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observation.state
list
action
list
timestamp
float32
0
19.8
frame_index
int64
0
79
episode_index
int64
0
4
index
int64
0
399
task_index
int64
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[ 1.3200212717056274, 0.7000179290771484, 0.0000015469133813894587, -2.0000016689300537, -0.000007186922175606014, -0.5700137615203857, 0.10000653564929962, 0.05011160671710968, 0.04995748773217201 ]
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0.25
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1.25
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1.75
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3.5
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6
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6.25
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6.5
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6.75
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7
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7.25
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7.5
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7.75
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8
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8.25
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8.5
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8.75
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9
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9.25
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37
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9.5
38
0
38
0
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9.75
39
0
39
0
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10
40
0
40
0
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10.25
41
0
41
0
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10.5
42
0
42
0
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10.75
43
0
43
0
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11
44
0
44
0
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11.25
45
0
45
0
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[ -0.6561896204948425, 0.293869286775589, -2.1892035007476807, 2.2460148334503174, -2.3388559818267822, -0.9922788143157959, 3.0450382232666016, 0.016109952703118324, 0.017545724287629128 ]
11.5
46
0
46
0
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[ -0.6834349036216736, 0.3369401693344116, -2.3611199855804443, 2.1447975635528564, -2.2623000144958496, -1.1100050210952759, 3.045003652572632, 0.050000887364149094, 0.049999915063381195 ]
11.75
47
0
47
0
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[ -0.2466217577457428, 0.3336870074272156, -2.296128988265991, 0.9233611822128296, -1.9440721273422241, -1.0886520147323608, 2.484306812286377, 0.04977827146649361, 0.04995791241526604 ]
12
48
0
48
0
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[ -0.013583116233348846, 0.28218796849250793, -2.188025951385498, 0.2930545210838318, -1.7212201356887817, -1.0590850114822388, 1.960971713066101, 0.049840737134218216, 0.04991845786571503 ]
12.25
49
0
49
0
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12.5
50
0
50
0
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[ 0.20186269283294678, 0.14716041088104248, -1.9650644063949585, -0.1514875739812851, -1.4661201238632202, -1.1096608638763428, 1.5474096536636353, 0.05001327395439148, 0.04992994666099548 ]
12.75
51
0
51
0
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[ 0.29528412222862244, 0.12436918169260025, -1.836792230606079, -0.31178319454193115, -1.3624258041381836, -1.0695942640304565, 1.3258382081985474, 0.04988656938076019, 0.0405198410153389 ]
13
52
0
52
0
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[ 0.31074047088623047, 0.05511672422289848, -1.7271437644958496, -0.1595437377691269, -1.3098241090774536, -1.185096263885498, 1.377838134765625, 0.05009222403168678, 0.05001912638545036 ]
13.25
53
0
53
0
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[ 0.42887115478515625, 0.15301533043384552, -1.6215418577194214, -0.37695109844207764, -1.1725611686706543, -1.1244066953659058, 1.3108714818954468, 0.04998675733804703, 0.05006629228591919 ]
