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observation.state
list
action
list
timestamp
float32
0
17.5
frame_index
int64
0
175
episode_index
int64
0
99
index
int64
0
8.96k
task_index
int64
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0
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0.1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
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2.5
25
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2.6
26
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2.7
27
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2.8
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2.9
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3
30
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30
0
[ -0.0000762939453125, -97.21450805664062, 99.27426147460938, -97.66665649414062, -60.11002731323242, 1.8382996320724487, 2.6340866088867188, 10.149620056152344, -6.356178283691406, 75.59016418457031, -55.861358642578125, 27.872913360595703 ]
[ 0, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 2.6613197326660156, 8.417508125305176, -6.618640422821045, 73.0205307006836, -55.89743423461914, 27.888446807861328 ]
3.1
31
0
31
0
[ -0.00008392333984375, -97.21450805664062, 99.27426147460938, -97.66667938232422, -60.09922790527344, 1.8382996320724487, 4.639801025390625, 12.204086303710938, -2.9685287475585938, 70.11343383789062, -55.88176345825195, 27.87380599975586 ]
[ 0, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, 4.55705451965332, 10.942760467529297, -4.277352333068848, 68.4122314453125, -55.89743423461914, 27.888446807861328 ]
3.2
32
0
32
0
[ 0.07244110107421875, -97.21446228027344, 99.27432250976562, -97.66661071777344, -60.06523132324219, 1.8383185863494873, 6.7380523681640625, 15.959205627441406, -2.86962890625, 66.58537292480469, -55.92003631591797, 27.880535125732422 ]
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3.3
33
0
33
0
[ 0.0724334716796875, -97.21449279785156, 99.27427673339844, -97.66665649414062, -60.04927062988281, 1.8383185863494873, 5.987396240234375, 20.197174072265625, -3.0209808349609375, 63.22123718261719, -55.89919662475586, 27.876245498657227 ]
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3.4
34
0
34
0
[ 0.072418212890625, -97.1583251953125, 99.27093505859375, -97.67007446289062, -60.04541015625, 1.8383108377456665, 5.7530059814453125, 24.38787078857422, -3.1758346557617188, 59.522125244140625, -55.88780212402344, 27.874114990234375 ]
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3.5
35
0
35
0
[ 0.07257080078125, -96.74996948242188, 99.283935546875, -97.6543960571289, -60.0443115234375, 1.8383564949035645, 5.5368804931640625, 31.136154174804688, -10.204383850097656, 57.884735107421875, -55.86540222167969, 27.87286949157715 ]
[ 0.0725163146853447, -96.46961975097656, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, 5.577834606170654, 30.218854904174805, -13.282305717468262, 57.184749603271484, -55.848594665527344, 27.888446807861328 ]
3.6
36
0
36
0
[ 0.1449127197265625, -96.66001892089844, 99.27696228027344, -97.65980529785156, -60.044002532958984, 1.8383675813674927, 5.805000305175781, 37.09141540527344, -17.48822784423828, 57.592315673828125, -55.80746078491211, 27.874719619750977 ]
[ 0.1450326293706894, -96.38751983642578, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, 5.796573162078857, 35.774410247802734, -18.865375518798828, 57.352325439453125, -55.70207595825195, 27.888446807861328 ]
3.7
37
0
37
0
[ 0.1449432373046875, -96.63031005859375, 99.37234497070312, -97.65304565429688, -60.04387664794922, 1.8383628129959106, 5.663917541503906, 36.809600830078125, -17.61418914794922, 59.567779541015625, -55.767704010009766, 27.889501571655273 ]
[ 0.1450326293706894, -96.38751983642578, 98.48619842529297, -97.292724609375, -60.04135513305664, 1.8477457761764526, 5.577834606170654, 36.19528579711914, -17.33453369140625, 61.4578971862793, -55.653236389160156, 27.888446807861328 ]
3.8
38
0
38
0
[ 0.1449432373046875, -96.5489501953125, 99.37342834472656, -97.65204620361328, -60.04386901855469, 1.8383715152740479, 5.536163330078125, 36.4901123046875, -17.468605041503906, 60.87998962402344, -55.74622344970703, 27.908506393432617 ]
[ 0.1450326293706894, -96.305419921875, 98.48619842529297, -97.292724609375, -60.04135513305664, 1.8477457761764526, 5.577834606170654, 35.858585357666016, -17.33453369140625, 62.04440689086914, -55.653236389160156, 27.888446807861328 ]
