Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
16.7
| frame_index
int64 0
502
| episode_index
int64 0
123
| index
int64 0
43.4k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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11.42578125,
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[
11.42578125,
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[
11.42578125,
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11.42578125,
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[
11.42578125,
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11.42578125,
130.517578125,
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[
11.42578125,
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[
11.42578125,
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[
11.42578125,
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[
11.42578125,
130.517578125,
176.66015625,
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[
11.42578125,
135.791015625,
178.505859375,
3.955078125,
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[
11.42578125,
130.517578125,
176.66015625,
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[
11.42578125,
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96.85546875,
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[
11.42578125,
130.517578125,
176.66015625,
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[
11.42578125,
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3.955078125,
96.85546875,
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[
11.42578125,
130.517578125,
176.66015625,
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95.009765625,
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[
11.42578125,
135.791015625,
178.505859375,
3.955078125,
96.85546875,
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[
11.42578125,
130.60546875,
176.66015625,
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[
11.42578125,
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[
11.42578125,
130.517578125,
176.66015625,
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[
11.42578125,
135.791015625,
178.505859375,
3.955078125,
96.85546875,
34.716796875
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[
11.42578125,
130.517578125,
176.66015625,
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34.189453125
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[
11.42578125,
135.791015625,
178.505859375,
3.955078125,
96.85546875,
34.716796875
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[
11.42578125,
130.517578125,
176.66015625,
-2.28515625,
95.009765625,
34.189453125
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[
11.42578125,
135.791015625,
178.505859375,
3.955078125,
96.85546875,
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[
11.42578125,
130.517578125,
176.66015625,
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[
11.42578125,
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178.505859375,
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96.85546875,
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[
11.42578125,
130.517578125,
176.66015625,
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[
11.162109375,
135.791015625,
178.505859375,
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96.85546875,
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[
11.42578125,
130.517578125,
176.66015625,
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[
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135.791015625,
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96.85546875,
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[
11.337890625,
130.517578125,
176.66015625,
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[
11.07421875,
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96.85546875,
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[
11.337890625,
130.60546875,
176.66015625,
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[
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96.85546875,
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[
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130.517578125,
176.66015625,
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[
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135.791015625,
178.505859375,
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96.85546875,
34.8046875
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[
11.25,
130.517578125,
176.66015625,
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34.189453125
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[
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96.85546875,
34.8046875
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[
11.25,
130.517578125,
176.66015625,
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95.009765625,
34.189453125
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[
10.810546875,
135.791015625,
178.505859375,
3.8671875,
97.03125,
34.8046875
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[
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130.517578125,
176.66015625,
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34.189453125
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[
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178.59375,
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97.20703125,
34.8046875
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[
11.25,
130.517578125,
176.66015625,
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95.009765625,
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| 24
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| 24
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[
10.283203125,
135.791015625,
178.59375,
3.779296875,
97.294921875,
34.8046875
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[
11.162109375,
130.517578125,
176.66015625,
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95.009765625,
34.189453125
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| 25
| 0
| 25
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[
9.66796875,
135.791015625,
178.59375,
3.779296875,
97.294921875,
34.8046875
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[
11.07421875,
130.517578125,
176.66015625,
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95.009765625,
