Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
14.1
| frame_index
int64 0
423
| episode_index
int64 0
4
| index
int64 0
2.02k
| task_index
int64 0
0
|
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[
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[
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[
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| 30
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[
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[
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55.546875,
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| 31
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[
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[
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| 32
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| 32
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[
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48.251953125,
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[
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| 33
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| 33
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[
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[
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| 34
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[
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[
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50.2734375,
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| 35
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[
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42.36328125,
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[
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104.853515625,
128.84765625,
48.515625,
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| 36
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| 36
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[
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100.01953125,
126.650390625,
40.4296875,
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[
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102.568359375,
128.84765625,
46.494140625,
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| 37
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| 37
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[
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98.26171875,
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38.49609375,
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41.044921875
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[
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100.810546875,
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| 38
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[
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96.50390625,
126.650390625,
36.9140625,
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41.044921875
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[
63.45703125,
99.31640625,
129.0234375,
43.06640625,
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40.341796875
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| 39
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| 39
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[
64.951171875,
95.09765625,
126.650390625,
35.5078125,
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41.044921875
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[
63.6328125,
97.822265625,
128.759765625,
41.044921875,
-17.05078125,
40.341796875
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| 40
| 0
| 40
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[
64.951171875,
93.779296875,
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34.365234375,
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40.95703125
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[
63.720703125,
95.888671875,
128.671875,
39.0234375,
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40.341796875
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| 41
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| 41
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[
64.86328125,
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126.9140625,
32.783203125,
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40.95703125
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[
63.720703125,
94.130859375,
128.759765625,
37.265625,
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40.341796875
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| 42
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| 42
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[
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90.791015625,
127.08984375,
31.025390625,
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[
63.720703125,
92.8125,
128.583984375,
35.859375,
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40.341796875
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| 43
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| 43
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[
64.6875,
88.9453125,
