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action
sequence | observation.state
sequence | timestamp
float32 0
21.5
| frame_index
int64 0
645
| episode_index
int64 0
1
| index
int64 0
1.29k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
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65.56640625,
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[
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130.166015625,
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[
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33.75
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130.166015625,
67.236328125,
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[
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33.75
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130.166015625,
67.236328125,
37.08984375,
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[
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130.166015625,
67.236328125,
37.08984375,
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[
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130.166015625,
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[
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130.166015625,
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[
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130.166015625,
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[
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130.166015625,
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[
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33.75
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130.166015625,
67.236328125,
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[
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33.75
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130.166015625,
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[
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33.75
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130.166015625,
67.236328125,
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[
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33.75
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130.166015625,
67.236328125,
37.001953125,
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[
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33.75
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130.166015625,
67.236328125,
37.08984375,
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[
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33.75
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130.166015625,
67.236328125,
37.08984375,
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[
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38.14453125,
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33.75
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130.166015625,
67.236328125,
37.529296875,
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[
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130.166015625,
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130.078125,
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130.078125,
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[
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130.078125,
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130.078125,
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129.90234375,
67.236328125,
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129.90234375,
67.236328125,
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129.638671875,
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[
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[
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67.236328125,
45,
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[
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128.3203125,
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[
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127.880859375,
67.236328125,
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[
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126.5625,
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31.904296875
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[
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31.904296875
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125.419921875,
77.34375,
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31.904296875
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[
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[
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[
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84.375,
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[
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[
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124.365234375,
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[
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124.189453125,
93.515625,
51.85546875,
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[
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124.013671875,
94.04296875,
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31.81640625
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[
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124.013671875,
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31.81640625
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[
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124.27734375,
94.04296875,
44.912109375,
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31.81640625
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[
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124.27734375,
94.130859375,
45,
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31.81640625
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[
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124.365234375,
94.130859375,
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[
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31.2890625
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124.365234375,
94.130859375,
48.69140625,
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[
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125.15625,
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124.365234375,
94.130859375,
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[
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124.365234375,
94.04296875,
56.953125,
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[
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125.947265625,
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31.2890625
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124.365234375,
95.2734375,
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31.81640625
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[
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100.72265625,
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-4.658203125,
31.376953125
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124.453125,
97.646484375,
62.314453125,
-3.515625,
31.81640625
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[
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56.42578125,
-3.8671875,
31.2890625
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125.5078125,
100.72265625,
62.578125,
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[
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128.056640625,
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61.34765625,
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[
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129.90234375,
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[
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130.25390625,
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57.48046875,
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31.81640625
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[
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130.25390625,
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31.81640625
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[
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130.25390625,
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31.81640625
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[
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130.25390625,
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54.052734375,
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31.9921875
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[
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130.25390625,
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32.783203125
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[
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117.0703125,
50.625,
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[
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130.25390625,
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48.8671875,
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[
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130.25390625,
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[
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130.25390625,
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[
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[
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130.25390625,
117.158203125,
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132.1875,
116.103515625,
41.8359375,
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130.25390625,
117.158203125,
43.154296875,
-1.40625,
31.9921875
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[
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-38.056640625,
130.25390625,
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-1.669921875,
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130.25390625,
117.158203125,
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-1.669921875,
31.9921875
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130.25390625,
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130.25390625,
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130.25390625,
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130.25390625,
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117.509765625,
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31.9921875
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130.25390625,
117.421875,
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128.583984375,
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31.9921875
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[
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127.96875,
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31.9921875
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127.96875,
122.783203125,
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31.9921875
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[
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127.96875,
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[
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127.96875,
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31.9921875
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[
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48.33984375,
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127.96875,
123.75,
54.66796875,
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32.080078125
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[
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128.759765625,
124.98046875,
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127.96875,
124.453125,
52.91015625,
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[
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[
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128.408203125,
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127.96875,
125.5078125,
49.5703125,
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[
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127.79296875,
125.771484375,
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127.880859375,
125.771484375,
48.603515625,
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[
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127.353515625,
125.859375,
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[
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125.68359375,
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126.9140625,
125.859375,
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[
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123.662109375,
124.716796875,
45.703125,
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125.947265625,
125.859375,
48.076171875,
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[
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121.640625,
124.1015625,
45.439453125,
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124.365234375,
125.859375,
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[
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119.35546875,
123.57421875,
45.439453125,
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29.8828125
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122.51953125,
125.859375,
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[
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117.24609375,
123.046875,
45.3515625,
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120.498046875,
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[
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45.3515625,
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118.828125,
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47.4609375,
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[
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45.17578125,
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117.0703125,
124.62890625,
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[
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46.845703125,
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29.8828125
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End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 2,
"total_frames": 1289,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": {
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"shape": [
6
],
"names": [
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"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
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"has_audio": false
}
},
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},
"frame_index": {
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},
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"index": {
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"task_index": {
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}
}
}
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