3.9
39
0
39
0
[ 0.1449432373046875, -96.5491714477539, 99.37171936035156, -97.65412902832031, -60.00498962402344, 1.8383737802505493, 5.48284912109375, 36.43548583984375, -17.442893981933594, 61.10423278808594, -55.72166442871094, 27.588241577148438 ]
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4
40
0
40
0
[ 0.14493560791015625, -96.54914855957031, 99.37174987792969, -97.65420532226562, -59.995365142822266, 1.8383758068084717, 5.526268005371094, 36.27874755859375, -17.484169006347656, 61.42723083496094, -55.4488525390625, 23.337995529174805 ]
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4.1
41
0
41
0
[ 0.14493560791015625, -96.54914855957031, 99.37174987792969, -97.65420532226562, -59.99302291870117, 1.8383771181106567, 5.850456237792969, 36.25177001953125, -17.664306640625, 61.763427734375, -55.0623893737793, 21.120834350585938 ]
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4.2
42
0
42
0
[ 0.14493560791015625, -96.54914855957031, 99.37174987792969, -97.65420532226562, -59.992401123046875, 1.8383777141571045, 5.878021240234375, 36.24713134765625, -17.668472290039062, 61.81016540527344, -54.900489807128906, 20.888713836669922 ]
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4.3
43
0
43
0
[ 0.14493560791015625, -96.54914855957031, 99.37174987792969, -97.65420532226562, -59.992305755615234, 1.8383777141571045, 5.786773681640625, 35.836151123046875, -17.64983367919922, 62.49444580078125, -54.60216522216797, 19.18271255493164 ]
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4.4
44
0
44
0
[ 0.144866943359375, -96.62835693359375, 99.36869812011719, -97.65740203857422, -59.9923210144043, 1.8383758068084717, 6.27392578125, 33.43650817871094, -22.028121948242188, 62.75376892089844, -54.40575408935547, 18.59255599975586 ]
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4.5
45
0
45
0
[ 0.14482879638671875, -96.87787628173828, 99.36216735839844, -97.66614532470703, -59.99244689941406, 1.838358998298645, 6.087615966796875, 32.12348937988281, -29.76032257080078, 62.600250244140625, -54.29423904418945, 18.635663986206055 ]
[ 0.1450326293706894, -96.63382720947266, 98.48619842529297, -97.292724609375, -59.989662170410156, 1.8477457761764526, 6.0153117179870605, 29.96632957458496, -31.832508087158203, 62.12819290161133, -55.55555725097656, 2.5896413326263428 ]
4.6
46
0
46
0
[ 0.1449432373046875, -96.93746185302734, 99.37139892578125, -97.6569595336914, -59.9923210144043, 1.8383744955062866, 5.065773010253906, 28.506484985351562, -34.41291809082031, 62.916046142578125, -54.23451232910156, 18.670635223388672 ]
[ 0.1450326293706894, -96.71592712402344, 98.48619842529297, -97.292724609375, -59.989662170410156, 1.8477457761764526, 5.140357494354248, 25.58922576904297, -36.78523254394531, 62.12819290161133, -55.55555725097656, 2.5896413326263428 ]
4.7
47
0
47
0
[ 0.07230377197265625, -97.21302795410156, 99.26687622070312, -97.67529296875, -59.99263381958008, 1.838333010673523, -6.655189514160156, -21.67951202392578, 15.487113952636719, 53.42570495605469, -53.82133483886719, 18.76759147644043 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -59.989662170410156, 1.8477457761764526, -5.723659992218018, -25.420875549316406, 18.775325775146484, 51.57101058959961, -55.60439682006836, 2.5896413326263428 ]
4.8
48
0
48
0
[ 0.07241058349609375, -97.21429443359375, 99.27445983886719, -97.66734313964844, -60.0238037109375, 1.8383281230926514, -5.8345489501953125, -28.253807067871094, 23.783470153808594, 52.55816650390625, -53.89276885986328, 18.679288864135742 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, -5.796573162078857, -30.050504684448242, 22.55740737915039, 51.40343475341797, -55.60439682006836, 2.5896413326263428 ]
4.9
49
0
49
0
[ 0.0723876953125, -97.21454620361328, 99.27423095703125, -97.66675567626953, -60.10939407348633, 1.838320255279541, -8.497795104980469, -36.75266647338867, 28.961669921875, 51.06280517578125, -53.858524322509766, 18.67009925842285 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.14474105834961, 1.8477457761764526, -8.567261695861816, -38.80471420288086, 28.230525970458984, 48.88982009887695, -55.653236389160156, 2.5896413326263428 ]
5
50
0
50
0
