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Datasets:
Beegbrain
/
align_cubes_green_blue

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
moss
cube
align
lerobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
Dataset Viewer
Auto-converted to Parquet
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action
sequence
observation.state
sequence
timestamp
float32
0
39.8
frame_index
int64
0
795
episode_index
int64
0
29
index
int64
0
14.5k
task_index
int64
0
0
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[ 30.76171875, 218.14453125, 129.638671875, 85.4296875, -9.84375, 0.3484320640563965 ]
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1
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2
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0
4
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0.25
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0
6
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7
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0.45
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9
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10
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0.55
11
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11
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[ 27.59765625, 215.68359375, 128.84765625, 85.4296875, -9.84375, 0.3484320640563965 ]
0.6
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12
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0.65
13
0
13
0
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[ 26.015625, 212.51953125, 128.14453125, 85.4296875, -9.84375, 0.3484320640563965 ]
0.7
14
0
14
0
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[ 25.400390625, 210.05859375, 127.705078125, 85.4296875, -9.84375, 0.3484320640563965 ]
0.75
15
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15
0
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[ 25.13671875, 206.89453125, 126.9140625, 85.4296875, -9.755859375, 0.3484320640563965 ]
0.8
16
0
16
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[ 24.873046875, 203.115234375, 125.595703125, 85.4296875, -9.228515625, 0.3484320640563965 ]
0.85
17
0
17
0
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[ 24.2578125, 198.6328125, 124.453125, 85.25390625, -8.4375, 0.3484320640563965 ]
0.9
18
0
18
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0.95
19
0
19
0
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1
20
0
20
0
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1.05
21
0
21
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1.1
22
0
22
0
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1.15
23
0
23
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1.2
24
0
24
0
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1.25
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25
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1.3
26
0
26
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1.35
27
0
27
0
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1.4
28
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28
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1.45
29
0
29
0
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1.5
30
0
30
0
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1.55
31
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31
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1.6
32
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32
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1.65
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1.7
34
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34
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1.75
35
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35
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1.8
36
