625,
71.455078125,
20.91796875,
42.5390625
] | 0.433333 | 13 | 0 | 13 | 0 |
[
-6.85546875,
63.45703125,
70.048828125,
69.08203125,
21.884765625,
42.626953125
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-6.943359375,
64.86328125,
73.388671875,
71.015625,
20.91796875,
42.5390625
] | 0.466667 | 14 | 0 | 14 | 0 |
[
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61.875,
68.5546875,
69.08203125,
21.884765625,
42.626953125
] | [
-6.6796875,
63.544921875,
72.94921875,
70.751953125,
20.91796875,
42.5390625
] | 0.5 | 15 | 0 | 15 | 0 |
[
-6.591796875,
60.1171875,
66.796875,
69.169921875,
21.884765625,
42.626953125
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-6.416015625,
61.962890625,
71.71875,
70.576171875,
20.91796875,
42.5390625
] | 0.533333 | 16 | 0 | 16 | 0 |
[
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64.599609375,
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42.626953125
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60.380859375,
69.78515625,
70.48828125,
20.91796875,
42.5390625
] | 0.566667 | 17 | 0 | 17 | 0 |
[
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69.697265625,
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42.626953125
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-6.15234375,
58.798828125,
67.8515625,
70.400390625,
20.91796875,
42.5390625
] | 0.6 | 18 | 0 | 18 | 0 |
[
-6.6796875,
54.84375,
59.765625,
70.048828125,
21.62109375,
42.626953125
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57.216796875,
65.478515625,
70.3125,
20.91796875,
42.5390625
] | 0.633333 | 19 | 0 | 19 | 0 |
[
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53.0859375,
57.48046875,
70.48828125,
21.533203125,
42.5390625
] | [
-5.9765625,
55.283203125,
62.40234375,
70.3125,
20.91796875,
42.5390625
] | 0.666667 | 20 | 0 | 20 | 0 |
[
-6.85546875,
51.6796875,
56.07421875,
70.83984375,
21.533203125,
42.5390625
] | [
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53.525390625,
60.029296875,
70.224609375,
20.91796875,
42.5390625
] | 0.7 | 21 | 0 | 21 | 0 |
[
-6.943359375,
50.44921875,
55.458984375,
70.927734375,
21.4453125,
42.5390625
] | [
-5.9765625,
51.85546875,
58.7109375,
70.224609375,
20.91796875,
42.5390625
] | 0.733333 | 22 | 0 | 22 | 0 |
[
-7.03125,
49.306640625,
55.458984375,
70.927734375,
21.4453125,
42.5390625
] | [
-5.9765625,
50.44921875,
57.744140625,
70.224609375,
20.91796875,
42.5390625
] | 0.766667 | 23 | 0 | 23 | 0 |
[
-7.03125,
47.98828125,
55.810546875,
70.83984375,
21.4453125,
42.5390625
] | [
-6.15234375,
49.130859375,
57.12890625,
70.224609375,
20.91796875,
42.626953125
] | 0.8 | 24 | 0 | 24 | 0 |
[
-6.943359375,
46.669921875,
56.513671875,
70.576171875,
21.4453125,
42.5390625
] | [
-6.416015625,
48.1640625,
57.041015625,
70.224609375,
20.91796875,
42.71484375
] | 0.833333 | 25 | 0 | 25 | 0 |
[
-6.85546875,
46.142578125,
57.568359375,
70.224609375,
21.62109375,
42.451171875
] | [
-6.328125,
47.197265625,
56.77734375,
70.224609375,
21.005859375,
42.802734375
] | 0.866667 | 26 | 0 | 26 | 0 |
[
-6.767578125,
45.615234375,
58.623046875,
69.9609375,
21.796875,
41.220703125
] | [
-6.240234375,
46.845703125,
56.77734375,
70.3125,
21.005859375,
42.802734375
] | 0.9 | 27 | 0 | 27 | 0 |
[
-6.6796875,
45.52734375,
59.853515625,
69.43359375,
21.97265625,
39.90234375
] | [
-6.15234375,
46.318359375,
57.12890625,
70.224609375,
20.91796875,
42.802734375
] | 0.933333 | 28 | 0 | 28 | 0 |
[
-6.50390625,
45.52734375,
60.908203125,
68.90625,
21.97265625,
38.3203125
] | [
-6.15234375,
46.142578125,
57.83203125,
69.9609375,
20.91796875,
42.71484375
] | 0.966667 | 29 | 0 | 29 | 0 |
[
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45.703125,
62.05078125,
68.115234375,
22.587890625,
35.68359375
] | [
-6.15234375,
46.142578125,
58.18359375,
69.609375,
20.91796875,
42.626953125
] | 1 | 30 | 0 | 30 | 0 |
[
-6.416015625,
46.318359375,
62.666015625,
67.236328125,
24.697265625,
33.486328125
] | [
-6.15234375,
46.142578125,
59.150390625,
68.994140625,
20.91796875,
42.626953125
] | 1.033333 | 31 | 0 | 31 | 0 |
[
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46.93359375,
62.841796875,
66.62109375,
27.0703125,
32.51953125
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46.40625,
59.677734375,
68.37890625,
21.357421875,
