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float32
0
117
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int64
0
1.17k
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int64
0
16
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int64
0
15.7k
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int64
0
0
[ 0.07823302018216793, -0.010737865515199285, -0.1564660403643354, -1.5125050568552423, 0.08436894333371026, 1.6965674115936402, -0.02914563496982605, 1 ]
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0.1
1
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1
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0.2
2
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2
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0.3
3
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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12
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1.3
13
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13
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1.4
14
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14
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1.5
15
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15
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1.6
16
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16
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1.7
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1.8
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18
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1.9
19
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2
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2.1
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2.2
22
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2.3
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2.4
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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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3.1
31
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3.2
32
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3.3
33
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3.4
34
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3.5
35
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35
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3.6
36
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36
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3.7
37
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3.8
38
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3.9
39
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4
40
0
40
0
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4.1
41
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41
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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[ 0.06743776798248291, 0.04002095013856888, -0.15360017120838165, -2.240762233734131, -0.08305101096630096, 2.181459426879883, -0.17946715652942657, 0.5325501577721702 ]
4.8
48
0
48
0
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[ 0.06713642925024033, 0.062277499586343765, -0.1535823941230774, -2.2490170001983643, -0.08305945992469788, 2.2274889945983887, -0.17944198846817017, 0.5325501577721702 ]
4.9
49
0
49
0
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[ 0.0671420693397522, 0.08362910151481628, -0.15356764197349548, -2.249662160873413, -0.08305884897708893, 2.2600555419921875, -0.17943596839904785, 0.5325501577721702 ]
5
50
0
50
0
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[ 0.0671422928571701, 0.0909891203045845, -0.15356500446796417, -2.249694585800171, -0.08305813372135162, 2.27097487449646, -0.17943596839904785, 0.5325501577721702 ]
5.1
51
0
51
0
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[ 0.06714566051959991, 0.0906003937125206, -0.15356433391571045, -2.2506062984466553, -0.08305752277374268, 2.271211862564087, -0.17943602800369263, 0.5325501577721702 ]
5.2
52
0
52
0
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[ 0.06715721637010574, 0.09060665965080261, -0.15356315672397614, -2.2527964115142822, -0.08305691182613373, 2.271212100982666, -0.1794366091489792, 0.5325501577721702 ]
5.3
53
0
53
0
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[ 0.0675663948059082, 0.09061848372220993, -0.1534874588251114, -2.2573320865631104, -0.08305712789297104, 2.2712297439575195, -0.17944714426994324, 0.5325501577721702 ]
5.4
54
0
54
0
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[ 0.06780270487070084, 0.09069965779781342, -0.15343594551086426, -2.2652268409729004, -0.08305531740188599, 2.271232843399048, -0.17945106327533722, 0.5325501577721702 ]
5.5
55
0
55
0
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[ 0.06795156002044678, 0.09213347733020782, -0.1533682942390442, -2.27142071723938, -0.08306292444467545, 2.2712690830230713, -0.1794615238904953, 0.5325501577721702 ]
5.6
56
0
56
0
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[ 0.06803242117166519, 0.1004594936966896, -0.15332850813865662, -2.280972957611084, -0.08306413888931274, 2.271470308303833, -0.17946040630340576, 0.5325501577721702 ]
