Datasets:
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action list | observation.state list | timestamp float32 0 14.3 | frame_index int64 0 430 | episode_index int64 0 49 | index int64 0 20.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
[
64.951171875,
57.919921875,
52.3828125,
89.6484375,
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32.607421875
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58.0078125,
55.01953125,
88.154296875,
-74.091796875,
33.134765625
] | 0 | 0 | 0 | 0 | 0 |
[
65.302734375,
57.48046875,
52.3828125,
89.560546875,
-74.00390625,
32.607421875
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64.248046875,
57.744140625,
55.01953125,
88.154296875,
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33.134765625
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[
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89.560546875,
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31.9921875
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57.3046875,
55.01953125,
88.154296875,
-74.091796875,
33.134765625
] | 0.066667 | 2 | 0 | 2 | 0 |
[
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52.3828125,
89.384765625,
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30.234375
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64.951171875,
56.77734375,
55.01953125,
88.154296875,
-74.091796875,
32.783203125
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[
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52.3828125,
89.033203125,
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28.125
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56.07421875,
54.931640625,
88.154296875,
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31.376953125
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[
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54.931640625,
88.154296875,
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[
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52.3828125,
87.890625,
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55.634765625,
54.931640625,
88.154296875,
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28.4765625
] | 0.2 | 6 | 0 | 6 | 0 |
[
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54.84375,
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[
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86.748046875,
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18.6328125
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55.546875,
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87.890625,
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23.115234375
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[
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52.3828125,
86.66015625,
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16.5234375
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65.478515625,
55.37109375,
54.140625,
87.802734375,
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20.56640625
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[
65.830078125,
55.01953125,
52.3828125,
86.396484375,
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11.689453125
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65.478515625,
55.01953125,
53.876953125,
87.626953125,
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18.984375
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[
65.56640625,
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85.78125,
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[
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85.78125,
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53.701171875,
87.1875,
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15.29296875
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[
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52.294921875,
85.517578125,
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[
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54.931640625,
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87.099609375,
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[
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54.931640625,
53.61328125,
87.099609375,
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] | 0.5 | 15 | 0 | 15 | 0 |
[
63.896484375,
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55.01953125,
53.61328125,
87.099609375,
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[
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55.01953125,
53.349609375,
87.099609375,
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[
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64.248046875,
55.01953125,
52.998046875,
87.099609375,
-60.64453125,
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[
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50.2734375,
86.1328125,
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55.1953125,
