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float32
0
55.8
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int64
0
558
episode_index
int64
0
9
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int64
0
5.58k
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int64
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0.1
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0.2
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0.3
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0.4
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0.5
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0.6
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0.7
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0.8
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0.9
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1
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1.1
11
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
21
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2.2
22
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2.3
23
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23
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2.4
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2.5
25
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2.6
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2.7
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2.8
28
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2.9
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3
30
0
30
0
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[ -1.5931826829910278, -97.21753692626953, 96.10102081298828, 56.252685546875, 0.46398046612739563, 0.7412399053573608, 0.14825797080993652, -98.72988891601562, 93.5999984741211, 69.8570785522461, 0.02442002482712269, 1.0073875188827515 ]
3.1
31
0
31
0
[ -1.9355850219726562, -97.04548645019531, 95.22691345214844, 55.52973556518555, 0.8696784973144531, 1.4975838661193848, 0.9113502502441406, -98.22948455810547, 91.31452178955078, 70.00408935546875, -0.3678131103515625, 0.5377053618431091 ]
[ -1.5931826829910278, -97.38616943359375, 96.10102081298828, 56.252685546875, 0.41514042019844055, 0.7412399053573608, 0.22238695621490479, -98.64521789550781, 93.5999984741211, 70.03031921386719, -0.07326007634401321, 1.2088650465011597 ]
3.2
32
0
32
0
[ -1.7894058227539062, -97.01514434814453, 95.57579040527344, 54.82856369018555, 0.7786140441894531, 0.6569963097572327, -0.02260589599609375, -98.36157989501953, 90.98645782470703, 70.24540710449219, -0.145050048828125, 0.8468490242958069 ]
[ -1.5931826829910278, -97.38616943359375, 96.10102081298828, 56.252685546875, 0.5128205418586731, 0.7412399053573608, 0.22238695621490479, -98.22184753417969, 93.5999984741211, 70.03031921386719, -0.07326007634401321, 1.2088650465011597 ]
3.3
33
0
33
0
[ -1.775238037109375, -96.49531555175781, 94.27902221679688, 55.166805267333984, 0.8310737609863281, 1.3939043283462524, 0.5743064880371094, -98.89144134521484, 91.2372817993164, 69.88599395751953, -0.32053375244140625, 0.4044059216976166 ]
[ -1.7413856983184814, -97.13322448730469, 96.10102081298828, 55.73699951171875, 0.6105006337165833, 0.7412399053573608, 0.22238695621490479, -98.22184753417969, 93.5111083984375, 70.03031921386719, -0.12210012227296829, 1.141705870628357 ]
3.4
34
0
34
0
[ -2.0333290100097656, -97.42926788330078, 95.52626037597656, 54.9000129699707, 0.6649665832519531, 1.9805526733398438, 0.3312110900878906, -100.28797912597656, 92.14734649658203, 69.64221954345703, -0.8619766235351562, 0.6362288594245911 ]
[ -1.7413856983184814, -96.8802719116211, 95.92378997802734, 55.56510543823242, 0.6105006337165833, 1.0107816457748413, 0.29651594161987305, -98.22184753417969, 93.5111083984375, 70.03031921386719, -0.21978022158145905, 1.141705870628357 ]
3.5
35
0
35
0
[ -1.291900634765625, -95.95291137695312, 94.40003967285156, 54.685550689697266, 0.6641273498535156, 1.3993706703186035, 0.4117431640625, -98.6264419555664, 91.2547836303711, 69.86366271972656, -0.48543548583984375, 0.7378548383712769 ]
