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+  "citation": "@article{belkhale2023hydra,\n title={HYDRA: Hybrid Robot Actions for Imitation Learning},\n author={Belkhale, Suneel and Cui, Yuchen and Sadigh, Dorsa},\n journal={arxiv},\n year={2023}\n}",
+  "description": "Franka solving long-horizon tasks",
+  "fileFormat": "tfrecord",
+  "location": {
+    "urls": [
+      "https://sites.google.com/view/hydra-il-2023"
+    ]
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+  "moduleName": "rlds_dataset_mod.multithreaded_adhoc_tfds_builder",
+  "name": "stanford_hydra_dataset_converted_externally_to_rlds",
+  "releaseNotes": {
+    "0.1.0": "Initial release."
+  },
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+                        "featuresDict": {
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+                                    "description": "Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5"
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+                                "is_terminal": {
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+                                            }
+                                        }
+                                    }
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+                                "is_dense": {
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+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "bool",
+                                        "encoding": "none"
+                                    },
+                                    "description": "True if state is a waypoint(010) or in dense mode(x111)."
+                                },
+                                "discount": {
+                                    "pythonClassName": "tensorflow_datasets.core.features.scalar.Scalar",
+                                    "tensor": {
+                                        "shape": {},
+                                        "dtype": "float32",
+                                        "encoding": "none"
+                                    },
+                                    "description": "Discount if provided, default to 1."
+                                },
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+                                    "pythonClassName": "tensorflow_datasets.core.features.tensor_feature.Tensor",
+                                    "tensor": {
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+                                            ]
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+                                        "encoding": "none"
+                                    },
+                                    "description": "Robot action, consists of [3x EEF positional delta, 3x EEF orientation delta in euler angle, 1x close gripper]."
+                                }
+                            }
+                        }
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+                    "length": "-1"
+                }
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+            "episode_metadata": {
+                "pythonClassName": "tensorflow_datasets.core.features.features_dict.FeaturesDict",
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+                            "pythonClassName": "tensorflow_datasets.core.features.text_feature.Text",
+                            "text": {},
+                            "description": "Path to the original data file."
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
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