Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
10.7
| frame_index
int64 0
322
| episode_index
int64 0
2
| index
int64 0
954
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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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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-69.697265625,
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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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| 23
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[
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[
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| 24
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[
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[
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110.478515625,
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| 0
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[
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[
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| 26
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[
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[
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129.375,
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[
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[
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| 0
| 28
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[
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[
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110.478515625,
131.220703125,
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| 29
| 0
| 29
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[
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111.09375,
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34.98046875
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[
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| 30
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| 30
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[
-32.51953125,
111.09375,
133.76953125,
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34.98046875
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[
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110.478515625,
133.154296875,
-88.2421875,
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| 31
| 0
| 31
| 0
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[
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111.09375,
134.736328125,
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34.98046875
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[
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110.478515625,
133.9453125,
-88.154296875,
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| 32
| 0
| 32
| 0
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[
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34.98046875
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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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135.791015625,
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| 34
| 0
| 34
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[
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[
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136.7578125,
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| 35
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| 35
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[
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111.09375,
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[
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110.478515625,
137.373046875,
-84.638671875,
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| 36
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| 36
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[
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111.09375,
137.900390625,
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[
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137.724609375,
-82.79296875,
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| 37
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| 37
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[
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[
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110.478515625,
138.076171875,
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| 38
| 0
| 38
| 0
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[
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111.09375,
138.1640625,
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[
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110.478515625,
138.251953125,
-77.255859375,
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| 39
| 0
| 39
| 0
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[
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111.09375,
138.251953125,
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34.98046875
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[
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110.478515625,
138.33984375,
-73.65234375,
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34.98046875
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| 40
| 0
| 40
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[
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111.09375,
138.251953125,
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34.98046875
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[
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110.478515625,
138.427734375,
-69.697265625,
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34.98046875
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| 41
| 0
| 41
| 0
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[
