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action
sequence | observation.state
sequence | timestamp
float32 0
13.2
| frame_index
int64 0
395
| episode_index
int64 0
4
| index
int64 0
1.73k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
84.375,
99.228515625,
116.103515625,
48.251953125,
139.833984375
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84.0234375,
98.349609375,
117.685546875,
48.515625,
139.04296875
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[
84.287109375,
99.228515625,
116.015625,
48.1640625,
139.833984375
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84.111328125,
98.26171875,
117.685546875,
48.33984375,
139.04296875
] | 0.033333 | 1 | 0 | 1 | 0 |
[
84.287109375,
99.228515625,
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139.833984375
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84.0234375,
98.349609375,
117.685546875,
48.33984375,
138.955078125
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[
84.111328125,
99.228515625,
116.015625,
48.1640625,
139.833984375
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84.0234375,
98.349609375,
117.685546875,
48.33984375,
139.04296875
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[
84.111328125,
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139.833984375
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84.0234375,
98.26171875,
117.685546875,
48.33984375,
139.04296875
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[
84.111328125,
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116.015625,
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139.833984375
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84.0234375,
98.349609375,
117.7734375,
48.33984375,
139.04296875
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[
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99.140625,
116.015625,
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139.833984375
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84.0234375,
98.349609375,
117.685546875,
48.33984375,
138.955078125
] | 0.2 | 6 | 0 | 6 | 0 |
[
84.0234375,
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116.015625,
48.076171875,
139.833984375
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84.0234375,
98.26171875,
117.7734375,
48.33984375,
139.04296875
] | 0.233333 | 7 | 0 | 7 | 0 |
[
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139.833984375
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84.0234375,
98.26171875,
117.685546875,
48.33984375,
139.04296875
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[
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139.833984375
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84.0234375,
98.349609375,
117.685546875,
48.33984375,
138.955078125
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[
84.0234375,
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48.1640625,
139.833984375
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84.0234375,
98.173828125,
117.7734375,
48.33984375,
138.955078125
] | 0.333333 | 10 | 0 | 10 | 0 |
[
84.0234375,
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139.833984375
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84.0234375,
97.734375,
117.685546875,
48.33984375,
138.955078125
] | 0.366667 | 11 | 0 | 11 | 0 |
[
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116.54296875,
48.251953125,
139.833984375
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84.0234375,
97.470703125,
117.685546875,
48.33984375,
138.955078125
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[
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48.33984375,
139.833984375
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84.0234375,
97.20703125,
117.685546875,
48.251953125,
138.955078125
] | 0.433333 | 13 | 0 | 13 | 0 |
[
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99.140625,
116.982421875,
48.427734375,
139.833984375
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84.0234375,
97.20703125,
117.685546875,
48.33984375,
138.955078125
] | 0.466667 | 14 | 0 | 14 | 0 |
[
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99.052734375,
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48.515625,
139.833984375
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83.49609375,
97.294921875,
117.685546875,
48.33984375,
138.955078125
] | 0.5 | 15 | 0 | 15 | 0 |
[
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98.96484375,
117.158203125,
48.515625,
139.833984375
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83.3203125,
97.294921875,
117.685546875,
48.251953125,
139.04296875
] | 0.533333 | 16 | 0 | 16 | 0 |
[
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98.96484375,
117.158203125,
48.427734375,
139.833984375
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83.056640625,
97.294921875,
117.7734375,
48.251953125,
138.955078125
] | 0.566667 | 17 | 0 | 17 | 0 |
[
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99.140625,
117.0703125,
48.427734375,
