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action
sequence | observation.state
sequence | timestamp
float32 0
22.2
| frame_index
int64 0
666
| episode_index
int64 0
20
| index
int64 0
12.3k
| 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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38.14453125,
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[
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[
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[
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[
-0.52734375,
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38.14453125,
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5.009765625,
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[
-0.263671875,
23.203125,
37.96875,
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[
-0.52734375,
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38.14453125,
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5.009765625,
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[
-0.263671875,
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[
-0.52734375,
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38.14453125,
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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|
[
-0.52734375,
22.939453125,
38.14453125,
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4.921875,
34.98046875
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[
-0.263671875,
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37.96875,
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
4.921875,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
4.74609375,
34.98046875
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| 10
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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34.98046875
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| 11
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|
[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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34.98046875
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
4.921875,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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[
-0.52734375,
23.02734375,
38.14453125,
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5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.880859375,
-23.37890625,
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| 16
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| 16
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
4.921875,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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| 17
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[
-0.52734375,
23.02734375,
38.14453125,
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5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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| 18
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| 18
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
4.74609375,
34.98046875
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| 19
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| 19
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.3515625,
23.203125,
37.96875,
-23.37890625,
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| 20
| 0
| 20
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[
-0.52734375,
23.02734375,
38.232421875,
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5.009765625,
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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| 21
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[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
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[
-0.263671875,
23.203125,
38.056640625,
-23.37890625,
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34.98046875
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| 22
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| 22
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[
-0.52734375,
23.02734375,
38.14453125,
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5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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| 23
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| 23
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|
[
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23.02734375,
38.232421875,
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5.009765625,
34.98046875
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[
-0.3515625,
23.203125,
38.056640625,
-23.37890625,
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34.98046875
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| 24
| 0
| 24
| 0
|
[
-0.52734375,
23.02734375,
38.14453125,
-22.939453125,
5.009765625,
34.98046875
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[
-0.263671875,
23.203125,
37.96875,
-23.37890625,
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| 25
| 0
| 25
| 0
|
[
