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--- |
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license: mit |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- aloha |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** https://tonyzhaozh.github.io/aloha/ |
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- **Paper:** https://arxiv.org/abs/2304.13705 |
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- **License:** mit |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.0", |
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"robot_type": "aloha", |
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"total_episodes": 100, |
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"total_frames": 50000, |
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"total_tasks": 1, |
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"total_videos": 400, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 50, |
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"splits": { |
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"train": "0:100" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.images.cam_high": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 50.0, |
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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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"has_audio": false |
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} |
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}, |
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"observation.images.cam_left_wrist": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 50.0, |
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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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"has_audio": false |
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} |
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}, |
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"observation.images.cam_low": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 50.0, |
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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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"has_audio": false |
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} |
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}, |
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"observation.images.cam_right_wrist": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.fps": 50.0, |
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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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"has_audio": false |
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} |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": { |
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"motors": [ |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper", |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper" |
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] |
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} |
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}, |
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"observation.effort": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": { |
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"motors": [ |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper", |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper" |
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] |
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} |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": { |
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"motors": [ |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper", |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper" |
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] |
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} |
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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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"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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"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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"next.done": { |
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"dtype": "bool", |
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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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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@article{Zhao2023LearningFB, |
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title={Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware}, |
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author={Tony Zhao and Vikash Kumar and Sergey Levine and Chelsea Finn}, |
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journal={RSS}, |
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year={2023}, |
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volume={abs/2304.13705}, |
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url={https://arxiv.org/abs/2304.13705} |
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} |
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``` |
