Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
9.9
| frame_index
int64 0
297
| episode_index
int64 0
132
| index
int64 0
33.2k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
4.658203125,
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139.306640625,
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[
3.603515625,
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139.306640625,
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[
4.658203125,
81.650390625,
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[
3.603515625,
81.2109375,
139.306640625,
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|
[
4.658203125,
81.650390625,
139.306640625,
-32.16796875,
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[
3.603515625,
81.2109375,
139.306640625,
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|
[
4.658203125,
81.650390625,
139.306640625,
-32.16796875,
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[
3.603515625,
81.2109375,
139.306640625,
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[
4.658203125,
81.650390625,
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[
3.603515625,
81.2109375,
139.306640625,
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|
[
4.658203125,
81.650390625,
139.306640625,
-32.16796875,
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15.642457962036133
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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[
4.658203125,
81.650390625,
139.306640625,
-32.16796875,
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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| 0
| 6
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|
[
4.658203125,
81.650390625,
139.306640625,
-32.16796875,
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15.642457962036133
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 7
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| 7
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|
[
4.658203125,
81.5625,
139.306640625,
-32.16796875,
-118.037109375,
15.642457962036133
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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| 8
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| 8
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|
[
4.658203125,
81.474609375,
139.21875,
-32.16796875,
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15.642457962036133
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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|
[
4.74609375,
81.474609375,
139.21875,
-32.16796875,
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15.642457962036133
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 10
| 0
| 10
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[
4.74609375,
81.38671875,
139.21875,
-32.16796875,
-118.037109375,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 11
| 0
| 11
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[
4.74609375,
81.38671875,
139.130859375,
-32.16796875,
-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 12
| 0
| 12
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[
4.74609375,
81.38671875,
139.130859375,
-32.16796875,
-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 13
| 0
| 13
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|
[
4.74609375,
81.38671875,
139.130859375,
-32.16796875,
-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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| 14
| 0
| 14
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[
4.74609375,
81.38671875,
139.04296875,
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-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 15
| 0
| 15
| 0
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[
4.74609375,
81.38671875,
139.04296875,
-32.16796875,
-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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| 16
| 0
| 16
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[
4.74609375,
81.5625,
139.04296875,
-32.080078125,
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 17
| 0
| 17
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|
[
4.74609375,
81.650390625,
139.04296875,
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15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 18
| 0
| 18
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|
[
4.74609375,
81.73828125,
139.04296875,
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-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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16.16465950012207
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| 19
| 0
| 19
| 0
|
[
4.74609375,
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139.04296875,
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-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.34375,
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| 20
| 0
| 20
| 0
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[
4.74609375,
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139.21875,
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15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-32.080078125,
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| 21
| 0
| 21
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[
4.74609375,
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139.306640625,
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[
3.603515625,
81.2109375,
139.306640625,
-32.080078125,
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16.16465950012207
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| 22
| 0
| 22
| 0
|
[
4.74609375,
82.880859375,
139.306640625,
-30.9375,
-118.125,
15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
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| 23
| 0
| 23
| 0
|
[
4.74609375,
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139.39453125,
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15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
-31.81640625,
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16.16465950012207
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| 24
| 0