-0.52734375,
23.115234375,
38.14453125,
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[
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23.203125,
37.96875,
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| 26
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| 26
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[
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38.232421875,
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34.98046875
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[
-0.263671875,
23.203125,
38.056640625,
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34.98046875
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| 27
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| 27
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[
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23.203125,
38.3203125,
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[
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23.203125,
37.96875,
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| 28
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| 28
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[
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23.291015625,
38.408203125,
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[
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23.203125,
37.96875,
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| 29
| 0
| 29
| 0
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[
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23.5546875,
38.49609375,
-22.5,
4.658203125,
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[
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23.203125,
38.14453125,
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34.98046875
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| 30
| 0
| 30
| 0
|
[
-0.263671875,
23.73046875,
38.84765625,
-22.32421875,
4.5703125,
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[
-0.263671875,
23.37890625,
38.14453125,
-23.02734375,
4.74609375,
34.98046875
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| 31
| 0
| 31
| 0
|
[
-0.263671875,
23.90625,
39.638671875,
-22.060546875,
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34.98046875
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[
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23.5546875,
38.583984375,
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| 32
| 0
| 32
| 0
|
[
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24.345703125,
41.044921875,
-21.4453125,
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34.98046875
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[
-0.263671875,
23.818359375,
39.375,
-22.67578125,
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34.98046875
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| 33
| 0
| 33
| 0
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[
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25.13671875,
42.71484375,
-20.91796875,
4.5703125,
34.98046875
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[
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24.169921875,
40.60546875,
-22.236328125,
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34.98046875
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| 34
| 0
| 34
| 0
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[
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26.71875,
44.12109375,
-20.654296875,
4.5703125,
34.98046875
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[
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24.9609375,
42.275390625,
-21.796875,
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34.98046875
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| 35
| 0
| 35
| 0
|
[
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29.091796875,
45.791015625,
-20.478515625,
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34.98046875
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[
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26.3671875,
43.76953125,
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4.74609375,
34.98046875
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| 36
| 0
| 36
| 0
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[
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31.9921875,
47.8125,
-20.478515625,
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34.98046875
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[
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28.4765625,
45.52734375,
-21.181640625,
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| 37
| 0
| 37
| 0
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[
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35.15625,
50.09765625,
-20.478515625,
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34.98046875
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[
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30.76171875,
47.724609375,
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34.98046875
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| 38
