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action
sequence | observation.state
sequence | timestamp
float32 0
14
| frame_index
int64 0
421
| episode_index
int64 0
39
| index
int64 0
11.6k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
124.8046875,
131.572265625,
138.8671875,
80.244140625,
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35.068359375
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120.849609375,
110.91796875,
85.95703125,
100.810546875,
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34.716796875
] | 0 | 0 | 0 | 0 | 0 |
[
124.8046875,
131.572265625,
138.955078125,
80.244140625,
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121.728515625,
113.994140625,
88.857421875,
98.4375,
-43.681640625,
34.716796875
] | 0.033333 | 1 | 0 | 1 | 0 |
[
124.892578125,
131.572265625,
138.955078125,
80.244140625,
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35.068359375
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122.51953125,
120.673828125,
102.216796875,
91.7578125,
-36.03515625,
34.8046875
] | 0.066667 | 2 | 0 | 2 | 0 |
[
124.892578125,
131.572265625,
138.955078125,
80.244140625,
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35.068359375
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123.22265625,
126.650390625,
120.41015625,
86.1328125,
-29.091796875,
34.8046875
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[
124.98046875,
131.8359375,
138.8671875,
80.419921875,
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35.15625
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123.92578125,
129.55078125,
142.998046875,
80.068359375,
-22.587890625,
34.8046875
] | 0.133333 | 4 | 0 | 4 | 0 |
[
124.98046875,
132.978515625,
138.427734375,
80.595703125,
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123.57421875,
129.7265625,
143.0859375,
78.3984375,
-20.7421875,
34.62890625
] | 0.166667 | 5 | 0 | 5 | 0 |
[
125.15625,
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137.021484375,
80.68359375,
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35.595703125
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123.662109375,
130.078125,
141.240234375,
79.013671875,
-20.0390625,
34.716796875
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[
125.15625,
135,
134.296875,
81.2109375,
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35.771484375
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124.62890625,
130.60546875,
138.515625,
79.013671875,
-19.775390625,
34.716796875
] | 0.233333 | 7 | 0 | 7 | 0 |
[
125.244140625,
134.736328125,
129.375,
83.232421875,
-17.490234375,
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124.541015625,
130.869140625,
137.548828125,
79.365234375,
-19.423828125,
34.716796875
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[
125.33203125,
134.6484375,
125.068359375,
86.396484375,
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35.859375
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124.716796875,
130.869140625,
135.3515625,
80.595703125,
-18.80859375,
34.716796875
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[
125.33203125,
134.47265625,
120.146484375,
90,
-16.69921875,
35.68359375
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124.892578125,
130.869140625,
131.1328125,
81.9140625,
-18.193359375,
34.716796875
] | 0.333333 | 10 | 0 | 10 | 0 |
[
125.15625,
134.296875,
115.048828125,
93.69140625,
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35.595703125
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124.892578125,
130.869140625,
123.046875,
84.7265625,
-17.40234375,
34.716796875
] | 0.366667 | 11 | 0 | 11 | 0 |
[
125.15625,
133.857421875,
108.544921875,
98.7890625,
-15.29296875,
35.595703125
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125.068359375,
130.869140625,
118.564453125,
87.1875,
-16.787109375,
34.716796875
] | 0.4 | 12 | 0 | 12 | 0 |
[
125.15625,
133.330078125,
104.501953125,
101.953125,
-14.677734375,
35.595703125
] | [
124.98046875,
130.78125,
114.345703125,
90.703125,
-16.259765625,
34.716796875
] | 0.433333 | 13 | 0 | 13 | 0 |
[
125.068359375,
133.06640625,
101.162109375,
104.677734375,
-14.4140625,
35.5078125
] | [
124.892578125,
130.78125,
107.138671875,
95.09765625,
-15.46875,
34.716796875
] | 0.466667 | 14 | 0 | 14 | 0 |
[
125.068359375,
