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float32
0
113
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int64
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1.13k
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int64
0
4
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int64
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4.92k
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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
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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
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2.2
22
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2.3
23
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2.4
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24
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2.5
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2.6
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2.7
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2.8
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2.9
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3
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0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.1
31
0
31
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -3.1159119606018066, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.2710623741149902, 3.6128153800964355 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.2
32
0
32
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -3.1159119606018066, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.2710623741149902, 3.5446488857269287 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.3
33
0
33
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -3.1159119606018066, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.2710623741149902, 3.5446488857269287 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.4
34
0
34
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -3.1159119606018066, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.2710623741149902, 3.5446488857269287 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.5
35
0
35
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -3.1159119606018066, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.222222328186035, 3.5446488857269287 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.6
36
0
36
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.7
37
0
37
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -3.1159119606018066, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.222222328186035, 3.476482629776001 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.8
38
0
38
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -3.0328209400177, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.222222328186035, 3.476482629776001 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.522846221923828, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
3.9
39
0
39
0
[ -6.256941795349121, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3431013822555542, 3.5714285373687744, -1.8695471286773682, -98.08572387695312, 23.194257736206055, 99.24210357666016, -2.222222328186035, 3.476482629776001 ]
[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -3.3833274841308594, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
4
40
0
40
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -2.4764561653137207, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
4.1
41
0
41
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, 0.17439833283424377, -97.94998168945312, 24.046140670776367, 97.7039794921875, -2.17338228225708, 3.9000608921051025 ]
4.2
42
0
42
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, 5.964422702789307, -97.94998168945312, 23.957408905029297, 97.7039794921875, -1.831501841545105, 3.9000608921051025 ]
4.3
43
0
43
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, 6.522497177124023, -97.94998168945312, 23.868677139282227, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
4.4
44
0
44
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, 3.8018834590911865, -97.94998168945312, 23.868677139282227, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
4.5
45
0
45
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -6.3132195472717285, -97.94998168945312, 23.868677139282227, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
4.6
46
0
46
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -13.149633407592773, -97.94998168945312, 23.868677139282227, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
4.7
47
0
47
0
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[ -6.517168998718262, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -12.03348445892334, -97.94998168945312, 23.868677139282227, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
4.8
48
0
48
0
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[ -4.905395984649658, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -4.5692362785339355, -97.94998168945312, 23.868677139282227, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
4.9
49
0
49
0
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[ -2.0322353839874268, -97.36394500732422, 95.46691131591797, 71.67090606689453, -1.0989011526107788, 4.075425624847412, -4.429717540740967, -97.94998168945312, 23.69121551513672, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
5
50
0
50
0
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[ 0.7007708549499512, -97.36394500732422, 95.46691131591797, 71.75572204589844, -1.0989011526107788, 4.075425624847412, -8.615277290344238, -97.94998168945312, 23.69121551513672, 97.7039794921875, -1.6361416578292847, 3.9000608921051025 ]
5.1
51
0
51
0
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[ 1.5416958332061768, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -13.289152145385742, -97.94998168945312, 23.69121551513672, 97.7039794921875, -1.5873016119003296, 3.9000608921051025 ]
5.2
52
0
52
0
[ 1.8881895542144775, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3919414281845093, 3.5714285373687744, -7.769007205963135, -98.16895294189453, 22.74562644958496, 99.3263168334961, -1.3431013822555542, 3.476482629776001 ]
[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -10.777816772460938, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
5.3
53
0
53
0
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[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -8.405999183654785, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
5.4
54
0
54
0
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[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -8.196721076965332, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
5.5
55
0
55
0
[ 1.8141429424285889, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3919414281845093, 3.5714285373687744, -7.685915946960449, -98.16895294189453, 22.74562644958496, 99.3263168334961, -1.3431013822555542, 3.476482629776001 ]
[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -8.057202339172363, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
5.6
56
0
56
0
[ 1.8141429424285889, -96.70917510986328, 93.2126693725586, 72.14976501464844, -1.3919414281845093, 3.5714285373687744, -7.436643123626709, -98.16895294189453, 22.74562644958496, 99.3263168334961, -1.3431013822555542, 3.476482629776001 ]
[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -8.057202339172363, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