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111.09375,
138.251953125,
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34.98046875
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[
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110.478515625,
138.515625,
-65.302734375,
8.173828125,
34.98046875
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| 42
| 0
| 42
| 0
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[
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111.181640625,
138.076171875,
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[
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110.478515625,
138.427734375,
-60.8203125,
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34.98046875
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| 43
| 0
| 43
| 0
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[
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111.181640625,
137.98828125,
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34.98046875
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[
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110.478515625,
138.427734375,
-56.42578125,
8.173828125,
34.98046875
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| 44
| 0
| 44
| 0
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[
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111.09375,
137.98828125,
-47.8125,
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34.98046875
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[
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110.478515625,
138.515625,
-52.470703125,
8.173828125,
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| 45
| 0
| 45
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[
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111.09375,
137.98828125,
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34.98046875
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[
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110.478515625,
138.515625,
-49.04296875,
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34.98046875
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| 46
| 0
| 46
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[
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111.005859375,
137.98828125,
-42.71484375,
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[
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110.478515625,
138.427734375,
-46.0546875,
8.173828125,
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| 47
| 0
| 47
| 0
|
[
-39.0234375,
111.005859375,
137.900390625,
-40.78125,
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34.98046875
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[
-39.287109375,
110.478515625,
138.427734375,
-43.59375,
8.173828125,
34.98046875
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| 48
| 0
| 48
| 0
|
[
-38.759765625,
111.005859375,
137.8125,
-39.111328125,
7.998046875,
34.98046875
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[
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110.478515625,
138.427734375,
-41.396484375,
8.173828125,
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| 49
| 0
| 49
| 0
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[
-38.232421875,
111.005859375,
137.63671875,
-37.6171875,
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34.98046875
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[
-39.0234375,
110.478515625,
138.33984375,
-39.55078125,
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34.98046875
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| 50
| 0
| 50
| 0
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[
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137.548828125,
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35.068359375
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[
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110.478515625,
138.1640625,
-37.96875,
8.173828125,
34.98046875
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| 51
| 0
| 51
| 0
|
[
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110.126953125,
137.28515625,
-34.8046875,
7.998046875,
34.98046875
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[
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110.390625,
138.076171875,
-36.650390625,
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34.98046875
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| 52
| 0
| 52
| 0
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[
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109.16015625,
136.58203125,
-33.57421875,
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[
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109.951171875,
137.724609375,
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| 53
| 0
| 53
| 0
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[
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108.10546875,
135.17578125,
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34.98046875
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[
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108.984375,
137.021484375,
-33.92578125,
8.0859375,
34.98046875
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| 54
| 0
| 54
| 0
|
[
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107.05078125,
133.41796875,
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34.98046875
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[
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107.841796875,
135.703125,
-32.783203125,
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| 55
| 0
| 55
| 0
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[
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131.396484375,
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34.98046875
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[
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106.875,