13.5
54
0
54
0
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[ 0.6281882524490356, 0.29690176248550415, -1.4091250896453857, -0.7351831793785095, -0.8643801212310791, -1.050369143486023, 1.337372899055481, 0.050008732825517654, 0.05000249296426773 ]
13.75
55
0
55
0
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[ 0.8274115324020386, 0.4439050853252411, -1.1694284677505493, -1.0819072723388672, -0.5868729948997498, -0.9750849604606628, 1.4663960933685303, 0.05000687763094902, 0.04996831342577934 ]
14
56
0
56
0
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[ 1.0208672285079956, 0.5698893666267395, -0.9459129571914673, -1.3658338785171509, -0.2949434220790863, -0.9502187371253967, 1.6776336431503296, 0.04973204433917999, 0.050016943365335464 ]
14.25
57
0
57
0
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[ 1.1012624502182007, 0.6483580470085144, -0.8970959186553955, -1.4617576599121094, -0.38077449798583984, -0.7886428236961365, 1.8458021879196167, 0.050033651292324066, 0.0500500462949276 ]
14.5
58
0
58
0
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[ 1.1616653203964233, 0.6872844099998474, -0.8128228783607483, -1.5983895063400269, -0.4245005249977112, -0.6507413983345032, 1.9611706733703613, 0.04993143677711487, 0.050111472606658936 ]
14.75
59
0
59
0
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[ 1.1986068487167358, 0.7110884785652161, -0.6888635158538818, -1.734580397605896, -0.4292742609977722, -0.5262295603752136, 2.0991971492767334, 0.04995442554354668, 0.05009779334068298 ]
15
60
0
60
0
[ 1.1986068487167358, 0.7110884785652161, -0.6888635158538818, -1.734580397605896, -0.4292742609977722, -0.5262295603752136, 2.0991971492767334, 0.04995442554354668, 0.05009779334068298 ]
[ 1.2093149423599243, 0.7357879281044006, -0.49120792746543884, -1.837659478187561, -0.42161303758621216, -0.38437527418136597, 2.227155923843384, 0.05016615241765976, 0.04988238215446472 ]
15.25
61
0
61
0
[ 1.2093149423599243, 0.7357879281044006, -0.49120792746543884, -1.837659478187561, -0.42161303758621216, -0.38437527418136597, 2.227155923843384, 0.05016615241765976, 0.04988238215446472 ]
[ 1.237351655960083, 0.8012489676475525, -0.3476250469684601, -1.9948828220367432, -0.4827708899974823, -0.21784541010856628, 2.288405179977417, 0.050172485411167145, 0.049896348267793655 ]
15.5
62
0
62
0
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[ 1.2690032720565796, 0.8657257556915283, -0.21022798120975494, -2.156794786453247, -0.532240092754364, -0.10464713722467422, 2.322482109069824, 0.0499345026910305, 0.049790289252996445 ]
15.75
63
0
63
0
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[ 1.2912157773971558, 0.9100030064582825, -0.07324305176734924, -2.2458441257476807, -0.5643020272254944, -0.026271333917975426, 2.360152006149292, 0.04984880983829498, 0.04990425333380699 ]
16
64
0
64
0
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16.25
65
0
65
0
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[ 1.4451322555541992, 1.0556681156158447, -0.040849752724170685, -2.2455568313598633, -0.6927208304405212, 0.13719442486763, 2.4390242099761963, 0.050019264221191406, 0.05008832365274429 ]
16.5
66
0
66
0
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[ 1.600310206413269, 1.1516245603561401, -0.17754165828227997, -2.245448350906372, -0.79243004322052, 0.2744659185409546, 2.417428970336914, 0.04986792802810669, 0.04984814673662186 ]
16.75
67
0
67
0
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[ 1.5994884967803955, 1.114518642425537, -0.03656748682260513, -2.2459893226623535, -0.6668298244476318, 0.2704832851886749, 2.3950812816619873, 0.04987642541527748, 0.04986928775906563 ]
17
68
0
68
0
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[ 1.6000442504882812, 1.176162838935852, -0.07666930556297302, -2.245858907699585, -0.6908556818962097, 0.3147048056125641, 2.362311840057373, 0.04987368732690811, 0.04988963156938553 ]
17.25
69
0
69
0