[ -1.889588713645935, -97.21753692626953, 96.01240539550781, 55.56510543823242, 0.7081807255744934, 1.617250680923462, 0.29651594161987305, -99.3226089477539, 93.5111083984375, 70.03031921386719, -0.5616605877876282, 1.141705870628357 ]
3.6
36
0
36
0
[ -1.7336540222167969, -96.40890502929688, 94.7359619140625, 55.09396743774414, 0.3854026794433594, 1.093389868736267, 0.3253936767578125, -100.11341094970703, 92.67874908447266, 69.84036254882812, -0.9294509887695312, 0.462838739156723 ]
[ -1.5190811157226562, -96.54299926757812, 96.01240539550781, 55.393211364746094, 0.7081807255744934, 1.617250680923462, 0.29651594161987305, -99.3226089477539, 93.5111083984375, 70.03031921386719, -0.6105006337165833, 1.141705870628357 ]
3.7
37
0
37
0
[ -1.5214805603027344, -97.88919830322266, 96.10658264160156, 55.55056381225586, 0.8778572082519531, 1.3287442922592163, 0.32599639892578125, -100.58567810058594, 91.72162628173828, 69.55816650390625, 0.10129547119140625, 0.5140910744667053 ]
[ -1.6672841310501099, -96.3743667602539, 96.01240539550781, 55.393211364746094, 0.6593406796455383, 1.4150943756103516, 0.3706449270248413, -99.15325927734375, 93.5999984741211, 70.03031921386719, -0.8058608174324036, 1.141705870628357 ]
3.8
38
0
38
0
[ -1.4902458190917969, -96.59546661376953, 93.56489562988281, 54.02707290649414, 0.9431037902832031, 1.4423496723175049, 0.2771644592285156, -100.02062225341797, 93.4872817993164, 70.04871368408203, -0.1694488525390625, 0.15105901658535004 ]
[ -1.815487265586853, -97.13322448730469, 96.18962860107422, 55.393211364746094, 0.7570207715034485, 1.2803235054016113, 0.44477391242980957, -99.57662963867188, 93.5999984741211, 70.03031921386719, -0.41514042019844055, 1.141705870628357 ]
3.9
39
0
39
0
[ -1.7144432067871094, -96.2099838256836, 94.91899108886719, 55.100284576416016, 0.7757225036621094, 1.1935845613479614, 0.7094917297363281, -99.0461196899414, 92.86629486083984, 69.70220184326172, -0.35663604736328125, 0.741081178188324 ]
[ -1.7413856983184814, -96.8802719116211, 95.74656677246094, 54.877525329589844, 0.7570207715034485, 1.2803235054016113, 0.3706449270248413, -99.57662963867188, 94.04444122314453, 70.03031921386719, -0.2686202824115753, 1.0745466947555542 ]
4
40
0
40
0
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[ -1.7413856983184814, -96.6273193359375, 95.74656677246094, 54.963470458984375, 0.7570207715034485, 1.2803235054016113, 0.44477391242980957, -99.40727996826172, 94.13333129882812, 70.03031921386719, -0.2686202824115753, 1.0745466947555542 ]
4.1
41
0
41
0
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[ -1.7413856983184814, -97.04890441894531, 96.01240539550781, 55.393211364746094, 0.6593406796455383, 1.1455525159835815, 0.44477391242980957, -99.49195861816406, 94.13333129882812, 70.63664245605469, -0.2686202824115753, 1.0745466947555542 ]
4.2
42
0
42
0
[ -1.8362541198730469, -97.3434066772461, 95.12094116210938, 54.900569915771484, 0.7008705139160156, 1.47721266746521, 0.08974456787109375, -99.70175170898438, 92.66797637939453, 69.53428649902344, -0.2345123291015625, 0.5486154556274414 ]
[ -1.889588713645935, -96.54299926757812, 96.01240539550781, 55.393211364746094, 0.5128205418586731, 1.1455525159835815, 0.44477391242980957, -99.57662963867188, 94.13333129882812, 70.37678527832031, -0.46398046612739563, 1.0745466947555542 ]
4.3
43
0
43
0
[ -1.3652267456054688, -96.88504028320312, 95.61814880371094, 55.565792083740234, 0.4390983581542969, 1.0429490804672241, 0.19504547119140625, -99.63422393798828, 93.0385513305664, 69.32366180419922, -0.0776519775390625, 0.24350908398628235 ]
[ -1.889588713645935, -96.96458435058594, 95.92378997802734, 55.2213134765625, 0.5128205418586731, 1.2129379510879517, 0.44477391242980957, -99.49195861816406, 94.13333129882812, 70.37678527832031, -0.41514042019844055, 1.0745466947555542 ]
4.4
44
0
44
0
[ -1.3981666564941406, -96.73863220214844, 95.12701416015625, 54.61745071411133, 0.053806304931640625, 0.7568754553794861, 0.7901077270507812, -98.92613983154297, 92.14290618896484, 69.58792877197266, -0.23419952392578125, 0.40258854627609253 ]
