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README.md
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@@ -42,9 +42,12 @@ Within the collection, there are three datasets in LeRobot format `pick`, `place
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The videos below show three examples of the tasks:
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* action modality: 34D which includes joint states for the two arms, gripper joints, pan and tilt joints, torso joint, and front and back wheels.
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* observation modalities
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* observation.image.world__robot__camera_link__head_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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The videos below illustrate the different camera modalities for a single trajectory.
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## Dataset Quantification
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Record Count:
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The videos below show three examples of the tasks:
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<div style="display: flex; justify-content: flex-start;">
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<img src="./assets/episode_000028.gif" width="300" height="300" alt="pick" />
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<img src="./assets/episode_000008.gif" width="300" height="300" alt="place_bench" />
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<img src="./assets/episode_000048.gif" width="300" height="300" alt="place_cabinet" />
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</div>
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* action modality: 34D which includes joint states for the two arms, gripper joints, pan and tilt joints, torso joint, and front and back wheels.
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* observation modalities
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* observation.image.world__robot__camera_link__head_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
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The videos below illustrate the different camera modalities for a single trajectory.
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<div style="display: flex; justify-content: flex-start;">
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<img src="./assets/episode_000057.gif" width="300" height="300" alt="rgb" />
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<img src="./assets/episode_000057_depth.gif" width="300" height="300" alt="depth" />
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<img src="./assets/episode_000057_semantic.gif" width="300" height="300" alt="semantic" />
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</div>
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## Dataset Quantification
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Record Count:
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