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[ 1.6000010967254639, 1.1435494422912598, 0.008534369990229607, -2.2460896968841553, -0.5944114923477173, 0.27704858779907227, 2.3578221797943115, 0.05000092461705208, 0.049831323325634 ]
17.5
70
0
70
0
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[ 1.599968671798706, 1.188462257385254, -0.02873607724905014, -2.24591064453125, -0.6349005103111267, 0.3117864429950714, 2.33207106590271, 0.04986841604113579, 0.049861516803503036 ]
17.75
71
0
71
0
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[ 1.599987268447876, 1.1585873365402222, 0.03429143875837326, -2.246070384979248, -0.5705662965774536, 0.28165188431739807, 2.3290748596191406, 0.04998079314827919, 0.049761734902858734 ]
18
72
0
72
0
[ 1.599987268447876, 1.1585873365402222, 0.03429143875837326, -2.246070384979248, -0.5705662965774536, 0.28165188431739807, 2.3290748596191406, 0.04998079314827919, 0.049761734902858734 ]
[ 1.5999702215194702, 1.190765380859375, 0.00085989705985412, -2.245832920074463, -0.6107041239738464, 0.3095143437385559, 2.3058700561523438, 0.04997173324227333, 0.04994942247867584 ]
18.25
73
0
73
0
[ 1.5999702215194702, 1.190765380859375, 0.00085989705985412, -2.245832920074463, -0.6107041239738464, 0.3095143437385559, 2.3058700561523438, 0.04997173324227333, 0.04994942247867584 ]
[ 1.6000614166259766, 1.1682753562927246, 0.04184268042445183, -2.246021032333374, -0.5662851333618164, 0.2854247987270355, 2.30346417427063, 0.049931034445762634, 0.04985877871513367 ]
18.5
74
0
74
0
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[ 1.5999271869659424, 1.1824798583984375, 0.019621606916189194, -2.245812177658081, -0.5926706790924072, 0.30545976758003235, 2.287348985671997, 0.05003958195447922, 0.05007486790418625 ]
18.75
75
0
75
0
[ 1.5999271869659424, 1.1824798583984375, 0.019621606916189194, -2.245812177658081, -0.5926706790924072, 0.30545976758003235, 2.287348985671997, 0.05003958195447922, 0.05007486790418625 ]
[ 1.6000261306762695, 1.1709517240524292, 0.03757800534367561, -2.245957851409912, -0.5715656280517578, 0.2945941388607025, 2.286365270614624, 0.04994754120707512, 0.04980466514825821 ]
19
76
0
76
0
[ 1.6000261306762695, 1.1709517240524292, 0.03757800534367561, -2.245957851409912, -0.5715656280517578, 0.2945941388607025, 2.286365270614624, 0.04994754120707512, 0.04980466514825821 ]
[ 1.5999603271484375, 1.1762462854385376, 0.028832145035266876, -2.245954990386963, -0.5846888422966003, 0.29871565103530884, 2.274012565612793, 0.049951810389757156, 0.049791257828474045 ]
19.25
77
0
77
0
[ 1.5999603271484375, 1.1762462854385376, 0.028832145035266876, -2.245954990386963, -0.5846888422966003, 0.29871565103530884, 2.274012565612793, 0.049951810389757156, 0.049791257828474045 ]
[ 1.6000341176986694, 1.1703226566314697, 0.03506212309002876, -2.2459354400634766, -0.5766341686248779, 0.2883847951889038, 2.2662417888641357, 0.04996306076645851, 0.04978318512439728 ]
19.5
78
0
78
0
[ 1.6000341176986694, 1.1703226566314697, 0.03506212309002876, -2.2459354400634766, -0.5766341686248779, 0.2883847951889038, 2.2662417888641357, 0.04996306076645851, 0.04978318512439728 ]
[ 1.6000341176986694, 1.1703226566314697, 0.03506212309002876, -2.2459354400634766, -0.5766341686248779, 0.2883847951889038, 2.2662417888641357, 0.04996306076645851, 0.04978318512439728 ]
19.75
79
0
79
0
[ 1.3200496435165405, 0.7000179290771484, -0.0000014558713701262604, -2.0000016689300537, 0.000007043271125439787, -0.5700143575668335, 0.09999341517686844, 0.04995110258460045, 0.049798633903265 ]
[ 1.3162319660186768, 0.6963003873825073, 0.0043646181002259254, -1.9992225170135498, -0.001649119658395648, -0.5652586817741394, 0.09947436302900314, 0.0499514564871788, 0.04979823902249336 ]
0
0
1
80
0
[ 1.3162319660186768, 0.6963003873825073, 0.0043646181002259254, -1.9992225170135498, -0.001649119658395648, -0.5652586817741394, 0.09947436302900314, 0.0499514564871788, 0.04979823902249336 ]
[ 1.3015549182891846, 0.6755253672599792, 0.013904005289077759, -1.9812930822372437, -0.01704409532248974, -0.5355165600776672, 0.09884472191333771, 0.050162479281425476, 0.04989289864897728 ]
0.25
1
1
81
0