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87.099609375,
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] | 0.633333 | 19 | 0 | 19 | 0 |
[
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63.984375,
55.283203125,
52.734375,
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] | 0.666667 | 20 | 0 | 20 | 0 |
[
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63.720703125,
55.546875,
52.55859375,
87.01171875,
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15.205078125
] | 0.7 | 21 | 0 | 21 | 0 |
[
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49.5703125,
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63.45703125,
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52.55859375,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
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87.802734375,
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52.646484375,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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88.59375,
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] | [
62.841796875,
57.392578125,
52.55859375,
87.099609375,
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] | 0.8 | 24 | 0 | 24 | 0 |
[
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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62.75390625,
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52.55859375,
87.5390625,
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] | 0.866667 | 26 | 0 | 26 | 0 |
[
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47.548828125,
92.4609375,
-43.41796875,
9.140625
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62.75390625,
60.8203125,
52.55859375,
88.06640625,
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15.205078125
] | 0.9 | 27 | 0 | 27 | 0 |
[
62.314453125,
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93.603515625,
-42.275390625,
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62.666015625,
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52.03125,
88.857421875,
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] | 0.933333 | 28 | 0 | 28 | 0 |
[
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45.703125,
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50.44921875,
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-44.296875,
15.205078125
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[
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-41.484375,
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62.666015625,
64.248046875,
48.8671875,
90.966796875,
-43.41796875,
15.205078125
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[
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45.615234375,
96.328125,
-40.693359375,
9.140625
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62.75390625,
65.91796875,
47.724609375,
92.548828125,
-42.36328125,
15.205078125
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[
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70.3125,
45.703125,
97.03125,
-39.990234375,
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47.63671875,
93.251953125,
-41.923828125,
15.205078125
] | 1.066667 | 32 | 0 | 32 | 0 |
[
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45.615234375,
97.646484375,
-39.19921875,
9.140625
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63.720703125,
67.412109375,
47.724609375,
94.04296875,
-41.396484375,
15.205078125
] | 1.1 | 33 | 0 | 33 | 0 |
[
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45.703125,
97.91015625,
-38.49609375,
9.140625
] | [
64.599609375,
67.8515625,
47.724609375,
94.74609375,
-40.693359375,
15.205078125
] | 1.133333 | 34 | 0 | 34 | 0 |
[
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71.015625,
45.703125,
98.349609375,
-37.880859375,
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] | [
65.56640625,
68.115234375,
47.724609375,
95.2734375,
-40.078125,
15.205078125
] | 1.166667 | 35 | 0 | 35 | 0 |
[
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45.703125,
98.701171875,
-37.177734375,
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] | [
67.1484375,
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47.724609375,
95.9765625,
-38.935546875,
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] | 1.2 | 36 | 0 | 36 | 0 |
[
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45.703125,
98.7890625,
-36.650390625,
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] | [
68.291015625,
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47.724609375,
96.240234375,
-38.408203125,
15.205078125
] | 1.233333 | 37 | 0 | 37 | 0 |
[
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45.703125,
98.7890625,
-36.298828125,
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] | [
69.521484375,
68.37890625,
47.724609375,
96.416015625,
-37.79296875,
15.205078125
] | 1.266667 | 38 | 0 | 38 | 0 |
[
