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Datasets:
hubnemo
/
cube_out_of_box_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
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float32
0
32
frame_index
int64
0
320
episode_index
int64
0
39
index
int64
0
6.54k
task_index
int64
0
0
[ 44.40644836425781, -97.00498962402344, 99.46332550048828, 66.52397155761719, -65.93406677246094, 1.9577133655548096 ]
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0
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0.1
1
0
1
0
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0.2
2
0
2
0
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0.3
3
0
3
0
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0.4
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0
4
0
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0.5
5
0
5
0
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0.6
6
0
6
0
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0.7
7
0
7
0
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0.8
8
0
8
0
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0.9
9
0
9
0
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1
10
0
10
0
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1.1
11
0
11
0
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1.2
12
0
12
0
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1.3
13
0
13
0
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1.4
14
0
14
0
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1.5
15
0
15
0
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1.6
16
0
16
0
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1.7
17
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17
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1.8
18
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18
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1.9
19
0
19
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2
20
0
20
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2.1
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21
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2.2
22
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22
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2.3
23
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23
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2.4
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24
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2.5
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25
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2.6
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2.7
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2.8
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28
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2.9
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3
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3.1
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31
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3.2
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3.3
33
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33
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
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36
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3.7
37
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37
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3.8
38
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38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
[ 3.2730824947357178, 7.40432596206665, 14.221824645996094, 36.1301383972168, -63.89324951171875, 34.76898956298828 ]
[ 4.869297981262207, 8.957160949707031, 18.264015197753906, 37.04641342163086, -62.1482048034668, 34.69015884399414 ]
4.7
47
0
47
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4.8
48
0
48
0
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[ 2.9215786457061768, 9.216789245605469, 18.264015197753906, 37.04641342163086, -63.85231018066406, 34.69015884399414 ]