[ 1.3015549182891846, 0.6755253672599792, 0.013904005289077759, -1.9812930822372437, -0.01704409532248974, -0.5355165600776672, 0.09884472191333771, 0.050162479281425476, 0.04989289864897728 ]
[ 1.2376389503479004, 0.6097420454025269, 0.06461429595947266, -1.9299118518829346, -0.11156714707612991, -0.41651415824890137, 0.05651283636689186, 0.05002922937273979, 0.05008948966860771 ]
0.5
2
1
82
0
[ 1.2376389503479004, 0.6097420454025269, 0.06461429595947266, -1.9299118518829346, -0.11156714707612991, -0.41651415824890137, 0.05651283636689186, 0.05002922937273979, 0.05008948966860771 ]
[ 1.1238480806350708, 0.4923819303512573, 0.1463262140750885, -1.8227169513702393, -0.3090503215789795, -0.12364108115434647, -0.03559039905667305, 0.049896467477083206, 0.049809541553258896 ]
0.75
3
1
83
0
[ 1.1238480806350708, 0.4923819303512573, 0.1463262140750885, -1.8227169513702393, -0.3090503215789795, -0.12364108115434647, -0.03559039905667305, 0.049896467477083206, 0.049809541553258896 ]
[ 0.9728860855102539, 0.3136250376701355, 0.29346755146980286, -1.6771502494812012, -0.6242539882659912, 0.36060547828674316, -0.2363312840461731, 0.049996476620435715, 0.05006619542837143 ]
1
4
1
84
0
[ 0.9728860855102539, 0.3136250376701355, 0.29346755146980286, -1.6771502494812012, -0.6242539882659912, 0.36060547828674316, -0.2363312840461731, 0.049996476620435715, 0.05006619542837143 ]
[ 0.7763416767120361, 0.07482615113258362, 0.47243034839630127, -1.459887981414795, -1.0159621238708496, 0.9929960370063782, -0.47938016057014465, 0.050004418939352036, 0.04980885237455368 ]
1.25
5
1
85
0
[ 0.7763416767120361, 0.07482615113258362, 0.47243034839630127, -1.459887981414795, -1.0159621238708496, 0.9929960370063782, -0.47938016057014465, 0.050004418939352036, 0.04980885237455368 ]
[ 0.6115008592605591, -0.17632544040679932, 0.6426165103912354, -1.2710294723510742, -1.3846803903579712, 1.59919273853302, -0.646259605884552, 0.04872819781303406, 0.05000077188014984 ]
1.5
6
1
86
0
[ 0.6115008592605591, -0.17632544040679932, 0.6426165103912354, -1.2710294723510742, -1.3846803903579712, 1.59919273853302, -0.646259605884552, 0.04872819781303406, 0.05000077188014984 ]
[ 0.49634361267089844, -0.3193187117576599, 0.6323308944702148, -1.1447653770446777, -1.5650588274002075, 1.8876451253890991, -0.6960102319717407, 0.04999125748872757, 0.05000097304582596 ]
1.75
7
1
87
0
[ 0.49634361267089844, -0.3193187117576599, 0.6323308944702148, -1.1447653770446777, -1.5650588274002075, 1.8876451253890991, -0.6960102319717407, 0.04999125748872757, 0.05000097304582596 ]
[ 0.4503351151943207, -0.41822299361228943, 0.5739853978157043, -1.093178391456604, -1.675255298614502, 2.080456018447876, -0.7019947171211243, 0.050021830946207047, 0.05006324499845505 ]
2
8
1
88
0
[ 0.4503351151943207, -0.41822299361228943, 0.5739853978157043, -1.093178391456604, -1.675255298614502, 2.080456018447876, -0.7019947171211243, 0.050021830946207047, 0.05006324499845505 ]
[ 0.45661062002182007, -0.4843263030052185, 0.47346821427345276, -1.110163688659668, -1.763739824295044, 2.1549413204193115, -0.6716669201850891, 0.05003275349736214, 0.05001802369952202 ]
2.25
9
1
89
0
[ 0.45661062002182007, -0.4843263030052185, 0.47346821427345276, -1.110163688659668, -1.763739824295044, 2.1549413204193115, -0.6716669201850891, 0.05003275349736214, 0.05001802369952202 ]
[ 0.48285043239593506, -0.5666179060935974, 0.34676945209503174, -1.1464149951934814, -1.8690955638885498, 2.155024766921997, -0.5914321541786194, 0.04990876093506813, 0.049939826130867004 ]
2.5
10
1
90
0
[ 0.48285043239593506, -0.5666179060935974, 0.34676945209503174, -1.1464149951934814, -1.8690955638885498, 2.155024766921997, -0.5914321541786194, 0.04990876093506813, 0.049939826130867004 ]
[ 0.5186166763305664, -0.6766165494918823, 0.20836687088012695, -1.1894934177398682, -1.9896330833435059, 2.15523362159729, -0.5256104469299316, 0.049984946846961975, 0.04975456744432449 ]
2.75
11
1
91
0
[ 0.5186166763305664, -0.6766165494918823, 0.20836687088012695, -1.1894934177398682, -1.9896330833435059, 2.15523362159729, -0.5256104469299316, 0.049984946846961975, 0.04975456744432449 ]