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45.703125,
98.7890625,
-35.859375,
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] | [
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68.37890625,
47.724609375,
96.591796875,
-37.265625,
15.205078125
] | 1.3 | 39 | 0 | 39 | 0 |
[
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45.703125,
98.7890625,
-35.15625,
9.140625
] | [
72.421875,
68.37890625,
47.724609375,
96.6796875,
-36.9140625,
15.205078125
] | 1.333333 | 40 | 0 | 40 | 0 |
[
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45.703125,
98.7890625,
-34.365234375,
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] | [
73.916015625,
68.37890625,
47.724609375,
96.6796875,
-36.38671875,
15.205078125
] | 1.366667 | 41 | 0 | 41 | 0 |
[
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45.87890625,
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] | [
75.9375,
68.37890625,
47.724609375,
96.6796875,
-35.5078125,
15.205078125
] | 1.4 | 42 | 0 | 42 | 0 |
[
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45.87890625,
101.337890625,
-32.16796875,
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] | [
77.34375,
68.37890625,
47.724609375,
96.85546875,
-34.8046875,
15.205078125
] | 1.433333 | 43 | 0 | 43 | 0 |
[
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46.40625,
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68.466796875,
47.724609375,
97.20703125,
-34.013671875,
15.205078125
] | 1.466667 | 44 | 0 | 44 | 0 |
[
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] | [
80.068359375,
68.818359375,
47.724609375,
97.998046875,
-33.046875,
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] | 1.5 | 45 | 0 | 45 | 0 |
[
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47.4609375,
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-28.564453125,
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81.5625,
69.609375,
47.900390625,
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-32.080078125,
15.205078125
] | 1.533333 | 46 | 0 | 46 | 0 |
[
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48.515625,
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-27.861328125,
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83.056640625,
70.576171875,
48.1640625,
99.31640625,
-30.9375,
15.205078125
] | 1.566667 | 47 | 0 | 47 | 0 |
[
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50.625,
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84.990234375,
72.158203125,
49.04296875,
100.01953125,
-29.267578125,
15.205078125
] | 1.6 | 48 | 0 | 48 | 0 |
[
88.9453125,
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53.349609375,
103.798828125,
-25.927734375,
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] | [
86.044921875,
73.388671875,
50.625,
100.283203125,
-28.388671875,
15.205078125
] | 1.633333 | 49 | 0 | 49 | 0 |
[
90.087890625,
80.595703125,
55.72265625,
103.7109375,
-24.78515625,
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] | [
87.1875,
74.8828125,
53.0859375,
100.37109375,
-27.421875,
15.205078125
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[
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58.7109375,
103.623046875,
-23.642578125,
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] | [
88.505859375,
76.552734375,
56.25,
100.458984375,
-26.630859375,
15.205078125
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[
91.7578125,
84.7265625,
61.435546875,
103.447265625,
-22.587890625,
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89.6484375,
78.22265625,
59.0625,
100.458984375,
-25.576171875,
15.205078125
] | 1.733333 | 52 | 0 | 52 | 0 |
[
92.8125,
86.748046875,
64.423828125,
103.359375,
-21.884765625,
9.228515625
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90.703125,
80.15625,
61.962890625,
100.546875,
-24.609375,
15.205078125
] | 1.766667 | 53 | 0 | 53 | 0 |
[
94.04296875,
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67.5,
102.83203125,
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91.58203125,
82.177734375,
64.599609375,
100.546875,
-23.642578125,
15.205078125
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[
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90.52734375,
70.400390625,
101.77734375,
-20.91796875,
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93.076171875,
85.166015625,
68.642578125,
100.546875,
-22.236328125,
15.205078125
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[
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100.810546875,
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94.04296875,
86.8359375,
70.48828125,
100.634765625,
-21.708984375,
15.205078125
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[
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74.267578125,
100.37109375,
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95.185546875,
88.41796875,
72.94921875,
100.546875,
-21.26953125,
15.205078125
] | 1.9 | 57 | 0 | 57 | 0 |
[
100.634765625,