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36
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1.85
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37
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1.9
38
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1.95
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2
40
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40
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2.05
41
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41
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2.1
42
0
42
0
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2.15
43
0
43
0
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[ 2.8125, 89.12109375, 119.8828125, 40.166015625, 42.978515625, 0.3484320640563965 ]
2.2
44
0
44
0
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2.25
45
0
45
0
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2.3
46
0
46
0
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2.35
47
0
47
0
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[ -0.52734375, 76.376953125, 113.994140625, 38.84765625, 49.482421875, 0.3484320640563965 ]
2.4
48
0
48
0
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[ -1.0546875, 73.916015625, 112.763671875, 38.84765625, 51.240234375, 0.3484320640563965 ]
2.45
49
0
49
0
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2.5
50
0
50
0
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[ -1.669921875, 70.048828125, 110.654296875, 38.759765625, 54.404296875, 0.3484320640563965 ]
2.55
51
0
51
0
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[ -2.197265625, 68.291015625, 109.51171875, 38.232421875, 55.546875, 0.3484320640563965 ]
2.6
52
0
52
0
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[ -2.8125, 66.884765625, 108.45703125, 37.880859375, 56.25, 0.3484320640563965 ]
2.65
53
0
53
0
[ -6.416015625, 63.80859375, 100.107421875, 34.541015625, 60.380859375, -0.09372071176767349 ]
[ -3.427734375, 65.56640625, 106.875, 37.08984375, 57.041015625, 0.3484320640563965 ]
2.7
54
0
54
0
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[ -4.130859375, 64.16015625, 105.556640625, 36.123046875, 57.392578125, 0.3484320640563965 ]
2.75
55
0
55
0
[ -8.4375, 60.99609375, 95.712890625, 34.541015625, 60.46875, -0.09372071176767349 ]
[ -5.09765625, 62.138671875, 103.7109375, 35.68359375, 57.568359375, 0.3484320640563965 ]
2.8
56
0
56
0
[ -9.31640625, 59.765625, 93.69140625, 34.541015625, 60.46875, -0.09372071176767349 ]
[ -6.064453125, 60.556640625, 101.689453125, 35.419921875, 57.65625, 0.3484320640563965 ]
2.85
57
0
57
0
[ -10.107421875, 58.7109375, 91.845703125, 34.541015625, 60.46875, -0.09372071176767349 ]
[ -7.03125, 58.798828125, 99.580078125, 35.15625, 57.65625, 0.3484320640563965 ]
2.9
58
0
58
0
[ -10.810546875, 58.0078125, 90.17578125, 34.8046875, 60.46875, -0.09372071176767349 ]
[ -7.998046875, 57.65625, 97.55859375, 34.98046875, 57.65625, 0.3484320640563965 ]
2.95
59
0
59
0
[ -11.25, 57.48046875, 89.384765625, 34.98046875, 60.46875, -0.09372071176767349 ]
[ -8.96484375, 56.77734375, 95.712890625, 34.8046875, 57.65625, 0.3484320640563965 ]
3
60
0
60
0
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[ -9.755859375, 56.25, 94.21875, 34.8046875, 57.744140625, 0.3484320640563965 ]
3.05
61
0
61
0
[ -11.42578125, 57.568359375, 89.208984375, 35.244140625, 60.380859375, -0.09372071176767349 ]
[ -10.458984375, 55.72265625, 92.98828125, 34.8046875, 57.83203125, 0.3484320640563965 ]
3.1
62
0
62
0
[ -11.42578125, 58.53515625, 89.912109375, 35.5078125, 60.29296875, -0.09372071176767349 ]
[ -10.810546875, 55.458984375, 92.4609375, 34.98046875, 57.83203125, 0.3484320640563965 ]
3.15
63
0
63
0
[ -11.162109375, 60.380859375, 90.87890625, 35.859375, 59.94140625, -0.09372071176767349 ]
[ -10.810546875, 55.458984375, 92.197265625, 34.98046875, 57.83203125, 0.3484320640563965 ]