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83.232421875,
97.20703125,
117.685546875,
48.33984375,
139.04296875
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[
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116.89453125,
48.515625,
139.833984375
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97.294921875,
117.685546875,
48.251953125,
138.955078125
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[
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100.1953125,
116.806640625,
48.603515625,
139.833984375
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83.056640625,
97.294921875,
117.685546875,
48.251953125,
138.955078125
] | 0.666667 | 20 | 0 | 20 | 0 |
[
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100.8984375,
116.806640625,
48.69140625,
139.833984375
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82.96875,
97.646484375,
117.685546875,
48.251953125,
138.955078125
] | 0.7 | 21 | 0 | 21 | 0 |
[
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116.806640625,
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139.833984375
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97.998046875,
117.685546875,
48.33984375,
138.955078125
] | 0.733333 | 22 | 0 | 22 | 0 |
[
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139.833984375
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98.525390625,
117.59765625,
48.779296875,
138.955078125
] | 0.766667 | 23 | 0 | 23 | 0 |
[
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117.0703125,
51.6796875,
139.833984375
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83.056640625,
99.052734375,
117.685546875,
49.482421875,
138.955078125
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[
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101.865234375,
117.0703125,
53.349609375,
139.833984375
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83.056640625,
99.31640625,
117.685546875,
50.712890625,
139.04296875
] | 0.833333 | 25 | 0 | 25 | 0 |
[
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102.041015625,
117.0703125,
55.107421875,
139.833984375
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83.056640625,
99.4921875,
117.685546875,
51.943359375,
138.955078125
] | 0.866667 | 26 | 0 | 26 | 0 |
[
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102.216796875,
116.89453125,
56.953125,
139.833984375
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83.056640625,
99.84375,
117.7734375,
54.404296875,
139.04296875
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[
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102.744140625,
116.54296875,
59.150390625,
139.833984375
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83.056640625,
99.84375,
117.7734375,
55.458984375,
138.955078125
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[
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116.103515625,
60.732421875,
139.833984375
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82.6171875,
100.01953125,
117.59765625,
57.392578125,
138.955078125
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[
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104.326171875,
115.48828125,
62.138671875,
139.833984375
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81.9140625,
100.810546875,
117.59765625,
59.501953125,
138.955078125
] | 1 | 30 | 0 | 30 | 0 |
[
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104.94140625,
114.521484375,
63.984375,
139.833984375
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101.42578125,
117.333984375,
60.908203125,
138.955078125
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[
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105.205078125,
113.642578125,
65.21484375,
139.833984375
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81.474609375,
101.953125,
116.54296875,
62.2265625,
138.955078125
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[
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105.380859375,
112.939453125,
66.62109375,
139.833984375
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81.298828125,
102.65625,
115.576171875,
63.80859375,
138.955078125
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[
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105.205078125,
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67.587890625,
139.921875
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103.18359375,
114.2578125,
65.56640625,
139.04296875
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[
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68.73046875,
139.833984375
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103.359375,
113.642578125,
66.357421875,
139.04296875
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[
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104.765625,
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69.78515625,
139.833984375
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80.859375,
103.359375,
113.115234375,
67.412109375,