| 24
| 0
|
[
4.74609375,
83.671875,
139.39453125,
-30.234375,
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15.735568046569824
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[
3.603515625,
81.2109375,
139.306640625,
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| 25
| 0
| 25
| 0
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[
4.74609375,
84.111328125,
139.39453125,
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[
3.603515625,
81.2109375,
139.306640625,
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| 26
| 0
| 26
| 0
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[
4.74609375,
84.638671875,
139.39453125,
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[
3.603515625,
81.298828125,
139.306640625,
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| 27
| 0
| 27
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[
4.74609375,
84.90234375,
139.39453125,
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[
3.603515625,
81.298828125,
139.306640625,
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| 28
| 0
| 28
| 0
|
[
4.74609375,
85.25390625,
139.39453125,
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[
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81.298828125,
139.306640625,
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| 29
| 0
| 29
| 0
|
[
4.833984375,
85.693359375,
139.39453125,
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[
3.603515625,
81.38671875,
139.306640625,
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| 30
| 0
| 30
| 0
|
[
4.833984375,
85.869140625,
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[
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81.826171875,
139.306640625,
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| 31
| 0
| 31
| 0
|
[
4.833984375,
86.1328125,
139.39453125,
-27.94921875,
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[
3.69140625,
82.265625,
139.306640625,
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| 32
| 0
| 32
| 0
|
[
4.833984375,
86.30859375,
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[
3.69140625,
82.529296875,
139.306640625,
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| 33
| 0
| 33
| 0
|
[
4.833984375,
86.572265625,
139.306640625,
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[
3.955078125,
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139.306640625,
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| 34
| 0
| 34
| 0
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[
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86.923828125,
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[
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| 35
| 0
| 35
| 0
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[
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139.306640625,
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[
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139.306640625,
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| 36
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| 36
| 0
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[
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87.1875,
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[
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139.306640625,
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| 37
| 0
| 37
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[
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[
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139.306640625,
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| 38
| 0
| 38
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[
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[
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139.306640625,
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| 39
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| 39
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[
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[
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| 40
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[
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[
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| 41
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[
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[
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[
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[
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| 43
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[
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[
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139.306640625,
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| 44
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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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15.763051986694336
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| 55
| 0
| 55
| 0
|
[
4.833984375,
90.17578125,
139.130859375,
-25.224609375,
-118.037109375,
15.735568046569824
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[
4.833984375,
83.583984375,
139.306640625,
-26.279296875,
-117.509765625,
15.763051986694336
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| 56
| 0
| 56
| 0
|
[
4.833984375,
90.52734375,
139.130859375,
-24.873046875,
-117.94921875,
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[
4.833984375,
83.583984375,
139.306640625,
-26.279296875,
-117.509765625,
15.763051986694336
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| 57
| 0
| 57
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|
[
4.833984375,
90.87890625,
139.130859375,
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[
4.833984375,
84.0234375,
139.306640625,
-25.83984375,
-117.509765625,
15.763051986694336
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| 58
| 0
| 58
| 0
|
[
4.833984375,
91.142578125,
139.130859375,
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[
4.921875,
84.7265625,
139.306640625,
-25.3125,
-117.509765625,
15.763051986694336
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| 59
| 0
| 59
| 0
|
[
