Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
29.5
| frame_index
int64 0
885
| episode_index
int64 0
19
| index
int64 0
17.7k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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[
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[
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90,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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31.375986099243164
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[
9.140625,
38.583984375,
28.65234375,
99.84375,
22.5,
31.63956642150879
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| 57
| 0
| 57
| 0
|
[
10.37109375,
36.2109375,
18.193359375,
100.283203125,
22.67578125,
31.375986099243164
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[
9.140625,
37.529296875,
27.0703125,
99.84375,
22.5,
31.63956642150879
] | 1.933333
| 58
| 0
| 58
| 0
|
[
10.546875,
35.419921875,
16.5234375,
100.634765625,
22.5,
31.375986099243164
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[
9.228515625,
36.474609375,
25.576171875,
99.84375,
22.5,
31.63956642150879
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| 59
| 0
| 59
| 0
|
[
10.634765625,
34.62890625,
15.029296875,
100.810546875,
22.5,
31.375986099243164
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[
9.404296875,
35.419921875,
23.994140625,
99.84375,
22.5,
31.63956642150879
] | 2
| 60
| 0
| 60
| 0
|
[
11.07421875,
34.013671875,
14.150390625,
100.810546875,
22.587890625,
31.375986099243164
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[
9.580078125,
34.541015625,
22.587890625,
100.107421875,
22.5,
31.63956642150879
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| 61
| 0
| 61
| 0
|
[
11.337890625,
33.486328125,
13.623046875,
100.810546875,
22.587890625,
31.28834342956543
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[
9.84375,
33.837890625,
21.005859375,
100.37109375,
22.5,
31.63956642150879
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| 62
| 0
| 62
| 0
|
[
11.337890625,
32.87109375,
13.271484375,
100.810546875,
22.587890625,
31.28834342956543
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[
10.107421875,
33.22265625,
19.599609375,
100.546875,
22.5,
31.63956642150879
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| 63
| 0
| 63
| 0
|
[
11.513671875,
32.16796875,
12.919921875,
100.810546875,
22.763671875,
31.28834342956543
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[
10.37109375,
32.6953125,
18.45703125,
100.634765625,
22.5,
31.63956642150879
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| 64
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| 64
| 0
|
[
11.513671875,
31.552734375,
12.744140625,
100.810546875,
22.8515625,
31.28834342956543
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[
10.546875,
32.16796875,
17.666015625,
100.72265625,
22.5,
31.63956642150879
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| 65
| 0
| 65
| 0
|
[
11.689453125,
31.11328125,
12.65625,
100.72265625,
22.8515625,
31.28834342956543
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[
10.72265625,
31.46484375,
17.05078125,
100.72265625,
22.5,
31.63956642150879
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| 66
| 0
| 66
| 0
|
[
11.953125,
30.673828125,
12.65625,
100.72265625,
22.8515625,
31.28834342956543
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[
10.8984375,
30.849609375,
16.69921875,
100.72265625,
22.5,
31.63956642150879
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| 67
| 0
| 67
| 0
|
[
12.041015625,
30.234375,
12.65625,
100.72265625,
22.8515625,
31.28834342956543
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[
11.07421875,
30.234375,
16.5234375,
100.72265625,
22.5,
31.63956642150879
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| 68
| 0
| 68
| 0
|
[
12.216796875,
29.794921875,
12.65625,
100.72265625,
22.8515625,
31.28834342956543
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[
11.162109375,
29.794921875,
16.435546875,
100.72265625,
22.5,
31.63956642150879
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| 69
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| 69
| 0
|
[
12.216796875,
29.53125,
12.65625,
100.72265625,
22.8515625,
31.28834342956543
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[
11.337890625,
29.35546875,
16.34765625,
100.72265625,
22.5,
31.63956642150879
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| 70
| 0
| 70
| 0
|
[
12.216796875,
29.443359375,
12.65625,
100.634765625,
22.8515625,
31.28834342956543
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[
11.513671875,
29.00390625,
16.259765625,
100.72265625,
22.5,
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| 71
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| 71
| 0
|
[
12.3046875,
29.091796875,
12.65625,
100.458984375,
22.8515625,
31.28834342956543
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[
11.689453125,
28.65234375,
16.259765625,
100.72265625,
22.5,
31.63956642150879
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| 72
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| 72
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|
[
12.3046875,
28.65234375,
12.65625,
100.458984375,
22.8515625,
31.28834342956543
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[
11.689453125,
28.30078125,
16.259765625,
100.72265625,
22.5,
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| 73
| 0
| 73
| 0
|
[
12.3046875,
28.212890625,
12.65625,
100.37109375,
22.8515625,
31.28834342956543
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[
11.689453125,
28.037109375,
16.259765625,
100.72265625,
22.5,
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| 74
| 0
| 74
| 0
|
[
12.3046875,
27.7734375,
12.65625,
100.37109375,
22.8515625,
31.28834342956543
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[
11.689453125,
27.685546875,
16.259765625,
100.72265625,
22.5,
31.63956642150879
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| 75
| 0
| 75
| 0
|
[
12.3046875,
27.421875,
12.568359375,
100.283203125,
22.8515625,
31.28834342956543
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[
11.689453125,
27.421875,
16.171875,
100.72265625,
22.5,
31.63956642150879