[ 0.5382314324378967, -0.9009105563163757, 0.060799721628427505, -1.069095492362976, -2.126403570175171, 2.1553332805633545, -0.2993384599685669, 0.05014755204319954, 0.04996161535382271 ]
3
12
1
92
0
[ 0.5382314324378967, -0.9009105563163757, 0.060799721628427505, -1.069095492362976, -2.126403570175171, 2.1553332805633545, -0.2993384599685669, 0.05014755204319954, 0.04996161535382271 ]
[ 0.4854625165462494, -1.2157877683639526, -0.08038169890642166, -0.5733427405357361, -2.201341390609741, 2.1546683311462402, 0.3487309515476227, 0.049902379512786865, 0.04988929256796837 ]
3.25
13
1
93
0
[ 0.4854625165462494, -1.2157877683639526, -0.08038169890642166, -0.5733427405357361, -2.201341390609741, 2.1546683311462402, 0.3487309515476227, 0.049902379512786865, 0.04988929256796837 ]
[ 0.20814955234527588, -1.2158195972442627, -0.24625082314014435, 0.6244667768478394, -2.11791729927063, 2.1549956798553467, 1.7269902229309082, 0.02226015366613865, 0.021313628181815147 ]
3.5
14
1
94
0
[ 0.20814955234527588, -1.2158195972442627, -0.24625082314014435, 0.6244667768478394, -2.11791729927063, 2.1549956798553467, 1.7269902229309082, 0.02226015366613865, 0.021313628181815147 ]
[ -0.3516092598438263, -1.2164188623428345, -0.3746657073497772, 1.322887659072876, -2.0687062740325928, 1.8143184185028076, 2.7455334663391113, 0.0159788616001606, 0.016799695789813995 ]
3.75
15
1
95
0
[ -0.3516092598438263, -1.2164188623428345, -0.3746657073497772, 1.322887659072876, -2.0687062740325928, 1.8143184185028076, 2.7455334663391113, 0.0159788616001606, 0.016799695789813995 ]
[ -0.7190338969230652, -1.216050148010254, -0.47460266947746277, 1.340453863143921, -2.0969176292419434, 1.431303858757019, 3.044795513153076, 0.000445775396656245, 0.000533012964297086 ]
4
16
1
96
0
[ -0.7190338969230652, -1.216050148010254, -0.47460266947746277, 1.340453863143921, -2.0969176292419434, 1.431303858757019, 3.044795513153076, 0.000445775396656245, 0.000533012964297086 ]
[ -0.9086940884590149, -1.0429128408432007, -0.5427731871604919, 1.163399338722229, -2.2227816581726074, 1.2008970975875854, 3.0322368144989014, 0.00015084838378243148, 0.0000967124433373101 ]
4.25
17
1
97
0
[ -0.9086940884590149, -1.0429128408432007, -0.5427731871604919, 1.163399338722229, -2.2227816581726074, 1.2008970975875854, 3.0322368144989014, 0.00015084838378243148, 0.0000967124433373101 ]
[ -1.026202917098999, -0.8213245272636414, -0.6048303246498108, 0.8643864393234253, -2.329941511154175, 0.9596824645996094, 3.0447728633880615, -0.00007889747939771041, 0.00002287150164193008 ]
4.5
18
1
98
0
[ -1.026202917098999, -0.8213245272636414, -0.6048303246498108, 0.8643864393234253, -2.329941511154175, 0.9596824645996094, 3.0447728633880615, -0.00007889747939771041, 0.00002287150164193008 ]
[ -1.1161999702453613, -0.5998895168304443, -0.6557619571685791, 0.48234766721725464, -2.371934652328491, 0.6803279519081116, 3.0447633266448975, 0.000057767047110246494, 0.0002096912357956171 ]
4.75
19
1
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "fetch",
    "total_episodes": 5,
    "total_frames": 400,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 4,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "upperarm_roll_joint",
                "elbow_flex_joint",
                "forearm_roll_joint",
                "wrist_flex_joint",
                "wrist_roll_joint",
                "l_gripper_finger_joint",
                "r_gripper_finger_joint"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "upperarm_roll_joint",
                "elbow_flex_joint",
                "forearm_roll_joint",
                "wrist_flex_joint",
                "wrist_roll_joint",
                "l_gripper_finger_joint",
                "r_gripper_finger_joint"
            ]
        },
        "observation.images.pov": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 4,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.third": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 4,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "shape": [
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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