4.833984375,
91.318359375,
139.130859375,
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[
4.921875,
85.25390625,
139.306640625,
-24.9609375,
-117.509765625,
15.763051986694336
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| 60
| 0
| 60
| 0
|
[
4.833984375,
91.669921875,
139.130859375,
-23.90625,
-117.685546875,
15.735568046569824
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[
4.921875,
85.869140625,
139.306640625,
-24.697265625,
-117.509765625,
15.763051986694336
] | 2.033333
| 61
| 0
| 61
| 0
|
[
4.833984375,
92.109375,
139.130859375,
-23.5546875,
-117.59765625,
15.735568046569824
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[
4.921875,
86.396484375,
139.306640625,
-24.521484375,
-117.509765625,
15.763051986694336
] | 2.066667
| 62
| 0
| 62
| 0
|
[
4.833984375,
92.373046875,
139.130859375,
-23.203125,
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15.735568046569824
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[
4.921875,
86.923828125,
139.306640625,
-24.2578125,
-117.509765625,
15.763051986694336
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| 63
| 0
| 63
| 0
|
[
4.833984375,
92.8125,
139.130859375,
-22.763671875,
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[
4.921875,
87.451171875,
139.306640625,
-23.90625,
-117.509765625,
15.763051986694336
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| 64
| 0
| 64
| 0
|
[
4.833984375,
93.33984375,
139.21875,
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[
4.921875,
87.802734375,
139.306640625,
-23.5546875,
-117.509765625,
15.763051986694336
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| 65
| 0
| 65
| 0
|
[
4.833984375,
93.69140625,
139.39453125,
-21.97265625,
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[
4.921875,
88.154296875,
139.306640625,
-23.115234375,
-117.509765625,
15.763051986694336
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| 66
| 0
| 66
| 0
|
[
4.833984375,
93.779296875,
139.482421875,
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[
4.921875,
88.41796875,
139.306640625,
-23.02734375,
-117.509765625,
15.763051986694336
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| 67
| 0
| 67
| 0
|
[
4.921875,
94.04296875,
139.482421875,
-21.533203125,
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15.735568046569824
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[
4.921875,
88.505859375,
139.306640625,
-22.8515625,
-117.509765625,
15.763051986694336
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| 68
| 0
| 68
| 0
|
[
5.009765625,
94.306640625,
139.5703125,
-21.26953125,
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[
4.921875,
88.76953125,
139.306640625,
-22.412109375,
-117.509765625,
15.763051986694336
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| 69
| 0
| 69
| 0
|
[
5.09765625,
94.39453125,
139.5703125,
-21.09375,
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15.735568046569824
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[
4.921875,
89.12109375,
139.306640625,
-21.884765625,
-117.509765625,
15.763051986694336
] | 2.333333
| 70
| 0
| 70
| 0
|
[
5.2734375,
94.482421875,
139.658203125,
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[
4.921875,
89.384765625,
139.39453125,
-21.62109375,
-117.509765625,
15.763051986694336
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| 71
| 0
| 71
| 0
|
[
5.44921875,
94.5703125,
139.658203125,
-20.830078125,
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[
4.921875,
89.736328125,
139.39453125,
-21.26953125,
-117.509765625,
15.763051986694336
] | 2.4
| 72
| 0
| 72
| 0
|
[
5.537109375,
94.833984375,
139.658203125,
-20.390625,
-118.125,
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[
5.009765625,
90,
139.39453125,
-21.09375,
-117.509765625,
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] | 2.433333
| 73
| 0
| 73
| 0
|
[
5.712890625,
95.09765625,
139.658203125,
-20.0390625,
-118.212890625,
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[
5.009765625,
90.087890625,
139.39453125,
-20.91796875,
-117.509765625,
15.763051986694336
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| 74
| 0
| 74
| 0
|
[
5.80078125,
95.361328125,
139.658203125,
-19.775390625,
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[
5.009765625,
90.087890625,
139.39453125,
-20.654296875,
-117.509765625,
15.763051986694336
] | 2.5
| 75
| 0
| 75
| 0
|
[
5.888671875,
95.712890625,
139.74609375,
-19.423828125,
-118.388671875,
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[
5.009765625,
90.087890625,
139.39453125,
-20.56640625,
-117.509765625,
15.763051986694336
] | 2.533333
| 76
| 0
| 76
| 0
|
[
5.9765625,
96.328125,
139.833984375,
-18.896484375,
-118.388671875,
15.642457962036133
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[
5.009765625,
90.087890625,
139.39453125,
-20.390625,
-117.59765625,
15.763051986694336
] | 2.566667
| 77
| 0
| 77
| 0
|
[
6.064453125,
96.943359375,
139.921875,
-18.28125,
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15.642457962036133
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[
5.009765625,
90.087890625,
139.39453125,
-20.126953125,
-117.861328125,
15.763051986694336
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| 78
| 0
| 78
| 0
|
[
6.15234375,
97.55859375,
140.09765625,
-17.666015625,
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[
5.185546875,
90.439453125,
139.39453125,
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| 79
| 0
| 79
| 0
|
[
6.240234375,
98.173828125,
140.185546875,
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[
5.361328125,
91.0546875,
139.39453125,
-18.984375,
-118.125,
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| 80
| 0
| 80
| 0
|
[
6.328125,
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140.2734375,
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[
5.712890625,
91.7578125,
139.39453125,
-18.369140625,
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| 81
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| 81
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|
[
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[
5.888671875,
92.4609375,
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| 82
| 0
