Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
9.8
| frame_index
int64 0
490
| episode_index
int64 0
15
| index
int64 0
3.87k
| 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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[
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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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[
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[
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| 28
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[
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[
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[
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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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[
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[
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| 35
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| 35
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[
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[
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| 36
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| 36
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[
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[
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| 37
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| 37
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[
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[
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| 38
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| 38
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[
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[
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| 39
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| 39
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[
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[
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175.517578125,
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| 40
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| 40
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[
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169.892578125,
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[
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174.90234375,
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188.525390625,
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| 41
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| 41
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[
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[
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| 42
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| 42
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[
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166.9921875,
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187.91015625,
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[
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127.79296875,
172.44140625,
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188.61328125,
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| 43
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[
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187.20703125,
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[
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125.5078125,
170.5078125,
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188.173828125,
34.1015625
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| 44
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| 44
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[
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164.267578125,
-41.396484375,
187.119140625,
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[
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123.046875,
168.75,
-28.4765625,
187.734375,
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| 45
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| 45
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[
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111.62109375,
163.388671875,
-44.12109375,
187.119140625,
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[
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119.8828125,
167.431640625,
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187.470703125,
34.1015625
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| 46
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| 46
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[
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107.578125,
162.7734375,
-47.63671875,
187.119140625,
34.541015625
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[
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116.279296875,
166.552734375,
-33.92578125,
187.20703125,
34.1015625
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| 47
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| 47