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29.091796875,
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38.671875
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[
63.896484375,
91.494140625,
128.408203125,
34.365234375,
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40.25390625
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| 44
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| 44
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[
64.599609375,
87.1875,
127.177734375,
27.158203125,
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36.650390625
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[
64.072265625,
90.3515625,
128.3203125,
33.310546875,
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39.55078125
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| 45
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| 45
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[
64.51171875,
85.4296875,
127.08984375,
25.48828125,
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34.189453125
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[
64.072265625,
89.208984375,
128.056640625,
32.958984375,
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38.056640625
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| 46
| 0
| 46
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[
64.51171875,
83.935546875,
126.826171875,
24.43359375,
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31.640625
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[
63.984375,
88.154296875,
127.265625,
32.958984375,
-18.28125,
36.298828125
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| 47
| 0
| 47
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[
64.6875,
83.232421875,
126.5625,
24.43359375,
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28.564453125
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[
63.984375,
87.01171875,
126.298828125,
32.783203125,
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34.1015625
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| 48
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| 48
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[
64.599609375,
83.3203125,
126.73828125,
24.43359375,
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26.103515625
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[
63.984375,
86.220703125,
125.244140625,
32.255859375,
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| 49
| 0
| 49
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[
64.599609375,
83.935546875,
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24.43359375,
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24.43359375
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[
63.984375,
85.95703125,
125.244140625,
31.201171875,
-18.720703125,
30.322265625
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| 50
| 0
| 50
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[
64.51171875,
85.166015625,
127.6171875,
24.43359375,
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22.236328125
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[
63.984375,
85.78125,
125.595703125,
30.05859375,
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30.234375
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| 51
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| 51
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[
64.423828125,
87.01171875,
128.232421875,
24.521484375,
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19.775390625
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[
63.984375,
85.869140625,
125.859375,
29.091796875,
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30.234375
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| 52
| 0
| 52
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[
64.16015625,
89.6484375,
128.759765625,
25.13671875,
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17.841796875
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[
63.984375,
86.396484375,
126.298828125,
28.30078125,
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30.234375
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| 53
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| 53
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[
63.45703125,
93.1640625,
129.111328125,
26.630859375,
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15.8203125
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[
64.072265625,
87.36328125,
127.265625,
27.24609375,
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| 54
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[
62.2265625,
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129.375,
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[
63.6328125,
88.857421875,
128.49609375,
26.103515625,
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30.234375
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| 55
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| 55
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[
60.99609375,
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129.111328125,
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14.23828125
