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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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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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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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## Dataset Structure |
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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": "v2.0", |
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"robot_type": "Unitree_G1", |
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"total_episodes": 201, |
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"total_frames": 256253, |
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"total_tasks": 1, |
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"total_videos": 804, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 30, |
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"splits": { |
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"train": "0:201" |
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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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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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28 |
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], |
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"names": [ |
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[ |
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"kLeftShoulderPitch", |
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"kLeftShoulderRoll", |
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"kLeftShoulderYaw", |
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"kLeftElbow", |
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"kLeftWristRoll", |
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"kLeftWristPitch", |
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"kLeftWristYaw", |
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"kRightShoulderPitch", |
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"kRightShoulderRoll", |
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"kRightShoulderYaw", |
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"kRightElbow", |
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"kRightWristRoll", |
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"kRightWristPitch", |
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"kRightWristYaw", |
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"kLeftHandThumb0", |
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"kLeftHandThumb1", |
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"kLeftHandThumb2", |
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"kLeftHandMiddle0", |
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"kLeftHandMiddle1", |
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"kLeftHandIndex0", |
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"kLeftHandIndex1", |
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"kRightHandThumb0", |
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"kRightHandThumb1", |
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"kRightHandThumb2", |
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"kRightHandIndex0", |
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"kRightHandIndex1", |
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"kRightHandMiddle0", |
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"kRightHandMiddle1" |
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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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28 |
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], |
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"names": [ |
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[ |
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"kLeftShoulderPitch", |
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"kLeftShoulderRoll", |
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"kLeftShoulderYaw", |
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"kLeftElbow", |
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"kLeftWristRoll", |
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"kLeftWristPitch", |
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"kLeftWristYaw", |
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"kRightShoulderPitch", |
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"kRightShoulderRoll", |
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"kRightShoulderYaw", |
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"kRightElbow", |
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"kRightWristRoll", |
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"kRightWristPitch", |
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"kRightWristYaw", |
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"kLeftHandThumb0", |
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"kLeftHandThumb1", |
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"kLeftHandThumb2", |
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"kLeftHandMiddle0", |
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"kLeftHandMiddle1", |
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"kLeftHandIndex0", |
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"kLeftHandIndex1", |
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"kRightHandThumb0", |
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"kRightHandThumb1", |
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"kRightHandThumb2", |
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"kRightHandIndex0", |
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"kRightHandIndex1", |
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"kRightHandMiddle0", |
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"kRightHandMiddle1" |
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] |
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] |
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}, |
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"observation.images.cam_left_high": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"info": { |
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"video.fps": 30.0, |
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"video.height": 480, |
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"video.width": 640, |
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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.cam_right_high": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"info": { |
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"video.fps": 30.0, |
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"video.height": 480, |
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"video.width": 640, |
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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.cam_left_wrist": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"info": { |
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"video.fps": 30.0, |
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"video.height": 480, |
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"video.width": 640, |
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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.cam_right_wrist": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"info": { |
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"video.fps": 30.0, |
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"video.height": 480, |
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"video.width": 640, |
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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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"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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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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|
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```bibtex |
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[More Information Needed] |
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``` |
