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action
sequence | observation.state
sequence | timestamp
float32 0
28.7
| frame_index
int64 0
862
| episode_index
int64 0
39
| index
int64 0
18.5k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
79.27734375,
134.6484375,
151.171875,
57.12890625,
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34.62890625
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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33.3984375
] | 0 | 0 | 0 | 0 | 0 |
[
79.27734375,
134.6484375,
151.171875,
57.12890625,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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33.3984375
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[
79.27734375,
134.6484375,
151.171875,
57.12890625,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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33.3984375
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[
79.27734375,
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151.171875,
57.12890625,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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33.3984375
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[
79.365234375,
134.6484375,
151.171875,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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[
79.27734375,
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78.92578125,
131.220703125,
150.29296875,
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[
79.27734375,
134.6484375,
151.171875,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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[
79.27734375,
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78.92578125,
131.220703125,
150.29296875,
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[
79.27734375,
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150.29296875,
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[
79.27734375,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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[
79.27734375,
134.6484375,
151.171875,
57.12890625,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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[
79.27734375,
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78.92578125,
131.220703125,
150.29296875,
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[
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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[
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57.12890625,
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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[
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78.92578125,
131.220703125,
150.29296875,
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[
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78.92578125,
131.220703125,
150.29296875,
56.162109375,
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[
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78.92578125,
131.220703125,
150.29296875,
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[
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131.220703125,
150.29296875,
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[
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131.220703125,
150.29296875,
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[
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131.220703125,
150.29296875,
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[
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78.92578125,
131.220703125,
150.29296875,
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[
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131.220703125,
150.29296875,
56.162109375,
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[
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78.92578125,
131.220703125,
150.29296875,
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[
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131.220703125,
150.29296875,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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131.220703125,
150.29296875,
56.07421875,
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[
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55.8984375,
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131.220703125,
150.29296875,
55.8984375,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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151.5234375,
55.458984375,
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131.220703125,
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[
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134.6484375,
151.69921875,
54.931640625,
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131.220703125,
150.46875,
55.37109375,
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[
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78.92578125,
131.220703125,
150.46875,
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] | 0.933333 | 28 | 0 | 28 | 0 |
[
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131.220703125,
150.556640625,
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[
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131.220703125,
150.556640625,