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[
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91.40625,
130.078125,
26.103515625,
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30.234375
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| 56
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| 56
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[
58.974609375,
106.875,
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35.595703125,
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14.23828125
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[
62.05078125,
94.482421875,
130.869140625,
28.037109375,
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[
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112.1484375,
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[
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130.60546875,
33.92578125,
-19.951171875,
29.619140625
] | 1.933333
| 58
| 0
| 58
| 0
|
[
49.833984375,
120.41015625,
125.244140625,
42.978515625,
-17.05078125,
14.23828125
] |
[
57.744140625,
104.58984375,
130.517578125,
35.15625,
-19.951171875,
29.267578125
] | 1.966667
| 59
| 0
| 59
| 0
|
[
44.912109375,
124.62890625,
122.958984375,
44.296875,
-15.29296875,
14.23828125
] |
[
46.669921875,
120.146484375,
126.5625,
42.36328125,
-19.951171875,
28.125
] | 2
| 60
| 0
| 60
| 0
|
[
29.53125,
131.396484375,
115.751953125,
42.890625,
-9.931640625,
14.326171875
] |
[
41.220703125,
124.189453125,
122.34375,
44.033203125,
-18.28125,
28.125
] | 2.033333
| 61
| 0
| 61
| 0
|
[
19.775390625,
133.681640625,
113.291015625,
36.9140625,
-8.96484375,
14.326171875
] |
[
31.201171875,
128.583984375,
118.828125,
43.76953125,
-13.271484375,
28.125
] | 2.066667
| 62
| 0
| 62
| 0
|
[
9.66796875,
133.9453125,
112.412109375,
26.71875,
-10.01953125,
14.23828125
] |
[
20.0390625,
130.166015625,
114.873046875,
43.681640625,
-9.755859375,
28.125
] | 2.1
| 63
| 0
| 63
| 0
|
[
0.17578125,
133.505859375,
112.1484375,
18.017578125,
-12.919921875,
14.23828125
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[
9.404296875,
130.25390625,
114.2578125,
40.4296875,
-8.349609375,
28.125
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-8.96484375,
131.396484375,
112.763671875,
11.6015625,
-14.853515625,
14.23828125
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[
0.263671875,
129.90234375,
115.576171875,
31.2890625,
-8.26171875,
28.125
] | 2.166667
| 65
| 0
| 65
| 0
|
[
-15.1171875,
128.935546875,
115.6640625,
5.185546875,
-17.05078125,
14.23828125
] |
[
-2.109375,
129.814453125,
115.6640625,
28.125,
-8.26171875,
28.037109375
] | 2.2
| 66
| 0
| 66
| 0
|
[
-19.951171875,
127.265625,
117.59765625,
2.63671875,
-18.193359375,
14.23828125
] |
[
-7.470703125,
129.462890625,
116.015625,
21.708984375,
-9.31640625,
28.125
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-23.115234375,
125.33203125,
119.970703125,
0.17578125,
-18.45703125,
14.23828125
] |
[
-13.18359375,
128.671875,
117.0703125,
14.677734375,
-12.392578125,
28.125
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-24.697265625,
124.013671875,
122.607421875,
-2.8125,
-18.45703125,
14.326171875
] |
[
-18.10546875,
127.265625,
119.00390625,
8.61328125,
-15.1171875,
28.125
] | 2.3
| 69
| 0
| 69
| 0
|
[
-28.037109375,
122.431640625,
125.15625,
-3.955078125,
-18.193359375,
14.326171875
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[
-23.994140625,
123.3984375,
125.947265625,
1.845703125,
-17.666015625,
28.037109375
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| 70
| 0
| 70
| 0
|
[
-31.552734375,
120.322265625,
128.3203125,
-5.361328125,
-17.40234375,
14.326171875
] |
[
-27.861328125,
121.11328125,
130.4296875,
1.40625,
-17.841796875,
28.037109375
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| 71
| 0
| 71
| 0
|
[
-33.75,
118.212890625,
131.748046875,
-6.416015625,
-15.205078125,
14.326171875
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[
-28.740234375,
120.673828125,
131.396484375,
1.318359375,
-17.841796875,
28.037109375
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| 72
| 0
| 72
| 0
|
[
-35.068359375,
116.806640625,
133.681640625,
-6.767578125,
-15.029296875,
14.326171875
] |
[
-31.025390625,
119.1796875,
132.978515625,
1.23046875,
-17.314453125,
28.037109375
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| 73
| 0
| 73
| 0
|
[
-35.595703125,
115.576171875,
135.52734375,
-7.294921875,
-15.029296875,
14.326171875
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[
-33.837890625,
115.83984375,
136.0546875,
-0.439453125,
-15.8203125,
28.125
] | 2.466667
| 74
| 0
| 74
| 0
|
[
-36.474609375,
113.642578125,
137.548828125,
-7.3828125,
-15.029296875,
14.326171875
] |
[
-34.98046875,
113.90625,
138.603515625,
-1.318359375,
-15.380859375,
28.125
] | 2.5
| 75
| 0
| 75
| 0
|
[
-36.474609375,
111.796875,
138.69140625,
-7.55859375,
-15.029296875,
14.326171875
] |
[
-35.595703125,
112.1484375,
140.09765625,
-1.40625,
-15.29296875,
28.125
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-36.5625,
110.21484375,
139.658203125,
-7.3828125,
-15.205078125,
14.326171875
] |
[
-35.68359375,
111.533203125,
140.09765625,
-1.40625,
-15.205078125,
28.125
