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float32
0
38.5
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int64
0
385
episode_index
int64
0
72
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int64
0
3.73k
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int64
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[ 4.39453125, -74.8828125, 74.091796875, -90.615234375, -91.72265625, 93.146484375, 200.830078125, -18.28125, -84.1640625, 81.826171875, -87.451171875, -83.759765625, 83.77734375, 199.51171875 ]
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0.1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
25
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2.6
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2.7
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2.8
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2.9
29
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29
0
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[ -7.300000190734863, -75.58999633789062, 72.16999816894531, -92.22000122070312, -90.38999938964844, 88.7699966430664, 0, -8.479999542236328, -84.7300033569336, 81.13999938964844, -88.36000061035156, -81.8499984741211, 88.86000061035156, 0.20999999344348907 ]
3
30
0
30
0
[ -10.524262428283691, -75.58589172363281, 72.33944702148438, -92.12574768066406, -90.30242919921875, 83.99432373046875, 200.830078125, -4.914259910583496, -84.59999084472656, 81.22991943359375, -88.685791015625, -79.1688003540039, 92.31304168701172, 199.33560180664062 ]
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3.1
31
0
31
0
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[ -9.989999771118164, -75.58999633789062, 72.27999877929688, -92.13999938964844, -90.31999969482422, 84.8499984741211, 0, -5.579999923706055, -84.6500015258789, 81.16999816894531, -88.62000274658203, -79.7699966430664, 91.6500015258789, 0.20999999344348907 ]
3.2
32
0
32
0
[ -12.652631759643555, -75.58592987060547, 72.64071655273438, -92.16473388671875, -90.21714782714844, 81.59300231933594, 200.830078125, -2.748000383377075, -84.43209838867188, 81.41436767578125, -89.13582611083984, -76.34903717041016, 94.71540832519531, 199.33590698242188 ]
[ -11.199999809265137, -75.58999633789062, 72.38999938964844, -92.12000274658203, -90.29000091552734, 83.25, 0, -4.150000095367432, -84.55000305175781, 81.27999877929688, -88.81999969482422, -78.29000091552734, 93.12000274658203, 0.20999999344348907 ]
3.3
33
0
33
0
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[ -12.329999923706055, -75.58999633789062, 72.56999969482422, -92.13999938964844, -90.2300033569336, 82.0199966430664, 0, -3.069999933242798, -84.45999908447266, 81.37000274658203, -89.05000305175781, -76.81999969482422, 94.36000061035156, 0.20999999344348907 ]
3.4
34
0
34
0
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3.5
35
0
35
0
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[ -14.729999542236328, -75.58999633789062, 72.9000015258789, -92.25, -90.13999938964844, 79.55999755859375, 0, -1.0399999618530273, -84.1500015258789, 81.66999816894531, -90.1500015258789, -74.26000213623047, 96.01000213623047, 0.20999999344348907 ]
3.6
36
0
36
0
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[ -15.789999961853027, -75.52999877929688, 73.01000213623047, -92.30999755859375, -90.11000061035156, 78.38999938964844, 0, -0.28999999165534973, -84.0199966430664, 81.79000091552734, -90.62999725341797, -73.2300033569336, 96.5, 0.20999999344348907 ]
3.7
37
0
37
0
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[ -16.850000381469727, -75.3499984741211, 73.06999969482422, -92.3499984741211, -90.08999633789062, 77.0999984741211, 0, 0.41999998688697815, -83.86000061035156, 81.94999694824219, -91.12000274658203, -72.05999755859375, 97.0199966430664, 0.20999999344348907 ]
3.8
38
0
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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[ -22.8799991607666, -74.30000305175781, 73.55000305175781, -92.44000244140625, -88.83999633789062, 69.2300033569336, 0, 4.800000190734863, -82.33000183105469, 82.55999755859375, -92.9800033569336, -63.849998474121094, 100.83999633789062, 0.20999999344348907 ]
