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README.md
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---
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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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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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```json
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{
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"codebase_version": "v2.0",
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"robot_type": "unknown",
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"total_episodes": 1355,
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"total_frames": 67750,
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"splits": {
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"train": "0:1355"
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},
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"
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],
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"video_keys": [
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"observation.images.image"
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],
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"image_keys": [],
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"shapes": {
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"observation.state": 7,
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"action": 4,
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"observation.images.image": {
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"width": 224,
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"height": 224,
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"channels": 3
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}
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},
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"names": {
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"observation.state": [
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"motor_0",
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"motor_1",
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"motor_2",
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"motor_3",
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"motor_4",
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"motor_5",
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"motor_6"
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],
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"action": [
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"motor_0",
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"motor_1",
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"motor_2",
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"motor_3"
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]
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},
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"videos": {
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"videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"observation.images.image": {
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"
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"
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"
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}
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}
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}
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```
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---
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+
license: mit
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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:** https://owmcorl.github.io/#
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- **Paper:** https://arxiv.org/abs/2310.16029
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- **License:** mit
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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": "v2.0",
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"robot_type": "unknown",
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"total_episodes": 1355,
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"total_frames": 67750,
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"splits": {
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"train": "0:1355"
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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.images.image": {
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"dtype": "video",
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"shape": [
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224,
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224,
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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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"video_info": {
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"video.fps": 5.0,
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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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"has_audio": false
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}
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},
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"language_instruction": {
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"dtype": "string",
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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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"observation.state": {
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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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"motors": [
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"motor_0",
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"motor_1",
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"motor_2",
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"motor_3",
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"motor_4",
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"motor_5",
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"motor_6"
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]
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}
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},
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"action": {
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"dtype": "float32",
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"shape": [
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4
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],
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"names": {
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"motors": [
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"motor_0",
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"motor_1",
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"motor_2",
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"motor_3"
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]
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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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"episode_index": {
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"dtype": "int64",
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"shape": [
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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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],
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"names": null
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},
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"next.reward": {
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"dtype": "float32",
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"shape": [
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],
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"names": null
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},
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"next.done": {
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"dtype": "bool",
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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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],
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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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@preprint{Feng2023Finetuning,
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title={Finetuning Offline World Models in the Real World},
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author={Yunhai Feng, Nicklas Hansen, Ziyan Xiong, Chandramouli Rajagopalan, Xiaolong Wang},
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year={2023}
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}
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```
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