[ -1.5931826829910278, -97.04890441894531, 96.01240539550781, 55.393211364746094, 0.5128205418586731, 1.2129379510879517, 0.44477391242980957, -99.49195861816406, 94.13333129882812, 70.37678527832031, -0.3174603283405304, 1.0745466947555542 ]
4.5
45
0
45
0
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[ -1.5931826829910278, -97.04890441894531, 96.01240539550781, 55.2213134765625, 0.3174603283405304, 1.1455525159835815, 0.44477391242980957, -99.49195861816406, 94.13333129882812, 70.37678527832031, -0.3174603283405304, 1.0745466947555542 ]
4.6
46
0
46
0
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[ -1.889588713645935, -97.3018569946289, 96.01240539550781, 55.3072624206543, 0.46398046612739563, 0.9433962106704712, 0.44477391242980957, -99.40727996826172, 94.13333129882812, 70.37678527832031, -0.8058608174324036, 1.0745466947555542 ]
4.7
47
0
47
0
[ -2.1855087280273438, -97.4296875, 94.6494140625, 55.84379196166992, 1.0209693908691406, 1.6992168426513672, 0.27516937255859375, -99.70000457763672, 92.6389389038086, 68.63599395751953, -0.27141571044921875, 0.5838558673858643 ]
[ -1.9636902809143066, -97.21753692626953, 96.10102081298828, 55.908897399902344, 0.5616605877876282, 0.9433962106704712, 0.5189028978347778, -99.40727996826172, 93.77777862548828, 70.4634017944336, -0.5616605877876282, 1.141705870628357 ]
4.8
48
0
48
0
[ -2.4099159240722656, -95.98249816894531, 93.69200134277344, 55.871700286865234, 0.5283393859863281, 1.1533665657043457, 0.7328224182128906, -98.24858856201172, 91.2070083618164, 68.87627410888672, 1.38470458984375, 0.6375313997268677 ]
[ -1.9636902809143066, -97.21753692626953, 96.10102081298828, 56.08079147338867, 0.46398046612739563, 0.808625340461731, 0.3706449270248413, -99.3226089477539, 93.5111083984375, 70.4634017944336, -0.41514042019844055, 1.141705870628357 ]
4.9
49
0
49
0
[ -1.7389869689941406, -96.72530364990234, 94.00456237792969, 56.67451095581055, 0.8461341857910156, 1.3720296621322632, 0.6306037902832031, -99.30567932128906, 92.69799041748047, 68.49815368652344, 0.457122802734375, 0.3690570890903473 ]
[ -2.334197759628296, -96.6273193359375, 95.65795135498047, 56.08079147338867, 0.6105006337165833, 1.0781670808792114, 0.3706449270248413, -99.23793029785156, 93.5111083984375, 69.77046203613281, 0.2686202824115753, 1.0745466947555542 ]
5
50
0
50
0
[ -1.5270729064941406, -97.00263214111328, 94.61773681640625, 54.7725715637207, 1.1298789978027344, 1.8427107334136963, 0.071044921875, -98.29019165039062, 93.21846771240234, 68.10106658935547, -0.34485626220703125, 0.3826186954975128 ]
[ -2.0377917289733887, -96.6273193359375, 95.65795135498047, 56.42457962036133, 0.6105006337165833, 1.0107816457748413, 0.44477391242980957, -98.89923858642578, 93.5999984741211, 69.2507553100586, 0.5128205418586731, 1.0745466947555542 ]
5.1
51
0
51
0
[ -2.3641281127929688, -96.02938842773438, 95.24725341796875, 56.00796890258789, 1.5582771301269531, 1.3980945348739624, 0.6883926391601562, -98.18416595458984, 91.47205352783203, 67.86980438232422, 0.10253143310546875, 1.1143498420715332 ]
[ -1.889588713645935, -96.71163940429688, 95.65795135498047, 55.65105438232422, 0.9035409092903137, 1.4150943756103516, 0.29651594161987305, -98.89923858642578, 93.68888854980469, 68.99090576171875, 0.02442002482712269, 1.0745466947555542 ]
5.2
52
0
52
0
[ -1.6273460388183594, -97.33261108398438, 95.87599182128906, 55.77707290649414, 1.1904411315917969, 1.1846379041671753, 0.4643058776855469, -99.23189544677734, 93.42365264892578, 68.7894287109375, 0.3202056884765625, 1.0803325176239014 ]
[ -1.9636902809143066, -96.29005432128906, 95.74656677246094, 55.82294845581055, 1.196581244468689, 1.4150943756103516, 0.14825797080993652, -98.56053924560547, 93.5999984741211, 68.6444320678711, -0.02442002482712269, 1.141705870628357 ]
5.3
53
0
53
0
