Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
10.3
| frame_index
int64 0
308
| episode_index
int64 0
49
| index
int64 0
13.9k
| 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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99.228515625,
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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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139.39453125,
99.228515625,
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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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98.701171875,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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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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| 22
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[
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[
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| 23
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[
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[
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[
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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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| 28
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| 28
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[
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[
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| 29
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| 29
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[
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35.15625,
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[
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| 30
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| 30
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[
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[
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| 31
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| 31
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[
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[
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| 32
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| 32
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[
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[
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| 33
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| 33
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[
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[
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| 34
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| 34
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[
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[
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| 35
| 0
| 35
| 0
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[
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[
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| 36
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| 36
| 0
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[
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[
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131.044921875,
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| 37
| 0
| 37
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[
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[
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91.0546875,
130.78125,
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| 38
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| 38
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[
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[
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87.099609375,
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| 39
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| 39
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[
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125.771484375,
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[
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129.90234375,
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| 40
| 0
| 40
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[
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[
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128.759765625,
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| 41
| 0
| 41
| 0
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[
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119.794921875,
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[
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71.103515625,
125.33203125,
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| 42
| 0
| 42
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[
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116.015625,
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[
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67.5,
122.783203125,
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| 43
| 0
| 43
| 0
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[
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59.0625,
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[
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64.16015625,
119.443359375,
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| 44
| 0
| 44
| 0
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[
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109.775390625,
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[
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60.732421875,
115.751953125,
-54.228515625,
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| 45
| 0
| 45
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[
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55.1953125,
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[
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58.0078125,
112.32421875,
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| 46
| 0
| 46
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[
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53.96484375,
104.0625,
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[
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55.107421875,
108.193359375,
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| 47
| 0
| 47
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[
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101.337890625,
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[
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53.525390625,
