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action
sequence | observation.state
sequence | timestamp
float32 0
20.5
| frame_index
int64 0
614
| episode_index
int64 0
99
| index
int64 0
39.7k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
4.130859375,
194.150390625,
155.654296875,
78.57421875,
2.021484375,
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3.33984375,
193.0078125,
158.994140625,
78.75,
1.318359375,
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] | 0 | 0 | 0 | 0 | 0 |
[
4.21875,
194.150390625,
155.654296875,
78.046875,
1.7578125,
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3.427734375,
193.447265625,
158.90625,
78.837890625,
1.58203125,
-3.6067891120910645
] | 0.033333 | 1 | 0 | 1 | 0 |
[
4.21875,
194.150390625,
155.654296875,
77.607421875,
1.58203125,
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3.251953125,
193.7109375,
158.818359375,
78.662109375,
1.494140625,
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] | 0.066667 | 2 | 0 | 2 | 0 |
[
4.21875,
194.150390625,
155.654296875,
76.9921875,
0.791015625,
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3.515625,
193.798828125,
158.818359375,
78.662109375,
1.318359375,
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[
4.04296875,
194.150390625,
155.654296875,
76.025390625,
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193.798828125,
158.818359375,
78.134765625,
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[
4.21875,
194.150390625,
155.56640625,
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193.798828125,
158.818359375,
77.607421875,
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[
4.39453125,
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155.126953125,
74.00390625,
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3.955078125,
193.798828125,
158.818359375,
76.9921875,
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[
4.39453125,
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153.720703125,
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193.798828125,
158.818359375,
76.025390625,
0.3515625,
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[
4.39453125,
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151.34765625,
73.30078125,
1.669921875,
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193.7109375,
158.5546875,
75.41015625,
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[
4.39453125,
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148.095703125,
73.4765625,
1.494140625,
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3.69140625,
192.744140625,
157.587890625,
74.794921875,
0.52734375,
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[
4.306640625,
175.78125,
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73.65234375,
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3.69140625,
190.986328125,
156.09375,
74.53125,
0.703125,
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[
4.5703125,
172.705078125,
141.943359375,
73.65234375,
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3.69140625,
188.0859375,
153.80859375,
74.267578125,
0.791015625,
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[
4.658203125,
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139.921875,
73.30078125,
2.63671875,
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3.69140625,
184.921875,
151.259765625,
74.1796875,
0.703125,
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[
4.5703125,
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138.1640625,
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3.251953125,
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3.69140625,
181.23046875,
148.7109375,
74.00390625,
0.703125,
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[
3.69140625,
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136.142578125,
73.125,
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3.69140625,
177.978515625,
146.42578125,
73.740234375,
1.142578125,
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[
2.900390625,
168.75,
133.330078125,
74.00390625,
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3.69140625,
174.990234375,
144.4921875,
73.4765625,
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[
2.197265625,
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142.55859375,
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[
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171.73828125,
140.185546875,
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[
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169.98046875,
137.197265625,
74.8828125,
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[
1.0546875,
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1.93359375,
167.783203125,
134.12109375,
75.5859375,
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[
0.87890625,
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116.54296875,
77.783203125,
6.328125,
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1.40625,
165.322265625,
130.95703125,
76.2890625,
4.21875,
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[
0.52734375,
150.205078125,
113.818359375,
77.87109375,
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1.318359375,
162.421875,
127.6171875,
76.728515625,
4.482421875,
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[
0.087890625,
147.216796875,
111.09375,
77.958984375,
6.6796875,
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1.318359375,
159.2578125,
124.453125,
76.728515625,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
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108.45703125,
77.958984375,
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0.87890625,
156.09375,
121.552734375,
76.728515625,
5.361328125,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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141.328125,
105.64453125,
78.134765625,
7.03125,
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0.52734375,
152.841796875,
118.564453125,
76.81640625,
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[
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138.251953125,
103.18359375,
78.310546875,
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0.087890625,
150.029296875,
115.83984375,
76.904296875,
5.712890625,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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135.3515625,
100.72265625,
78.3984375,
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147.041015625,
113.115234375,
77.431640625,
6.15234375,
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[
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78.310546875,
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143.701171875,
110.126953125,
77.6953125,
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[
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77.6953125,
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140.9765625,
107.75390625,
77.783203125,
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[
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76.640625,
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137.900390625,
105.46875,
77.6953125,
6.6796875,
-3.6067891120910645
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[
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94.921875,
75.5859375,
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134.47265625,
103.271484375,
77.34375,
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[
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75.146484375,
7.20703125,
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131.66015625,
101.689453125,
76.904296875,
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-3.6067891120910645
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[
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115.6640625,
90.615234375,
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128.408203125,
99.931640625,
76.376953125,
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] | 1.066667 | 32 | 0 | 32 | 0 |
[
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88.06640625,
74.8828125,
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124.98046875,
97.998046875,
75.849609375,
6.767578125,
-3.6067891120910645
] | 1.1 | 33 | 0 | 33 | 0 |
[
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107.9296875,
85.25390625,
74.794921875,
7.20703125,
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121.552734375,
96.15234375,
75.41015625,
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[
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82.265625,
75.146484375,
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117.7734375,
93.955078125,
75.146484375,
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-3.6067891120910645
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[
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79.453125,
75.498046875,
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113.994140625,
91.7578125,
75.05859375,
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-3.6067891120910645
] | 1.2 | 36 | 0 | 36 | 0 |
[
0.703125,
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76.81640625,
75.76171875,
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110.126953125,
89.033203125,
75.146484375,
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] | 1.233333 | 37 | 0 | 37 | 0 |
[
0.439453125,
95.712890625,
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75.9375,
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106.34765625,
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[
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93.076171875,
71.19140625,
76.552734375,
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102.65625,
83.671875,
75.146484375,
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-3.6067891120910645
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[
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90.17578125,
67.763671875,
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99.31640625,
81.2109375,
75.234375,
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-3.6067891120910645
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[
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87.275390625,
64.072265625,
78.75,
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96.064453125,
78.3984375,
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-3.6067891120910645
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[
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60.8203125,
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92.98828125,
75.498046875,
76.552734375,
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-3.6067891120910645
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[
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90,
72.333984375,
77.34375,
6.767578125,
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] | 1.433333 | 43 | 0 | 43 | 0 |
[
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79.8046875,
55.810546875,
80.5078125,
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87.01171875,
68.994140625,
78.22265625,
6.767578125,
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[
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84.19921875,
66.005859375,
79.013671875,
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-3.6067891120910645
] | 1.5 | 45 | 0 | 45 | 0 |
[
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81.2109375,
62.9296875,
79.453125,
6.767578125,
-3.6067891120910645
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[
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78.57421875,
60.380859375,
79.892578125,
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-3.6067891120910645
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[
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49.306640625,
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76.201171875,
58.271484375,
80.419921875,
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-3.6067891120910645
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[
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48.33984375,
80.947265625,
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73.916015625,
56.513671875,
80.68359375,
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[
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71.982421875,
55.01953125,
80.68359375,
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[
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45,
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70.13671875,
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[
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42.890625,
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68.203125,
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80.595703125,
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[
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41.572265625,
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66.09375,
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[
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[
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62.40234375,
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[
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41.484375,
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46.40625,
82.79296875,
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[
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41.484375,
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60.556640625,
46.0546875,
83.3203125,
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[
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45.703125,
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[
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[
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[
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 10,
"total_frames": 4896,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
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}
},
"timestamp": {
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1
],
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},
"frame_index": {
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1
],
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},
"episode_index": {
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1
],
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},
"index": {
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1
],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
Citation
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