133.857421875,
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34.98046875
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| 56
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| 56
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[
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129.7265625,
-30.9375,
7.998046875,
34.98046875
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[
-34.62890625,
105.64453125,
131.923828125,
-31.552734375,
8.0859375,
34.98046875
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| 57
| 0
| 57
| 0
|
[
-33.046875,
102.83203125,
128.232421875,
-30.498046875,
7.91015625,
34.98046875
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[
-33.837890625,
104.23828125,
130.25390625,
-31.025390625,
8.173828125,
34.98046875
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| 58
| 0
| 58
| 0
|
[
-32.607421875,
101.6015625,
127.08984375,
-30.146484375,
7.998046875,
34.98046875
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[
-33.310546875,
102.744140625,
128.759765625,
-30.5859375,
8.0859375,
34.98046875
] | 1.966667
| 59
| 0
| 59
| 0
|
[
-32.255859375,
100.72265625,
126.03515625,
-29.70703125,
7.998046875,
34.98046875
] |
[
-32.958984375,
101.513671875,
127.6171875,
-30.234375,
8.0859375,
34.98046875
] | 2
| 60
| 0
| 60
| 0
|
[
-31.81640625,
100.107421875,
125.419921875,
-29.443359375,
7.998046875,
34.98046875
] |
[
-32.51953125,
100.458984375,
126.5625,
-29.794921875,
8.0859375,
34.98046875
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| 61
| 0
| 61
| 0
|
[
-31.640625,
99.580078125,
124.892578125,
-29.35546875,
7.91015625,
34.98046875
] |
[
-32.080078125,
99.755859375,
125.947265625,
-29.443359375,
8.0859375,
35.068359375
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| 62
| 0
| 62
| 0
|
[
-31.46484375,
98.7890625,
124.365234375,
-29.267578125,
7.998046875,
34.98046875
] |
[
-31.81640625,
99.228515625,
125.419921875,
-29.35546875,
8.0859375,
34.98046875
] | 2.1
| 63
| 0
| 63
| 0
|
[
-31.025390625,
97.91015625,
123.662109375,
-29.267578125,
7.91015625,
34.98046875
] |
[
-31.640625,
98.4375,
124.8046875,
-29.267578125,
8.0859375,
34.98046875
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-30.234375,
97.03125,
123.046875,
-29.267578125,
7.91015625,
34.98046875
] |
[
-31.376953125,
97.646484375,
124.189453125,
-29.1796875,
7.998046875,
34.98046875
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| 65
| 0
| 65
| 0
|
[
-29.35546875,
96.15234375,
122.16796875,
-29.267578125,
7.998046875,
34.98046875
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[
-30.673828125,
96.6796875,
123.486328125,
-29.1796875,
8.0859375,
34.98046875
] | 2.2
| 66
| 0
| 66
| 0
|
[
-28.564453125,
95.44921875,
121.11328125,
-29.267578125,
8.0859375,
34.98046875
] |
[
-29.794921875,
95.888671875,
122.607421875,
-29.1796875,
7.998046875,
34.98046875
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-28.125,
94.833984375,
119.8828125,
-29.267578125,
8.0859375,
34.98046875
] |
[
-28.916015625,
95.09765625,
121.552734375,
-29.1796875,
7.998046875,
34.98046875
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-28.037109375,
94.04296875,
118.564453125,
-29.267578125,
8.173828125,
34.98046875
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[
-28.388671875,
94.482421875,
120.322265625,
-29.1796875,
7.998046875,
34.98046875
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| 69
| 0
| 69
| 0
|
[
-28.037109375,
92.98828125,
117.333984375,
-29.267578125,
8.173828125,
34.98046875
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[
-28.125,
93.69140625,
119.091796875,
-29.1796875,
7.998046875,
34.98046875
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| 70
| 0
| 70
| 0
|
[
-27.94921875,
91.845703125,
116.19140625,
-29.267578125,
8.0859375,
34.98046875
] |
[
-28.30078125,
92.8125,
117.7734375,
-29.1796875,
7.998046875,
34.98046875
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| 71
| 0
| 71
| 0
|
[
-27.94921875,
90.615234375,
115.048828125,
-29.267578125,
8.173828125,
34.98046875
] |
[
-28.212890625,
91.669921875,
116.630859375,
-29.091796875,
8.0859375,
34.98046875
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| 72
| 0
| 72
| 0
|
[
-27.94921875,
89.47265625,
113.994140625,
-29.267578125,
8.173828125,
34.98046875
] |
[
-28.212890625,
90.3515625,
115.576171875,
-29.1796875,
8.0859375,
34.98046875
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| 73
| 0
| 73
| 0
|
[
-27.94921875,
88.505859375,
112.939453125,
-29.35546875,
8.173828125,
34.98046875
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[
-27.94921875,
89.208984375,
114.521484375,
-29.091796875,
7.998046875,
34.98046875
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| 74
| 0
| 74
| 0
|
[
-28.037109375,
87.451171875,
111.708984375,
-29.35546875,
8.173828125,
34.98046875
] |
[
-28.037109375,
88.154296875,
113.466796875,
-29.091796875,
7.998046875,
34.98046875
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| 75
| 0
| 75
| 0
|
[
-27.94921875,
86.396484375,
110.390625,
-29.35546875,
8.173828125,
34.98046875
] |
[
-28.125,
87.099609375,
112.236328125,
-29.1796875,
8.0859375,
35.068359375
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-28.037109375,
85.517578125,
108.896484375,
-29.267578125,
8.173828125,
34.98046875
] |
[
-28.212890625,
86.044921875,
110.91796875,
-29.091796875,
7.998046875,
34.98046875
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| 77
| 0
| 77
| 0
|
[
-28.037109375,
84.90234375,
107.490234375,
-29.35546875,
8.173828125,
34.98046875
] |
[
-28.212890625,
85.166015625,
109.423828125,
-29.091796875,
7.998046875,
34.98046875
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| 78
| 0
| 78
| 0
|
[
-28.037109375,
84.55078125,
106.083984375,
-29.267578125,
8.173828125,
34.98046875
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[
-28.125,
84.462890625,
107.9296875,
-29.1796875,
8.0859375,
34.98046875
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| 79
| 0
| 79
