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Datasets:
davidhightown
/
mimic_v5-7

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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observation.state
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ -7.604395389556885, -103.12088012695312, 96.48351287841797, -96.0879135131836, -14.10988998413086, 0.08424599468708038 ]
[ -7.296703338623047, -102.32967376708984, 96.3956069946289, -95.9120864868164, -14.021978378295898, 0.697836697101593 ]
0
0
0
0
0
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[ -7.296703338623047, -102.32967376708984, 96.3956069946289, -95.9120864868164, -14.021978378295898, 0.697836697101593 ]
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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[ -7.296703338623047, -102.32967376708984, 96.3956069946289, -95.9120864868164, -14.021978378295898, 0.697836697101593 ]
0.9
9
0
9
0
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1
10
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
0
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2
20
0
20
0
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[ -7.296703338623047, -102.32967376708984, 96.3956069946289, -95.9120864868164, -14.021978378295898, 0.697836697101593 ]
2.1
21
0
21
0
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2.2
22
0
22
0
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2.3
23
0
23
0
[ -7.604395389556885, -103.12088012695312, 96.48351287841797, -96.0879135131836, -14.10988998413086, 0.08424599468708038 ]
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2.4
24
0
24
0
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2.5
25
0
25
0
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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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
[ -7.868131637573242, -100.48351287841797, 96.57142639160156, -48.96703338623047, -14.021978378295898, 0 ]
[ -7.736263751983643, -102.32967376708984, 96.65933990478516, -89.31867980957031, -14.021978378295898, 0.697836697101593 ]
4.5
45
0
45
0
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4.6
46
0
46
0
[ -13.318681716918945, -95.64835357666016, 87.16483306884766, 2.1978023052215576, -14.197802543640137, 0 ]
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4.7
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0
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4.8
48
0
48
0
[ -25.89011001586914, -59.60439682006836, 48.74725341796875, 44.92307662963867, -14.197802543640137, 0 ]
[ -15.032966613769531, -93.010986328125, 85.14286041259766, 1.3186813592910767, -14.021978378295898, 0.697836697101593 ]
4.9
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0
49
0
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[ -20.659339904785156, -77.71428680419922, 69.14286041259766, 23.03296661376953, -14.021978378295898, 0.697836697101593 ]
5
50
0
50
0
[ -43.912086486816406, -16.879121780395508, 8.659340858459473, 80.43955993652344, -17.010988235473633, 0 ]
[ -27.868131637573242, -58.10988998413086, 49.4505500793457, 45.4505500793457, -14.021978378295898, 0.697836697101593 ]
5.1
51
0
51
0
[ -49.71428680419922, 1.494505524635315, -7.340659141540527, 84.30769348144531, -29.05494499206543, 0 ]
[ -37.71428680419922, -36.57143020629883, 29.14285659790039, 66.46154022216797, -15.780220031738281, 0.697836697101593 ]
5.2
52
0
52
0
[ -54.10988998413086, 17.318681716918945, -19.736263275146484, 82.54945373535156, -39.60439682006836, 0 ]
[ -45.27472686767578, -15.648351669311523, 9.274724960327148, 79.38461303710938, -20.175825119018555, 0.697836697101593 ]
5.3
53
0
53
0
[ -55.9560432434082, 28.659339904785156, -27.47252655029297, 81.4945068359375, -46.28571319580078, 0 ]