| 0
| 38
| 0
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[
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38.232421875,
52.822265625,
-20.478515625,
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34.98046875
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[
-0.3515625,
33.662109375,
50.361328125,
-20.91796875,
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34.98046875
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| 39
| 0
| 39
| 0
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[
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41.044921875,
56.07421875,
-20.478515625,
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[
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36.474609375,
52.998046875,
-20.56640625,
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34.98046875
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| 40
| 0
| 40
| 0
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[
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43.681640625,
59.4140625,
-20.478515625,
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34.98046875
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[
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39.0234375,
56.162109375,
-20.390625,
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34.98046875
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| 41
| 0
| 41
| 0
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[
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46.58203125,
62.75390625,
-20.56640625,
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34.98046875
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[
-0.3515625,
41.484375,
59.4140625,
-20.390625,
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34.98046875
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| 42
| 0
| 42
| 0
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[
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49.658203125,
65.478515625,
-20.56640625,
4.5703125,
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[
-0.3515625,
44.208984375,
62.9296875,
-20.302734375,
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34.98046875
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| 43
| 0
| 43
| 0
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[
0.087890625,
52.91015625,
68.02734375,
-20.478515625,
4.5703125,
34.98046875
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[
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46.845703125,
65.7421875,
-20.302734375,
4.74609375,
34.98046875
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| 44
| 0
| 44
| 0
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[
0.087890625,
56.25,
70.400390625,
-20.56640625,
4.5703125,
34.98046875
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[
-0.087890625,
49.833984375,
68.466796875,
-20.21484375,
4.74609375,
34.98046875
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| 45
| 0
| 45
| 0
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[
0.087890625,
59.501953125,
73.037109375,
-20.56640625,
4.5703125,
34.98046875
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[
0,
52.822265625,
70.6640625,
-20.302734375,
4.74609375,
34.98046875
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| 46
| 0
| 46
| 0
|
[
0.087890625,
62.314453125,
75.76171875,
-20.56640625,
4.5703125,
34.98046875
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[
0,
56.162109375,
73.212890625,
-20.302734375,
4.74609375,
34.98046875
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| 47
| 0
| 47
| 0
|
[
0.087890625,
65.126953125,
78.75,
-20.654296875,
4.5703125,
34.98046875
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[
-0.087890625,
59.501953125,
76.11328125,
-20.302734375,
4.74609375,
34.98046875
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| 48
| 0
| 48
| 0
|
[
0.17578125,
68.115234375,
82.001953125,
-20.7421875,
4.5703125,
34.98046875
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[
-0.087890625,
62.314453125,
78.92578125,
-20.21484375,
4.74609375,
34.98046875
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| 49
| 0
| 49
| 0
|
[
0.087890625,
71.015625,
84.90234375,
-20.830078125,
4.5703125,
34.98046875
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[
-0.087890625,
65.0390625,
82.177734375,
-20.302734375,
4.74609375,
34.98046875
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| 50
| 0
| 50
| 0
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[
0.17578125,
73.65234375,
87.71484375,
-20.830078125,
4.5703125,
34.98046875
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[
0,
68.02734375,
85.166015625,
-20.302734375,
4.74609375,
34.98046875
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| 51
| 0
| 51
| 0
|
[
0.087890625,
76.025390625,
90,
-20.91796875,
4.5703125,
34.98046875
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[
0.087890625,
70.83984375,
87.978515625,
-20.390625,
4.74609375,
34.98046875
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| 52
| 0
| 52
| 0
|
[
0.087890625,
78.486328125,
91.669921875,
-20.91796875,