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[
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131.220703125,
150.556640625,
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[
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150.556640625,
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[
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131.220703125,
150.380859375,
55.107421875,
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[
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[
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147.3046875,
54.4921875,
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131.220703125,
149.677734375,
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[
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[
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131.220703125,
147.65625,
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[
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131.220703125,
146.337890625,
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[
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131.220703125,
144.755859375,
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[
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134.6484375,
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59.94140625,
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78.92578125,
131.220703125,
141.416015625,
56.513671875,
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[
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134.6484375,
133.9453125,
62.666015625,
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] | [
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131.220703125,
139.482421875,
57.48046875,
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[
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131.220703125,
137.197265625,
58.798828125,
-17.40234375,
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[
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134.6484375,
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68.37890625,
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131.220703125,
134.560546875,
60.8203125,
-17.40234375,
33.3984375
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[
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134.6484375,
125.859375,
71.455078125,
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131.220703125,
131.8359375,
63.193359375,
-17.40234375,
33.3984375
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[
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134.6484375,
122.87109375,
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131.1328125,
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65.91796875,
-17.40234375,
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[
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78.92578125,
131.220703125,
124.8046875,
70.13671875,
-17.40234375,
33.3984375
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[
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134.6484375,
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81.2109375,
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131.220703125,
122.607421875,
72.421875,
-17.490234375,
33.3984375
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[
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134.6484375,
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] | [
78.92578125,
131.220703125,
120.05859375,
75.322265625,
-17.40234375,
33.3984375
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[
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134.6484375,
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85.517578125,
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131.220703125,
117.685546875,
77.87109375,
-17.40234375,
33.3984375
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[
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134.6484375,
109.3359375,
87.275390625,
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131.220703125,
115.13671875,
80.419921875,
-17.40234375,
33.3984375
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[
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134.6484375,
107.40234375,
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131.220703125,
112.5,
82.705078125,
-17.40234375,
33.3984375
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[
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134.6484375,
105.732421875,
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131.1328125,
109.3359375,
85.341796875,
-17.40234375,
33.3984375
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[
87.099609375,
134.6484375,
104.326171875,
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83.14453125,
131.220703125,
108.10546875,
86.572265625,
-17.40234375,
33.3984375
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[
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131.1328125,
107.05078125,
87.71484375,
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[
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134.560546875,
103.095703125,
92.8125,
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86.30859375,
131.220703125,
105.99609375,
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33.3984375
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[
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134.560546875,