4.9
49
0
49
0
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[ 3.434136390686035, 11.034184455871582, 18.264015197753906, 37.04641342163086, -64.00723266601562, 34.69015884399414 ]
5
50
0
50
0
[ 3.1753785610198975, 11.730449676513672, 14.221824645996094, 36.47260284423828, -63.736263275146484, 34.69068145751953 ]
[ 3.741670846939087, 13.284292221069336, 18.264015197753906, 37.04641342163086, -64.00723266601562, 34.69015884399414 ]
5.1
51
0
51
0
[ 3.566194534301758, 11.56406021118164, 14.221824645996094, 36.55821990966797, -63.68393325805664, 30.93187141418457 ]
[ 3.741670846939087, 13.803547859191895, 18.264015197753906, 37.04641342163086, -63.85231018066406, 34.69015884399414 ]
5.2
52
0
52
0
[ 4.054714202880859, 11.56406021118164, 14.042933464050293, 36.386985778808594, -63.63160705566406, 16.209867477416992 ]
[ 3.741670846939087, 13.890090942382812, 18.264015197753906, 37.04641342163086, -63.85231018066406, 33.59659957885742 ]
5.3
53
0
53
0
[ 5.227161884307861, 11.480865478515625, 13.685152053833008, 36.55821990966797, -63.63160705566406, 2.662490129470825 ]
[ 3.741670846939087, 13.890090942382812, 18.264015197753906, 37.04641342163086, -63.85231018066406, 30.19441032409668 ]
5.4
54
0
54
0
[ 5.813385486602783, 11.314476013183594, 13.595706939697266, 36.301368713378906, -63.57927703857422, 1.9577133655548096 ]
[ 3.8441824913024902, 13.890090942382812, 18.264015197753906, 37.04641342163086, -63.697391510009766, 23.329282760620117 ]
5.5
55
0
55
0
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[ 5.0743207931518555, 13.890090942382812, 18.264015197753906, 37.04641342163086, -63.74903106689453, 21.99271011352539 ]
5.6
56
0
56
0
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5.7
57
0
57
0
[ 8.64680004119873, 0.08319467306137085, 6.797853469848633, 36.301368713378906, -62.794349670410156, 3.837118148803711 ]
[ 6.2019476890563965, 13.543920516967773, 16.546112060546875, 37.04641342163086, -63.697391510009766, 21.99271011352539 ]
5.8
58
0
58
0
[ 11.187103271484375, -7.40432596206665, -1.6100178956985474, 36.1301383972168, -61.32914733886719, 3.837118148803711 ]
[ 6.509482383728027, 11.207269668579102, 14.466546058654785, 37.04641342163086, -63.28427505493164, 21.99271011352539 ]
5.9
59
0
59
0
[ 15.486077308654785, -13.311147689819336, -8.050089836120605, 36.1301383972168, -59.81161880493164, 3.837118148803711 ]
[ 8.76473617553711, 6.620510578155518, 10.66907787322998, 37.04641342163086, -62.303123474121094, 21.99271011352539 ]
6
60
0
60
0
[ 24.279434204101562, -17.38768768310547, -8.855098724365234, 37.157535552978516, -57.24751281738281, 3.837118148803711 ]
[ 12.04510498046875, 0.12981393933296204, 3.797468423843384, 37.04641342163086, -60.96049499511719, 21.99271011352539 ]
6.1
61
0
61
0
[ 33.952125549316406, -19.467554092407227, -8.676207542419434, 39.04109573364258, -55.1020393371582, 3.837118148803711 ]
[ 16.350589752197266, -6.880138397216797, -1.6274864673614502, 37.21519088745117, -59.25638961791992, 21.99271011352539 ]
6.2
62
0
62
0
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[ 24.44900131225586, -12.0726957321167, -3.5262205600738525, 38.227848052978516, -57.087528228759766, 21.99271011352539 ]
6.3
63
0
63
0
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[ 33.982574462890625, -14.58243179321289, -3.8878843784332275, 40.33755111694336, -55.58998107910156, 21.99271011352539 ]
6.4
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0
64
0
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[ 42.90107727050781, -14.92860221862793, -3.8878843784332275, 42.70042037963867, -55.073585510253906, 21.99271011352539 ]
6.5
65
0
65
0
[ 53.10210037231445, -18.136438369750977, -5.54561710357666, 44.52054977416992, -54.735740661621094, 3.915426731109619 ]
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6.6
66
0
66
0
[ 53.10210037231445, -17.470882415771484, -3.846153736114502, 44.34931564331055, -54.78807067871094, 3.915426731109619 ]