138.955078125
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[
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110.56640625,
70.927734375,
139.833984375
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103.271484375,
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68.466796875,
138.955078125
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[
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139.833984375
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103.271484375,
112.060546875,
69.78515625,
139.04296875
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[
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103.359375,
109.51171875,
73.125,
139.833984375
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81.03515625,
103.18359375,
111.796875,
70.751953125,
138.955078125
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[
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109.072265625,
73.4765625,
139.833984375
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80.859375,
102.65625,
111.26953125,
71.89453125,
138.955078125
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[
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108.28125,
73.4765625,
139.833984375
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111.005859375,
72.59765625,
138.955078125
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[
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73.30078125,
139.833984375
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101.6015625,
110.478515625,
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139.04296875
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[
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100.810546875,
106.787109375,
73.212890625,
139.833984375
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82.880859375,
100.283203125,
109.072265625,
72.94921875,
139.04296875
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[
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99.404296875,
105.8203125,
73.212890625,
139.833984375
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83.232421875,
99.4921875,
108.193359375,
73.037109375,
138.955078125
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[
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98.4375,
105.29296875,
73.125,
139.833984375
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83.583984375,
98.525390625,
107.314453125,
73.125,
138.955078125
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[
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97.55859375,
104.765625,
73.125,
139.833984375
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97.734375,
106.787109375,
73.125,
138.955078125
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[
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104.326171875,
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139.833984375
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84.375,
96.591796875,
106.171875,
73.125,
138.955078125
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[
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103.88671875,
72.94921875,
139.833984375
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85.166015625,
95.2734375,
105.64453125,
72.94921875,
138.955078125
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[
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103.0078125,
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139.833984375
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85.693359375,
94.39453125,
105.380859375,
72.59765625,
138.955078125
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[
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102.216796875,
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139.833984375
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85.95703125,
93.33984375,
104.765625,
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138.955078125
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[
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71.3671875,
139.833984375
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86.044921875,
91.93359375,
104.150390625,
71.630859375,
138.955078125
] | 1.7 | 51 | 0 | 51 | 0 |
[
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90.3515625,
101.42578125,
71.103515625,
139.833984375
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85.78125,
90.263671875,
103.0078125,
71.19140625,
138.955078125
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[
86.220703125,
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85.869140625,
89.47265625,
102.919921875,
71.015625,
138.955078125
] | 1.766667 | 53 | 0 | 53 | 0 |
[
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101.337890625,
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139.921875
] | [
85.95703125,
88.41796875,
102.919921875,
70.576171875,
139.04296875
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[
86.220703125,
87.626953125,
101.337890625,
70.048828125,