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5.4
54
0
54
0
[ -55.60439682006836, 34.19780349731445, -28.351648330688477, 81.93406677246094, -48.57143020629883, 0 ]
[ -54.593406677246094, 20.395605087280273, -19.648351669311523, 81.5824203491211, -41.36263656616211, 0.697836697101593 ]
5.5
55
0
55
0
[ -54.10988998413086, 35.42856979370117, -25.098901748657227, 82.02198028564453, -48.483516693115234, 0 ]
[ -55.29670333862305, 31.384614944458008, -24.659339904785156, 81.5824203491211, -46.46154022216797, 0.697836697101593 ]
5.6
56
0
56
0
[ -52.43955993652344, 33.93406677246094, -21.58241844177246, 82.10989379882812, -48.39560317993164, 0.16849198937416077 ]
[ -54.68132019042969, 35.340660095214844, -24.30769157409668, 81.75823974609375, -47.868133544921875, 0.697836697101593 ]
5.7
57
0
57
0
[ -50.68132019042969, 30.241758346557617, -17.80219841003418, 82.10989379882812, -43.736263275146484, 0.16849198937416077 ]
[ -53.626373291015625, 35.42856979370117, -22.285715103149414, 81.75823974609375, -47.9560432434082, 0.697836697101593 ]
5.8
58
0
58
0
[ -48.74725341796875, 26.373626708984375, -14.197802543640137, 82.10989379882812, -38.72527313232422, 0.16849198937416077 ]
[ -51.9560432434082, 34.63736343383789, -18.769229888916016, 81.84615325927734, -45.846153259277344, 0.697836697101593 ]
5.9
59
0
59
0
[ -46.901100158691406, 23.208791732788086, -11.120879173278809, 82.10989379882812, -36.35165023803711, 0.16849198937416077 ]
[ -50.021976470947266, 31.736263275146484, -15.164834976196289, 82.19779968261719, -41.80219650268555, 0.697836697101593 ]
6
60
0
60
0
[ -45.230770111083984, 20.483516693115234, -8.483516693115234, 82.10989379882812, -33.626373291015625, 0.16849198937416077 ]
[ -48.35165023803711, 28.043956756591797, -12, 82.02198028564453, -38.10988998413086, 0.697836697101593 ]
6.1
61
0
61
0
[ -44.43955993652344, 18.63736343383789, -6.901098728179932, 82.10989379882812, -32.74725341796875, 0.16849198937416077 ]
[ -46.5054931640625, 24.879121780395508, -9.09890079498291, 82.10989379882812, -35.120880126953125, 0.697836697101593 ]
6.2
62
0
62
0
[ -44.263736724853516, 18.10988998413086, -6.725274562835693, 82.02198028564453, -32.74725341796875, 0.16849198937416077 ]
[ -45.098899841308594, 22.681318283081055, -7.07692289352417, 82.19779968261719, -33.53845977783203, 0.697836697101593 ]
6.3
63
0
63
0
[ -44.17582321166992, 18.10988998413086, -6.373626232147217, 82.02198028564453, -32.83516311645508, 0.16849198937416077 ]
[ -44.83516311645508, 21.626373291015625, -6.549450397491455, 81.84615325927734, -33.27472686767578, 0.697836697101593 ]
6.4
64
0
64
0
[ -43.29670333862305, 17.670330047607422, -3.296703338623047, 81.4065933227539, -32.659339904785156, 0.16849198937416077 ]
[ -44.74725341796875, 21.450550079345703, -6.1978020668029785, 82.10989379882812, -33.27472686767578, 0.697836697101593 ]
6.5
65
0
65
0
[ -41.71428680419922, 16.175825119018555, 0.3956044018268585, 81.14286041259766, -32.57143020629883, 0.16849198937416077 ]
[ -44.0439567565918, 20.571428298950195, -4, 81.84615325927734, -33.27472686767578, 0.697836697101593 ]
6.6
66
0
66
0
[ -39.42856979370117, 13.274724960327148, 6.1978020668029785, 79.20879364013672, -30.373626708984375, 0.16849198937416077 ]
[ -42.81318664550781, 19.516483306884766, -0.7472527623176575, 81.5824203491211, -33.098899841308594, 0.697836697101593 ]
6.7
67
0
67
0
[ -36.96703338623047, 9.318681716918945, 13.05494499206543, 74.989013671875, -25.714284896850586, 0.16849198937416077 ]
[ -40.879119873046875, 17.318681716918945, 3.5604395866394043, 79.9120864868164, -31.428571701049805, 0.697836697101593 ]
6.8
68
0
68
0
[ -34.769229888916016, 6.241758346557617, 19.208791732788086, 69.36264038085938, -23.604394912719727, 0 ]
[ -38.68132019042969, 14.065934181213379, 9.186813354492188, 77.0988998413086, -28.175825119018555, 0.697836697101593 ]