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| 26
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[
9.404296875,
135.791015625,
178.59375,
3.69140625,
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[
10.634765625,
130.517578125,
176.66015625,
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95.009765625,
34.189453125
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| 27
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[
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178.59375,
3.69140625,
97.734375,
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[
10.37109375,
130.60546875,
176.66015625,
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95.009765625,
34.189453125
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| 28
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| 28
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[
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135.791015625,
178.59375,
3.603515625,
97.822265625,
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[
10.107421875,
130.517578125,
176.66015625,
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95.09765625,
34.189453125
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| 29
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| 29
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[
8.4375,
135.791015625,
178.59375,
3.603515625,
97.822265625,
34.8046875
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[
9.84375,
130.517578125,
176.66015625,
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95.185546875,
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| 30
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| 30
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[
8.173828125,
135.791015625,
178.59375,
3.603515625,
97.822265625,
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[
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130.517578125,
176.66015625,
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95.2734375,
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| 31
| 0
| 31
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|
[
7.998046875,
135.791015625,
178.681640625,
3.603515625,
97.822265625,
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[
9.228515625,
130.60546875,
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| 32
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| 32
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[
7.91015625,
135.791015625,
178.681640625,
3.603515625,
97.822265625,
34.8046875
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[
9.140625,
130.517578125,
176.572265625,
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95.361328125,
34.189453125
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| 33
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| 33
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[
7.91015625,
135.791015625,
178.681640625,
3.603515625,
97.822265625,
34.8046875
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[
9.052734375,
130.517578125,
176.66015625,
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95.361328125,
34.189453125
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| 34
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| 34
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[
7.91015625,
135.791015625,
178.59375,
3.603515625,
97.822265625,
34.8046875
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
34.189453125
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| 35
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| 35
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[
7.91015625,
135.791015625,
178.681640625,
3.603515625,
97.822265625,
34.8046875
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[
9.052734375,
130.517578125,
176.66015625,
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95.361328125,
34.189453125
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| 36
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| 36
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[
7.91015625,
135.791015625,
178.681640625,
3.603515625,
97.822265625,
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
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| 37
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| 37
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[
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97.822265625,
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[
9.052734375,
130.60546875,
176.66015625,
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95.361328125,
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| 38
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| 38
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[
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135.791015625,
178.59375,
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97.822265625,
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
34.189453125
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| 39
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| 39
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[
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178.681640625,
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97.734375,
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[
9.052734375,
130.517578125,
176.66015625,
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95.361328125,
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| 40
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[
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178.59375,
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[
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130.517578125,
176.66015625,
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95.361328125,
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| 41
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[
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178.59375,
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97.470703125,
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[
9.052734375,
130.517578125,
176.66015625,
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95.361328125,
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| 42
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[
7.998046875,