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[
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104.765625,
162.59765625,
-50.625,
187.119140625,
34.541015625
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[
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113.73046875,
166.025390625,
-35.947265625,
187.03125,
34.1015625
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| 48
| 0
| 48
| 0
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[
-10.107421875,
101.25,
162.59765625,
-54.580078125,
187.20703125,
34.541015625
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[
-8.701171875,
109.951171875,
165.322265625,
-38.935546875,
186.85546875,
34.1015625
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| 49
| 0
| 49
| 0
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[
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97.55859375,
162.59765625,
-58.623046875,
187.294921875,
34.541015625
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[
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105.64453125,
164.8828125,
-42.71484375,
186.6796875,
34.1015625
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| 50
| 0
| 50
| 0
|
[
-10.283203125,
93.69140625,
162.59765625,
-62.75390625,
187.294921875,
34.541015625
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[
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101.77734375,
164.8828125,
-46.0546875,
186.591796875,
34.1015625
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| 51
| 0
| 51
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[
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90.263671875,
162.421875,
-66.708984375,
187.294921875,
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[
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97.998046875,
164.970703125,
-49.21875,
186.591796875,
34.1015625
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| 52
| 0
| 52
| 0
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[
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87.099609375,
162.0703125,
-69.873046875,
187.3828125,
34.541015625
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[
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94.21875,
164.8828125,
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186.591796875,
34.1015625
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| 53
| 0
| 53
| 0
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[
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84.111328125,
161.103515625,
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187.470703125,
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[
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90.52734375,
164.8828125,
-55.810546875,
186.591796875,
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| 54
| 0
| 54
| 0
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[
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82.001953125,
160.224609375,
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187.55859375,
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[
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87.451171875,
164.8828125,
-58.271484375,
186.591796875,
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| 55
| 0
| 55
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[
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80.859375,
159.169921875,
-74.35546875,
187.3828125,
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[
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84.55078125,
164.443359375,
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186.591796875,
34.1015625
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| 56
| 0
| 56
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[
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80.68359375,
158.37890625,
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187.294921875,
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[
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82.6171875,
163.564453125,
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186.591796875,
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| 57
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| 57
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[
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80.244140625,
157.67578125,
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187.294921875,
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[
-9.931640625,
81.73828125,
162.421875,
-62.05078125,
186.591796875,
34.1015625
] | 1.16
| 58
| 0
| 58
| 0
|
[
-11.513671875,
80.068359375,
157.412109375,
-74.267578125,
187.294921875,
34.541015625
] |
[
-9.84375,
81.298828125,
161.630859375,
-62.05078125,
186.591796875,
34.189453125
] | 1.18
| 59
| 0
| 59
| 0
|
[
-11.6015625,
80.068359375,
157.060546875,
-74.267578125,
187.294921875,
34.541015625
] |
[
-10.01953125,
80.68359375,
160.751953125,
-62.138671875,
186.591796875,
34.1015625
] | 1.2
| 60
| 0
| 60
| 0
|
[
-11.77734375,
80.068359375,
156.62109375,
-74.267578125,
187.294921875,
34.541015625
] |
[
-10.37109375,