139.833984375
] | [
85.95703125,
87.71484375,
102.744140625,
70.224609375,
138.955078125
] | 1.833333 | 55 | 0 | 55 | 0 |
[
86.30859375,
87.5390625,
101.337890625,
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85.95703125,
86.396484375,
102.744140625,
70.13671875,
138.955078125
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[
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87.802734375,
101.337890625,
70.13671875,
139.921875
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85.95703125,
86.044921875,
102.744140625,
70.13671875,
138.955078125
] | 1.9 | 57 | 0 | 57 | 0 |
[
86.66015625,
87.978515625,
101.337890625,
70.13671875,
139.921875
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86.044921875,
85.95703125,
102.744140625,
70.13671875,
138.955078125
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[
86.748046875,
88.2421875,
101.337890625,
70.048828125,
139.921875
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86.044921875,
86.044921875,
102.65625,
70.13671875,
138.955078125
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[
86.748046875,
88.857421875,
101.162109375,
69.873046875,
139.921875
] | [
86.044921875,
86.1328125,
102.568359375,
69.9609375,
138.955078125
] | 2 | 60 | 0 | 60 | 0 |
[
86.748046875,
89.384765625,
100.810546875,
69.78515625,
139.921875
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86.044921875,
86.1328125,
102.568359375,
69.521484375,
139.04296875
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[
86.8359375,
89.6484375,
100.72265625,
69.78515625,
139.921875
] | [
86.044921875,
86.1328125,
102.3046875,
69.345703125,
138.955078125
] | 2.066667 | 62 | 0 | 62 | 0 |
[
86.923828125,
89.82421875,
100.72265625,
69.78515625,
139.921875
] | [
86.044921875,
86.220703125,
101.953125,
69.2578125,
139.04296875
] | 2.1 | 63 | 0 | 63 | 0 |
[
87.099609375,
89.736328125,
100.72265625,
69.78515625,
139.921875
] | [
86.044921875,
86.484375,
101.6015625,
69.169921875,
138.955078125
] | 2.133333 | 64 | 0 | 64 | 0 |
[
87.275390625,
89.47265625,
100.72265625,
69.78515625,
139.921875
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86.220703125,
86.66015625,
101.6015625,
69.169921875,
138.955078125
] | 2.166667 | 65 | 0 | 65 | 0 |
[
87.275390625,
89.47265625,
100.546875,
69.78515625,
139.921875
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86.572265625,
86.66015625,
101.6015625,
69.169921875,
138.955078125
] | 2.2 | 66 | 0 | 66 | 0 |
[
87.36328125,
89.47265625,
100.283203125,
69.78515625,
139.921875
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87.01171875,
86.748046875,
101.6015625,
69.169921875,
139.04296875
] | 2.233333 | 67 | 0 | 67 | 0 |
[
87.36328125,
89.296875,
100.107421875,
69.78515625,
139.921875
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87.099609375,
86.66015625,
101.6015625,
69.169921875,
138.955078125
] | 2.266667 | 68 | 0 | 68 | 0 |
[
87.451171875,
88.9453125,
100.01953125,
69.78515625,
140.009765625
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87.01171875,
86.748046875,
101.6015625,
69.169921875,
139.04296875
] | 2.3 | 69 | 0 | 69 | 0 |
[
87.275390625,
88.857421875,
100.01953125,
69.873046875,
140.009765625
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86.748046875,
86.748046875,
101.6015625,
69.169921875,
139.5703125
] | 2.333333 | 70 | 0 | 70 | 0 |
[
87.1875,
88.76953125,
100.01953125,
69.9609375,
140.009765625
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86.748046875,
86.748046875,
101.6015625,
69.169921875,
139.833984375
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[
87.01171875,
88.681640625,
100.01953125,
69.873046875,
140.09765625
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86.8359375,
86.748046875,
101.6015625,
69.169921875,
139.833984375
] | 2.4 | 72 | 0 | 72 | 0 |
[
86.8359375,
88.59375,
99.931640625,
69.78515625,
140.625
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87.01171875,
86.748046875,
101.6015625,
69.169921875,
139.833984375
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[
86.572265625,
88.59375,
99.404296875,
69.78515625,
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101.25,
69.169921875,
139.833984375
] | 2.466667 | 74 | 0 | 74 | 0 |
[
86.484375,
88.59375,
99.140625,
69.873046875,
143.876953125
] | [
86.30859375,
86.66015625,
100.8984375,
69.169921875,
140.537109375
] | 2.5 | 75 | 0 | 75 | 0 |
[
86.396484375,
88.59375,
98.96484375,
69.873046875,
146.337890625
] | [
85.869140625,
86.748046875,
100.634765625,
69.169921875,
142.294921875
] | 2.533333 | 76 | 0 | 76 | 0 |
[
86.30859375,
88.505859375,
98.96484375,
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149.4140625
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85.78125,
86.748046875,
100.01953125,
69.169921875,
145.01953125
] | 2.566667 | 77 | 0 | 77 | 0 |
[
86.30859375,
88.330078125,
99.052734375,
69.9609375,
154.072265625
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85.869140625,
86.66015625,
99.931640625,
69.169921875,
147.392578125
] | 2.6 | 78 | 0 | 78 | 0 |