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97.3828125,
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[
9.052734375,
130.517578125,
176.66015625,
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[
7.998046875,
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178.59375,
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97.3828125,
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
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| 44
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[
7.998046875,
135.791015625,
178.681640625,
3.603515625,
97.3828125,
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[
9.052734375,
130.517578125,
176.66015625,
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95.361328125,
34.189453125
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[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
34.189453125
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| 46
| 0
| 46
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[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.716796875
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
34.189453125
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| 47
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| 47
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[
7.998046875,
135.791015625,
178.681640625,
3.603515625,
97.3828125,
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[
9.052734375,
130.517578125,
176.66015625,
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95.361328125,
34.189453125
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| 48
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| 48
| 0
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[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.716796875
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[
9.052734375,
130.517578125,
176.572265625,
-2.28515625,
95.361328125,
34.189453125
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| 49
| 0
| 49
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.716796875
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[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.189453125
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| 50
| 0
| 50
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.716796875
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
34.189453125
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| 51
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| 51
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[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
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| 0
| 52
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[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.716796875
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[
9.052734375,
130.60546875,
176.572265625,
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95.361328125,
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[
7.998046875,
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178.59375,
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[
9.052734375,
130.517578125,
176.66015625,
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[
7.998046875,
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3.603515625,
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[
9.052734375,
130.517578125,
176.66015625,
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[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
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[
9.052734375,
130.517578125,
176.572265625,
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95.361328125,
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| 56
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| 56
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[
7.998046875,
135.791015625,
178.59375,
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97.3828125,
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[
9.052734375,
130.517578125,
176.66015625,
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[
7.998046875,
135.791015625,
178.681640625,
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[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.189453125
] | 1.933333
| 58
| 0
| 58
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.98046875
] |
[
9.052734375,
130.517578125,
176.572265625,
-2.28515625,
95.361328125,
34.189453125
] | 1.966667
| 59
| 0
| 59
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.892578125
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.189453125
] | 2
| 60
| 0
| 60
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.8046875
] |
[
9.052734375,
130.517578125,
176.572265625,
-2.28515625,
95.361328125,
34.189453125
] | 2.033333
| 61
| 0
| 61
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.8046875
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.189453125
] | 2.066667
| 62
| 0
| 62
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
34.8046875
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.189453125
] | 2.1
| 63
| 0
| 63
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.603515625,
97.3828125,
35.068359375
] |
[
9.052734375,
130.517578125,
176.572265625,
-2.28515625,
95.361328125,
34.189453125
] | 2.133333
| 64
| 0
| 64
| 0
|
[
7.998046875,
135.791015625,
178.59375,
3.515625,
97.294921875,
35.419921875
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.189453125
] | 2.166667
| 65
| 0
| 65
| 0
|
[
8.0859375,
135.791015625,
178.59375,
3.427734375,
97.119140625,
35.68359375
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.365234375
] | 2.2
| 66
| 0
| 66
| 0
|
[
8.0859375,
135.791015625,
178.59375,
2.98828125,
96.767578125,
35.771484375
] |
[
9.052734375,
130.517578125,
176.572265625,
-2.28515625,
95.361328125,
34.541015625
] | 2.233333
| 67
| 0
| 67
| 0
|
[
8.0859375,
135.791015625,
178.59375,
2.197265625,
96.15234375,
35.859375
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.62890625
] | 2.266667
| 68
| 0
| 68
| 0
|
[
8.0859375,
135.791015625,
178.59375,
1.0546875,
95.185546875,
35.947265625
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.28515625,
95.361328125,
34.62890625
] | 2.3
| 69
| 0
| 69
| 0
|
[
8.0859375,
135.791015625,
178.59375,
-0.3515625,
94.306640625,
35.947265625
] |
[
9.052734375,
130.517578125,