4.5703125,
34.98046875
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[
0.087890625,
73.388671875,
90.263671875,
-20.478515625,
4.74609375,
34.98046875
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| 53
| 0
| 53
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[
0.17578125,
81.03515625,
92.63671875,
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34.98046875
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[
0,
75.76171875,
91.93359375,
-20.478515625,
4.833984375,
34.98046875
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| 54
| 0
| 54
| 0
|
[
0.087890625,
83.583984375,
93.33984375,
-20.654296875,
4.5703125,
34.98046875
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[
0,
78.22265625,
92.98828125,
-20.478515625,
4.833984375,
34.98046875
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| 55
| 0
| 55
| 0
|
[
0.087890625,
85.869140625,
94.130859375,
-20.56640625,
4.5703125,
34.98046875
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[
0.087890625,
80.859375,
93.603515625,
-20.478515625,
4.833984375,
34.98046875
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| 56
| 0
| 56
| 0
|
[
0.087890625,
87.978515625,
95.185546875,
-20.478515625,
4.5703125,
34.98046875
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[
0.087890625,
83.408203125,
94.306640625,
-20.390625,
4.658203125,
34.98046875
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| 57
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| 57
| 0
|
[
0.087890625,
89.82421875,
96.240234375,
-20.478515625,
4.5703125,
34.98046875
] |
[
0.087890625,
85.60546875,
95.44921875,
-20.390625,
4.74609375,
34.98046875
] | 1.933333
| 58
| 0
| 58
| 0
|
[
0.087890625,
91.494140625,
97.294921875,
-20.56640625,
4.5703125,
34.98046875
] |
[
0.087890625,
87.626953125,
96.50390625,
-20.390625,
4.74609375,
34.98046875
] | 1.966667
| 59
| 0
| 59
| 0
|
[
0.087890625,
93.076171875,
98.26171875,
-20.56640625,
4.5703125,
34.98046875
] |
[
0,
89.296875,
97.55859375,
-20.390625,
4.74609375,
34.98046875
] | 2
| 60
| 0
| 60
| 0
|
[
0.087890625,
94.39453125,
99.140625,
-20.56640625,
4.74609375,
34.98046875
] |
[
0,
91.0546875,
98.61328125,
-20.390625,
4.833984375,
34.98046875
] | 2.033333
| 61
| 0
| 61
| 0
|
[
0.087890625,
95.537109375,
99.931640625,
-20.478515625,
4.921875,
34.98046875
] |
[
0.087890625,
92.548828125,
99.404296875,
-20.390625,
4.74609375,
34.98046875
] | 2.066667
| 62
| 0
| 62
| 0
|
[
0.087890625,
96.85546875,
100.8984375,
-20.830078125,
5.009765625,
34.98046875
] |
[
0.17578125,
93.779296875,
100.283203125,
-20.390625,
4.74609375,
34.98046875
] | 2.1
| 63
| 0
| 63
| 0
|
[
0.087890625,
98.349609375,
101.689453125,
-21.005859375,
5.009765625,
34.98046875
] |
[
0.087890625,
95.009765625,
101.162109375,
-20.390625,
4.833984375,
34.98046875
] | 2.133333
| 64
| 0
| 64
| 0
|
[
0,
100.107421875,
102.3046875,
-21.26953125,
5.009765625,
34.98046875
] |
[
0.087890625,
96.416015625,
101.953125,
-20.478515625,
4.833984375,
34.98046875
] | 2.166667
| 65
| 0
| 65
| 0
|
[
-0.17578125,
101.953125,
103.18359375,
-21.533203125,
5.009765625,
34.98046875
] |
[
0,
97.998046875,
102.568359375,
-20.7421875,
4.833984375,
34.98046875
] | 2.2
| 66
| 0
| 66
| 0
|
[
-0.087890625,
103.53515625,
103.974609375,
-22.236328125,
5.009765625,
34.98046875
] |
[
0.087890625,
99.931640625,
103.447265625,
-21.005859375,
4.833984375,
34.98046875
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-0.263671875,
105.029296875,
104.94140625,
-23.994140625,
5.009765625,
34.98046875
] |
[
0.087890625,
101.6015625,
104.326171875,
-21.533203125,
4.833984375,
34.98046875
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-0.439453125,
106.259765625,
106.259765625,
-26.71875,
5.009765625,
34.98046875
] |
[
0,
103.18359375,
105.205078125,
-23.02734375,
4.833984375,
34.98046875
] | 2.3
| 69
| 0
| 69
| 0
|
[
-0.791015625,
107.2265625,
107.841796875,
-30.5859375,
5.009765625,
34.98046875
] |
[
-0.17578125,
104.501953125,
106.5234375,
-25.48828125,
4.833984375,
34.98046875
] | 2.333333
| 70
| 0
| 70
| 0
|
[
-1.318359375,
108.10546875,
109.599609375,
-35.15625,
5.009765625,
34.98046875
] |
[
-0.52734375,
105.732421875,
108.369140625,
-29.35546875,
4.74609375,
34.98046875
] | 2.366667
| 71
| 0
| 71
| 0
|
[
-2.021484375,
108.80859375,
111.4453125,
-41.044921875,
5.009765625,
34.98046875
] |
[
-1.0546875,
106.5234375,
109.86328125,
-33.3984375,
4.833984375,
34.98046875
] | 2.4
| 72
| 0
| 72
| 0
|
[
-2.900390625,
109.248046875,
113.115234375,
-46.845703125,
5.009765625,
34.98046875
] |
[
-1.669921875,
107.314453125,
111.708984375,
-38.583984375,
4.833984375,
34.98046875
] | 2.433333
| 73
| 0
| 73
| 0
|
[
-3.779296875,
109.248046875,
114.78515625,
-52.646484375,
5.009765625,
34.98046875
] |
[
-2.4609375,
107.841796875,
113.466796875,
-44.208984375,
4.833984375,
34.98046875
] | 2.466667
| 74
| 0
| 74
| 0
|
[
-4.658203125,
109.248046875,
116.19140625,
-58.798828125,
5.009765625,
34.98046875
] |
[
-3.427734375,
108.10546875,
114.9609375,
-50.009765625,
4.833984375,
34.98046875
] | 2.5
| 75
| 0
| 75
| 0
|
[
-5.44921875,
109.16015625,
117.59765625,
-64.86328125,
5.009765625,