92.373046875,
74.970703125,
99.931640625,
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96.50390625,
89.736328125,
75.146484375,
100.546875,
-21.181640625,
15.205078125
] | 1.933333 | 58 | 0 | 58 | 0 |
[
102.65625,
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75.498046875,
98.701171875,
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9.228515625
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98.173828125,
90.439453125,
75.9375,
100.283203125,
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15.205078125
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[
104.765625,
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75.849609375,
96.85546875,
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99.931640625,
90.615234375,
76.11328125,
99.84375,
-20.654296875,
15.205078125
] | 2 | 60 | 0 | 60 | 0 |
[
107.138671875,
92.109375,
75.849609375,
95.009765625,
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9.228515625
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102.83203125,
90.615234375,
76.376953125,
98.876953125,
-20.478515625,
15.205078125
] | 2.033333 | 61 | 0 | 61 | 0 |
[
109.248046875,
91.7578125,
75.849609375,
93.33984375,
-19.072265625,
9.228515625
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104.58984375,
90.615234375,
76.552734375,
97.91015625,
-20.390625,
15.205078125
] | 2.066667 | 62 | 0 | 62 | 0 |
[
111.181640625,
90.263671875,
75.9375,
90.791015625,
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9.228515625
] | [
106.435546875,
90.615234375,
76.552734375,
96.85546875,
-20.0390625,
15.205078125
] | 2.1 | 63 | 0 | 63 | 0 |
[
112.939453125,
88.76953125,
75.9375,
89.912109375,
-17.490234375,
9.228515625
] | [
108.369140625,
90.17578125,
76.552734375,
95.537109375,
-19.599609375,
15.205078125
] | 2.133333 | 64 | 0 | 64 | 0 |
[
114.609375,
87.451171875,
75.9375,
89.296875,
-16.435546875,
9.228515625
] | [
111.09375,
89.033203125,
76.552734375,
93.33984375,
-18.720703125,
15.205078125
] | 2.166667 | 65 | 0 | 65 | 0 |
[
116.103515625,
86.572265625,
76.201171875,
87.36328125,
-14.94140625,
9.228515625
] | [
112.587890625,
87.978515625,
76.640625,
92.109375,
-18.017578125,
15.205078125
] | 2.2 | 66 | 0 | 66 | 0 |
[
117.509765625,
86.044921875,
76.201171875,
85.693359375,
-13.447265625,
9.228515625
] | [
113.994140625,
86.923828125,
76.904296875,
90.87890625,
-17.138671875,
15.205078125
] | 2.233333 | 67 | 0 | 67 | 0 |
[
119.35546875,
85.4296875,
76.201171875,
82.96875,
-11.689453125,
9.140625
] | [
115.48828125,
86.044921875,
77.080078125,
89.560546875,
-16.083984375,
15.205078125
] | 2.266667 | 68 | 0 | 68 | 0 |
[
121.025390625,
84.462890625,
76.201171875,
80.859375,
-10.01953125,
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] | [
117.0703125,
85.25390625,
77.16796875,
87.890625,
-14.765625,
15.205078125
] | 2.3 | 69 | 0 | 69 | 0 |
[
122.431640625,
83.3203125,
76.025390625,
80.244140625,
-8.4375,
9.140625
] | [
119.267578125,
84.19921875,
77.16796875,
85.166015625,
-12.48046875,
15.205078125
] | 2.333333 | 70 | 0 | 70 | 0 |
[
124.27734375,
82.79296875,
76.025390625,
78.57421875,
-6.416015625,
9.052734375
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120.5859375,
83.49609375,
77.16796875,
83.583984375,
-11.07421875,
15.205078125
] | 2.366667 | 71 | 0 | 71 | 0 |
[
126.03515625,
82.265625,
75.9375,
77.255859375,
-4.833984375,
9.052734375
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121.904296875,
82.79296875,
77.16796875,
82.177734375,
-9.66796875,
15.205078125
] | 2.4 | 72 | 0 | 72 | 0 |
[
127.001953125,
81.474609375,
75.849609375,
77.16796875,
-3.779296875,
9.052734375
] | [
123.486328125,
82.08984375,
77.16796875,
80.947265625,
-8.0859375,
15.205078125
] | 2.433333 | 73 | 0 | 73 | 0 |
[
128.408203125,
80.68359375,
75.849609375,
76.904296875,
-2.109375,
8.96484375
] | [
125.15625,
81.38671875,
77.16796875,
79.716796875,
-6.50390625,
15.205078125
] | 2.466667 | 74 | 0 | 74 | 0 |
[
129.638671875,
80.15625,
75.849609375,
75.9375,
-0.966796875,
8.96484375
] | [
126.5625,
80.68359375,
77.16796875,
78.92578125,
-4.921875,
15.205078125
] | 2.5 | 75 | 0 | 75 | 0 |
[
130.60546875,
79.189453125,
75.849609375,
75.234375,
0.439453125,
8.96484375
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128.3203125,
79.8046875,
77.16796875,
78.046875,
-2.900390625,
15.205078125
] | 2.533333 | 76 | 0 | 76 | 0 |
[
131.396484375,
78.3984375,
75.849609375,
73.828125,
1.669921875,
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] | [
129.375,
79.189453125,
77.16796875,
77.51953125,
-1.7578125,
15.205078125
] | 2.566667 | 77 | 0 | 77 | 0 |
[
132.1875,
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75.76171875,
72.421875,
2.98828125,
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] | [
130.166015625,
78.486328125,
77.16796875,
76.904296875,
-0.703125,
15.205078125
] | 2.6 | 78 | 0 | 78 | 0 |
[
132.978515625,
77.431640625,
75.849609375,