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[ -1.9636902809143066, -96.79595184326172, 96.01240539550781, 55.908897399902344, 1.3431013822555542, 1.3477089405059814, 0.44477391242980957, -98.64521789550781, 93.95555877685547, 68.7310562133789, 0.07326007634401321, 1.141705870628357 ]
5.4
54
0
54
0
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[ -2.1118931770324707, -96.54299926757812, 95.92378997802734, 56.3386344909668, 0.9523809552192688, 1.684636116027832, 0.8895478248596191, -99.3226089477539, 94.04444122314453, 68.1247329711914, 0.17094017565250397, 1.141705870628357 ]
5.5
55
0
55
0
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[ -2.0377917289733887, -96.54299926757812, 95.92378997802734, 56.42457962036133, 1.1477411985397339, 1.7520215511322021, 1.1860637664794922, -99.3226089477539, 94.04444122314453, 68.6444320678711, 0.17094017565250397, 1.141705870628357 ]
5.6
56
0
56
0
[ -1.9254646301269531, -96.1762466430664, 94.16734313964844, 56.50752639770508, 0.8603248596191406, 1.6202332973480225, 0.6850929260253906, -99.3680191040039, 92.95197296142578, 67.68273162841797, -0.0382232666015625, 0.8381182551383972 ]
[ -2.1118931770324707, -97.04890441894531, 95.92378997802734, 56.42457962036133, 1.196581244468689, 1.684636116027832, 0.6671608686447144, -98.72988891601562, 94.04444122314453, 68.6444320678711, 0.17094017565250397, 1.141705870628357 ]
5.7
57
0
57
0
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[ -2.185994863510132, -96.54299926757812, 95.8351821899414, 56.42457962036133, 1.0500611066818237, 1.684636116027832, 0.8895478248596191, -98.81456756591797, 94.04444122314453, 68.29796600341797, 0.07326007634401321, 1.141705870628357 ]
5.8
58
0
58
0
[ -1.9419631958007812, -97.70712280273438, 96.43424987792969, 55.95051193237305, 1.0272331237792969, 1.192874550819397, 0.3682441711425781, -99.92179107666016, 92.54398345947266, 68.73185729980469, 0.0828857421875, 0.38204774260520935 ]
[ -1.7413856983184814, -97.13322448730469, 96.10102081298828, 55.82294845581055, 1.196581244468689, 1.3477089405059814, 0.5189028978347778, -99.15325927734375, 94.04444122314453, 68.38458251953125, -0.2686202824115753, 1.141705870628357 ]
5.9
59
0
59
0
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[ -1.815487265586853, -97.21753692626953, 96.10102081298828, 55.73699951171875, 1.1477411985397339, 1.2803235054016113, 0.14825797080993652, -99.57662963867188, 94.04444122314453, 68.47119903564453, -0.07326007634401321, 1.0745466947555542 ]
6
60
0
60
0
[ -2.0535354614257812, -97.45994567871094, 95.33076477050781, 55.1811408996582, 1.8484458923339844, 0.6258780360221863, 0.2617759704589844, -99.01329040527344, 93.15201568603516, 69.1298599243164, 0.34938812255859375, 0.23489445447921753 ]
[ -2.0377917289733887, -97.97639465332031, 96.10102081298828, 55.908897399902344, 1.245421290397644, 1.4150943756103516, 0.5189028978347778, -99.3226089477539, 94.04444122314453, 68.90428924560547, -0.07326007634401321, 1.141705870628357 ]
6.1
61
0
61
0
[ -1.5466423034667969, -97.49073028564453, 95.85725402832031, 55.945377349853516, 1.1720771789550781, 1.1083550453186035, 0.27288818359375, -99.3655014038086, 93.11580657958984, 68.58076477050781, 0.788787841796875, 0.4226842224597931 ]
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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6.5
65
0
65
0
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6.6
66
0
66
0
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6.7
67
0
67
0
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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[ -2.185994863510132, -97.63912200927734, 96.01240539550781, 55.479156494140625, 1.4407814741134644, 1.1455525159835815, 0.3706449270248413, -99.06858825683594, 93.5999984741211, 69.51061248779297, 0.41514042019844055, 1.0073875188827515 ]
7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
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7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
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8.9
89
0
89
0
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9
90
0
90
0
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9.1