[ 0.072357177734375, -97.21455383300781, 99.27424621582031, -97.66670989990234, -60.22747039794922, 1.8383039236068726, -10.00506591796875, -45.13051986694336, 38.96771240234375, 41.935150146484375, -53.821746826171875, 18.666149139404297 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.29981994628906, 1.8477457761764526, -10.098432540893555, -46.54882049560547, 38.85637283325195, 38.24884796142578, -55.653236389160156, 2.5896413326263428 ]
5.1
51
0
51
0
[ 0.07241058349609375, -97.21455383300781, 99.27423095703125, -97.66677856445312, -60.28404998779297, 1.8382909297943115, -10.603034973144531, -47.39865493774414, 45.23828125, 30.530517578125, -54.032936096191406, 18.673133850097656 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.29981994628906, 1.8477457761764526, -10.754648208618164, -48.56902313232422, 43.53894805908203, 25.848344802856445, -55.9462776184082, 2.5896413326263428 ]
5.2
52
0
52
0
[ 0.072418212890625, -97.21455383300781, 99.27423095703125, -97.6667709350586, -60.297855377197266, 1.8382879495620728, -16.078323364257812, -47.719173431396484, 48.343505859375, 17.888877868652344, -54.14936447143555, 18.670642852783203 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.29981994628906, 1.8477457761764526, -16.077287673950195, -48.316497802734375, 47.32102584838867, 13.53162956237793, -55.9462776184082, 2.5896413326263428 ]
5.3
53
0
53
0
[ 0.072418212890625, -97.21454620361328, 99.27423095703125, -97.6667709350586, -60.30122375488281, 1.8382879495620728, -16.624244689941406, -46.89358901977539, 52.23881530761719, 5.9582672119140625, -54.233646392822266, 18.664623260498047 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.29981994628906, 1.8477457761764526, -16.806415557861328, -47.727272033691406, 50.83295822143555, 1.8852115869522095, -55.9462776184082, 2.6560425758361816 ]
5.4
54
0
54
0
[ 0.07245635986328125, -97.21449279785156, 99.27427673339844, -97.66667938232422, -60.231773376464844, 1.8382840156555176, -16.64642333984375, -46.96206283569336, 55.72636413574219, -4.5285186767578125, -54.31838607788086, 18.643333435058594 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.196434020996094, 1.8477457761764526, -16.806415557861328, -47.727272033691406, 54.52499008178711, -8.504399299621582, -55.9462776184082, 2.6560425758361816 ]
5.5
55
0
55
0
[ 0.0724334716796875, -97.21448516845703, 99.2742919921875, -97.6666259765625, -60.18720245361328, 1.8382874727249146, -16.64898681640625, -46.55073928833008, 58.97434997558594, -12.091461181640625, -54.41814422607422, 18.6411190032959 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.196434020996094, 1.8477457761764526, -16.806415557861328, -47.053871154785156, 57.67672348022461, -14.11814022064209, -55.9951171875, 2.6560425758361816 ]
5.6
56
0
56
0
[ 0.0723876953125, -97.21456909179688, 99.27420043945312, -97.66675567626953, -60.26639938354492, 1.8382856845855713, -18.87903594970703, -40.88636779785156, 57.56932067871094, -13.25433349609375, -54.45260238647461, 18.64014434814453 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.29981994628906, 1.8477457761764526, -18.920888900756836, -41.07744216918945, 55.245384216308594, -14.369501113891602, -55.9951171875, 2.6560425758361816 ]
5.7
57
0
57
0
[ 0.0724639892578125, -97.21456909179688, 99.27423095703125, -97.66680908203125, -60.22404861450195, 1.8382840156555176, -21.914642333984375, -34.119850158691406, 52.25909423828125, -13.140434265136719, -54.446197509765625, 18.645132064819336 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.14474105834961, 1.8477457761764526, -21.983230590820312, -34.5959587097168, 49.482215881347656, -14.201927185058594, -55.9951171875, 2.7224435806274414 ]
5.8
58
0
58
0
[ 0.07245635986328125, -97.21449279785156, 99.27426147460938, -97.66667938232422, -60.12714385986328, 1.8382939100265503, -21.775856018066406, -29.799270629882812, 47.440185546875, -13.590530395507812, -54.54935073852539, 18.86758804321289 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.093048095703125, 1.8477457761764526, -21.910316467285156, -30.134679794311523, 45.610084533691406, -14.537075996398926, -55.9951171875, 5.046480655670166 ]
5.9
59
0
59
0
[ 0.07244110107421875, -97.21448516845703, 99.27427673339844, -97.66664123535156, -60.064491271972656, 1.8383029699325562, -21.672752380371094, -26.192428588867188, 47.329986572265625, -13.432380676269531, -54.75167465209961, 18.991682052612305 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, -21.76449203491211, -27.10437774658203, 45.339935302734375, -14.537075996398926, -55.9951171875, 6.706507205963135 ]
6
60
0
60
0