133.154296875,
97.998046875,
106.787109375,
-14.326171875,
35.33203125
] | [
125.068359375,
130.869140625,
103.53515625,
97.734375,
-14.94140625,
34.716796875
] | 0.5 | 15 | 0 | 15 | 0 |
[
125.15625,
133.41796875,
97.119140625,
107.2265625,
-14.326171875,
35.33203125
] | [
124.98046875,
130.78125,
100.8984375,
100.72265625,
-14.501953125,
34.716796875
] | 0.533333 | 16 | 0 | 16 | 0 |
[
125.15625,
133.41796875,
97.03125,
107.2265625,
-14.23828125,
35.15625
] | [
124.98046875,
130.78125,
98.4375,
103.271484375,
-14.4140625,
34.716796875
] | 0.566667 | 17 | 0 | 17 | 0 |
[
125.15625,
133.505859375,
96.85546875,
107.2265625,
-13.974609375,
35.15625
] | [
124.98046875,
130.78125,
98.525390625,
104.23828125,
-14.326171875,
34.716796875
] | 0.6 | 18 | 0 | 18 | 0 |
[
125.15625,
133.59375,
96.591796875,
107.2265625,
-13.53515625,
35.15625
] | [
124.98046875,
130.78125,
98.4375,
104.853515625,
-14.23828125,
34.716796875
] | 0.633333 | 19 | 0 | 19 | 0 |
[
125.068359375,
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96.591796875,
107.2265625,
-13.095703125,
35.15625
] | [
124.98046875,
130.78125,
98.4375,
105.029296875,
-13.974609375,
34.716796875
] | 0.666667 | 20 | 0 | 20 | 0 |
[
125.068359375,
133.9453125,
96.85546875,
107.2265625,
-12.568359375,
35.15625
] | [
124.98046875,
130.78125,
98.4375,
105.1171875,
-13.53515625,
34.716796875
] | 0.7 | 21 | 0 | 21 | 0 |
[
125.068359375,
134.033203125,
96.85546875,
107.2265625,
-12.216796875,
35.15625
] | [
124.98046875,
130.78125,
98.4375,
105.1171875,
-13.271484375,
34.716796875
] | 0.733333 | 22 | 0 | 22 | 0 |
[
125.068359375,
134.033203125,
97.03125,
107.2265625,
-12.216796875,
35.15625
] | [
124.98046875,
130.869140625,
98.4375,
105.1171875,
-12.919921875,
34.716796875
] | 0.766667 | 23 | 0 | 23 | 0 |
[
124.98046875,
134.033203125,
97.20703125,
107.314453125,
-12.3046875,
35.244140625
] | [
124.98046875,
130.869140625,
98.4375,
105.1171875,
-12.568359375,
34.716796875
] | 0.8 | 24 | 0 | 24 | 0 |
[
124.98046875,
134.033203125,
97.3828125,
107.40234375,
-12.3046875,
35.068359375
] | [
124.62890625,
130.869140625,
98.4375,
105.1171875,
-12.392578125,
34.716796875
] | 0.833333 | 25 | 0 | 25 | 0 |
[
124.892578125,
134.033203125,
97.646484375,
107.490234375,
-12.3046875,
35.068359375
] | [
124.27734375,
130.869140625,
98.4375,
105.1171875,
-12.3046875,
34.716796875
] | 0.866667 | 26 | 0 | 26 | 0 |
[
124.8046875,
134.033203125,
97.822265625,
107.490234375,
-12.3046875,
35.068359375
] | [
124.1015625,
130.869140625,
98.4375,
105.1171875,
-12.3046875,
34.716796875
] | 0.9 | 27 | 0 | 27 | 0 |
[
124.716796875,
134.033203125,
97.822265625,
107.490234375,
-12.216796875,
35.15625
] | [
124.013671875,
130.869140625,
98.4375,
105.1171875,
-12.3046875,
34.716796875
] | 0.933333 | 28 | 0 | 28 | 0 |
[
124.8046875,
134.033203125,
97.822265625,
107.490234375,
-12.12890625,
35.244140625
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.3046875,
34.716796875
] | 0.966667 | 29 | 0 | 29 | 0 |
[
124.8046875,
134.12109375,
97.91015625,
107.40234375,
-11.953125,
35.068359375
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.392578125,
34.716796875
] | 1 | 30 | 0 | 30 | 0 |
[
124.8046875,
134.12109375,
97.91015625,
107.40234375,
-12.041015625,
34.98046875
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.3046875,
34.716796875
] | 1.033333 | 31 | 0 | 31 | 0 |
[
124.8046875,
134.12109375,
97.91015625,
107.314453125,
-12.041015625,
34.716796875
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.12890625,
34.189453125
] | 1.066667 | 32 | 0 | 32 | 0 |
[
124.8046875,
134.12109375,
97.822265625,
107.2265625,
-12.12890625,
34.62890625
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.12890625,
34.189453125
] | 1.1 | 33 | 0 | 33 | 0 |
[
124.716796875,
134.033203125,
97.822265625,
107.2265625,
-12.12890625,
34.62890625
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.12890625,
34.189453125
] | 1.133333 | 34 | 0 | 34 | 0 |
[
124.716796875,
134.033203125,
97.91015625,
107.2265625,
-12.216796875,
34.541015625
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.12890625,
34.189453125
] | 1.166667 | 35 | 0 | 35 | 0 |
[
124.716796875,
134.033203125,
98.0859375,
107.2265625,
-12.3046875,
34.541015625
] | [
123.92578125,
130.869140625,
98.4375,
105.1171875,
-12.12890625,
34.189453125
] | 1.2 | 36 | 0 | 36 | 0 |
