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nyu_franka_play_dataset

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1
  ---
 
2
  task_categories:
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  - robotics
4
  tags:
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  - LeRobot
 
 
 
6
  ---
 
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  This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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- [meta/info.json](meta/info.json)
 
 
 
 
 
 
 
 
 
 
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  ```json
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  {
12
  "codebase_version": "v2.0",
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- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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  "robot_type": "unknown",
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  "total_episodes": 456,
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  "total_frames": 44875,
@@ -22,85 +36,167 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "splits": {
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  "train": "0:456"
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  },
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- "keys": [
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- "observation.state",
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- "action"
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- ],
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- "video_keys": [
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- "observation.images.image_additional_view",
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- "observation.images.image"
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- ],
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- "image_keys": [],
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- "shapes": {
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- "observation.state": 13,
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- "action": 15,
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  "observation.images.image_additional_view": {
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- "width": 128,
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- "height": 128,
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- "channels": 3
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  },
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  "observation.images.image": {
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- "width": 128,
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- "height": 128,
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- "channels": 3
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- }
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- },
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- "names": {
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- "observation.state": [
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- "motor_0",
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- "motor_1",
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- "motor_2",
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- "motor_3",
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- "motor_4",
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- "motor_5",
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- "motor_6",
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- "motor_7",
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- "motor_8",
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- "motor_9",
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- "motor_10",
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- "motor_11",
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- "motor_12"
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- ],
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- "action": [
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- "motor_0",
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- "motor_1",
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- "motor_2",
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- "motor_3",
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- "motor_4",
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- "motor_5",
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- "motor_6",
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- "motor_7",
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- "motor_8",
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- "motor_9",
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- "motor_10",
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- "motor_11",
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- "motor_12",
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- "motor_13",
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- "motor_14"
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- ]
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- },
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- "videos": {
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- "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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- "observation.images.image_additional_view": {
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- "video.fps": 5.0,
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- "video.width": 128,
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- "video.height": 128,
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- "video.channels": 3,
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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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- "observation.images.image": {
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- "video.fps": 5.0,
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- "video.width": 128,
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- "video.height": 128,
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- "video.channels": 3,
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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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  }
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ```
 
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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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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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  ---
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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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+
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+
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+
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+ - **Homepage:** https://play-to-policy.github.io/
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+ - **Paper:** https://arxiv.org/abs/2210.10047
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+ - **License:** mit
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+
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+ ## Dataset Structure
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+
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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": "unknown",
29
  "total_episodes": 456,
30
  "total_frames": 44875,
 
36
  "splits": {
37
  "train": "0:456"
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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.image_additional_view": {
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+ "dtype": "video",
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+ "shape": [
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+ 128,
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+ 128,
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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": 5.0,
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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.image": {
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+ "dtype": "video",
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+ "shape": [
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+ 128,
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+ 128,
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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": 5.0,
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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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+ "language_instruction": {
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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": {
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+ "dtype": "float32",
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+ "shape": [
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+ 13
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+ ],
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+ "names": {
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+ "motors": [
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+ "motor_0",
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+ "motor_1",
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+ "motor_2",
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+ "motor_3",
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+ "motor_4",
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+ "motor_5",
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+ "motor_6",
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+ "motor_7",
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+ "motor_8",
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+ "motor_9",
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+ "motor_10",
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+ "motor_11",
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+ "motor_12"
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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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+ 15
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+ ],
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+ "names": {
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+ "motors": [
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+ "motor_0",
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+ "motor_1",
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+ "motor_2",
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+ "motor_3",
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+ "motor_4",
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+ "motor_5",
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+ "motor_6",
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+ "motor_7",
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+ "motor_8",
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+ "motor_9",
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+ "motor_10",
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+ "motor_11",
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+ "motor_12",
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+ "motor_13",
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+ "motor_14"
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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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+ "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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+ "next.reward": {
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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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+
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+
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+ ## Citation
192
+
193
+ **BibTeX:**
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+
195
+ ```bibtex
196
+ @article{cui2022play,
197
+ title = {From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data},
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+ author = {Cui, Zichen Jeff and Wang, Yibin and Shafiullah, Nur Muhammad Mahi and Pinto, Lerrel},
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+ journal = {arXiv preprint arXiv:2210.10047},
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+ year = {2022}
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+ }
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  ```