3.2
64
0
64
0
[ -10.458984375, 62.578125, 91.7578125, 36.123046875, 58.88671875, -0.09372071176767349 ]
[ -10.634765625, 55.546875, 92.109375, 34.98046875, 57.83203125, 0.3484320640563965 ]
3.25
65
0
65
0
[ -9.580078125, 65.0390625, 92.4609375, 36.298828125, 57.744140625, -0.09372071176767349 ]
[ -10.546875, 55.546875, 92.109375, 35.068359375, 57.83203125, 0.3484320640563965 ]
3.3
66
0
66
0
[ -8.876953125, 67.5, 92.63671875, 36.5625, 55.986328125, -0.09372071176767349 ]
[ -10.283203125, 56.162109375, 92.28515625, 35.68359375, 57.65625, 0.3484320640563965 ]
3.35
67
0
67
0
[ -8.525390625, 69.78515625, 92.28515625, 37.265625, 54.4921875, -0.09372071176767349 ]
[ -9.755859375, 57.83203125, 92.8125, 35.771484375, 57.568359375, 0.3484320640563965 ]
3.4
68
0
68
0
[ -8.26171875, 71.3671875, 91.58203125, 37.6171875, 52.470703125, -0.09372071176767349 ]
[ -8.876953125, 60.1171875, 92.8125, 36.2109375, 56.6015625, 0.3484320640563965 ]
3.45
69
0
69
0
[ -8.173828125, 72.685546875, 90.615234375, 38.056640625, 50.361328125, -0.09372071176767349 ]
[ -8.173828125, 62.40234375, 92.8125, 36.73828125, 55.986328125, 0.3484320640563965 ]
3.5
70
0
70
0
[ -8.173828125, 73.4765625, 89.384765625, 38.056640625, 47.98828125, -0.09372071176767349 ]
[ -8.0859375, 64.248046875, 92.724609375, 36.9140625, 54.580078125, 0.3484320640563965 ]
3.55
71
0
71
0
[ -8.173828125, 73.828125, 87.71484375, 38.671875, 45.87890625, -0.09372071176767349 ]
[ -8.173828125, 66.005859375, 92.63671875, 37.529296875, 53.0859375, 0.3484320640563965 ]
3.6
72
0
72
0
[ -8.4375, 73.388671875, 85.517578125, 39.111328125, 43.41796875, -0.09372071176767349 ]
[ -8.61328125, 67.236328125, 92.109375, 37.79296875, 50.9765625, 0.3484320640563965 ]
3.65
73
0
73
0
[ -8.96484375, 72.24609375, 82.79296875, 40.078125, 41.044921875, -0.09372071176767349 ]
[ -8.61328125, 67.763671875, 90.791015625, 37.96875, 49.04296875, 0.3484320640563965 ]
3.7
74
0
74
0
[ -9.4921875, 70.400390625, 79.62890625, 41.044921875, 38.232421875, -0.09372071176767349 ]
[ -8.349609375, 68.115234375, 89.296875, 38.759765625, 46.845703125, 0.3484320640563965 ]
3.75
75
0
75
0
[ -10.01953125, 68.02734375, 76.11328125, 41.572265625, 35.244140625, -0.09372071176767349 ]
[ -8.173828125, 68.115234375, 87.01171875, 39.7265625, 44.82421875, 0.3484320640563965 ]
3.8
76
0
76
0
[ -10.546875, 65.390625, 72.7734375, 41.8359375, 32.51953125, -0.09372071176767349 ]
[ -8.4375, 67.587890625, 84.55078125, 40.517578125, 42.275390625, 0.3484320640563965 ]
3.85
77
0
77
0
[ -11.07421875, 62.841796875, 69.43359375, 42.5390625, 30.5859375, -0.09372071176767349 ]
[ -9.228515625, 66.533203125, 81.73828125, 40.78125, 39.287109375, 0.3484320640563965 ]
3.9
78
0
78
0
[ -11.337890625, 60.205078125, 66.357421875, 43.857421875, 29.619140625, -0.09372071176767349 ]
[ -10.107421875, 64.3359375, 78.3984375, 40.95703125, 36.298828125, 0.3484320640563965 ]
3.95
79
0
79
0
[ -11.689453125, 57.744140625, 63.544921875, 44.47265625, 28.388671875, -0.09372071176767349 ]
[ -10.634765625, 61.69921875, 75.146484375, 41.748046875, 33.837890625, 0.3484320640563965 ]
4
80
0
80
0
[ -12.041015625, 55.634765625, 61.083984375, 45.52734375, 26.982421875, -0.09372071176767349 ]
[ -10.72265625, 58.974609375, 71.982421875, 42.890625, 31.728515625, 0.3484320640563965 ]
4.05
81
0
81
0
[ -12.3046875, 53.4375, 58.974609375, 46.669921875, 25.751953125, -0.09372071176767349 ]
[ -10.546875, 56.337890625, 69.345703125, 43.76953125, 30.146484375, 0.3484320640563965 ]
4.1
82
0
82
0
[ -12.65625, 51.064453125, 57.041015625, 47.724609375, 24.08203125, -0.09372071176767349 ]
[ -10.634765625, 54.140625, 66.796875, 44.736328125, 28.212890625, 0.3484320640563965 ]
4.15
83
0
83
0
[ -12.744140625, 48.955078125, 55.283203125, 48.8671875, 23.291015625, -0.09372071176767349 ]
