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Datasets:
binhng
/
libero_spatial

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
libero
franka
libero_spatial_mask_depth
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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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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+ - LeRobot
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+ - libero
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+ - franka
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+ - libero_spatial_mask_depth
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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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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+
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+ ## Dataset Structure
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+
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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": "v2.1",
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+ "robot_type": "franka",
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+ "total_episodes": 500,
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+ "total_frames": 62250,
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+ "total_tasks": 10,
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+ "total_videos": 4000,
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+ "total_chunks": 0,
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+ "chunks_size": 1000,
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+ "fps": 20,
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+ "splits": {
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+ "train": "0:500"
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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.images.image": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_image": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.image_depth": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_depth": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.image_mask": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_mask": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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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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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.object_of_interest_mask": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "rgb"
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+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
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+ "video.codec": "av1",
200
+ "video.pix_fmt": "yuv420p",
201
+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
204
+ "has_audio": false
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+ }
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+ },
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+ "observation.images.object_of_interest_wrist_mask": {
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+ "dtype": "video",
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+ "shape": [
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+ 256,
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+ 256,
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+ 3
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+ ],
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+ "names": [
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+ "height",
216
+ "width",
217
+ "rgb"
218
+ ],
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+ "info": {
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+ "video.height": 256,
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+ "video.width": 256,
222
+ "video.codec": "av1",
223
+ "video.pix_fmt": "yuv420p",
224
+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "names": {
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+ "motors": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "gripper",
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+ "gripper"
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+ ]
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+ }
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+ },
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+ "observation.states.ee_state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": {
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+ "motors": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw"
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+ ]
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+ }
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+ },
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+ "observation.states.joint_state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": {
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+ "motors": [
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+ "joint_0",
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+ "joint_1",
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+ "joint_2",
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+ "joint_3",
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+ "joint_4",
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+ "joint_5",
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+ "joint_6"
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+ ]
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+ }
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+ },
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+ "observation.states.gripper_state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 2
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+ ],
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+ "names": {
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+ "motors": [
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+ "gripper",
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+ "gripper"
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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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+ 7
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+ ],
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+ "names": {
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+ "motors": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "gripper"
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+ ]
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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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+
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+
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+ ## Citation
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+
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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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+ ```