6.9
69
0
69
0
[ -32.74725341796875, 3.9560439586639404, 23.516483306884766, 64.96703338623047, -21.934066772460938, 0 ]
[ -36.483516693115234, 10.373626708984375, 15.780220031738281, 72.96703338623047, -25.010988235473633, 0.697836697101593 ]
7
70
0
70
0
[ -30.72527503967285, 2.1098902225494385, 26.153846740722656, 63.64834976196289, -19.91208839416504, 0 ]
[ -34.021976470947266, 7.648351669311523, 21.58241844177246, 68.04395294189453, -22.989011764526367, 0.697836697101593 ]
7.1
71
0
71
0
[ -28.351648330688477, 0.2637362778186798, 28.175825119018555, 63.56044006347656, -17.714284896850586, 0 ]
[ -32.087913513183594, 5.538461685180664, 25.36263656616211, 64.96703338623047, -20.96703338623047, 0.697836697101593 ]
7.2
72
0
72
0
[ -25.010988235473633, -1.6703296899795532, 30.10988998413086, 63.56044006347656, -14.725275039672852, 0 ]
[ -29.89011001586914, 3.4285714626312256, 27.91208839416504, 64.43955993652344, -18.769229888916016, 0.697836697101593 ]
7.3
73
0
73
0
[ -20.96703338623047, -3.164835214614868, 31.956043243408203, 63.56044006347656, -10.329669952392578, 0 ]
[ -27.076923370361328, 1.4065934419631958, 29.934066772460938, 64.17582702636719, -16.21977996826172, 0.697836697101593 ]
7.4
74
0
74
0
[ -16.923076629638672, -4.043956279754639, 33.36263656616211, 63.56044006347656, -5.934065818786621, 0 ]
[ -23.47252655029297, -0.17582418024539948, 31.69230842590332, 64, -12.79120922088623, 0.697836697101593 ]
7.5
75
0
75
0
[ -12.967033386230469, -4.219780445098877, 34.06593322753906, 63.47252655029297, -2.241758346557617, 0 ]
[ -19.604394912719727, -1.2307692766189575, 33.18681335449219, 64, -8.571428298950195, 0.697836697101593 ]
7.6
76
0
76
0
[ -9.450549125671387, -4.219780445098877, 34.153846740722656, 63.47252655029297, 1.0109890699386597, 0 ]
[ -15.560439109802246, -1.494505524635315, 34.06593322753906, 64, -4.527472496032715, 0.697836697101593 ]
7.7
77
0
77
0
[ -6.549450397491455, -4.219780445098877, 34.153846740722656, 63.47252655029297, 3.7362637519836426, 0 ]
[ -12.04395580291748, -1.7582417726516724, 34.06593322753906, 63.736263275146484, -0.8351648449897766, 0.697836697101593 ]
7.8
78
0
78
0
[ -4.263736248016357, -4.219780445098877, 34.06593322753906, 63.47252655029297, 5.5824174880981445, 0 ]
[ -8.527472496032715, -1.7582417726516724, 34.06593322753906, 63.736263275146484, 2.153846263885498, 0.697836697101593 ]
7.9
79
0
79
0
[ -1.5384615659713745, -4.219780445098877, 33.80219650268555, 63.47252655029297, 8.219779968261719, 0 ]
[ -5.890110015869141, -1.7582417726516724, 34.06593322753906, 63.736263275146484, 4.527472496032715, 0.697836697101593 ]
8
80
0
80
0
[ 1.5384615659713745, -4.219780445098877, 33.71428680419922, 63.47252655029297, 11.824175834655762, 0 ]
[ -3.4285714626312256, -1.7582417726516724, 34.06593322753906, 63.736263275146484, 6.989010810852051, 0.697836697101593 ]
8.1
81
0
81
0
[ 4.791208744049072, -4.219780445098877, 33.71428680419922, 63.47252655029297, 15.164834976196289, 0 ]
[ -0.4395604431629181, -1.7582417726516724, 34.06593322753906, 63.736263275146484, 9.978021621704102, 0.697836697101593 ]
8.2
82
0
82
0
[ 7.780219554901123, -4.219780445098877, 33.626373291015625, 62.241756439208984, 18.065933227539062, 0 ]
[ 2.7252748012542725, -1.7582417726516724, 34.06593322753906, 63.736263275146484, 13.318681716918945, 0.697836697101593 ]
8.3
83
0
83
0
[ 10.593406677246094, -4.219780445098877, 33.626373291015625, 59.340660095214844, 20.703296661376953, 0 ]
[ 5.714285850524902, -1.8461538553237915, 34.06593322753906, 62.85714340209961, 16.483516693115234, 0.697836697101593 ]
8.4
84
0
84
0
[ 12.79120922088623, -4.219780445098877, 33.626373291015625, 57.31867980957031, 22.19780158996582, 0 ]
