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{ |
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"codebase_version": "v3.0", |
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"robot_type": "KIA Niro EV 2023", |
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"total_episodes": 100000, |
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"total_frames": 19042712, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"data_files_size_in_mb": 100, |
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"video_files_size_in_mb": 500, |
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"fps": 10, |
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"splits": { |
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"train": "0:100000" |
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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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"observation.state.vehicle": { |
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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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"axes": [ |
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"speed", |
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"heading", |
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"heading_error", |
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"hp_loc_latitude", |
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"hp_loc_longitude", |
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"hp_loc_altitude", |
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"acceleration_x", |
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"acceleration_y" |
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] |
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} |
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}, |
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"observation.state.lanes": { |
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"dtype": "string", |
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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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"observation.state.road": { |
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"dtype": "string", |
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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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"observation.state.surface": { |
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"dtype": "string", |
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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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"observation.state.max_speed": { |
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"dtype": "string", |
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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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"observation.state.precipitation": { |
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"dtype": "string", |
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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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"observation.state.conditions": { |
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"dtype": "string", |
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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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"observation.state.lighting": { |
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"dtype": "string", |
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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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"observation.state.waypoints": { |
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"dtype": "float32", |
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"shape": [ |
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10, |
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2 |
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], |
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"names": [ |
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"way", |
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"points" |
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] |
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}, |
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"observation.state.timestamp": { |
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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": { |
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"axes": [ |
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"unix_epoc_timestamp" |
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] |
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} |
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}, |
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"task.policy": { |
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"dtype": "string", |
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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.instructions": { |
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"dtype": "string", |
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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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"action.continuous": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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], |
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"names": { |
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"axes": [ |
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"gas_pedal_normalized", |
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"brake_pedal_normalized", |
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"steering_angle_normalized" |
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] |
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} |
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}, |
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"action.discrete": { |
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"dtype": "int32", |
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"shape": [ |
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2 |
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], |
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"names": { |
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"axes": [ |
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"gear", |
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"turn_signal" |
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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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"observation.images.left_forward": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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1080, |
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1920 |
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], |
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"names": [ |
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"channel", |
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"height", |
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"width" |
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] |
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}, |
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"observation.images.front_left": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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1080, |
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1920 |
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], |
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"names": [ |
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"channel", |
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"height", |
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"width" |
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] |
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}, |
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"observation.images.right_forward": { |
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"dtype": "video", |
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"shape": [ |
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3, |
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1080, |
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|
1920 |
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|
], |
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"names": [ |
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"channel", |
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"height", |
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"width" |
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] |
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}, |
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"observation.images.left_backward": { |
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|
"dtype": "video", |
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|
"shape": [ |
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|
3, |
|
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1080, |
|
|
1920 |
|
|
], |
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"names": [ |
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"channel", |
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|
"height", |
|
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"width" |
|
|
] |
|
|
}, |
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"observation.images.rear": { |
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"dtype": "video", |
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|
"shape": [ |
|
|
3, |
|
|
1080, |
|
|
1920 |
|
|
], |
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"names": [ |
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"channel", |
|
|
"height", |
|
|
"width" |
|
|
] |
|
|
}, |
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"observation.images.right_backward": { |
|
|
"dtype": "video", |
|
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"shape": [ |
|
|
3, |
|
|
1080, |
|
|
1920 |
|
|
], |
|
|
"names": [ |
|
|
"channel", |
|
|
"height", |
|
|
"width" |
|
|
] |
|
|
}, |
|
|
"observation.images.map": { |
|
|
"dtype": "video", |
|
|
"shape": [ |
|
|
3, |
|
|
360, |
|
|
640 |
|
|
], |
|
|
"names": [ |
|
|
"channel", |
|
|
"height", |
|
|
"width" |
|
|
] |
|
|
} |
|
|
} |
|
|
} |
|
|
|