| 0
|
[
-28.037109375,
84.462890625,
104.765625,
-29.267578125,
8.173828125,
34.98046875
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[
-28.125,
84.0234375,
106.611328125,
-29.091796875,
7.998046875,
34.98046875
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| 80
| 0
| 80
| 0
|
[
-28.037109375,
84.462890625,
103.7109375,
-29.267578125,
8.173828125,
34.98046875
] |
[
-28.125,
83.935546875,
105.29296875,
-29.091796875,
7.998046875,
34.98046875
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| 81
| 0
| 81
| 0
|
[
-28.037109375,
84.55078125,
103.0078125,
-29.267578125,
8.173828125,
34.98046875
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[
-28.212890625,
83.84765625,
104.23828125,
-29.1796875,
8.173828125,
34.98046875
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| 82
| 0
| 82
| 0
|
[
-28.037109375,
84.638671875,
102.392578125,
-29.267578125,
8.173828125,
34.98046875
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[
-28.125,
83.84765625,
103.53515625,
-29.091796875,
8.0859375,
34.98046875
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| 83
| 0
| 83
| 0
|
[
-28.037109375,
84.638671875,
101.865234375,
-29.267578125,
8.173828125,
35.068359375
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[
-28.125,
83.84765625,
103.095703125,
-29.091796875,
8.0859375,
34.98046875
] | 2.8
| 84
| 0
| 84
| 0
|
[
-28.037109375,
84.814453125,
101.162109375,
-29.1796875,
8.173828125,
34.98046875
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[
-28.037109375,
83.84765625,
102.568359375,
-29.091796875,
7.998046875,
34.98046875
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| 85
| 0
| 85
| 0
|
[
-28.037109375,
85.078125,
100.107421875,
-29.1796875,
8.173828125,
34.98046875
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[
-27.94921875,
83.84765625,
101.77734375,
-29.091796875,
8.0859375,
34.98046875
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| 86
| 0
| 86
| 0
|
[
-27.94921875,
85.4296875,
98.701171875,
-29.00390625,
8.173828125,
34.98046875
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[
-27.94921875,
83.84765625,
100.810546875,
-29.00390625,
8.0859375,
34.98046875
] | 2.9
| 87
| 0
| 87
| 0
|
[
-27.59765625,
86.044921875,
97.03125,
-28.388671875,
8.26171875,
34.98046875
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[
-28.125,
83.84765625,
99.404296875,
-28.828125,
7.998046875,
34.98046875
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-26.982421875,
86.8359375,
94.921875,
-27.421875,
8.173828125,
34.98046875
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[
-27.94921875,
83.935546875,
97.646484375,
-28.388671875,
8.0859375,
34.98046875
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| 89
| 0
| 89
| 0
|
[
-25.751953125,
87.802734375,
92.63671875,
-25.927734375,
8.26171875,
34.98046875
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[
-27.421875,
84.375,
95.80078125,
-27.509765625,
8.0859375,
34.98046875
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| 90
| 0
| 90
| 0
|
[
-24.169921875,
88.681640625,
90.17578125,
-24.169921875,
8.26171875,
34.98046875
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[
-26.3671875,
85.166015625,
93.427734375,
-26.015625,
8.173828125,
34.98046875
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| 91
| 0
| 91
| 0
|
[
-22.32421875,
89.560546875,
87.451171875,
-22.1484375,
8.26171875,
34.98046875
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[
-24.9609375,
85.95703125,
90.966796875,
-24.43359375,
8.0859375,
34.98046875
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| 92
| 0
| 92
| 0
|
[
-20.7421875,
90.52734375,
84.990234375,
-19.951171875,
8.26171875,
34.98046875
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[
-23.203125,
86.923828125,
88.330078125,
-22.67578125,
7.998046875,
34.98046875
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| 93
| 0
| 93
| 0
|
[
-19.3359375,
91.40625,
82.44140625,
-17.841796875,
8.26171875,
34.98046875
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[
-21.357421875,
87.978515625,
85.869140625,
-20.654296875,
8.0859375,
34.98046875
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| 94
| 0
| 94
| 0
|
[
-18.017578125,
92.197265625,
79.98046875,
-15.732421875,
8.26171875,
34.98046875
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[
-19.86328125,
88.857421875,
83.408203125,
-18.544921875,
8.0859375,
34.98046875
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| 95
| 0
| 95
| 0
|
[
-16.787109375,
92.900390625,
77.607421875,
-13.974609375,
8.26171875,
34.98046875
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[
-18.45703125,
89.82421875,
80.859375,
-16.34765625,
8.0859375,
34.98046875
] | 3.2
| 96
| 0
| 96
| 0
|
[
-15.64453125,
93.515625,
75.673828125,
-12.3046875,
8.26171875,
34.98046875
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[
-17.2265625,
90.703125,
78.3984375,
-14.58984375,
8.0859375,
34.98046875
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| 97
| 0
| 97
| 0
|
[
-14.501953125,
93.955078125,
73.740234375,
-10.810546875,
8.26171875,
34.98046875
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[
-16.083984375,
91.494140625,
76.376953125,
-12.744140625,
8.0859375,
34.98046875
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| 98
| 0
| 98
| 0
|
[
-13.53515625,
94.5703125,
71.982421875,
-9.580078125,
8.26171875,
34.98046875
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[
-15.029296875,
92.109375,
74.443359375,
-11.162109375,
7.998046875,
34.98046875
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| 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": 3,
"total_frames": 955,
"total_tasks": 1,
"total_videos": 6,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:3"
},
"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": "h264",
"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": "h264",
"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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