[
124.716796875,
134.033203125,
98.26171875,
107.2265625,
-12.48046875,
34.453125
] | [
123.92578125,
130.869140625,
98.61328125,
105.1171875,
-12.12890625,
34.189453125
] | 1.233333 | 37 | 0 | 37 | 0 |
[
124.62890625,
133.9453125,
98.26171875,
107.138671875,
-12.65625,
34.365234375
] | [
123.92578125,
130.869140625,
98.61328125,
105.1171875,
-12.12890625,
34.189453125
] | 1.266667 | 38 | 0 | 38 | 0 |
[
124.62890625,
133.857421875,
97.998046875,
107.138671875,
-12.744140625,
34.189453125
] | [
123.92578125,
130.869140625,
98.701171875,
105.1171875,
-12.12890625,
34.189453125
] | 1.3 | 39 | 0 | 39 | 0 |
[
124.62890625,
133.76953125,
97.822265625,
107.05078125,
-12.744140625,
34.1015625
] | [
123.92578125,
130.869140625,
98.701171875,
105.1171875,
-12.12890625,
34.189453125
] | 1.333333 | 40 | 0 | 40 | 0 |
[
124.716796875,
133.59375,
97.734375,
106.69921875,
-12.83203125,
33.92578125
] | [
123.92578125,
130.869140625,
98.701171875,
105.1171875,
-12.12890625,
34.189453125
] | 1.366667 | 41 | 0 | 41 | 0 |
[
124.716796875,
133.330078125,
97.734375,
105.99609375,
-13.0078125,
33.837890625
] | [
123.92578125,
130.869140625,
98.701171875,
105.1171875,
-12.12890625,
33.662109375
] | 1.4 | 42 | 0 | 42 | 0 |
[
124.716796875,
132.626953125,
97.646484375,
105.029296875,
-13.53515625,
33.837890625
] | [
123.92578125,
130.869140625,
98.701171875,
105.029296875,
-12.216796875,
33.3984375
] | 1.433333 | 43 | 0 | 43 | 0 |
[
124.8046875,
131.572265625,
97.470703125,
103.53515625,
-14.853515625,
33.837890625
] | [
123.92578125,
130.78125,
98.61328125,
104.853515625,
-12.48046875,
33.3984375
] | 1.466667 | 44 | 0 | 44 | 0 |
[
124.98046875,
129.638671875,
97.20703125,
101.689453125,
-17.2265625,
33.837890625
] | [
123.92578125,
130.60546875,
98.701171875,
104.677734375,
-12.744140625,
33.3984375
] | 1.5 | 45 | 0 | 45 | 0 |
[
125.244140625,
128.056640625,
97.20703125,
100.37109375,
-19.248046875,
33.837890625
] | [
123.837890625,
129.814453125,
98.61328125,
103.88671875,
-13.53515625,
33.3984375
] | 1.533333 | 46 | 0 | 46 | 0 |
[
125.419921875,
126.650390625,
97.294921875,
98.876953125,
-21.357421875,
33.837890625
] | [
124.189453125,
129.0234375,
98.61328125,
103.0078125,
-14.94140625,
33.310546875
] | 1.566667 | 47 | 0 | 47 | 0 |
[
125.5078125,
125.33203125,
97.294921875,
97.734375,
-23.02734375,
33.837890625
] | [
124.541015625,
127.79296875,
98.61328125,
101.865234375,
-16.69921875,
33.310546875
] | 1.6 | 48 | 0 | 48 | 0 |
[
125.947265625,
124.1015625,
97.294921875,
96.591796875,
-24.345703125,
33.837890625
] | [
124.8046875,
125.595703125,
98.701171875,
99.580078125,
-19.6875,
33.310546875
] | 1.633333 | 49 | 0 | 49 | 0 |
[
127.08984375,
122.51953125,
97.294921875,
95.009765625,
-25.83984375,
33.837890625
] | [
124.98046875,
124.62890625,
98.701171875,
98.349609375,
-21.26953125,
33.310546875
] | 1.666667 | 50 | 0 | 50 | 0 |
[
128.056640625,
121.201171875,
97.294921875,
93.69140625,
-26.89453125,
33.662109375
] | [
125.595703125,
123.486328125,
98.701171875,
97.20703125,
-22.587890625,
33.310546875
] | 1.7 | 51 | 0 | 51 | 0 |
[
129.111328125,
119.619140625,
97.294921875,
92.373046875,
-28.30078125,
33.662109375
] | [
127.001953125,
121.728515625,
98.701171875,
95.537109375,
-24.2578125,
33.310546875
] | 1.733333 | 52 | 0 | 52 | 0 |
[
130.166015625,
117.421875,
97.20703125,
90.439453125,
-30.322265625,
33.662109375
] | [
127.880859375,
120.41015625,
98.701171875,
94.482421875,
-25.3125,
33.310546875
] | 1.766667 | 53 | 0 | 53 | 0 |
[
130.78125,
115.3125,
96.943359375,
88.505859375,
-31.81640625,
33.662109375
] | [
128.759765625,
118.828125,
98.701171875,
93.33984375,
-26.630859375,
33.310546875
] | 1.8 | 54 | 0 | 54 | 0 |
[
131.1328125,
113.02734375,
96.767578125,
86.30859375,
-33.134765625,
33.662109375
] | [
129.55078125,
116.19140625,
98.701171875,
90.966796875,
-28.65234375,
33.310546875
] | 1.833333 | 55 | 0 | 55 | 0 |
[
131.396484375,
110.0390625,
96.416015625,
83.49609375,
-34.27734375,
33.662109375
] | [
130.078125,
114.697265625,
98.701171875,
89.560546875,
-29.8828125,
33.310546875
] | 1.866667 | 56 | 0 | 56 | 0 |
[
131.572265625,
107.578125,
96.064453125,
81.38671875,
-34.892578125,
33.662109375
] | [
130.517578125,
112.67578125,
98.701171875,
87.802734375,
-31.201171875,
33.310546875
] | 1.9 | 57 | 0 | 57 | 0 |
[