[
86.220703125,
88.2421875,
98.96484375,
69.873046875,
158.115234375
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86.044921875,
86.748046875,
99.84375,
69.169921875,
151.083984375
] | 2.633333 | 79 | 0 | 79 | 0 |
[
86.30859375,
88.330078125,
99.052734375,
69.9609375,
162.0703125
] | [
86.044921875,
86.748046875,
99.84375,
69.169921875,
154.951171875
] | 2.666667 | 80 | 0 | 80 | 0 |
[
86.396484375,
88.2421875,
99.052734375,
69.9609375,
165.498046875
] | [
86.044921875,
86.66015625,
99.84375,
69.169921875,
160.48828125
] | 2.7 | 81 | 0 | 81 | 0 |
[
86.484375,
88.154296875,
98.96484375,
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169.62890625
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85.95703125,
86.66015625,
99.84375,
69.169921875,
163.388671875
] | 2.733333 | 82 | 0 | 82 | 0 |
[
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99.052734375,
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172.79296875
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85.95703125,
86.66015625,
99.84375,
69.169921875,
166.2890625
] | 2.766667 | 83 | 0 | 83 | 0 |
[
86.484375,
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] | [
86.044921875,
86.396484375,
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] | 2.8 | 84 | 0 | 84 | 0 |
[
86.484375,
86.748046875,
99.052734375,
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178.06640625
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86.044921875,
86.044921875,
99.84375,
69.169921875,
173.49609375
] | 2.833333 | 85 | 0 | 85 | 0 |
[
86.484375,
86.1328125,
98.96484375,
69.609375,
182.4609375
] | [
86.044921875,
85.25390625,
99.755859375,
69.169921875,
176.8359375
] | 2.866667 | 86 | 0 | 86 | 0 |
[
86.484375,
85.78125,
99.052734375,
69.43359375,
185.625
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86.044921875,
84.90234375,
99.84375,
69.169921875,
180.087890625
] | 2.9 | 87 | 0 | 87 | 0 |
[
86.30859375,
85.4296875,
99.052734375,
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188.7890625
] | [
86.044921875,
84.462890625,
99.84375,
69.169921875,
182.63671875
] | 2.933333 | 88 | 0 | 88 | 0 |
[
86.220703125,
85.166015625,
98.96484375,
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] | [
86.044921875,
84.111328125,
99.84375,
69.169921875,
186.943359375
] | 2.966667 | 89 | 0 | 89 | 0 |
[
86.220703125,
85.166015625,
99.052734375,
69.169921875,
197.05078125
] | [
86.044921875,
84.0234375,
99.84375,
69.08203125,
190.1953125
] | 3 | 90 | 0 | 90 | 0 |
[
86.220703125,
85.25390625,
99.052734375,
69.169921875,
200.830078125
] | [
86.044921875,
84.0234375,
99.84375,
69.169921875,
194.23828125
] | 3.033333 | 91 | 0 | 91 | 0 |
[
86.220703125,
85.341796875,
99.052734375,
69.08203125,
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] | [
86.044921875,
84.0234375,
99.84375,
69.08203125,
197.40234375
] | 3.066667 | 92 | 0 | 92 | 0 |
[
86.220703125,
85.517578125,
98.96484375,
69.169921875,
209.091796875
] | [
86.044921875,
84.0234375,
99.755859375,
69.169921875,
201.708984375
] | 3.1 | 93 | 0 | 93 | 0 |
[
86.220703125,
85.60546875,
99.052734375,
69.169921875,
213.310546875
] | [
86.044921875,
84.0234375,
99.755859375,
69.169921875,
206.71875
] | 3.133333 | 94 | 0 | 94 | 0 |
[
86.220703125,
85.60546875,
99.052734375,
69.169921875,
218.935546875
] | [
86.044921875,
84.0234375,
99.755859375,
69.169921875,
210.9375
] | 3.166667 | 95 | 0 | 95 | 0 |
[
86.220703125,
85.60546875,
99.052734375,
69.2578125,
223.2421875
] | [
86.044921875,
84.0234375,
99.755859375,
69.169921875,
215.5078125
] | 3.2 | 96 | 0 | 96 | 0 |
[
86.220703125,
85.693359375,
98.96484375,
69.345703125,
227.548828125
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86.044921875,
84.0234375,
99.755859375,
69.169921875,
220.693359375
] | 3.233333 | 97 | 0 | 97 | 0 |
[
86.220703125,
85.869140625,
99.052734375,
69.43359375,
232.55859375
] | [
86.044921875,
84.0234375,
99.755859375,
69.169921875,
224.296875
] | 3.266667 | 98 | 0 | 98 | 0 |
[
86.220703125,
86.044921875,
98.96484375,
69.609375,
235.986328125
] | [
86.044921875,
84.0234375,
99.84375,
69.169921875,
228.515625
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 5,
"total_frames": 1733,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": {
"dtype": "float32",
"shape": [
5
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
5
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
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"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
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"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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"shape": [
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],
"names": null
},
"frame_index": {
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},
"episode_index": {
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},
"index": {
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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