106.34765625,
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32.958984375
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| 48
| 0
| 48
| 0
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[
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99.140625,
-63.10546875,
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[
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52.03125,
104.58984375,
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| 49
| 0
| 49
| 0
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[
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97.470703125,
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[
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50.80078125,
102.3046875,
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33.046875
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| 50
| 0
| 50
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[
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49.74609375,
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[
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49.5703125,
100.283203125,
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33.046875
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| 51
| 0
| 51
| 0
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[
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-61.875,
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[
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48.251953125,
97.20703125,
-58.095703125,
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33.046875
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| 52
| 0
| 52
| 0
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[
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[
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47.98828125,
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| 53
| 0
| 53
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[
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[
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| 54
| 0
| 54
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[
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[
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| 55
| 0
| 55
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[
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[
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| 56
| 0
| 56
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[
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[
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47.373046875,
93.076171875,
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33.046875
] | 1.9
| 57
| 0
| 57
| 0
|
[
-62.578125,
48.779296875,
90.52734375,
-58.18359375,
-168.3984375,
32.431640625
] |
[
-60.99609375,
47.28515625,
92.548828125,
-57.48046875,
-166.728515625,
33.046875
] | 1.933333
| 58
| 0
| 58
| 0
|
[
-62.666015625,
48.779296875,
90.3515625,
-58.0078125,
-168.3984375,
31.11328125
] |
[
-61.435546875,
47.28515625,
92.548828125,
-57.392578125,
-166.728515625,
33.046875
] | 1.966667
| 59
| 0
| 59
| 0
|
[
-62.666015625,
48.69140625,
90.17578125,
-57.83203125,
-168.3984375,
29.970703125
] |
[
-61.69921875,
47.28515625,
92.548828125,
-57.48046875,
-166.728515625,
33.046875
] | 2
| 60
| 0
| 60
| 0
|
[
-62.75390625,
48.69140625,
90.17578125,
-57.392578125,
-168.310546875,
28.65234375
] |
[
-61.875,
47.373046875,
92.548828125,
-57.041015625,
-166.728515625,
33.046875
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-62.75390625,
48.515625,
90.17578125,
-57.041015625,
-168.046875,
26.982421875
] |
[
-61.962890625,
47.28515625,
92.548828125,
-56.337890625,
-166.728515625,
33.046875
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-62.666015625,
48.251953125,
90.263671875,
-56.6015625,
-167.958984375,
24.43359375
] |
[
-61.875,
47.28515625,
92.548828125,
-56.07421875,
-166.728515625,
32.51953125
] | 2.1
| 63
| 0
| 63
| 0
|
[
-62.75390625,
47.724609375,
90.263671875,
-56.162109375,
-167.87109375,
21.09375
] |
[
-61.875,
47.28515625,
92.548828125,
-55.546875,
-166.728515625,
30.322265625
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-62.666015625,
47.021484375,
90.263671875,
-55.810546875,
-167.783203125,
16.435546875
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[
-61.962890625,
46.93359375,
92.548828125,
-55.37109375,
-166.728515625,
28.916015625
] | 2.166667
| 65
| 0
| 65
| 0
|
[
-62.666015625,
46.7578125,
90.263671875,
-55.546875,
-167.87109375,
12.919921875
] |
[
-61.962890625,
46.494140625,
92.4609375,
-54.931640625,
-166.728515625,
27.158203125
] | 2.2
| 66
| 0
| 66
| 0
|
[
-62.666015625,
46.40625,
90.263671875,
-55.37109375,
-167.87109375,
8.26171875
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[
-61.962890625,
45.791015625,
92.548828125,
-54.404296875,
-166.728515625,
25.400390625
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-62.666015625,
46.0546875,
90.263671875,
-55.1953125,
-167.87109375,
3.603515625
] |
[
-61.962890625,
45.52734375,
92.4609375,
-54.31640625,
-166.728515625,
23.5546875
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-62.666015625,
45.703125,
90.263671875,
-54.931640625,
-168.134765625,
-1.494140625
] |
[
-61.962890625,
45.52734375,
92.373046875,
-54.228515625,
-166.81640625,
20.302734375
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| 69
| 0
| 69
| 0
|
[
-62.578125,
45.439453125,
90.263671875,
-54.4921875,
-168.486328125,
-7.03125
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[
-61.962890625,
45.087890625,
92.021484375,
-54.052734375,
-166.728515625,
18.193359375
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| 70
| 0
| 70
| 0
|
[
-62.490234375,
45.3515625,
90.263671875,
-54.052734375,
-168.486328125,
-8.173828125
] |
[
-61.962890625,
44.6484375,
91.845703125,
-53.876953125,
-166.9921875,
16.611328125
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| 71
| 0
| 71
| 0
|
[
-62.40234375,
45.3515625,
90.263671875,
-53.7890625,
-168.486328125,
-8.0859375
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[
-61.962890625,
44.560546875,
91.845703125,
-53.876953125,
-167.16796875,
15.908203125
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| 72
| 0
| 72
| 0
|
[
-62.2265625,
45.3515625,
90.439453125,
-53.7890625,
-168.486328125,
-8.0859375
] |
[
-61.962890625,
44.560546875,
91.845703125,
-53.61328125,
-167.34375,
15.64453125
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| 73
| 0
| 73
| 0
|
[
-62.05078125,
45.52734375,
91.142578125,
-53.7890625,
-168.57421875,
-8.0859375
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[
-61.962890625,
44.6484375,
91.845703125,
-52.998046875,
-167.51953125,
15.64453125
] | 2.466667
| 74
| 0
| 74
| 0
|
[
-61.875,
46.23046875,
93.779296875,
-54.228515625,
-168.662109375,