80.15625,
160.224609375,
-62.138671875,
186.591796875,
34.189453125
] | 1.22
| 61
| 0
| 61
| 0
|
[
-11.865234375,
79.98046875,
155.830078125,
-74.267578125,
187.3828125,
34.541015625
] |
[
-10.546875,
79.8046875,
160.224609375,
-62.05078125,
186.591796875,
34.1015625
] | 1.24
| 62
| 0
| 62
| 0
|
[
-12.041015625,
79.8046875,
154.86328125,
-74.267578125,
187.3828125,
34.541015625
] |
[
-10.72265625,
79.1015625,
159.2578125,
-62.138671875,
186.591796875,
34.189453125
] | 1.26
| 63
| 0
| 63
| 0
|
[
-12.12890625,
79.365234375,
153.369140625,
-74.1796875,
187.3828125,
34.541015625
] |
[
-10.986328125,
78.92578125,
158.818359375,
-62.138671875,
186.591796875,
34.1015625
] | 1.28
| 64
| 0
| 64
| 0
|
[
-12.392578125,
78.310546875,
152.40234375,
-74.091796875,
187.3828125,
34.541015625
] |
[
-11.25,
78.837890625,
158.02734375,
-62.05078125,
186.591796875,
34.189453125
] | 1.3
| 65
| 0
| 65
| 0
|
[
-12.48046875,
77.607421875,
151.611328125,
-74.091796875,
187.3828125,
34.541015625
] |
[
-11.162109375,
77.6953125,
156.357421875,
-62.138671875,
186.591796875,
34.1015625
] | 1.32
| 66
| 0
| 66
| 0
|
[
-12.83203125,
76.46484375,
150.556640625,
-74.091796875,
187.55859375,
34.541015625
] |
[
-11.162109375,
77.34375,
155.830078125,
-62.05078125,
186.591796875,
34.189453125
] | 1.34
| 67
| 0
| 67
| 0
|
[
-13.095703125,
76.201171875,
149.765625,
-74.091796875,
187.55859375,
34.453125
] |
[
-11.42578125,
76.552734375,
154.3359375,
-62.05078125,
186.591796875,
34.189453125
] | 1.36
| 68
| 0
| 68
| 0
|
[
-13.359375,
75.673828125,
148.798828125,
-74.091796875,
187.55859375,
33.75
] |
[
-11.77734375,
76.025390625,
152.9296875,
-62.05078125,
186.50390625,
34.1015625
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| 69
| 0
| 69
| 0
|
[
-13.359375,
75.146484375,
148.095703125,
-74.091796875,
187.646484375,
32.783203125
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[
-11.953125,
75.498046875,
152.40234375,
-62.138671875,
186.50390625,
33.662109375
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| 70
| 0
| 70
| 0
|
[
-13.359375,
74.70703125,
147.216796875,
-74.091796875,
187.646484375,
32.34375
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[
-12.12890625,
74.970703125,
152.2265625,
-62.40234375,
186.50390625,
32.607421875
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| 71
| 0
| 71
| 0
|
[
-13.359375,
74.443359375,
146.6015625,
-74.091796875,
187.646484375,
32.255859375
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[
-12.3046875,
73.740234375,
151.787109375,
-62.666015625,
186.50390625,
32.255859375
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| 72
| 0
| 72
| 0
|
[
-13.271484375,
73.916015625,
145.72265625,
-74.091796875,
187.734375,
27.685546875
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[
-12.3046875,
72.94921875,
151.171875,
-62.666015625,
186.50390625,
32.255859375
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| 73
| 0
| 73
| 0
|
[
-13.0078125,
73.828125,
144.31640625,
-74.00390625,
187.734375,
22.412109375
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[
-12.3046875,
72.861328125,
151.171875,
-62.75390625,
186.50390625,
32.255859375
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| 74
| 0
| 74
| 0
|
[
-12.83203125,
73.740234375,
143.61328125,
-73.65234375,
187.734375,
17.578125
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[
-11.865234375,
72.7734375,
149.150390625,
-62.75390625,
186.50390625,
21.357421875
] | 1.5
| 75
| 0
| 75
| 0
|
[
-12.744140625,
73.4765625,
142.91015625,
-73.564453125,
187.822265625,
4.482421875
] |
[
-11.513671875,
72.861328125,
147.12890625,
-62.75390625,
186.50390625,
16.171875
] | 1.52
| 76
| 0
| 76
| 0
|
[
-12.65625,
73.4765625,
142.734375,
-73.4765625,
187.822265625,
-1.669921875
] |
[
-11.953125,
72.861328125,
146.337890625,
-62.75390625,
186.591796875,
11.689453125
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| 77
| 0
| 77
| 0
|
[
-12.392578125,
73.4765625,
142.734375,
-73.4765625,
187.734375,
-2.98828125
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[
-11.953125,
72.7734375,
145.634765625,
-63.10546875,
186.416015625,
6.767578125
] | 1.56
| 78
| 0
| 78
| 0
|
[
-12.3046875,
73.4765625,
142.822265625,
-73.4765625,
187.734375,
-6.6796875
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[
-11.865234375,
72.685546875,
145.458984375,
-63.6328125,
186.50390625,
4.482421875
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| 79
| 0
| 79
| 0
|
[
-12.12890625,
73.4765625,
142.822265625,
-73.4765625,
187.734375,
-7.91015625
] |
[
-12.041015625,
72.59765625,
145.107421875,
-63.896484375,
186.50390625,
4.39453125
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| 80
| 0
| 80
| 0
|
[
-11.689453125,
73.4765625,
142.822265625,
-73.4765625,
187.734375,
-7.91015625
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[
-12.041015625,
72.59765625,
145.01953125,
-63.896484375,
186.50390625,
4.39453125
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| 81
| 0
| 81
| 0
|
[
-11.6015625,
73.4765625,
142.822265625,
-73.388671875,
187.734375,
-7.91015625
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[
-11.513671875,
72.59765625,
144.931640625,