131.66015625,
105.29296875,
95.625,
79.716796875,
-35.068359375,
33.662109375
] | [
130.693359375,
108.984375,
98.61328125,
84.7265625,
-32.6953125,
33.310546875
] | 1.933333 | 58 | 0 | 58 | 0 |
[
131.66015625,
102.568359375,
94.833984375,
78.046875,
-35.15625,
33.662109375
] | [
130.78125,
106.69921875,
98.525390625,
82.79296875,
-33.486328125,
33.310546875
] | 1.966667 | 59 | 0 | 59 | 0 |
[
131.572265625,
100.634765625,
94.04296875,
77.080078125,
-35.419921875,
33.662109375
] | [
130.78125,
104.501953125,
97.998046875,
81.123046875,
-34.013671875,
33.310546875
] | 2 | 60 | 0 | 60 | 0 |
[
131.572265625,
98.7890625,
92.8125,
76.376953125,
-36.03515625,
33.57421875
] | [
130.78125,
101.162109375,
96.85546875,
79.189453125,
-34.541015625,
33.310546875
] | 2.033333 | 61 | 0 | 61 | 0 |
[
131.572265625,
96.240234375,
90.703125,
75.76171875,
-37.705078125,
33.57421875
] | [
130.693359375,
99.31640625,
95.80078125,
78.22265625,
-34.8046875,
33.310546875
] | 2.066667 | 62 | 0 | 62 | 0 |
[
131.572265625,
93.955078125,
88.59375,
75.76171875,
-39.7265625,
33.57421875
] | [
130.693359375,
97.20703125,
94.39453125,
77.34375,
-35.33203125,
33.310546875
] | 2.1 | 63 | 0 | 63 | 0 |
[
131.396484375,
91.669921875,
86.220703125,
76.025390625,
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130.78125,
95.2734375,
92.28515625,
76.640625,
-36.2109375,
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[
131.220703125,
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83.759765625,
76.376953125,
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33.57421875
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130.78125,
92.197265625,
88.41796875,
76.2890625,
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33.310546875
] | 2.166667 | 65 | 0 | 65 | 0 |
[
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87.451171875,
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130.78125,
90.263671875,
86.66015625,
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[
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86.484375,
79.8046875,
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130.78125,
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84.814453125,
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[
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85.78125,
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130.60546875,
86.572265625,
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76.904296875,
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84.55078125,
80.15625,
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-45.87890625,
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[
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130.078125,
83.935546875,
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83.49609375,
78.837890625,
80.15625,
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[
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129.375,
83.49609375,
78.92578125,
81.123046875,
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[
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83.49609375,
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129.19921875,
83.14453125,
78.837890625,
81.9140625,
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[
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129.111328125,
82.353515625,
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[
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[
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[
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[
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81.38671875,
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[
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128.935546875,
81.38671875,
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[
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[
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81.298828125,
77.16796875,
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-27.0703125,
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[
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128.935546875,
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[
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128.935546875,
80.5078125,
75.322265625,