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| 76
| 0
| 76
| 0
|
[
12.3046875,
27.24609375,
12.48046875,
100.283203125,
22.8515625,
31.28834342956543
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[
11.6015625,
27.158203125,
16.083984375,
100.634765625,
22.5,
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| 77
| 0
| 77
| 0
|
[
12.3046875,
26.982421875,
11.953125,
100.37109375,
22.8515625,
31.28834342956543
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[
11.6015625,
26.89453125,
15.732421875,
100.634765625,
22.5,
31.504064559936523
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| 78
| 0
| 78
| 0
|
[
12.3046875,
26.71875,
11.42578125,
100.546875,
22.8515625,
31.200700759887695
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[
11.6015625,
26.630859375,
15.46875,
100.634765625,
22.5,
31.504064559936523
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| 79
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| 79
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|
[
12.3046875,
26.279296875,
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100.634765625,
22.8515625,
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[
11.6015625,
26.455078125,
15.029296875,
100.634765625,
22.5,
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| 80
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|
[
12.3046875,
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[
11.6015625,
26.19140625,
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22.5,
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| 81
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[
12.3046875,
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[
11.6015625,
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22.5,
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| 82
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[
12.3046875,
25.13671875,
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[
11.6015625,
25.48828125,
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| 83
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[
12.3046875,
24.873046875,
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[
11.6015625,
25.13671875,
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[
12.3046875,
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[
11.6015625,
24.873046875,
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| 85
| 0
|
[
12.3046875,
24.521484375,
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[
11.6015625,
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| 86
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[
12.392578125,
24.08203125,
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[
11.6015625,
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| 87
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| 87
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|
[
12.392578125,
23.642578125,
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100.546875,
22.5,
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[
11.6015625,
24.345703125,
12.12890625,
100.72265625,
22.5,
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[
12.392578125,
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[
11.6015625,
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| 89
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[
12.392578125,
22.412109375,
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[
11.6015625,
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11.77734375,
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22.5,
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| 90
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[
12.392578125,
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[
11.689453125,
23.37890625,
11.42578125,
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22.5,
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| 91
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| 91
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[
12.392578125,
21.005859375,
10.1953125,
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[
11.865234375,
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[
12.48046875,
20.302734375,
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[
11.865234375,
22.763671875,
10.810546875,
100.72265625,
22.5,
15.51490592956543
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| 93
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| 93
| 0
|
[
12.48046875,
19.6875,
10.107421875,
100.283203125,
22.67578125,
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[
11.865234375,
22.5,
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22.5,
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| 94
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[
12.48046875,
19.16015625,
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[
11.865234375,
22.236328125,
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[
12.48046875,
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[
11.865234375,
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[
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[
11.953125,
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[
12.392578125,
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11.953125,
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[
12.392578125,
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[
11.953125,
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| 0
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 2,
"total_frames": 1768,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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.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.phone": {
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"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": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
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},
"episode_index": {
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"shape": [
1
],
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},
"index": {
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1
],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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