34.98046875
] |
[
-4.39453125,
108.10546875,
116.54296875,
-56.337890625,
4.833984375,
34.98046875
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-6.240234375,
109.248046875,
119.091796875,
-70.83984375,
5.009765625,
34.98046875
] |
[
-5.09765625,
108.10546875,
117.861328125,
-62.2265625,
4.833984375,
34.98046875
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-7.119140625,
109.16015625,
120.76171875,
-76.201171875,
5.009765625,
34.98046875
] |
[
-5.888671875,
108.193359375,
119.35546875,
-68.203125,
4.833984375,
34.98046875
] | 2.6
| 78
| 0
| 78
| 0
|
[
-8.349609375,
109.072265625,
122.51953125,
-80.947265625,
5.009765625,
34.98046875
] |
[
-6.767578125,
108.193359375,
121.025390625,
-73.65234375,
4.833984375,
34.98046875
] | 2.633333
| 79
| 0
| 79
| 0
|
[
-9.4921875,
108.80859375,
124.365234375,
-85.341796875,
5.009765625,
34.98046875
] |
[
-7.91015625,
108.10546875,
122.783203125,
-78.75,
4.833984375,
34.98046875
] | 2.666667
| 80
| 0
| 80
| 0
|
[
-10.986328125,
108.369140625,
126.03515625,
-89.47265625,
4.921875,
34.98046875
] |
[
-9.228515625,
108.10546875,
124.716796875,
-83.583984375,
4.833984375,
34.98046875
] | 2.7
| 81
| 0
| 81
| 0
|
[
-12.744140625,
107.666015625,
127.6171875,
-92.900390625,
5.009765625,
34.98046875
] |
[
-10.634765625,
108.017578125,
126.298828125,
-87.71484375,
4.833984375,
34.98046875
] | 2.733333
| 82
| 0
| 82
| 0
|
[
-14.4140625,
106.875,
128.671875,
-95.44921875,
4.921875,
34.98046875
] |
[
-12.216796875,
107.578125,
127.705078125,
-91.40625,
4.833984375,
34.98046875
] | 2.766667
| 83
| 0
| 83
| 0
|
[
-16.259765625,
106.259765625,
129.375,
-97.294921875,
5.009765625,
34.98046875
] |
[
-13.7109375,
106.787109375,
128.84765625,
-94.21875,
4.833984375,
34.98046875
] | 2.8
| 84
| 0
| 84
| 0
|
[
-18.017578125,
105.732421875,
129.814453125,
-98.173828125,
5.009765625,
34.98046875
] |
[
-15.64453125,
106.083984375,
129.55078125,
-96.328125,
4.833984375,
34.98046875
] | 2.833333
| 85
| 0
| 85
| 0
|
[
-19.86328125,
105.029296875,
130.078125,
-98.349609375,
4.921875,
34.98046875
] |
[
-17.666015625,
105.46875,
129.990234375,
-97.55859375,
4.833984375,
34.98046875
] | 2.866667
| 86
| 0
| 86
| 0
|
[
-21.97265625,
103.7109375,
130.4296875,
-98.26171875,
4.921875,
34.98046875
] |
[
-19.423828125,
104.765625,
130.25390625,
-97.998046875,
4.833984375,
34.98046875
] | 2.9
| 87
| 0
| 87
| 0
|
[
-23.90625,
102.216796875,
130.693359375,
-98.26171875,
4.833984375,
34.98046875
] |
[
-21.357421875,
103.7109375,
130.60546875,
-97.998046875,
4.833984375,
34.98046875
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-25.576171875,
101.162109375,
130.95703125,
-98.173828125,
4.74609375,
34.98046875
] |
[
-23.291015625,
102.216796875,
130.869140625,
-97.91015625,
4.833984375,
34.98046875
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-26.89453125,
100.283203125,
131.220703125,
-98.173828125,
4.658203125,
34.98046875
] |
[
-25.048828125,
101.07421875,
131.1328125,
-97.998046875,
4.833984375,
34.98046875
] | 3
| 90
| 0
| 90
| 0
|
[
-28.125,
99.580078125,
131.66015625,
-98.173828125,
4.658203125,
34.98046875
] |
[
-26.54296875,
100.107421875,
131.396484375,
-97.91015625,
4.833984375,
34.98046875
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-29.1796875,
99.052734375,
132.099609375,
-98.173828125,
4.5703125,
34.98046875
] |
[
-27.685546875,
99.404296875,
131.8359375,
-97.91015625,
4.833984375,
34.98046875
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-30.05859375,
98.701171875,
132.890625,
-98.173828125,
4.5703125,
34.98046875
] |
[
-28.65234375,
98.876953125,
132.275390625,
-97.998046875,
4.833984375,
34.98046875
] | 3.1
| 93
| 0
| 93
| 0
|
[
-31.025390625,
98.61328125,
133.59375,
-98.173828125,
4.658203125,
34.98046875
] |
[
-29.619140625,
98.4375,
133.06640625,
-97.91015625,
4.833984375,
34.98046875
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-31.9921875,
98.61328125,
134.296875,
-98.173828125,
4.658203125,
34.98046875
] |
[
-30.498046875,
98.26171875,
133.681640625,
-97.998046875,
4.833984375,
34.98046875
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-32.6953125,
98.61328125,
134.82421875,
-98.173828125,
4.5703125,
34.98046875
] |
[
-31.640625,
98.26171875,
134.47265625,
-97.998046875,
4.833984375,
34.98046875
] | 3.2
| 96
| 0
| 96
| 0
|
[
-33.3984375,
98.61328125,
135.17578125,
-98.173828125,
4.5703125,
34.98046875
] |
[
-32.431640625,
98.173828125,
135.087890625,
-97.998046875,
4.74609375,
34.98046875
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-34.013671875,
98.173828125,
135.703125,
-97.91015625,
4.5703125,
34.98046875
] |
[
-33.134765625,
98.173828125,
135.3515625,
-97.91015625,
4.833984375,
34.98046875
] | 3.266667
| 98
| 0
| 98
| 0
|
[
-34.98046875,
97.3828125,
136.494140625,
-97.646484375,
4.5703125,
34.98046875
] |
[
-33.75,
97.91015625,
135.87890625,
-97.91015625,
4.833984375,
34.98046875
] | 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": 5,
"total_frames": 2920,
"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": "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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