[ 8.527472496032715, -1.8461538553237915, 34.06593322753906, 60.659339904785156, 19.296703338623047, 0.697836697101593 ]
8.5
85
0
85
0
[ 14.725275039672852, -4.219780445098877, 33.626373291015625, 56.70329666137695, 23.516483306884766, 0 ]
[ 11.516483306884766, -1.8461538553237915, 34.06593322753906, 58.46154022216797, 21.230770111083984, 0.697836697101593 ]
8.6
86
0
86
0
[ 16.30769157409668, -4.219780445098877, 33.626373291015625, 56.70329666137695, 25.186813354492188, 0 ]
[ 13.274724960327148, -1.8461538553237915, 34.06593322753906, 57.406593322753906, 22.813186645507812, 0.697836697101593 ]
8.7
87
0
87
0
[ 16.923076629638672, -4.219780445098877, 33.626373291015625, 56.70329666137695, 26.329669952392578, 0 ]
[ 15.120879173278809, -1.8461538553237915, 34.06593322753906, 57.14285659790039, 24.395605087280273, 0.697836697101593 ]
8.8
88
0
88
0
[ 16.131868362426758, -4.219780445098877, 33.53845977783203, 56.70329666137695, 26.329669952392578, 0 ]
[ 16.263736724853516, -1.8461538553237915, 34.06593322753906, 57.14285659790039, 25.714284896850586, 0.697836697101593 ]
8.9
89
0
89
0
[ 13.318681716918945, -4.92307710647583, 33.4505500793457, 56.70329666137695, 25.714284896850586, 0.16849198937416077 ]
[ 16.439559936523438, -1.8461538553237915, 34.06593322753906, 57.14285659790039, 25.9780216217041, 0.697836697101593 ]
9
90
0
90
0
[ 10.065934181213379, -9.318681716918945, 34.241756439208984, 54.593406677246094, 25.186813354492188, 0.16849198937416077 ]
[ 14.857142448425293, -2.1978023052215576, 34.06593322753906, 57.14285659790039, 25.9780216217041, 0.697836697101593 ]
9.1
91
0
91
0
[ 7.692307472229004, -15.120879173278809, 37.58241653442383, 43.340660095214844, 17.89011001586914, 0.16849198937416077 ]
[ 12.131868362426758, -4.5714287757873535, 34.68132019042969, 55.64834976196289, 25.538461685180664, 0.697836697101593 ]
9.2
92
0
92
0
[ 4.9670329093933105, -23.03296661376953, 44.43955993652344, 22.329669952392578, 7.780219554901123, 0.08424599468708038 ]
[ 8.967033386230469, -9.582417488098145, 37.14285659790039, 51.78022003173828, 22.285715103149414, 0.697836697101593 ]
9.3
93
0
93
0
[ 2.153846263885498, -33.05494689941406, 54.72527313232422, -6.505494594573975, -0.7472527623176575, 0 ]
[ 6.769230842590332, -15.472527503967285, 41.098899841308594, 39.56044006347656, 15.692307472229004, 0.697836697101593 ]
9.4
94
0
94
0
[ -0.7472527623176575, -44.57143020629883, 66.24176025390625, -36.21977996826172, -5.406593322753906, 0 ]
[ 3.8681318759918213, -24, 47.78022003173828, 20.74725341796875, 5.318681240081787, 0.697836697101593 ]
9.5
95
0
95
0
[ -3.912087917327881, -55.736263275146484, 77.67032623291016, -61.010990142822266, -7.4285712242126465, 0.16849198937416077 ]
[ 1.0549451112747192, -34.5494499206543, 58.94505310058594, -3.780219793319702, -1.6263736486434937, 0.697836697101593 ]
9.6
96
0
96
0
[ -5.934065818786621, -66.72527313232422, 88.30769348144531, -80.87911987304688, -7.340659141540527, 0 ]
[ -2.0219781398773193, -46.153846740722656, 70.46154022216797, -30.329669952392578, -5.758241653442383, 0.697836697101593 ]
9.7
97
0
97
0
[ -6.285714149475098, -76.74725341796875, 95.78022003173828, -96.26373291015625, -7.4285712242126465, 0 ]
[ -4.5714287757873535, -57.58241653442383, 81.45054626464844, -56.79121017456055, -6.725274562835693, 0.697836697101593 ]
9.8
98
0
98
0
[ -6.285714149475098, -85.80220031738281, 96.3956069946289, -97.05494689941406, -7.4285712242126465, 0 ]
[ -5.626373767852783, -68.92308044433594, 91.47252655029297, -79.56044006347656, -7.164834976196289, 0.697836697101593 ]
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": "so_follower",
    "total_episodes": 50,
    "total_frames": 4602,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:50"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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