42.451171875
] | 1.066667 | 32 | 0 | 32 | 0 |
[
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47.900390625,
62.9296875,
66.62109375,
27.94921875,
31.025390625
] | [
-6.15234375,
46.40625,
59.765625,
67.939453125,
22.412109375,
42.099609375
] | 1.1 | 33 | 0 | 33 | 0 |
[
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49.482421875,
63.45703125,
66.357421875,
28.037109375,
29.8828125
] | [
-6.064453125,
46.7578125,
59.853515625,
67.587890625,
23.818359375,
42.01171875
] | 1.133333 | 34 | 0 | 34 | 0 |
[
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51.6796875,
64.86328125,
65.126953125,
28.037109375,
28.564453125
] | [
-6.064453125,
47.548828125,
60.46875,
67.1484375,
25.048828125,
42.01171875
] | 1.166667 | 35 | 0 | 35 | 0 |
[
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54.755859375,
66.4453125,
63.6328125,
27.685546875,
26.89453125
] | [
-5.9765625,
48.779296875,
62.05078125,
66.181640625,
26.015625,
42.01171875
] | 1.2 | 36 | 0 | 36 | 0 |
[
-7.119140625,
58.359375,
68.203125,
61.787109375,
27.421875,
23.291015625
] | [
-5.80078125,
50.625,
64.51171875,
65.0390625,
26.54296875,
42.01171875
] | 1.233333 | 37 | 0 | 37 | 0 |
[
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62.75390625,
70.400390625,
59.150390625,
26.3671875,
19.16015625
] | [
-6.15234375,
52.91015625,
67.236328125,
63.10546875,
26.630859375,
42.01171875
] | 1.266667 | 38 | 0 | 38 | 0 |
[
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67.763671875,
73.037109375,
55.546875,
24.169921875,
16.787109375
] | [
-6.416015625,
55.986328125,
70.13671875,
61.171875,
26.455078125,
39.7265625
] | 1.3 | 39 | 0 | 39 | 0 |
[
-9.931640625,
72.421875,
74.70703125,
52.734375,
21.533203125,
15.99609375
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63.017578125,
75.41015625,
57.744140625,
24.697265625,
36.123046875
] | 1.333333 | 40 | 0 | 40 | 0 |
[
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78.310546875,
74.794921875,
50.44921875,
18.544921875,
15.99609375
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68.203125,
76.2890625,
55.546875,
22.67578125,
36.123046875
] | 1.366667 | 41 | 0 | 41 | 0 |
[
-13.88671875,
83.232421875,
74.70703125,
47.4609375,
17.40234375,
15.99609375
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77.87109375,
75.849609375,
50.888671875,
19.16015625,
36.123046875
] | 1.4 | 42 | 0 | 42 | 0 |
[
-18.544921875,
89.6484375,
74.00390625,
41.30859375,
16.787109375,
15.99609375
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-12.392578125,
79.1015625,
75.76171875,
50.2734375,
18.6328125,
36.123046875
] | 1.433333 | 43 | 0 | 43 | 0 |
[
-20.7421875,
91.142578125,
73.828125,
39.55078125,
15.732421875,
15.99609375
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-19.6875,
88.681640625,
75.41015625,
42.978515625,
15.380859375,
36.123046875
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[
-29.00390625,
92.4609375,
71.71875,
33.57421875,
15.1171875,
15.99609375
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-24.873046875,
89.736328125,
73.828125,
39.111328125,
14.94140625,
36.123046875
] | 1.5 | 45 | 0 | 45 | 0 |
[
-33.837890625,
92.109375,
70.400390625,
32.16796875,
15.8203125,
15.99609375
] | [
-32.783203125,
90.087890625,
73.740234375,
36.38671875,
14.853515625,
36.123046875
] | 1.533333 | 46 | 0 | 46 | 0 |
[
-40.869140625,
91.142578125,
69.9609375,
31.46484375,
17.9296875,
15.99609375
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-32.6953125,
90,
73.740234375,
36.38671875,
14.853515625,
36.123046875
] | 1.566667 | 47 | 0 | 47 | 0 |
[
-42.099609375,
90.791015625,
70.13671875,
31.552734375,
18.193359375,
15.99609375
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-37.001953125,
89.6484375,
73.212890625,
36.298828125,
15.908203125,
36.123046875
] | 1.6 | 48 | 0 | 48 | 0 |
[
-43.681640625,
90.439453125,
70.6640625,
31.9921875,
18.80859375,
15.99609375
] | [
-42.451171875,
89.6484375,
72.94921875,
34.892578125,
17.40234375,
36.123046875
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[
-45.3515625,
90,
72.861328125,
33.046875,
18.896484375,
16.083984375
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-43.41796875,
89.560546875,
73.212890625,
34.8046875,
17.666015625,
36.123046875
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[
