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iamlab_cmu_pickup_insert_train_100_200_augmented

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  1. README.md +139 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/info.json +528 -0
  5. meta/stats.json +2263 -0
  6. meta/tasks.parquet +3 -0
  7. videos/observation.images.google_robot/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.jaco/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.kinova3/chunk-000/file-000.mp4 +3 -0
  11. videos/observation.images.kuka_iiwa/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.sawyer/chunk-000/file-000.mp4 +3 -0
  13. videos/observation.images.ur5e/chunk-000/file-000.mp4 +3 -0
  14. videos/observation.images.widowX/chunk-000/file-000.mp4 +3 -0
  15. videos/observation.images.xarm7/chunk-000/file-000.mp4 +3 -0
README.md ADDED
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+ ---
2
+ pretty_name: "iamlab_cmu_pickup_insert_train_100_200_augmented"
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+ license: "cc-by-4.0"
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+ tags: [robotics, lerobot, oxe-auge, dataset]
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+ task_categories: [robotics]
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+
7
+ oxe_aug:
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+ codebase_version: "v3.0"
9
+ robots: ["google_robot", "images", "jaco", "kinova3", "kuka_iiwa", "sawyer", "ur5e", "widowX", "xarm7"]
10
+ fps: 30
11
+ total_episodes: 100
12
+ total_frames: 23050
13
+ total_videos: null
14
+
15
+ configs:
16
+ - config_name: default
17
+ data_files:
18
+ - split: train
19
+ path:
20
+ - "data/chunk-*/file-*.parquet"
21
+ ---
22
+ # iamlab_cmu_pickup_insert_train_100_200_augmented
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+
24
+ ## Overview
25
+
26
+ - **Codebase version**: `v3.0`
27
+ - **Robots**: google_robot, images, jaco, kinova3, kuka_iiwa, sawyer, ur5e, widowX, xarm7
28
+ - **FPS**: 30
29
+ - **Episodes**: 100
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+ - **Frames**: 23,050
31
+ - **Splits**:
32
+ - `train`: `0:100`
33
+
34
+ ## Data Layout
35
+
36
+ ```text
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+ data_path : data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
38
+ video_path: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
39
+ ```
40
+
41
+ ## Features
42
+
43
+ | Feature | dtype | shape | description |
44
+ |---|---:|---:|---|
45
+ | `observation.images.google_robot` | `video` | `360×640×3` | Augmented image for google_robot robot |
46
+ | `observation.images.image` | `video` | `360×640×3` | Source robot's image from original dataset |
47
+ | `observation.images.jaco` | `video` | `360×640×3` | Augmented image for jaco robot |
48
+ | `observation.images.kinova3` | `video` | `360×640×3` | Augmented image for kinova3 robot |
49
+ | `observation.images.kuka_iiwa` | `video` | `360×640×3` | Augmented image for kuka_iiwa robot |
50
+ | `observation.images.sawyer` | `video` | `360×640×3` | Augmented image for sawyer robot |
51
+ | `observation.images.ur5e` | `video` | `360×640×3` | Augmented image for ur5e robot |
52
+ | `observation.images.widowX` | `video` | `360×640×3` | Augmented image for widowX robot |
53
+ | `observation.images.xarm7` | `video` | `360×640×3` | Augmented image for xarm7 robot |
54
+ | `episode_index` | `int64` | `1` | Index of the current episode within the dataset. |
55
+ | `frame_index` | `int64` | `1` | Index of the current frame within its episode. |
56
+ | `index` | `int64` | `1` | Global frame index across the whole dataset. |
57
+ | `natural_language_instruction` | `string` | `1` | Natural language command describing the task |
58
+ | `observation.ee_pose` | `float32` | `7` | Source robot's eef position |
59
+ | `observation.google_robot.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
60
+ | `observation.google_robot.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
61
+ | `observation.google_robot.ee_error` | `float32` | `7` | The eef difference between the augmented google_robot robot and the original robot |
62
+ | `observation.google_robot.ee_pose` | `float32` | `7` | The eef position of google_robot robot |
63
+ | `observation.google_robot.joints` | `float32` | `8` | The joint position of google_robot robot |
64
+ | `observation.jaco.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
65
+ | `observation.jaco.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
66
+ | `observation.jaco.ee_error` | `float32` | `7` | The eef difference between the augmented jaco robot and the original robot |
67
+ | `observation.jaco.ee_pose` | `float32` | `7` | The eef position of jaco robot |
68
+ | `observation.jaco.joints` | `float32` | `7` | The joint position of jaco robot |
69
+ | `observation.joints` | `float32` | `8` | Joint angle of source robot |
70
+ | `observation.kinova3.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
71
+ | `observation.kinova3.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
72
+ | `observation.kinova3.ee_error` | `float32` | `7` | The eef difference between the augmented kinova3 robot and the original robot |
73
+ | `observation.kinova3.ee_pose` | `float32` | `7` | The eef position of kinova3 robot |
74
+ | `observation.kinova3.joints` | `float32` | `8` | The joint position of kinova3 robot |
75
+ | `observation.kuka_iiwa.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
76
+ | `observation.kuka_iiwa.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
77
+ | `observation.kuka_iiwa.ee_error` | `float32` | `7` | The eef difference between the augmented kuka_iiwa robot and the original robot |
78
+ | `observation.kuka_iiwa.ee_pose` | `float32` | `7` | The eef position of kuka_iiwa robot |
79
+ | `observation.kuka_iiwa.joints` | `float32` | `8` | The joint position of kuka_iiwa robot |
80
+ | `observation.sawyer.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
81
+ | `observation.sawyer.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
82
+ | `observation.sawyer.ee_error` | `float32` | `7` | The eef difference between the augmented sawyer robot and the original robot |
83
+ | `observation.sawyer.ee_pose` | `float32` | `7` | The eef position of sawyer robot |
84
+ | `observation.sawyer.joints` | `float32` | `8` | The joint position of sawyer robot |
85
+ | `observation.state` | `float32` | `20` | Copy of the state field in source robot's RLDS dataset |
86
+ | `observation.ur5e.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
87
+ | `observation.ur5e.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
88
+ | `observation.ur5e.ee_error` | `float32` | `7` | The eef difference between the augmented ur5e robot and the original robot |
89
+ | `observation.ur5e.ee_pose` | `float32` | `7` | The eef position of ur5e robot |
90
+ | `observation.ur5e.joints` | `float32` | `7` | The joint position of ur5e robot |
91
+ | `observation.widowX.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
92
+ | `observation.widowX.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
93
+ | `observation.widowX.ee_error` | `float32` | `7` | The eef difference between the augmented widowX robot and the original robot |
94
+ | `observation.widowX.ee_pose` | `float32` | `7` | The eef position of widowX robot |
95
+ | `observation.widowX.joints` | `float32` | `7` | The joint position of widowX robot |
96
+ | `observation.xarm7.base_orientation` | `float32` | `1` | Rotation along z-axis CCW to make the robot not blocking the camera (mostly 0) |
97
+ | `observation.xarm7.base_position` | `float32` | `3` | Base translation applied so the trajectory remains achievable |
98
+ | `observation.xarm7.ee_error` | `float32` | `7` | The eef difference between the augmented xarm7 robot and the original robot |
99
+ | `observation.xarm7.ee_pose` | `float32` | `7` | The eef position of xarm7 robot |
100
+ | `observation.xarm7.joints` | `float32` | `8` | The joint position of xarm7 robot |
101
+ | `task_index` | `int64` | `1` | Integer ID of the high-level task this episode/frame belongs to. |
102
