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Datasets:
cadene
/
droid_1.0.1

Tasks:
Robotics
Tags:
LeRobot
License:
Dataset card Files Community
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+ ---
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+ license: apache-2.0
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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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": "v2.1",
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+ "robot_type": "Franka",
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+ "total_episodes": 95600,
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+ "total_frames": 27612581,
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+ "total_tasks": 0,
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+ "total_videos": 286800,
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+ "total_chunks": 95,
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+ "chunks_size": 1000,
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+ "fps": 15,
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+ "splits": {
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+ "train": "0:95600"
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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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+ "is_first": {
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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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+ "is_last": {
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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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+ "is_terminal": {
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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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+ "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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+ "language_instruction_2": {
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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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+ "language_instruction_3": {
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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.gripper_position": {
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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": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "observation.state.cartesian_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "observation.state.joint_position": {
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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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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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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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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6",
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "observation.images.wrist_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
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+ 320,
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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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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 15.0,
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+ "video.height": 180,
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+ "video.width": 320,
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+ "video.channels": 3,
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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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+ "observation.images.exterior_1_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 180,
172
+ 320,
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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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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 15.0,
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+ "video.height": 180,
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+ "video.width": 320,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
187
+ "video.is_depth_map": false,
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+ "has_audio": false
189
+ }
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+ },
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+ "observation.images.exterior_2_left": {
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+ "dtype": "video",
193
+ "shape": [
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+ 180,
195
+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
200
+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 15.0,
205
+ "video.height": 180,
206
+ "video.width": 320,
207
+ "video.channels": 3,
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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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+ "action.gripper_position": {
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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": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "action.gripper_velocity": {
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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": {
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+ "axes": [
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "action.cartesian_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "action.cartesian_velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "action.joint_position": {
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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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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ }
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+ },
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+ "action.joint_velocity": {
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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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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ }
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+ },
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+ "action.original": {
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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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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "gripper"
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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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+ 8
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+ ],
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+ "names": {
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+ "axes": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6",
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "discount": {
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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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+ "reward": {
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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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+ "task_category": {
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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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+ "building": {
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "collector_id": {
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+ "shape": [
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+ ],
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+ "names": null
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+ },
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+ "date": {
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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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+ "camera_extrinsics.wrist_left": {
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "camera_extrinsics.exterior_1_left": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "camera_extrinsics.exterior_2_left": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "axes": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "is_episode_successful": {
428
+ "dtype": "bool",
429
+ "shape": [
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+ 1
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+ ],
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+ "names": null
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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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+ "frame_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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+ "episode_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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+ "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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+ "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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+ }
469
+ }
470
+ }
471
+ ```
472
+
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+
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+ ## Citation
475
+
476
+ **BibTeX:**
477
+
478
+ ```bibtex
479
+ [More Information Needed]
480
+ ```