-63.984375,
186.50390625,
4.39453125
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| 82
| 0
| 82
| 0
|
[
-10.37109375,
74.091796875,
142.822265625,
-70.6640625,
187.734375,
-7.998046875
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[
-11.25,
72.59765625,
144.931640625,
-63.896484375,
186.50390625,
4.39453125
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| 83
| 0
| 83
| 0
|
[
-9.931640625,
75.146484375,
142.822265625,
-69.345703125,
187.734375,
-7.998046875
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[
-10.986328125,
72.59765625,
144.931640625,
-63.896484375,
186.50390625,
4.39453125
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| 84
| 0
| 84
| 0
|
[
-9.404296875,
76.9921875,
142.822265625,
-67.1484375,
187.734375,
-7.91015625
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[
-10.283203125,
72.7734375,
144.931640625,
-63.896484375,
186.50390625,
4.39453125
] | 1.7
| 85
| 0
| 85
| 0
|
[
-8.701171875,
79.189453125,
142.822265625,
-64.16015625,
187.734375,
-7.998046875
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[
-9.66796875,
73.125,
144.931640625,
-63.896484375,
186.50390625,
4.39453125
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| 86
| 0
| 86
| 0
|
[
-7.646484375,
82.08984375,
142.822265625,
-60.205078125,
187.646484375,
-7.998046875
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[
-8.96484375,
74.091796875,
144.931640625,
-63.544921875,
186.50390625,
4.39453125
] | 1.74
| 87
| 0
| 87
| 0
|
[
-6.591796875,
85.078125,
142.734375,
-55.986328125,
187.55859375,
-7.998046875
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[
-8.0859375,
75.849609375,
144.931640625,
-61.787109375,
186.50390625,
4.482421875
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| 88
| 0
| 88
| 0
|
[
-5.625,
88.505859375,
142.734375,
-51.240234375,
187.55859375,
-7.998046875
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[
-7.20703125,
78.3984375,
144.931640625,
-58.88671875,
186.50390625,
4.482421875
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| 89
| 0
| 89
| 0
|
[
-4.5703125,
91.7578125,
142.734375,
-45.87890625,
187.55859375,
-7.998046875
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[
-6.15234375,
81.38671875,
144.931640625,
-55.107421875,
186.50390625,
4.482421875
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| 90
| 0
| 90
| 0
|
[
-3.427734375,
94.921875,
142.734375,
-41.30859375,
187.3828125,
-7.91015625
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[
-5.09765625,
84.638671875,
144.931640625,
-50.9765625,
186.591796875,
4.482421875
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| 91
| 0
| 91
| 0
|
[
-2.021484375,
97.91015625,
142.822265625,
-37.6171875,
187.294921875,
-7.91015625
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[
-4.21875,
87.626953125,
145.01953125,
-46.23046875,
186.6796875,
4.482421875
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| 92
| 0
| 92
| 0
|
[
-0.615234375,
100.37109375,
143.349609375,
-35.5078125,
187.294921875,
-7.998046875
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[
-3.1640625,
90.703125,
145.01953125,
-41.748046875,
186.6796875,
4.39453125
] | 1.86
| 93
| 0
| 93
| 0
|
[
0.87890625,
102.3046875,
144.140625,
-34.013671875,
187.294921875,
-7.998046875
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[
-1.93359375,
93.8671875,
145.01953125,
-37.44140625,
186.6796875,
4.39453125
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| 94
| 0
| 94
| 0
|
[
2.4609375,
104.0625,
145.1953125,
-33.57421875,
187.294921875,
-7.998046875
] |
[
-0.966796875,
96.6796875,
145.283203125,
-34.27734375,
186.767578125,
4.482421875
] | 1.9
| 95
| 0
| 95
| 0
|
[
3.33984375,
105.205078125,
146.162109375,
-33.486328125,
187.294921875,
-7.998046875
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[
-0.263671875,
98.4375,
145.634765625,
-32.607421875,
186.767578125,
4.482421875
] | 1.92
| 96
| 0
| 96
| 0
|
[
4.833984375,
106.435546875,
147.3046875,
-33.3984375,
187.294921875,
-7.998046875
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[
1.0546875,
100.546875,
146.77734375,
-31.552734375,
186.767578125,
4.39453125
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| 97
| 0
| 97
| 0
|
[
7.646484375,
108.193359375,
148.974609375,
-33.3984375,
187.294921875,
-7.91015625
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[
2.373046875,
102.65625,
148.271484375,
-31.2890625,
186.85546875,
4.39453125
] | 1.96
| 98
| 0
| 98
| 0
|
[
10.1953125,
109.951171875,
150.556640625,
-33.486328125,
187.3828125,
-7.998046875
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[
4.130859375,
104.326171875,
149.58984375,
-31.201171875,
186.767578125,
4.482421875
] | 1.98
| 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": 16,
"total_frames": 3871,
"total_tasks": 1,
"total_videos": 16,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:16"
},
"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.uvc": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 50.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"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
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