[ 0.0724334716796875, -97.21449279785156, 99.27427673339844, -97.66665649414062, -60.04909896850586, 1.8383126258850098, -21.511962890625, -22.97614288330078, 46.96168518066406, -13.1954345703125, -54.82124328613281, 18.990507125854492 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, -21.61866569519043, -23.73737335205078, 45.15983963012695, -14.201927185058594, -56.0439567565918, 6.706507205963135 ]
6.1
61
0
61
0
[ 0.072418212890625, -97.21449279785156, 99.27427673339844, -97.66665649414062, -60.045318603515625, 1.8383147716522217, -21.381919860839844, -18.80207061767578, 45.79811096191406, -13.186553955078125, -54.77016067504883, 18.81314468383789 ]
[ 0.0725163146853447, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.04135513305664, 1.8477457761764526, -21.47283935546875, -19.52861976623535, 43.358848571777344, -14.453289031982422, -56.0439567565918, 4.31606912612915 ]
6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
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8.9
89
0
89
0
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9
90
0
90
0
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[ -0.2900652587413788, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.35151290893555, 1.8477457761764526, -0.6926722526550293, -98.98989868164062, 99.09950256347656, -96.06200408935547, -51.79487228393555, 33.200531005859375 ]
0
0
1
91
0
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[ -0.2900652587413788, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.35151290893555, 1.8477457761764526, -0.6926722526550293, -98.90572357177734, 99.09950256347656, -96.06200408935547, -51.79487228393555, 33.200531005859375 ]
0.1
1
1
92
0
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0.2
2
1
93
0
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[ -0.2900652587413788, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.35151290893555, 1.8477457761764526, -0.9843237400054932, -98.73737335205078, 99.09950256347656, -96.06200408935547, -51.79487228393555, 33.33333206176758 ]
0.3
3
1
94
0
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0.4
4
1
95
0
[ -0.29015350341796875, -97.21455383300781, 99.27423095703125, -97.66677856445312, -60.3538703918457, 1.8382682800292969, -1.0578689575195312, -98.48948669433594, 99.99085998535156, -96.05789184570312, -51.84709167480469, 33.521236419677734 ]
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0.5
5
1
96
0
[ -0.29015350341796875, -97.21455383300781, 99.27423095703125, -97.66677856445312, -60.3538703918457, 1.8382682800292969, -0.9804306030273438, -94.44701385498047, 100.000244140625, -85.07833862304688, -51.84720993041992, 33.4451904296875 ]
[ -0.2900652587413788, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.35151290893555, 1.8477457761764526, -0.9843237400054932, -94.1919174194336, 99.27960205078125, -80.72895050048828, -51.843711853027344, 33.33333206176758 ]
0.6
6
1
97
0
[ -0.29015350341796875, -97.21455383300781, 99.27423095703125, -97.66677856445312, -60.3538703918457, 1.8382682800292969, -0.9790878295898438, -94.76434326171875, 100.00050354003906, -64.11798095703125, -51.83322525024414, 33.420875549316406 ]
[ -0.2900652587413788, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.35151290893555, 1.8477457761764526, -0.9843237400054932, -94.86531829833984, 99.27960205078125, -58.69292068481445, -51.843711853027344, 33.39973449707031 ]
0.7
7
1
98
0
[ -0.29015350341796875, -97.21455383300781, 99.27423095703125, -97.66677856445312, -60.3538703918457, 1.8382682800292969, -3.5736465454101562, -94.74590301513672, 100.00064086914062, -46.43343734741211, -51.70879364013672, 31.449668884277344 ]
[ -0.2900652587413788, -96.96223449707031, 98.39714813232422, -97.292724609375, -60.35151290893555, 1.8477457761764526, -3.609187126159668, -95.11784362792969, 99.1895523071289, -43.44365310668945, -51.599510192871094, 28.618858337402344 ]
0.8
8
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": "so101_follower",
    "total_episodes": 100,
    "total_frames": 8965,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:100"
    },
    "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",
            "fps": 10,
            "shape": [
                12
            ],
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ]
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.center": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "fps": 10,
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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