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87.1875,
131.220703125,
105.46875,
89.6484375,
-17.578125,
33.3984375
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[
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102.568359375,
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34.453125
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88.06640625,
131.220703125,
105.029296875,
90.52734375,
-17.666015625,
33.3984375
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[
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134.296875,
102.48046875,
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-18.193359375,
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131.1328125,
104.677734375,
91.0546875,
-17.666015625,
33.3984375
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[
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134.12109375,
102.3046875,
94.21875,
-18.28125,
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88.76953125,
131.220703125,
104.58984375,
91.494140625,
-17.75390625,
33.3984375
] | 1.966667 | 59 | 0 | 59 | 0 |
[
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88.76953125,
131.220703125,
104.58984375,
91.7578125,
-17.75390625,
33.3984375
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[
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88.76953125,
131.220703125,
104.58984375,
92.021484375,
-17.75390625,
33.3984375
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[
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102.12890625,
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89.12109375,
131.220703125,
104.58984375,
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-17.75390625,
33.3984375
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[
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102.12890625,
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89.384765625,
131.1328125,
104.58984375,
92.4609375,
-17.75390625,
33.3984375
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[
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131.1328125,
104.58984375,
92.548828125,
-17.841796875,
33.3984375
] | 2.133333 | 64 | 0 | 64 | 0 |
[
93.69140625,
133.59375,
102.12890625,
95.009765625,
-22.763671875,
34.013671875
] | [
90.703125,
131.1328125,
104.58984375,
92.548828125,
-18.10546875,
33.3984375
] | 2.166667 | 65 | 0 | 65 | 0 |
[
95.44921875,
133.2421875,
102.041015625,
94.921875,
-25.224609375,
34.013671875
] | [
92.109375,
131.1328125,
104.58984375,
92.63671875,
-19.51171875,
33.3984375
] | 2.2 | 66 | 0 | 66 | 0 |
[
98.349609375,
132.890625,
102.041015625,
94.921875,
-28.828125,
34.013671875
] | [
93.1640625,
131.1328125,
104.58984375,
92.8125,
-20.830078125,
33.3984375
] | 2.233333 | 67 | 0 | 67 | 0 |
[
100.986328125,
132.802734375,
101.953125,
94.833984375,
-32.080078125,
34.013671875
] | [
94.921875,
131.044921875,
104.58984375,
92.8125,
-22.763671875,
33.3984375
] | 2.266667 | 68 | 0 | 68 | 0 |
[
103.88671875,
132.626953125,
101.953125,
94.5703125,
-35.5078125,
34.013671875
] | [
97.03125,
130.95703125,
104.4140625,
92.900390625,
-25.3125,
33.3984375
] | 2.3 | 69 | 0 | 69 | 0 |
[
106.787109375,
132.36328125,
101.865234375,
94.482421875,
-38.49609375,
34.013671875
] | [
99.580078125,
131.044921875,
103.88671875,
92.900390625,
-28.212890625,
33.3984375
] | 2.333333 | 70 | 0 | 70 | 0 |
[
109.423828125,
132.275390625,
101.865234375,
94.21875,
-41.396484375,
33.92578125
] | [
102.3046875,
131.044921875,
103.623046875,
92.900390625,
-31.640625,
33.3984375
] | 2.366667 | 71 | 0 | 71 | 0 |
[
111.62109375,
132.1875,
101.77734375,
94.04296875,
-43.59375,
33.92578125
] | [
105.1171875,
131.044921875,
103.447265625,
92.900390625,
-34.62890625,
33.22265625
] | 2.4 | 72 | 0 | 72 | 0 |
[
113.466796875,
132.01171875,
101.6015625,
94.04296875,
-45.615234375,
33.92578125
] | [
108.984375,
131.044921875,
103.359375,
92.900390625,
-38.935546875,
33.134765625
] | 2.433333 | 73 | 0 | 73 | 0 |
[
115.13671875,
131.748046875,
101.42578125,
94.130859375,
-47.63671875,
33.92578125
] | [
110.91796875,
131.044921875,
103.359375,
92.900390625,
-41.1328125,
33.134765625
] | 2.466667 | 74 | 0 | 74 | 0 |
[
116.279296875,
131.66015625,
101.337890625,
94.130859375,
-48.955078125,
33.92578125
] | [
112.763671875,
130.78125,
103.359375,
92.900390625,
-43.06640625,
33.134765625
] | 2.5 | 75 | 0 | 75 | 0 |
[
117.24609375,
131.66015625,
101.25,
94.130859375,
-50.09765625,
33.92578125
] | [
114.345703125,
130.78125,
103.359375,
92.900390625,
-44.82421875,
33.134765625
] | 2.533333 | 76 | 0 | 76 | 0 |
[
118.30078125,
131.484375,
101.07421875,
94.130859375,
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33.92578125
] | [
115.751953125,
130.78125,
103.359375,
92.900390625,
-46.40625,
33.134765625
] | 2.566667 | 77 | 0 | 77 | 0 |
[
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131.220703125,
100.8984375,
94.130859375,
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33.92578125
] | [
116.982421875,
130.78125,
103.359375,
92.900390625,
-47.900390625,
33.134765625
] | 2.6 | 78 | 0 | 78 | 0 |
[
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130.95703125,
100.810546875,
94.130859375,
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117.7734375,
130.78125,
103.18359375,
92.900390625,
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33.134765625
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[