| 82
| 0
|
[
6.416015625,
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140.2734375,
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[
6.15234375,
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| 83
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| 83
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|
[
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[
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139.39453125,
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| 84
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| 84
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[
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99.84375,
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[
6.50390625,
94.306640625,
139.39453125,
-16.171875,
-118.30078125,
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| 85
| 0
| 85
| 0
|
[
6.767578125,
100.1953125,
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[
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94.74609375,
139.39453125,
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| 86
| 0
| 86
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|
[
6.85546875,
100.72265625,
140.712890625,
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[
6.6796875,
95.09765625,
139.39453125,
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| 87
| 0
| 87
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|
[
6.85546875,
101.162109375,
140.80078125,
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[
6.6796875,
95.361328125,
139.39453125,
-15.029296875,
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| 88
| 0
| 88
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|
[
6.943359375,
101.6015625,
140.888671875,
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[
6.6796875,
95.712890625,
139.39453125,
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| 89
| 0
| 89
| 0
|
[
7.03125,
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141.15234375,
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15.456238746643066
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[
6.6796875,
96.240234375,
139.39453125,
-14.0625,
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| 90
| 0
| 90
| 0
|
[
7.119140625,
102.568359375,
141.416015625,
-11.25,
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[
6.6796875,
96.591796875,
139.39453125,
-13.7109375,
-118.30078125,
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| 91
| 0
| 91
| 0
|
[
7.20703125,
102.919921875,
141.591796875,
-10.8984375,
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15.456238746643066
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[
6.591796875,
97.03125,
139.658203125,
-13.095703125,
-118.30078125,
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| 92
| 0
| 92
| 0
|
[
7.20703125,
103.18359375,
141.767578125,
-10.546875,
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[
6.591796875,
97.470703125,
140.009765625,
-12.216796875,
-118.30078125,
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| 93
| 0
| 93
| 0
|
[
7.294921875,
103.359375,
141.943359375,
-10.37109375,
-119.091796875,
15.270018577575684
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[
6.6796875,
97.91015625,
140.361328125,
-11.689453125,
-118.30078125,
15.763051986694336
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| 94
| 0
| 94
| 0
|
[
7.3828125,
103.359375,
141.943359375,
-10.283203125,
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15.270018577575684
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[
6.6796875,
98.4375,
140.712890625,
-11.25,
-118.30078125,
15.763051986694336
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| 95
| 0
| 95
| 0
|
[
7.55859375,
103.359375,
142.03125,
-10.283203125,
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[
6.6796875,
98.701171875,
140.9765625,
-10.810546875,
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| 96
| 0
| 96
| 0
|
[
7.646484375,
103.271484375,
142.03125,
-10.1953125,
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[
6.6796875,
98.876953125,
141.240234375,
-10.634765625,
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| 97
| 0
| 97
| 0
|
[
7.734375,
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142.03125,
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[
6.6796875,
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141.328125,
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15.763051986694336
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| 98
| 0
| 98
| 0
|
[
7.91015625,
102.919921875,
142.03125,
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[
6.767578125,
98.876953125,
141.328125,
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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": "so100",
"total_episodes": 100,
"total_frames": 23741,
"total_tasks": 1,
"total_videos": 400,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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.base": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
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"video.is_depth_map": false,
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}
},
"observation.images.base_right": {
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"shape": [
480,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 1280,
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}
},
"observation.images.arm": {
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"shape": [
480,
640,
3
],
"names": [
"height",
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],
"info": {
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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"has_audio": false
}
},
"observation.images.gripper": {
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"shape": [
480,
640,
3
],
"names": [
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],
"info": {
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}
},
"timestamp": {
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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
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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