5.7
57
0
57
0
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[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -7.847924709320068, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
5.8
58
0
58
0
[ 1.7400962114334106, -96.70917510986328, 93.30316925048828, 71.98149108886719, -1.4896215200424194, 3.5714285373687744, -7.270461082458496, -98.16895294189453, 22.74562644958496, 99.3263168334961, -1.3431013822555542, 3.476482629776001 ]
[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -7.847924709320068, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
5.9
59
0
59
0
[ 1.7400962114334106, -96.70917510986328, 92.398193359375, 69.79386138916016, -1.4896215200424194, 3.5714285373687744, -7.187370300292969, -98.16895294189453, 22.74562644958496, 99.3263168334961, -1.3431013822555542, 3.476482629776001 ]
[ 1.611772894859314, -97.36394500732422, 95.46691131591797, 71.84054565429688, -1.0989011526107788, 4.075425624847412, -7.638646602630615, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
6
60
0
60
0
[ 1.7400962114334106, -96.70917510986328, 90.76923370361328, 63.735801696777344, -1.4896215200424194, 3.5714285373687744, -7.187370300292969, -98.16895294189453, 22.835351943969727, 99.3263168334961, -1.3431013822555542, 3.476482629776001 ]
[ 1.611772894859314, -97.36394500732422, 95.10426330566406, 70.90754699707031, -1.0989011526107788, 4.075425624847412, -7.4991278648376465, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
6.1
61
0
61
0
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[ 1.611772894859314, -97.10884094238281, 93.9256591796875, 67.93893432617188, -1.0989011526107788, 4.075425624847412, -7.4991278648376465, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
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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[ -0.7708479166030884, -97.36394500732422, 77.60652923583984, 56.91263961791992, -1.0989011526107788, 4.075425624847412, -7.4991278648376465, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
7.1
71
0
71
0
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7.2
72
0
72
0
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[ -4.905395984649658, -97.02381134033203, 75.70262908935547, 54.028839111328125, -1.196581244468689, 4.075425624847412, -7.4991278648376465, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
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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[ -6.7974772453308105, -66.32653045654297, 61.92203140258789, 24.17302703857422, 0.6593406796455383, 4.075425624847412, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
8.6
86
0
86
0
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8.7
87
0
87
0
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[ -6.517168998718262, -54.081634521484375, 42.06708908081055, 24.17302703857422, 0.6593406796455383, 4.075425624847412, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
8.8
88
0
88
0
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[ -6.447091579437256, -46.17346954345703, 30.099727630615234, 25.614927291870117, 0.6593406796455383, 4.075425624847412, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
8.9
89
0
89
0
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[ -5.676243782043457, -38.095237731933594, 17.769718170166016, 29.007633209228516, 0.6593406796455383, 4.075425624847412, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9
90
0
90
0
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[ -5.255781173706055, -29.846939086914062, 5.167724609375, 35.79304504394531, 0.6593406796455383, 4.075425624847412, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.1
91
0
91
0
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[ -5.255781173706055, -22.193878173828125, -6.527651786804199, 41.81509780883789, 0.7570207715034485, 4.075425624847412, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.2
92
0
92
0
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[ -5.255781173706055, -14.285714149475098, -16.68177604675293, 47.413063049316406, 0.7570207715034485, 4.075425624847412, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.3
93
0
93
0
[ -4.9981489181518555, 5.141916751861572, -37.82805252075195, 64.74547576904297, 1.0012210607528687, 15.453296661376953, -7.187370300292969, -98.00249481201172, 23.104530334472656, 99.3263168334961, -1.3919414281845093, 3.476482629776001 ]
[ -5.255781173706055, -7.397959232330322, -24.116046905517578, 53.35029602050781, 0.7570207715034485, 5.291970729827881, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.4
94
0
94
0
[ -5.072195529937744, 9.255450248718262, -41.53845977783203, 71.72907257080078, 2.3687424659729004, 24.244504928588867, -7.187370300292969, -98.00249481201172, 23.104530334472656, 99.3263168334961, -1.3919414281845093, 3.476482629776001 ]
[ -5.255781173706055, -0.9353741407394409, -31.278331756591797, 59.71162033081055, 0.7570207715034485, 8.576642036437988, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.5
95
0
95
0
[ -5.072195529937744, 12.217194557189941, -43.34841537475586, 77.61885070800781, 3.7362637519836426, 31.66208839416504, -7.187370300292969, -98.00249481201172, 23.104530334472656, 99.3263168334961, -1.3919414281845093, 3.476482629776001 ]
[ -5.255781173706055, 4.846938610076904, -36.718040466308594, 66.7514877319336, 1.7338217496871948, 17.153284072875977, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.6
96
0
96
0
[ -5.072195529937744, 14.438502311706543, -43.43891525268555, 81.1527099609375, 5.5921854972839355, 39.14834976196289, -7.187370300292969, -98.00249481201172, 23.104530334472656, 99.3263168334961, -1.3919414281845093, 3.476482629776001 ]
[ -5.255781173706055, 9.438775062561035, -39.80054473876953, 73.02799224853516, 3.0036630630493164, 25.486618041992188, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.7
97
0
97
0
[ -5.072195529937744, 15.837103843688965, -43.43891525268555, 83.59276580810547, 6.910866737365723, 46.909339904785156, -7.187370300292969, -98.00249481201172, 23.104530334472656, 99.3263168334961, -1.3919414281845093, 3.476482629776001 ]
[ -5.255781173706055, 12.840136528015137, -40.888484954833984, 78.5411376953125, 4.566544532775879, 33.029197692871094, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
9.8
98
0
98
0
[ -5.072195529937744, 16.248456954956055, -43.43891525268555, 85.61211395263672, 7.008546829223633, 51.991756439208984, -7.187370300292969, -98.00249481201172, 23.104530334472656, 99.3263168334961, -1.4407814741134644, 3.476482629776001 ]
[ -5.255781173706055, 15.306122779846191, -40.979148864746094, 81.93384552001953, 6.129426002502441, 40.510948181152344, -7.359609127044678, -97.94998168945312, 23.51375389099121, 97.7039794921875, -1.4896215200424194, 3.9000608921051025 ]
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_so_follower",
    "total_episodes": 5,
    "total_frames": 4917,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:5"
    },
    "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",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "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"
            ]
        },
        "observation.images.left_wrist": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.left_top": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.right_wrist": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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