83.056640625,
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[
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128.935546875,
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74.00390625,
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-21.005859375,
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[
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128.935546875,
77.16796875,
72.509765625,
82.79296875,
-18.45703125,
33.310546875
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[
129.462890625,
73.30078125,
66.708984375,
82.265625,
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128.935546875,
75.76171875,
71.806640625,
82.880859375,
-17.2265625,
33.310546875
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[
129.462890625,
71.19140625,
65.478515625,
81.9140625,
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128.935546875,
74.00390625,
70.3125,
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-16.171875,
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[
129.462890625,
69.2578125,
64.51171875,
81.826171875,
-15.732421875,
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128.935546875,
72.24609375,
68.37890625,
82.44140625,
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[
129.375,
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63.80859375,
81.9140625,
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128.935546875,
69.697265625,
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81.5625,
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[
129.375,
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63.6328125,
81.9140625,
-15.732421875,
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128.935546875,
68.291015625,
65.478515625,
81.5625,
-15.205078125,
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[
129.287109375,
67.67578125,
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82.001953125,
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128.935546875,
67.5,
65.0390625,
81.5625,
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[
129.0234375,
67.67578125,
63.896484375,
82.353515625,
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128.935546875,
66.884765625,
64.423828125,
81.9140625,
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[
128.84765625,
67.763671875,
63.984375,
82.44140625,
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128.935546875,
66.796875,
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-15.205078125,
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[
128.759765625,
67.8515625,
64.072265625,
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128.671875,
66.796875,
64.3359375,
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[
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128.408203125,
66.796875,
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[
128.583984375,
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128.408203125,
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[
128.583984375,
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128.3203125,
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[
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66.97265625,
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82.265625,
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] | 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": 40,
"total_frames": 11554,
"total_tasks": 1,
"total_videos": 80,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:40"
},
"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": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"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": [
"height",
"width",
"channels"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
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"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
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],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
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],
"names": null
},
"index": {
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"shape": [
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
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],
"names": null
}
}
}
Citation
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