91
0
91
0
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9.2
92
0
92
0
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9.3
93
0
93
0
[ -1.452789306640625, -96.79219818115234, 94.56114196777344, 55.6965446472168, 1.3594551086425781, 1.4556211233139038, 1.2418708801269531, -99.59319305419922, 93.01654815673828, 70.24372863769531, 1.7278900146484375, 0.22929909825325012 ]
[ -1.6672841310501099, -96.54299926757812, 96.10102081298828, 55.56510543823242, 1.5384615659713745, 1.2129379510879517, 1.2601927518844604, -99.40727996826172, 94.57777404785156, 70.55001831054688, 1.0989011526107788, 1.0073875188827515 ]
9.4
94
0
94
0
[ -1.3036994934082031, -97.70597839355469, 94.91116333007812, 56.32699966430664, 1.3127555847167969, 1.2209951877593994, 1.8959884643554688, -98.986328125, 92.94803619384766, 70.42489624023438, 1.2304763793945312, 0.36422622203826904 ]
[ -1.5931826829910278, -96.54299926757812, 96.10102081298828, 55.65105438232422, 1.4896215200424194, 1.3477089405059814, 1.3343217372894287, -99.40727996826172, 94.57777404785156, 70.55001831054688, 1.3919414281845093, 1.0073875188827515 ]
9.5
95
0
95
0
[ -1.0796241760253906, -97.0169677734375, 95.12103271484375, 55.60983657836914, 1.2095756530761719, 1.4302568435668945, 0.7859611511230469, -99.30841064453125, 92.91048431396484, 68.64683532714844, 0.7125473022460938, 0.3521607220172882 ]
[ -1.5931826829910278, -97.13322448730469, 96.01240539550781, 55.994842529296875, 1.4896215200424194, 1.3477089405059814, 1.3343217372894287, -99.40727996826172, 94.57777404785156, 70.55001831054688, 1.245421290397644, 1.0073875188827515 ]
9.6
96
0
96
0
[ -1.3814430236816406, -96.42826843261719, 94.8828125, 55.50888442993164, 0.8718223571777344, 2.433347702026367, 0.9845542907714844, -98.21284484863281, 90.93685150146484, 68.76909637451172, 0.909515380859375, 0.29882392287254333 ]
[ -1.5931826829910278, -97.21753692626953, 96.01240539550781, 55.994842529296875, 1.4407814741134644, 1.3477089405059814, 1.7790956497192383, -99.40727996826172, 94.57777404785156, 70.55001831054688, 1.2942613363265991, 1.0073875188827515 ]
9.7
97
0
97
0
[ -1.1173095703125, -96.4643783569336, 95.46450805664062, 56.11982345581055, 1.1474647521972656, 1.6539733409881592, 0.6865921020507812, -99.41926574707031, 91.9955825805664, 69.13302612304688, 0.692718505859375, 0.5473070740699768 ]
[ -1.5931826829910278, -96.71163940429688, 96.01240539550781, 55.994842529296875, 1.2942613363265991, 1.9541778564453125, 1.3343217372894287, -99.06858825683594, 94.13333129882812, 69.68384552001953, 1.245421290397644, 1.0073875188827515 ]
9.8
98
0
98
0
[ -1.8753433227539062, -96.68318939208984, 96.85673522949219, 56.02573013305664, 0.8497352600097656, 1.0909397602081299, 1.2081794738769531, -98.20943450927734, 91.75194549560547, 69.88452911376953, -0.198333740234375, 0.2633008658885956 ]
[ -1.4449796676635742, -96.6273193359375, 96.01240539550781, 56.08079147338867, 1.245421290397644, 1.7520215511322021, 0.9636768102645874, -98.81456756591797, 93.77777862548828, 69.51061248779297, 0.9035409092903137, 1.0073875188827515 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "bi_so100_follower",
    "total_episodes": 10,
    "total_frames": 5579,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ],
            "shape": [
                12
            ]
        },
        "observation.images.left_gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
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                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.right_gripper": {
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            "shape": [
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            ],
            "names": [
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                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
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                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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