[ -11.07421875, 51.85546875, 64.3359375, 45.703125, 26.630859375, 0.3484320640563965 ]
4.2
84
0
84
0
[ -12.83203125, 46.669921875, 53.4375, 49.658203125, 21.884765625, -0.09372071176767349 ]
[ -11.77734375, 49.74609375, 62.314453125, 46.669921875, 25.3125, 0.3484320640563965 ]
4.25
85
0
85
0
[ -12.919921875, 44.6484375, 51.50390625, 50.185546875, 20.7421875, -0.09372071176767349 ]
[ -12.041015625, 47.28515625, 60.029296875, 47.63671875, 23.818359375, 0.3484320640563965 ]
4.3
86
0
86
0
[ -13.0078125, 42.71484375, 49.74609375, 50.44921875, 19.51171875, -0.09372071176767349 ]
[ -12.041015625, 44.912109375, 58.095703125, 48.603515625, 22.412109375, 0.3484320640563965 ]
4.35
87
0
87
0
[ -13.095703125, 41.044921875, 48.076171875, 50.361328125, 18.720703125, -0.09372071176767349 ]
[ -11.77734375, 42.451171875, 56.07421875, 49.482421875, 21.181640625, 0.3484320640563965 ]
4.4
88
0
88
0
[ -13.271484375, 39.111328125, 46.40625, 50.185546875, 17.666015625, -0.09372071176767349 ]
[ -11.77734375, 40.517578125, 54.228515625, 49.74609375, 20.0390625, 0.3484320640563965 ]
4.45
89
0
89
0
[ -13.359375, 37.353515625, 44.736328125, 49.74609375, 16.611328125, -0.09372071176767349 ]
[ -12.216796875, 39.111328125, 52.822265625, 49.74609375, 18.896484375, 0.3484320640563965 ]
4.5
90
0
90
0
[ -13.447265625, 35.68359375, 43.505859375, 48.515625, 16.083984375, -0.09372071176767349 ]
[ -12.83203125, 37.177734375, 50.80078125, 49.74609375, 17.841796875, 0.3484320640563965 ]
4.55
91
0
91
0
[ -13.447265625, 34.189453125, 41.8359375, 47.900390625, 15.64453125, -0.09372071176767349 ]
[ -13.095703125, 35.419921875, 48.8671875, 49.39453125, 16.962890625, 0.3484320640563965 ]
4.6
92
0
92
0
[ -13.53515625, 33.046875, 41.044921875, 46.93359375, 15.29296875, -0.09372071176767349 ]
[ -13.095703125, 33.3984375, 47.548828125, 48.8671875, 16.34765625, 0.3484320640563965 ]
4.65
93
0
93
0
[ -13.53515625, 31.81640625, 40.25390625, 46.23046875, 14.853515625, -0.09372071176767349 ]
[ -12.83203125, 31.904296875, 45.966796875, 48.1640625, 15.732421875, 0.3484320640563965 ]
4.7
94
0
94
0
[ -13.53515625, 30.673828125, 39.7265625, 45.52734375, 13.974609375, -0.09372071176767349 ]
[ -12.568359375, 30.76171875, 45.17578125, 47.548828125, 15.205078125, 0.3484320640563965 ]
4.75
95
0
95
0
[ -13.447265625, 29.619140625, 39.111328125, 44.6484375, 13.271484375, -0.09372071176767349 ]
[ -12.48046875, 29.1796875, 43.857421875, 47.021484375, 14.501953125, 0.3484320640563965 ]
4.8
96
0
96
0
[ -13.18359375, 28.65234375, 38.14453125, 44.6484375, 12.744140625, -0.09372071176767349 ]
[ -12.568359375, 28.125, 42.978515625, 46.23046875, 13.798828125, 0.3484320640563965 ]
4.85
97
0
97
0
[ -12.919921875, 27.94921875, 37.44140625, 44.6484375, 12.568359375, -0.09372071176767349 ]
[ -12.65625, 26.806640625, 42.451171875, 45.52734375, 13.18359375, 0.3484320640563965 ]
4.9
98
0
98
0
[ -12.568359375, 27.24609375, 37.353515625, 44.384765625, 12.392578125, -0.09372071176767349 ]
[ -12.744140625, 25.83984375, 41.66015625, 45.17578125, 12.568359375, 0.3484320640563965 ]
4.95
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 30,
    "total_frames": 14526,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "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": {
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            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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            "info": {
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        "observation.images.back": {
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            "names": [
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                "width",
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            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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