-8.0859375
] |
[
-61.875,
44.6484375,
91.845703125,
-52.91015625,
-167.607421875,
15.556640625
] | 2.5
| 75
| 0
| 75
| 0
|
[
-61.875,
47.63671875,
96.6796875,
-54.4921875,
-168.92578125,
-8.0859375
] |
[
-61.69921875,
44.82421875,
92.4609375,
-52.998046875,
-167.607421875,
15.556640625
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-61.69921875,
50.185546875,
100.634765625,
-55.107421875,
-169.189453125,
-8.0859375
] |
[
-61.435546875,
45.087890625,
93.515625,
-53.0859375,
-167.607421875,
15.556640625
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-61.171875,
52.822265625,
105.46875,
-55.810546875,
-169.541015625,
-8.0859375
] |
[
-61.171875,
46.845703125,
98.349609375,
-53.96484375,
-167.783203125,
15.46875
] | 2.6
| 78
| 0
| 78
| 0
|
[
-60.205078125,
56.07421875,
111.62109375,
-56.513671875,
-169.892578125,
-8.0859375
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[
-60.99609375,
48.515625,
101.6015625,
-54.66796875,
-167.87109375,
15.46875
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| 79
| 0
| 79
| 0
|
[
-59.150390625,
58.798828125,
116.806640625,
-57.3046875,
-170.244140625,
-8.0859375
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[
-60.732421875,
51.240234375,
106.171875,
-55.37109375,
-167.958984375,
15.46875
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| 80
| 0
| 80
| 0
|
[
-58.18359375,
62.138671875,
122.6953125,
-58.271484375,
-170.68359375,
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[
-59.677734375,
55.01953125,
113.90625,
-56.6015625,
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15.380859375
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| 81
| 0
| 81
| 0
|
[
-57.568359375,
64.951171875,
127.44140625,
-59.326171875,
-170.859375,
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[
-58.88671875,
57.65625,
118.388671875,
-57.48046875,
-168.57421875,
15.46875
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| 82
| 0
| 82
| 0
|
[
-57.3046875,
66.708984375,
130.78125,
-60.1171875,
-170.859375,
-8.0859375
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[
-58.095703125,
60.46875,
122.6953125,
-58.447265625,
-168.662109375,
15.380859375
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| 83
| 0
| 83
| 0
|
[
-57.216796875,
68.02734375,
133.330078125,
-60.46875,
-170.859375,
-8.0859375
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[
-57.568359375,
62.841796875,
127.001953125,
-58.974609375,
-168.837890625,
15.46875
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| 84
| 0
| 84
| 0
|
[
-57.12890625,
68.73046875,
134.296875,
-60.46875,
-170.947265625,
-8.0859375
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[
-57.12890625,
65.91796875,
132.1875,
-59.94140625,
-168.92578125,
15.380859375
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| 85
| 0
| 85
| 0
|
[
-56.77734375,
68.818359375,
134.6484375,
-60.46875,
-170.947265625,
-7.998046875
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[
-56.865234375,
66.884765625,
133.59375,
-59.94140625,
-168.92578125,
15.380859375
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| 86
| 0
| 86
| 0
|
[
-56.42578125,
68.818359375,
134.6484375,
-60.380859375,
-171.03515625,
-7.822265625
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[
-56.689453125,
67.236328125,
133.76953125,
-59.94140625,
-168.92578125,
15.380859375
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| 87
| 0
| 87
| 0
|
[
-56.07421875,
68.818359375,
134.560546875,
-60.29296875,
-171.03515625,
-7.03125
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[
-56.42578125,
67.236328125,
133.76953125,
-59.94140625,
-169.1015625,
15.46875
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| 88
| 0
| 88
| 0
|
[
-55.8984375,
68.73046875,
134.560546875,
-60.29296875,
-170.859375,
-0.615234375
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[
-56.337890625,
67.236328125,
133.681640625,
-59.94140625,
-169.365234375,
15.380859375
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| 89
| 0
| 89
| 0
|
[
-55.72265625,
68.73046875,
134.47265625,
-60.556640625,
-170.419921875,
10.01953125
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[
-55.546875,
67.236328125,
133.681640625,
-59.94140625,
-169.453125,
15.46875
] | 3
| 90
| 0
| 90
| 0
|
[
-55.634765625,
68.818359375,
134.033203125,
-60.732421875,
-170.33203125,
23.90625
] |
[
-55.37109375,
67.236328125,
133.76953125,
-59.94140625,
-169.453125,
15.46875
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-55.546875,
69.08203125,
133.2421875,
-60.8203125,
-170.33203125,
32.783203125
] |
[
-55.283203125,
67.236328125,
133.76953125,
-59.94140625,
-169.453125,
16.083984375
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-55.458984375,
69.521484375,
133.41796875,
-60.908203125,
-170.419921875,
34.013671875
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[
-55.107421875,
67.587890625,
133.505859375,
-59.677734375,
-169.453125,
17.578125
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| 93
| 0
| 93
| 0
|
[
-54.4921875,
71.71875,
134.208984375,
-60.908203125,
-170.771484375,
34.013671875
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[
-55.01953125,
67.8515625,
133.330078125,
-59.677734375,
-169.453125,
19.072265625
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-53.349609375,
75.146484375,
136.0546875,
-59.677734375,
-170.771484375,
33.92578125
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[
-54.66796875,
68.5546875,
133.41796875,
-59.677734375,
-169.453125,
20.56640625
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-52.03125,
78.75,
138.69140625,
-58.095703125,
-170.68359375,
33.92578125
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[
-53.876953125,
71.103515625,
134.560546875,
-58.974609375,
-169.453125,
22.939453125
] | 3.2
| 96
| 0
| 96
| 0
|
[
-50.712890625,
83.935546875,
142.470703125,
-53.61328125,
-170.68359375,
33.92578125
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[
-53.173828125,
73.30078125,
136.494140625,
-58.271484375,
-169.453125,
24.2578125
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-49.482421875,
88.2421875,
144.66796875,
-48.8671875,
-170.68359375,
33.92578125
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[
-52.03125,
76.2890625,
139.306640625,
-57.041015625,
-169.62890625,
25.48828125
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| 98
| 0
| 98
| 0
|
[
-47.900390625,
93.515625,
146.42578125,
-42.626953125,
-170.5078125,
33.92578125
] |
[
-50.09765625,
82.001953125,
144.755859375,
-52.822265625,
-169.62890625,
27.333984375
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 50,
"total_frames": 13907,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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.front": {
"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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