[ 52.024600982666016, -14.92860221862793, -3.8878843784332275, 44.81012725830078, -54.867027282714844, 21.99271011352539 ]
6.7
67
0
67
0
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[ 52.33213806152344, -14.92860221862793, -3.1645569801330566, 44.81012725830078, -54.867027282714844, 21.99271011352539 ]
6.8
68
0
68
0
[ 52.90669250488281, -17.470882415771484, 1.5205724239349365, 44.34931564331055, -55.049713134765625, 3.915426731109619 ]
[ 52.844696044921875, -14.92860221862793, -1.2658227682113647, 44.81012725830078, -54.867027282714844, 21.99271011352539 ]
6.9
69
0
69
0
[ 52.613582611083984, -17.470882415771484, 3.2200357913970947, 44.52054977416992, -55.049713134765625, 3.915426731109619 ]
[ 53.04971694946289, -14.92860221862793, 1.4466545581817627, 44.81012725830078, -54.91866683959961, 21.99271011352539 ]
7
70
0
70
0
[ 52.418174743652344, -17.470882415771484, 4.203935623168945, 44.863014221191406, -54.94505310058594, 3.9937353134155273 ]
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7.1
71
0
71
0
[ 52.2227668762207, -17.470882415771484, 6.708407878875732, 45.03424835205078, -54.78807067871094, 3.9937353134155273 ]
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7.2
72
0
72
0
[ 52.2227668762207, -17.470882415771484, 11.89624309539795, 45.03424835205078, -54.78807067871094, 4.0720438957214355 ]
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7.3
73
0
73
0
[ 52.613582611083984, -17.38768768310547, 16.994632720947266, 44.26369857788086, -54.840396881103516, 8.457322120666504 ]
[ 52.844696044921875, -14.92860221862793, 10.036166191101074, 44.89451599121094, -54.91866683959961, 21.99271011352539 ]
7.4
74
0
74
0
[ 53.004398345947266, -17.38768768310547, 19.856887817382812, 44.69178009033203, -54.735740661621094, 19.107282638549805 ]
[ 52.742183685302734, -14.92860221862793, 15.099457740783691, 44.89451599121094, -54.91866683959961, 21.99271011352539 ]
7.5
75
0
75
0
[ 53.004398345947266, -17.970050811767578, 19.946332931518555, 45.03424835205078, -54.735740661621094, 23.25763511657715 ]
[ 52.742183685302734, -14.92860221862793, 19.710668563842773, 44.89451599121094, -54.91866683959961, 22.053462982177734 ]
7.6
76
0
76
0
[ 52.32046890258789, -18.053245544433594, 19.946332931518555, 45.03424835205078, -54.735740661621094, 23.3359432220459 ]
[ 52.742183685302734, -14.92860221862793, 21.157323837280273, 44.89451599121094, -54.91866683959961, 23.450790405273438 ]
7.7
77
0
77
0
[ 52.32046890258789, -17.970050811767578, 19.946332931518555, 45.03424835205078, -54.735740661621094, 23.64917755126953 ]
[ 52.742183685302734, -14.92860221862793, 21.247739791870117, 44.89451599121094, -54.91866683959961, 23.693803787231445 ]
7.8
78
0
78
0
[ 52.418174743652344, -17.5540771484375, 19.946332931518555, 45.03424835205078, -54.735740661621094, 23.72748565673828 ]
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7.9
79
0
79
0
[ 53.199806213378906, -17.470882415771484, 19.946332931518555, 44.948631286621094, -54.735740661621094, 23.884103775024414 ]
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8
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0
80
0
[ 54.56766128540039, -17.803661346435547, 19.76744270324707, 44.26369857788086, -55.049713134765625, 26.15505027770996 ]
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8.1
81
0
81
0
[ 55.05617904663086, -17.970050811767578, 18.962432861328125, 44.34931564331055, -55.049713134765625, 31.558340072631836 ]
[ 53.25474166870117, -14.92860221862793, 21.247739791870117, 44.89451599121094, -54.970306396484375, 24.362089157104492 ]
8.2
82
0
82
0
[ 55.83781051635742, -17.72046661376953, 18.962432861328125, 44.34931564331055, -55.1020393371582, 33.35943603515625 ]
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8.3
83
0
83
0
[ 56.03321838378906, -18.053245544433594, 18.962432861328125, 44.69178009033203, -55.1020393371582, 33.35943603515625 ]
[ 54.9974365234375, -14.92860221862793, 21.247739791870117, 44.89451599121094, -55.02194595336914, 31.16646385192871 ]
8.4
84
0
84
0