71.806640625,
4.74609375,
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131.044921875,
77.6953125,
77.16796875,
76.025390625,
0.615234375,
15.1171875
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[
134.12109375,
77.080078125,
75.76171875,
70.048828125,
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131.8359375,
77.16796875,
77.16796875,
75.05859375,
1.845703125,
15.1171875
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[
134.736328125,
76.9921875,
75.76171875,
68.90625,
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132.626953125,
76.81640625,
77.255859375,
74.00390625,
3.251953125,
15.1171875
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[
135.087890625,
76.552734375,
75.673828125,
68.291015625,
9.755859375,
7.03125
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133.41796875,
76.728515625,
77.255859375,
72.685546875,
4.921875,
15.1171875
] | 2.733333 | 82 | 0 | 82 | 0 |
[
135.52734375,
75.322265625,
75.673828125,
67.939453125,
10.546875,
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] | [
134.384765625,
76.376953125,
77.16796875,
71.015625,
7.20703125,
15.1171875
] | 2.766667 | 83 | 0 | 83 | 0 |
[
135.703125,
73.65234375,
75.673828125,
67.939453125,
11.337890625,
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] | [
134.912109375,
75.673828125,
77.080078125,
70.13671875,
8.349609375,
15.1171875
] | 2.8 | 84 | 0 | 84 | 0 |
[
136.142578125,
72.421875,
75.673828125,
67.939453125,
11.953125,
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] | [
135.087890625,
74.53125,
77.16796875,
69.521484375,
9.404296875,
15.1171875
] | 2.833333 | 85 | 0 | 85 | 0 |
[
136.58203125,
71.279296875,
75.673828125,
68.02734375,
12.48046875,
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] | [
135.263671875,
73.125,
77.16796875,
69.169921875,
10.283203125,
15.205078125
] | 2.866667 | 86 | 0 | 86 | 0 |
[
137.021484375,
70.3125,
75.673828125,
68.5546875,
12.568359375,
12.83203125
] | [
135.52734375,
71.806640625,
77.16796875,
68.994140625,
11.07421875,
15.205078125
] | 2.9 | 87 | 0 | 87 | 0 |
[
137.28515625,
69.2578125,
75.673828125,
68.5546875,
13.0078125,
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] | [
136.0546875,
70.400390625,
77.255859375,
68.994140625,
11.689453125,
15.205078125
] | 2.933333 | 88 | 0 | 88 | 0 |
[
137.724609375,
68.5546875,
75.673828125,
68.5546875,
13.623046875,
12.83203125
] | [
136.40625,
68.994140625,
77.16796875,
68.994140625,
12.3046875,
15.205078125
] | 2.966667 | 89 | 0 | 89 | 0 |
[
137.724609375,
67.939453125,
75.673828125,
68.5546875,
13.7109375,
12.83203125
] | [
136.669921875,
68.291015625,
77.16796875,
68.994140625,
12.65625,
15.205078125
] | 3 | 90 | 0 | 90 | 0 |
[
137.724609375,
67.67578125,
75.673828125,
68.73046875,
13.7109375,
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] | [
136.845703125,
67.763671875,
77.16796875,
68.994140625,
13.095703125,
15.205078125
] | 3.033333 | 91 | 0 | 91 | 0 |
[
137.98828125,
67.763671875,
75.673828125,
68.818359375,
14.853515625,
12.83203125
] | [
136.93359375,
67.412109375,
77.16796875,
68.994140625,
13.271484375,
15.205078125
] | 3.066667 | 92 | 0 | 92 | 0 |
[
138.076171875,
67.8515625,
75.673828125,
68.90625,
15.029296875,
12.919921875
] | [
137.109375,
67.412109375,
77.16796875,
68.994140625,
13.623046875,
15.205078125
] | 3.1 | 93 | 0 | 93 | 0 |
[
137.98828125,
67.763671875,
75.673828125,
68.90625,
15.1171875,
13.095703125
] | [
137.109375,
67.412109375,
77.16796875,
68.994140625,
14.0625,
15.205078125
] | 3.133333 | 94 | 0 | 94 | 0 |
[
138.076171875,
67.763671875,
75.673828125,
69.345703125,
15.64453125,
15.205078125
] | [
137.197265625,
67.412109375,
77.16796875,
68.994140625,
14.58984375,
15.205078125
] | 3.166667 | 95 | 0 | 95 | 0 |
[
138.1640625,
67.763671875,
75.673828125,
69.78515625,
15.908203125,
17.666015625
] | [
137.28515625,
67.412109375,
77.16796875,
69.08203125,
14.853515625,
15.556640625
] | 3.2 | 96 | 0 | 96 | 0 |
[
138.076171875,
67.763671875,
75.673828125,
70.400390625,
15.908203125,
19.775390625
] | [
137.28515625,
67.412109375,
77.16796875,
69.2578125,
15.205078125,
16.34765625
] | 3.233333 | 97 | 0 | 97 | 0 |
[
138.1640625,
67.763671875,
75.673828125,
70.6640625,
15.908203125,
21.796875
] | [
137.28515625,
67.412109375,
77.16796875,
69.521484375,
15.46875,
17.666015625
] | 3.266667 | 98 | 0 | 98 | 0 |
[
138.076171875,
68.02734375,
75.673828125,
70.927734375,
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23.642578125
] | [
137.373046875,
67.412109375,
77.16796875,
69.697265625,
15.64453125,
19.51171875
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 50,
"total_frames": 20758,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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.webcam_0": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.webcam_1": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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