4.3
43
0
43
0
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[ -24, -73.86000061035156, 73.51000213623047, -92.48999786376953, -88.62999725341797, 67.7300033569336, 0, 5.5, -81.94000244140625, 83.2300033569336, -94.20999908447266, -62.540000915527344, 101.62999725341797, 0.20999999344348907 ]
4.4
44
0
44
0
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[ -24.75, -73.54000091552734, 73.45999908447266, -92.63999938964844, -88.58999633789062, 66.55999755859375, 0, 5.840000152587891, -81.72000122070312, 84.16999816894531, -95.66000366210938, -61.34000015258789, 102.1500015258789, 0.20999999344348907 ]
4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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5.6
56
0
56
0
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5.7
57
0
57
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5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
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8.9
89
0
89
0
[ -41.788753509521484, -55.852561950683594, 77.67070007324219, -113.09585571289062, -89.73670959472656, 45.551353454589844, 200.830078125, 11.33610725402832, -57.84656524658203, 102.91078186035156, -151.8781280517578, -49.644142150878906, 106.61190795898438, 199.32525634765625 ]
[ -41.65999984741211, -55.95000076293945, 77.61000061035156, -113.05000305175781, -89.73999786376953, 45.90999984741211, 0, 11.329999923706055, -57.880001068115234, 102.70999908447266, -151.67999267578125, -49.349998474121094, 106.62000274658203, 0.20999999344348907 ]
9
90
0
90
0
[ -41.81706619262695, -55.827354431152344, 77.68547058105469, -113.10748291015625, -89.73648071289062, 45.431480407714844, 200.830078125, 11.337177276611328, -57.78511047363281, 103.07447814941406, -151.92898559570312, -49.75804901123047, 106.66429138183594, 199.3316650390625 ]
[ -41.75, -55.900001525878906, 77.6500015258789, -113.08999633789062, -89.73999786376953, 45.720001220703125, 0, 11.329999923706055, -57.86000061035156, 102.83000183105469, -151.8000030517578, -49.5, 106.61000061035156, 0.20999999344348907 ]
9.1
91
0
91
0
[ -41.775657653808594, -55.76453399658203, 77.69137573242188, -113.16487121582031, -89.73638916015625, 45.22532653808594, 200.830078125, 11.390340805053711, -57.760528564453125, 103.19268798828125, -151.94932556152344, -49.856346130371094, 106.73798370361328, 199.334228515625 ]
[ -41.81999969482422, -55.849998474121094, 77.68000030517578, -113.11000061035156, -89.73999786376953, 45.54999923706055, 0, 11.34000015258789, -57.79999923706055, 103.02999877929688, -151.89999389648438, -49.720001220703125, 106.6500015258789, 0.20999999344348907 ]
9.2
92
0
92
0
[ -41.81182861328125, -55.792144775390625, 77.69374084472656, -113.13508605957031, -89.73635864257812, 45.14286804199219, 200.830078125, 11.411605834960938, -57.803428649902344, 103.29270935058594, -151.95745849609375, -49.948402404785156, 106.8201904296875, 199.33526611328125 ]
[ -41.81999969482422, -55.790000915527344, 77.69000244140625, -113.1500015258789, -89.73999786376953, 45.380001068115234, 0, 11.369999885559082, -57.77000045776367, 103.1500015258789, -151.92999267578125, -49.81999969482422, 106.70999908447266, 0.20999999344348907 ]
9.3
93
0
93
0
[ -41.8262939453125, -55.803184509277344, 77.69468688964844, -113.12317657470703, -89.73634338378906, 45.162620544433594, 200.830078125, 11.420111656188965, -57.82059097290039, 103.33271789550781, -151.96072387695312, -49.98522186279297, 107.32768249511719, 199.28294372558594 ]
[ -41.810001373291016, -55.779998779296875, 77.69000244140625, -113.16000366210938, -89.73999786376953, 45.27000045776367, 0, 11.399999618530273, -57.77000045776367, 103.26000213623047, -151.9499969482422, -49.91999816894531, 106.79000091552734, 0.20999999344348907 ]
9.4
94
0
94
0
[ -41.83208465576172, -55.80760192871094, 77.69506072998047, -113.118408203125, -89.73634338378906, 45.17051696777344, 200.830078125, 11.423513412475586, -57.77471923828125, 103.34871673583984, -151.96202087402344, -49.99995040893555, 107.74162292480469, 198.94561767578125 ]