+ | `timestamp` | `float32` | `1` | Time stamp of the current frame within the episode (in second). |
103
+
104
+ ## Website
105
+
106
+ - Website page: [https://oxe-auge.github.io/](https://oxe-auge.github.io/)
107
+ - Project repository: [https://github.com/GuanhuaJi/oxe-auge](https://github.com/GuanhuaJi/oxe-auge)
108
+
109
+ ## Paper
110
+
111
+ - [https://openreview.net/forum?id=WuBv9-IGDUA](https://openreview.net/forum?id=WuBv9-IGDUA)
112
+
113
+ ## Citation Policy
114
+
115
+ If you use **OXE-AugE** datasets, please cite **both** our dataset and the **upstream datasets**.
116
+
117
+ ## Upstream Dataset Citation (original dataset)
118
+
119
+ ```bibtex
120
+ @inproceedings{saxena2023multiresolution,
121
+ title={Multi-Resolution Sensing for Real-Time Control with Vision-Language Models},
122
+ author={Saumya Saxena and Mohit Sharma and Oliver Kroemer},
123
+ booktitle={7th Annual Conference on Robot Learning},
124
+ year={2023},
125
+ url={https://openreview.net/forum?id=WuBv9-IGDUA}
126
+ }
127
+ ```
128
+
129
+ ## OXE-AugE Dataset Citation (ours)
130
+
131
+ ```bibtex
132
+ @misc{
133
+ ji2025oxeaug,
134
+ title = {OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning},
135
+ author = {Ji, Guanhua and Polavaram, Harsha and Chen, Lawrence Yunliang and Bajamahal, Sandeep and Ma, Zehan and Adebola, Simeon and Xu, Chenfeng and Goldberg, Ken},
136
+ year = {2025},
137
+ note = {Manuscript}
138
+ }
139
+ ```
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+ {
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+ "codebase_version": "v3.0",
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+ "total_tasks": 7,
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+ "fps": 30,
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+ "splits": {
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "dtype": "float32",
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+ "shape": [
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+ "dtype": "float32",
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+ },
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.images.widowX": {
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+ "dtype": "video",
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+ "shape": [
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+ 360,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 360,
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+ "video.width": 640,
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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": 30,
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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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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "fps": 30
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+ },
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+ "observation.sawyer.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.sawyer.base_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ],
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+ "fps": 30
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+ },
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+ "observation.sawyer.base_orientation": {
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+ "shape": [
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+ 1
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+ ],
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+ "fps": 30
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+ },
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+ "observation.sawyer.ee_error": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.images.sawyer": {
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+ "dtype": "video",
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+ "shape": [
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+ 360,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 360,
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+ "video.width": 640,
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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": 30,
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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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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.ur5e.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "shape": [
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+ 3
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+ ],
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+ },
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+ "observation.ur5e.base_orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "fps": 30
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+ },
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+ "observation.ur5e.ee_error": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.images.ur5e": {
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+ "dtype": "video",
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+ "shape": [
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+ 360,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 360,
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+ "video.width": 640,
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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": 30,
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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.google_robot.joints": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ],
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+ "fps": 30
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ],
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+ },
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "fps": 30
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+ },
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+ "observation.google_robot.ee_error": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.images.google_robot": {
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+ "dtype": "video",
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+ "shape": [
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+ 360,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 360,
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+ "video.width": 640,
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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": 30,
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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.jaco.joints": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.jaco.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ ],
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+ "fps": 30
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+ },
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+ "observation.jaco.base_position": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ],
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+ "fps": 30
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+ },
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+ "observation.jaco.base_orientation": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "fps": 30
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+ },
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+ "observation.jaco.ee_error": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "fps": 30
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+ },
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+ "observation.images.jaco": {
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+ "dtype": "video",
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+ "shape": [
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+ 360,
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+ 640,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 360,
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+ "video.width": 640,
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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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