[ 56.03321838378906, -18.219633102416992, 18.872987747192383, 45.03424835205078, -55.1020393371582, 33.35943603515625 ]
[ 55.817527770996094, -14.92860221862793, 21.247739791870117, 44.89451599121094, -55.02194595336914, 32.56378936767578 ]
8.5
85
0
85
0
[ 55.740108489990234, -18.552412033081055, 18.872987747192383, 45.1198616027832, -55.1020393371582, 33.35943603515625 ]
[ 56.33008575439453, -14.92860221862793, 21.247739791870117, 44.89451599121094, -55.02194595336914, 32.98906326293945 ]
8.6
86
0
86
0
[ 55.935516357421875, -20.049917221069336, 18.962432861328125, 47.08904266357422, -54.89272689819336, 33.35943603515625 ]
[ 55.920040130615234, -14.92860221862793, 21.247739791870117, 44.89451599121094, -55.02194595336914, 33.0498161315918 ]
8.7
87
0
87
0
[ 57.10796356201172, -21.630615234375, 18.962432861328125, 53.9383544921875, -54.840396881103516, 33.35943603515625 ]
[ 55.71501922607422, -15.188230514526367, 21.247739791870117, 46.16033935546875, -55.02194595336914, 33.0498161315918 ]
8.8
88
0
88
0
[ 57.498779296875, -23.54409408569336, 18.962432861328125, 58.390411376953125, -54.78807067871094, 33.35943603515625 ]
[ 56.125064849853516, -15.967113494873047, 21.247739791870117, 49.19831085205078, -55.02194595336914, 33.0498161315918 ]
8.9
89
0
89
0
[ 57.59648132324219, -24.292844772338867, 18.962432861328125, 58.904109954833984, -54.78807067871094, 33.35943603515625 ]
[ 57.45771408081055, -17.784509658813477, 21.247739791870117, 54.85232162475586, -55.02194595336914, 33.0498161315918 ]
9
90
0
90
0
[ 57.79188919067383, -24.79201316833496, 18.872987747192383, 58.904109954833984, -54.78807067871094, 33.35943603515625 ]
[ 57.04766845703125, -19.428817749023438, 21.247739791870117, 57.890296936035156, -55.02194595336914, 33.0498161315918 ]
9.1
91
0
91
0
[ 57.98729705810547, -24.79201316833496, 18.872987747192383, 58.904109954833984, -54.99738311767578, 33.35943603515625 ]
[ 57.04766845703125, -20.380786895751953, 21.247739791870117, 58.73417663574219, -55.02194595336914, 33.0498161315918 ]
9.2
92
0
92
0
[ 58.4758186340332, -24.875207901000977, 15.74239730834961, 59.07534408569336, -54.78807067871094, 33.35943603515625 ]
[ 58.072784423828125, -20.64041519165039, 21.247739791870117, 58.73417663574219, -55.02194595336914, 33.0498161315918 ]
9.3
93
0
93
0
[ 59.257450103759766, -24.875207901000977, 10.822897911071777, 59.50342559814453, -54.68341064453125, 33.35943603515625 ]
[ 57.66273880004883, -20.64041519165039, 20.886075973510742, 58.818565368652344, -55.02194595336914, 33.0498161315918 ]
9.4
94
0
94
0
[ 59.257450103759766, -24.875207901000977, 8.765652656555176, 59.58904266357422, -54.68341064453125, 33.35943603515625 ]
[ 58.072784423828125, -20.64041519165039, 18.535263061523438, 59.324893951416016, -55.02194595336914, 33.0498161315918 ]
9.5
95
0
95
0
[ 59.257450103759766, -24.875207901000977, 8.497316360473633, 59.58904266357422, -54.68341064453125, 33.35943603515625 ]
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9.6
96
0
96
0
[ 59.35515213012695, -24.875207901000977, 8.497316360473633, 59.417808532714844, -54.68341064453125, 33.35943603515625 ]
[ 58.48283004760742, -20.726957321166992, 13.291139602661133, 59.324893951416016, -55.02194595336914, 33.0498161315918 ]
9.7
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0
97
0
[ 59.452857971191406, -24.79201316833496, 8.497316360473633, 59.07534408569336, -54.68341064453125, 33.35943603515625 ]
[ 58.58534240722656, -20.726957321166992, 13.019891738891602, 59.324893951416016, -55.02194595336914, 33.0498161315918 ]
9.8
98
0
98
0
[ 59.550559997558594, -24.79201316833496, 8.497316360473633, 59.07534408569336, -54.68341064453125, 33.35943603515625 ]
[ 58.79036331176758, -20.726957321166992, 13.019891738891602, 59.324893951416016, -55.02194595336914, 33.0498161315918 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 40,
    "total_frames": 6536,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:40"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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