-46.0546875,
90,
74.70703125,
33.134765625,
18.896484375,
16.083984375
] | [
-43.76953125,
89.560546875,
73.30078125,
34.8046875,
17.666015625,
36.123046875
] | 1.7 | 51 | 0 | 51 | 0 |
[
-46.494140625,
89.912109375,
75.5859375,
33.134765625,
18.80859375,
16.083984375
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-44.208984375,
89.6484375,
74.267578125,
34.716796875,
17.75390625,
36.123046875
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[
-46.23046875,
89.912109375,
76.11328125,
33.22265625,
18.80859375,
16.083984375
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-45.17578125,
88.9453125,
76.46484375,
34.716796875,
17.75390625,
36.123046875
] | 1.766667 | 53 | 0 | 53 | 0 |
[
-46.40625,
89.912109375,
76.376953125,
33.22265625,
18.80859375,
16.171875
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-45.439453125,
88.681640625,
76.904296875,
34.8046875,
17.75390625,
36.123046875
] | 1.8 | 54 | 0 | 54 | 0 |
[
-46.142578125,
89.736328125,
76.376953125,
33.22265625,
18.896484375,
16.171875
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-45.439453125,
88.330078125,
78.486328125,
34.892578125,
17.841796875,
36.123046875
] | 1.833333 | 55 | 0 | 55 | 0 |
[
-45.966796875,
89.384765625,
76.46484375,
33.837890625,
18.80859375,
16.171875
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-45.087890625,
88.59375,
78.134765625,
34.716796875,
17.9296875,
36.123046875
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[
-45.17578125,
89.208984375,
76.640625,
35.419921875,
18.80859375,
16.259765625
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88.505859375,
78.310546875,
35.068359375,
17.9296875,
36.123046875
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[
-45.087890625,
89.208984375,
76.9921875,
36.298828125,
18.80859375,
16.259765625
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88.41796875,
78.3984375,
35.771484375,
17.9296875,
36.123046875
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[
-45.439453125,
89.384765625,
77.51953125,
36.9140625,
18.80859375,
16.34765625
] | [
-44.912109375,
88.505859375,
78.310546875,
36.298828125,
18.017578125,
36.123046875
] | 1.966667 | 59 | 0 | 59 | 0 |
[
-46.58203125,
89.912109375,
78.134765625,
37.880859375,
18.80859375,
16.435546875
] | [
-45.263671875,
88.505859375,
78.57421875,
36.5625,
18.017578125,
36.03515625
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[
-47.8125,
90.52734375,
79.189453125,
38.583984375,
18.80859375,
16.5234375
] | [
-45.3515625,
88.505859375,
78.837890625,
36.9140625,
17.9296875,
36.123046875
] | 2.033333 | 61 | 0 | 61 | 0 |
[
-48.603515625,
90.791015625,
79.892578125,
38.583984375,
18.80859375,
16.5234375
] | [
-45.791015625,
88.59375,
79.62890625,
37.6171875,
17.9296875,
36.123046875
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[
-48.955078125,
91.0546875,
80.5078125,
38.671875,
18.80859375,
16.611328125
] | [
-46.40625,
88.59375,
80.5078125,
38.408203125,
17.9296875,
36.123046875
] | 2.1 | 63 | 0 | 63 | 0 |
[
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88.76953125,
81.5625,
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88.857421875,
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88.857421875,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 30,
"total_frames": 16781,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:30"
},
"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": {
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"video.width": 640,
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"video.codec": "av1",
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"has_audio": false
}
},
"observation.images.phone": {
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640,
3
],
"names": [
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"width",
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],
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"video.width": 640,
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"video.codec": "av1",
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}
},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
"dtype": "int64",
"shape": [
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],
"names": null
}
}
}
Citation
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