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130.78125,
100.8984375,
94.130859375,
-56.42578125,
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118.4765625,
130.25390625,
102.568359375,
92.900390625,
-51.50390625,
33.134765625
] | 2.666667 | 80 | 0 | 80 | 0 |
[
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130.517578125,
100.8984375,
94.130859375,
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33.92578125
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119.091796875,
129.90234375,
102.3046875,
92.98828125,
-52.822265625,
33.134765625
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[
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129.990234375,
100.810546875,
94.130859375,
-59.58984375,
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120.234375,
129.814453125,
102.3046875,
92.98828125,
-54.228515625,
33.134765625
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[
125.33203125,
129.287109375,
100.810546875,
94.04296875,
-61.5234375,
33.92578125
] | [
121.552734375,
129.462890625,
102.3046875,
92.98828125,
-55.72265625,
33.134765625
] | 2.766667 | 83 | 0 | 83 | 0 |
[
127.08984375,
128.408203125,
100.810546875,
93.955078125,
-63.896484375,
33.837890625
] | [
122.958984375,
129.19921875,
102.3046875,
92.98828125,
-57.216796875,
33.134765625
] | 2.8 | 84 | 0 | 84 | 0 |
[
129.287109375,
127.6171875,
100.810546875,
93.779296875,
-66.62109375,
33.837890625
] | [
124.716796875,
128.759765625,
102.3046875,
92.900390625,
-58.88671875,
33.134765625
] | 2.833333 | 85 | 0 | 85 | 0 |
[
131.748046875,
126.73828125,
100.72265625,
93.427734375,
-69.521484375,
33.837890625
] | [
126.650390625,
127.96875,
102.3046875,
92.900390625,
-60.8203125,
33.134765625
] | 2.866667 | 86 | 0 | 86 | 0 |
[
134.82421875,
125.5078125,
100.72265625,
92.63671875,
-72.421875,
33.837890625
] | [
129.462890625,
126.650390625,
102.3046875,
92.98828125,
-64.423828125,
33.134765625
] | 2.9 | 87 | 0 | 87 | 0 |
[
138.515625,
123.310546875,
100.458984375,
91.0546875,
-76.11328125,
33.837890625
] | [
131.220703125,
125.771484375,
102.3046875,
92.8125,
-66.796875,
33.134765625
] | 2.933333 | 88 | 0 | 88 | 0 |
[
141.416015625,
120.9375,
100.01953125,
89.560546875,
-79.541015625,
33.837890625
] | [
133.681640625,
124.541015625,
102.3046875,
92.373046875,
-69.345703125,
33.134765625
] | 2.966667 | 89 | 0 | 89 | 0 |
[
143.96484375,
118.30078125,
99.052734375,
88.505859375,
-83.49609375,
33.837890625
] | [
137.021484375,
122.87109375,
102.3046875,
91.7578125,
-72.421875,
33.134765625
] | 3 | 90 | 0 | 90 | 0 |
[
146.162109375,
115.400390625,
97.470703125,
88.154296875,
-87.626953125,
33.837890625
] | [
139.833984375,
120.673828125,
102.12890625,
90.966796875,
-75.498046875,
33.134765625
] | 3.033333 | 91 | 0 | 91 | 0 |
[
148.271484375,
112.1484375,
95.361328125,
88.154296875,
-90.87890625,
33.837890625
] | [
142.470703125,
118.125,
100.986328125,
90,
-79.189453125,
33.134765625
] | 3.066667 | 92 | 0 | 92 | 0 |
[
150.1171875,
109.072265625,
93.1640625,
88.330078125,
-92.98828125,
33.662109375
] | [
145.8984375,
113.994140625,
97.91015625,
88.681640625,
-84.287109375,
33.134765625
] | 3.1 | 93 | 0 | 93 | 0 |
[
151.611328125,
105.99609375,
90.439453125,
88.59375,
-93.955078125,
33.662109375
] | [
147.919921875,
111.4453125,
96.240234375,
87.978515625,
-87.1875,
33.134765625
] | 3.133333 | 94 | 0 | 94 | 0 |
[
152.314453125,
103.974609375,
88.330078125,
88.76953125,
-94.130859375,
33.662109375
] | [
149.501953125,
108.6328125,
94.130859375,
88.505859375,
-89.47265625,
33.134765625
] | 3.166667 | 95 | 0 | 95 | 0 |
[
152.578125,
102.12890625,
86.220703125,
88.9453125,
-94.130859375,
33.662109375
] | [
150.732421875,
105.732421875,
91.494140625,
88.330078125,
-91.23046875,
33.22265625
] | 3.2 | 96 | 0 | 96 | 0 |
[
152.666015625,
100.37109375,
84.287109375,
89.12109375,
-94.130859375,
33.662109375
] | [
151.435546875,
103.271484375,
88.9453125,
87.802734375,
-92.28515625,
33.22265625
] | 3.233333 | 97 | 0 | 97 | 0 |
[
152.75390625,
98.876953125,
82.79296875,
89.296875,
-94.04296875,
33.662109375
] | [
151.69921875,
101.07421875,
87.1875,
87.802734375,
-92.900390625,
33.22265625
] | 3.266667 | 98 | 0 | 98 | 0 |
[
152.75390625,
97.822265625,
81.73828125,
89.560546875,
-93.8671875,
33.662109375
] | [
151.787109375,
99.31640625,
85.693359375,
88.2421875,
-93.251953125,
33.22265625
] | 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": 18493,
"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",
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"has_audio": false
}
},
"observation.images.phone": {
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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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"has_audio": false
}
},
"timestamp": {
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"names": null
},
"frame_index": {
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},
"episode_index": {
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"shape": [
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],
"names": null
},
"index": {
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],
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},
"task_index": {
"dtype": "int64",
"shape": [
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],
"names": null
}
}
}
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