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-36.5625,
109.3359375,
140.185546875,
-7.20703125,
-15.205078125,
14.326171875
] |
[
-35.595703125,
109.423828125,
141.240234375,
-1.494140625,
-15.205078125,
28.125
] | 2.6
| 78
| 0
| 78
| 0
|
[
-36.650390625,
108.45703125,
141.328125,
-6.767578125,
-15.29296875,
14.4140625
] |
[
-35.595703125,
109.072265625,
141.50390625,
-1.494140625,
-15.205078125,
28.125
] | 2.633333
| 79
| 0
| 79
| 0
|
[
-36.650390625,
108.10546875,
141.943359375,
-6.50390625,
-15.29296875,
14.4140625
] |
[
-35.68359375,
108.193359375,
142.119140625,
-1.494140625,
-15.205078125,
28.037109375
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| 80
| 0
| 80
| 0
|
[
-36.73828125,
107.666015625,
142.646484375,
-6.416015625,
-15.380859375,
14.4140625
] |
[
-35.68359375,
107.314453125,
143.4375,
-1.494140625,
-15.205078125,
28.037109375
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| 81
| 0
| 81
| 0
|
[
-36.826171875,
107.2265625,
143.61328125,
-5.537109375,
-15.380859375,
14.4140625
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[
-35.68359375,
107.138671875,
143.61328125,
-1.494140625,
-15.205078125,
28.125
] | 2.733333
| 82
| 0
| 82
| 0
|
[
-36.73828125,
106.875,
144.404296875,
-5.361328125,
-15.46875,
14.501953125
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[
-35.68359375,
106.787109375,
144.140625,
-1.494140625,
-15.205078125,
28.125
] | 2.766667
| 83
| 0
| 83
| 0
|
[
-36.73828125,
106.435546875,
145.283203125,
-5.2734375,
-15.46875,
14.677734375
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[
-35.68359375,
105.99609375,
145.986328125,
-1.58203125,
-15.205078125,
28.125
] | 2.8
| 84
| 0
| 84
| 0
|
[
-36.73828125,
105.8203125,
146.865234375,
-5.09765625,
-15.46875,
14.853515625
] |
[
-35.68359375,
104.853515625,
148.0078125,
-1.58203125,
-15.1171875,
28.037109375
] | 2.833333
| 85
| 0
| 85
| 0
|
[
-36.73828125,
105.205078125,
150.46875,
-4.130859375,
-15.46875,
16.259765625
] |
[
-35.68359375,
104.853515625,
149.150390625,
-1.845703125,
-15.029296875,
28.125
] | 2.866667
| 86
| 0
| 86
| 0
|
[
-36.9140625,
105.029296875,
151.435546875,
-3.603515625,
-15.556640625,
18.28125
] |
[
-35.68359375,
104.94140625,
150.29296875,
-2.548828125,
-14.765625,
28.037109375
] | 2.9
| 87
| 0
| 87
| 0
|
[
-37.001953125,
104.4140625,
151.787109375,
-3.427734375,
-16.171875,
22.587890625
] |
[
-35.859375,
105.205078125,
151.259765625,
-2.900390625,
-14.677734375,
28.125
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-37.177734375,
104.0625,
151.875,
-2.63671875,
-16.435546875,
27.94921875
] |
[
-35.947265625,
104.853515625,
151.34765625,
-2.98828125,
-14.677734375,
28.125
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-37.44140625,
103.88671875,
151.875,
-1.318359375,
-17.314453125,
32.51953125
] |
[
-36.03515625,
104.677734375,
151.259765625,
-3.076171875,
-14.677734375,
28.4765625
] | 3
| 90
| 0
| 90
| 0
|
[
-37.529296875,
103.974609375,
152.2265625,
-0.615234375,
-18.369140625,
35.771484375
] |
[
-36.03515625,
104.23828125,
151.34765625,
-2.8125,
-15.029296875,
29.35546875
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-37.6171875,
104.150390625,
152.666015625,
-0.615234375,
-19.072265625,
37.353515625
] |
[
-36.123046875,
103.359375,
152.138671875,
-1.7578125,
-15.64453125,
32.255859375
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-37.79296875,
104.58984375,
153.10546875,
-0.703125,
-19.16015625,
37.705078125
] |
[
-36.123046875,
103.359375,
152.9296875,
-0.791015625,
-16.435546875,
34.98046875
] | 3.1
| 93
| 0
| 93
| 0
|
[
-37.880859375,
105.205078125,
153.369140625,
-0.966796875,
-19.16015625,
37.96875
] |
[
-36.123046875,
103.53515625,
153.28125,
-0.087890625,
-17.314453125,
36.2109375
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-38.056640625,
105.908203125,
153.720703125,
-1.494140625,
-19.16015625,
37.96875
] |
[
-36.298828125,
103.623046875,
153.6328125,
0.087890625,
-18.10546875,
36.474609375
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-38.232421875,
106.611328125,
153.80859375,
-1.58203125,
-19.16015625,
37.96875
] |
[
-36.73828125,
103.798828125,
153.80859375,
0.17578125,
-18.6328125,
36.474609375
] | 3.2
| 96
| 0
| 96
| 0
|
[
-38.408203125,
107.490234375,
153.80859375,
-1.58203125,
-19.16015625,
37.96875
] |
[
-37.177734375,
104.23828125,
153.896484375,
0.17578125,
-18.896484375,
36.474609375
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-38.583984375,
108.369140625,
153.896484375,
-1.40625,
-19.072265625,
38.056640625
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[
-37.529296875,
104.94140625,
153.984375,
0.263671875,
-18.984375,
36.474609375
] | 3.266667
| 98
| 0
| 98
| 0
|
[
-38.759765625,
109.775390625,
153.984375,
-0.966796875,
-19.072265625,
38.056640625
] |
[
-37.6171875,
105.8203125,
153.984375,
0.263671875,
-18.984375,
36.9140625
] | 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": 5,
"total_frames": 2023,
"total_tasks": 1,
"total_videos": 10,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:5"
},
"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.laptop": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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