[ -41.810001373291016, -55.779998779296875, 77.69999694824219, -113.13999938964844, -89.73999786376953, 45.25, 0, 11.40999984741211, -57.779998779296875, 103.31999969482422, -151.9499969482422, -49.970001220703125, 107.16999816894531, 0.20999999344348907 ]
9.5
95
0
95
0
[ -41.83439636230469, -55.80937194824219, 77.6952133178711, -113.11650085449219, -89.73634338378906, 45.120941162109375, 200.830078125, 11.424875259399414, -57.756370544433594, 103.35511779785156, -151.96253967285156, -50.00584411621094, 107.90719604492188, 198.0723876953125 ]
[ -41.83000183105469, -55.779998779296875, 77.69999694824219, -113.12000274658203, -89.73999786376953, 45.25, 0, 11.420000076293945, -57.779998779296875, 103.33999633789062, -151.9600067138672, -50, 107.58000183105469, 0.20999999344348907 ]
9.6
96
0
96
0
[ -41.835323333740234, -55.81007766723633, 77.69527435302734, -113.11573791503906, -89.73634338378906, 45.101112365722656, 200.830078125, 11.425418853759766, -57.64356231689453, 103.35768127441406, -151.96275329589844, -49.955467224121094, 108.07889556884766, 195.87741088867188 ]
[ -41.83000183105469, -55.79999923706055, 77.69999694824219, -113.12000274658203, -89.73999786376953, 45.220001220703125, 0, 11.420000076293945, -57.779998779296875, 103.3499984741211, -151.9600067138672, -50, 107.83999633789062, 0.20999999344348907 ]
9.7
97
0
97
0
[ -41.835693359375, -55.810359954833984, 77.69529724121094, -113.11543273925781, -89.73634338378906, 45.09318161010742, 200.830078125, 11.478370666503906, -57.49297332763672, 103.41143798828125, -152.33197021484375, -49.9353141784668, 108.25304412841797, 193.20645141601562 ]
[ -41.84000015258789, -55.79999923706055, 77.69999694824219, -113.12000274658203, -89.73999786376953, 45.20000076293945, 0, 11.420000076293945, -57.709999084472656, 103.3499984741211, -151.9600067138672, -49.97999954223633, 108.0199966430664, 0.20999999344348907 ]
9.8
98
0
98
0
[ -41.83584213256836, -55.81047058105469, 77.69530487060547, -113.11531066894531, -89.73634338378906, 45.03727722167969, 200.830078125, 11.605020523071289, -57.4327392578125, 103.74934387207031, -153.2706756591797, -49.71631622314453, 108.42817687988281, 191.3997802734375 ]
[ -41.84000015258789, -55.810001373291016, 77.69999694824219, -113.11000061035156, -89.73999786376953, 45.18000030517578, 0, 11.479999542236328, -57.5099983215332, 103.41999816894531, -152.36000061035156, -49.93000030517578, 108.25, 0.20999999344348907 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

Merged LeRobot Dataset

This dataset was created by merging multiple LeRobot datasets using the LeRobot Data Studio merge tool.

Source Datasets

This merged dataset combines the following 2 datasets:

Merge Details

  • Merge Date: Generated automatically
  • Source Count: 2 datasets
  • Episode Renumbering: Episodes are renumbered sequentially starting from 0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "FRarm",
    "total_episodes": 73,
    "total_frames": 25710,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 0,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:73"
    },
    "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": [
                14
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_1",
                "left_wrist_2",
                "left_wrist_3",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_1",
                "right_wrist_2",
                "right_wrist_3",
                "right_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "left_shoulder_pan",
                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_1",
                "left_wrist_2",
                "left_wrist_3",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_1",
                "right_wrist_2",
                "right_wrist_3",
                "right_gripper"
            ]
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.angle": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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