176.572265625,
-2.28515625,
95.09765625,
34.62890625
] | 2.333333
| 70
| 0
| 70
| 0
|
[
8.173828125,
135.791015625,
178.41796875,
-2.4609375,
93.33984375,
36.03515625
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.63671875,
94.921875,
34.62890625
] | 2.366667
| 71
| 0
| 71
| 0
|
[
8.173828125,
135.791015625,
178.154296875,
-4.39453125,
92.4609375,
36.03515625
] |
[
9.052734375,
130.517578125,
176.66015625,
-2.8125,
94.74609375,
34.62890625
] | 2.4
| 72
| 0
| 72
| 0
|
[
8.173828125,
135.791015625,
177.802734375,
-5.361328125,
92.373046875,
36.03515625
] |
[
8.96484375,
130.517578125,
176.66015625,
-3.33984375,
93.8671875,
34.62890625
] | 2.433333
| 73
| 0
| 73
| 0
|
[
8.173828125,
135.791015625,
177.36328125,
-6.064453125,
92.197265625,
36.03515625
] |
[
8.876953125,
130.517578125,
176.66015625,
-3.779296875,
93.076171875,
34.62890625
] | 2.466667
| 74
| 0
| 74
| 0
|
[
8.173828125,
135.791015625,
176.572265625,
-6.50390625,
91.494140625,
35.947265625
] |
[
8.7890625,
130.517578125,
176.66015625,
-4.04296875,
92.4609375,
34.62890625
] | 2.5
| 75
| 0
| 75
| 0
|
[
8.26171875,
135.791015625,
175.517578125,
-6.591796875,
90.966796875,
35.947265625
] |
[
8.701171875,
130.517578125,
176.396484375,
-4.306640625,
91.93359375,
34.62890625
] | 2.533333
| 76
| 0
| 76
| 0
|
[
8.26171875,
135.703125,
174.287109375,
-6.6796875,
90.3515625,
35.947265625
] |
[
8.701171875,
130.517578125,
176.044921875,
-4.39453125,
91.494140625,
34.62890625
] | 2.566667
| 77
| 0
| 77
| 0
|
[
8.26171875,
135.703125,
173.232421875,
-7.20703125,
89.47265625,
35.947265625
] |
[
8.525390625,
130.517578125,
175.60546875,
-4.482421875,
91.0546875,
34.62890625
] | 2.6
| 78
| 0
| 78
| 0
|
[
8.26171875,
135.703125,
172.177734375,
-7.470703125,
88.857421875,
35.947265625
] |
[
8.4375,
130.517578125,
175.166015625,
-4.482421875,
90.439453125,
34.62890625
] | 2.633333
| 79
| 0
| 79
| 0
|
[
8.26171875,
135.615234375,
170.859375,
-7.55859375,
87.626953125,
35.947265625
] |
[
8.4375,
130.517578125,
174.90234375,
-4.39453125,
89.82421875,
34.62890625
] | 2.666667
| 80
| 0
| 80
| 0
|
[
8.26171875,
135.615234375,
169.62890625,
-7.55859375,
86.396484375,
35.859375
] |
[
8.349609375,
130.517578125,
174.462890625,
-4.306640625,
89.033203125,
34.62890625
] | 2.7
| 81
| 0
| 81
| 0
|
[
8.26171875,
135.615234375,
168.662109375,
-7.55859375,
85.869140625,
35.595703125
] |
[
8.26171875,
130.517578125,
173.84765625,
-4.306640625,
87.978515625,
34.62890625
] | 2.733333
| 82
| 0
| 82
| 0
|
[
8.349609375,
135.52734375,
167.6953125,
-7.294921875,
85.78125,
35.244140625
] |
[
8.349609375,
130.517578125,
173.14453125,
-4.21875,
86.923828125,
34.62890625
] | 2.766667
| 83
| 0
| 83
| 0
|
[
8.349609375,
135.3515625,
166.552734375,
-6.6796875,
85.78125,
34.98046875
] |
[
8.349609375,
130.517578125,
171.38671875,
-4.21875,
85.4296875,
34.62890625
] | 2.8
| 84
| 0
| 84
| 0
|
[
8.4375,
135.087890625,
164.443359375,
-4.658203125,
85.78125,
34.716796875
] |
[
8.4375,
130.517578125,
169.892578125,
-4.21875,
85.4296875,
34.62890625
] | 2.833333
| 85
| 0
| 85
| 0
|
[
8.61328125,
134.736328125,
161.630859375,
-1.58203125,
85.78125,
34.62890625
] |
[
8.525390625,
130.517578125,
167.783203125,
-3.427734375,
85.4296875,
34.62890625
] | 2.866667
| 86
| 0
| 86
| 0
|
[
8.61328125,
133.857421875,
158.818359375,
1.142578125,
85.869140625,
34.541015625
] |
[
8.61328125,
130.517578125,
166.904296875,
-2.8125,
85.4296875,
34.62890625
] | 2.9
| 87
| 0
| 87
| 0
|
[
8.61328125,
133.06640625,
157.060546875,
3.076171875,
85.869140625,
34.453125
] |
[
8.61328125,
130.517578125,
162.333984375,
1.142578125,
85.4296875,
34.62890625
] | 2.933333
| 88
| 0
| 88
| 0
|
[
8.61328125,
131.66015625,
154.423828125,
5.712890625,
86.044921875,
34.453125
] |
[
8.61328125,
130.517578125,
161.54296875,
1.7578125,
85.4296875,
34.62890625
] | 2.966667
| 89
| 0
| 89
| 0
|
[
8.61328125,
130.60546875,
152.75390625,
7.998046875,
86.1328125,
34.365234375
] |
[
8.61328125,
129.90234375,
157.1484375,
6.6796875,
85.341796875,
34.62890625
] | 3
| 90
| 0
| 90
| 0
|
[
8.61328125,
127.96875,
148.447265625,
14.765625,
88.41796875,
34.189453125
] |
[
8.61328125,
129.90234375,
156.97265625,
6.85546875,
85.341796875,
34.62890625
] | 3.033333
| 91
| 0
| 91
| 0
|
[
8.61328125,
126.73828125,
147.216796875,
17.666015625,
89.736328125,
33.837890625
] |
[
8.61328125,
127.265625,
151.69921875,
15.908203125,
85.693359375,
34.541015625
] | 3.066667
| 92
| 0
| 92
| 0
|
[
8.701171875,
124.013671875,
143.96484375,
23.466796875,
93.8671875,
33.662109375
] |
[
8.701171875,
126.123046875,
150.029296875,
19.86328125,
86.66015625,
34.541015625
] | 3.1
| 93
| 0
| 93
| 0
|
[
9.052734375,
122.255859375,
142.03125,
26.982421875,
95.9765625,
33.486328125
] |
[
8.701171875,
125.595703125,
149.501953125,
20.91796875,
87.275390625,
34.541015625
] | 3.133333
| 94
| 0
| 94
| 0
|
[
9.052734375,
120.76171875,
140.712890625,
28.388671875,
96.767578125,
33.486328125
] |
[
9.052734375,
122.34375,
146.25,
26.71875,
91.142578125,
34.453125
] | 3.166667
| 95
| 0
| 95
| 0
|
[
9.052734375,
118.564453125,
138.251953125,
31.640625,
97.119140625,
33.3984375
] |
[
9.052734375,
121.728515625,
145.634765625,
27.685546875,
91.845703125,
34.453125
] | 3.2
| 96
| 0
| 96
| 0
|
[
9.052734375,
116.89453125,
136.318359375,
33.3984375,
97.119140625,
33.3984375
] |
[
9.052734375,
118.30078125,
142.20703125,
31.376953125,
93.515625,
34.453125
] | 3.233333
| 97
| 0
| 97
| 0
|
[
9.052734375,
114.2578125,
133.857421875,
34.892578125,
97.119140625,
33.486328125
] |
[
9.140625,
116.015625,
139.658203125,
32.34375,
93.8671875,
34.365234375
] | 3.266667
| 98
| 0
| 98
| 0
|
[
9.052734375,
111.97265625,
131.748046875,
35.33203125,
97.119140625,
33.3984375
] |
[
9.140625,
115.400390625,
139.130859375,
32.34375,
93.8671875,
34.365234375
] | 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": 10,
"total_frames": 2930,
"total_tasks": 1,
"total_videos": 30,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.phone": {
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480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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1
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},
"index": {
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1
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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