5.7
57
0
57
0
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[ 0.06805235147476196, 0.10952629148960114, -0.1533089131116867, -2.2822771072387695, -0.08306858688592911, 2.2731995582580566, -0.17946183681488037, 0.5325501577721702 ]
5.8
58
0
58
0
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[ 0.06801114976406097, 0.11181274056434631, -0.15331807732582092, -2.2821788787841797, -0.08307117223739624, 2.2744176387786865, -0.17946118116378784, 0.5325501577721702 ]
5.9
59
0
59
0
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[ 0.06800377368927002, 0.11176927387714386, -0.15331831574440002, -2.281344175338745, -0.08306610584259033, 2.2748022079467773, -0.17946070432662964, 0.5325501577721702 ]
6
60
0
60
0
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[ 0.06770220398902893, 0.11176380515098572, -0.15332487225532532, -2.280005931854248, -0.08306878805160522, 2.2756612300872803, -0.17946979403495789, 0.5325501577721702 ]
6.1
61
0
61
0
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[ 0.06732822954654694, 0.11174377799034119, -0.15333935618400574, -2.2785439491271973, -0.08307008445262909, 2.2826015949249268, -0.1794617623090744, 0.5325501577721702 ]
6.2
62
0
62
0
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[ 0.06729253381490707, 0.11270076036453247, -0.15333689749240875, -2.2784223556518555, -0.08306858688592911, 2.2939953804016113, -0.17946135997772217, 0.5325501577721702 ]
6.3
63
0
63
0
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[ 0.0672835037112236, 0.1181720420718193, -0.15333768725395203, -2.279294729232788, -0.08306990563869476, 2.309312582015991, -0.17945808172225952, 0.5325501577721702 ]
6.4
64
0
64
0
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[ 0.06727629154920578, 0.12577173113822937, -0.1533355861902237, -2.280270576477051, -0.0830715075135231, 2.31837797164917, -0.1794520616531372, 0.5325501577721702 ]
6.5
65
0
65
0
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[ 0.06725964695215225, 0.13022759556770325, -0.1533336490392685, -2.2802956104278564, -0.08307350426912308, 2.3206562995910645, -0.17944052815437317, 0.5325501577721702 ]
6.6
66
0
66
0
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[ 0.0672692358493805, 0.1311352401971817, -0.15333449840545654, -2.280287981033325, -0.08307258039712906, 2.320768117904663, -0.17943981289863586, 0.5325501577721702 ]
6.7
67
0
67
0
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[ 0.06803157180547714, 0.1311768889427185, -0.15329964458942413, -2.2814393043518066, -0.08306813985109329, 2.3207809925079346, -0.17944248020648956, 0.5325501577721702 ]
6.8
68
0
68
0
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[ 0.0697665810585022, 0.13127253949642181, -0.15310685336589813, -2.2835724353790283, -0.0830625519156456, 2.3207826614379883, -0.17943713068962097, 0.5367107275459502 ]
6.9
69
0
69
0
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[ 0.07137000560760498, 0.13127528131008148, -0.1530608981847763, -2.284163475036621, -0.08305911719799042, 2.3207931518554688, -0.17944669723510742, 0.5450318257013957 ]
7
70
0
70
0
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[ 0.07146815955638885, 0.13128182291984558, -0.153066024184227, -2.284177780151367, -0.08306033909320831, 2.3208272457122803, -0.17944447696208954, 0.5450318257013957 ]
7.1
71
0
71
0
[ 0.058306918077515014, 0.13650895031394336, -0.14572817484913744, -2.2917672971011434, -0.08590277072351729, 2.354660507870478, -0.20862138715244694, 0.45707775303938997 ]
[ 0.0710376501083374, 0.13128182291984558, -0.15307268500328064, -2.284177780151367, -0.0830565094947815, 2.3208506107330322, -0.17943981289863586, 0.5450318257013957 ]
7.2
72
0
72
0
[ 0.05829142642103288, 0.13652413672374342, -0.14572817484913594, -2.291767297101148, -0.08590292258761527, 2.3546605093891193, -0.20862138715244694, 0.45707775297682235 ]
[ 0.0699915662407875, 0.1313076764345169, -0.1530950665473938, -2.284238576889038, -0.08305659890174866, 2.3208625316619873, -0.17943914234638214, 0.5450318257013957 ]
7.3
73
0
73
0
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[ 0.06881724298000336, 0.1314537078142166, -0.15310035645961761, -2.2843809127807617, -0.0830565094947815, 2.32086443901062, -0.17944127321243286, 0.5450318257013957 ]
7.4
74
0
74
0
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[ 0.06836321204900742, 0.1315026581287384, -0.15310218930244446, -2.284418821334839, -0.08306041359901428, 2.320869207382202, -0.17944028973579407, 0.5450318257013957 ]
7.5
75
0
75
0
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[ 0.06822526454925537, 0.13282598555088043, -0.15310077369213104, -2.2850258350372314, -0.08306200057268143, 2.3208861351013184, -0.17944632470607758, 0.5408712559276158 ]
7.6
76
0
76
0
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[ 0.06817556917667389, 0.1388470083475113, -0.153097465634346, -2.285747766494751, -0.08305647224187851, 2.320897340774536, -0.17944449186325073, 0.5408712559276158 ]
7.7
77
0
77
0
[ 0.05829126993965429, 0.1579538390652619, -0.14572817484913592, -2.291767297101148, -0.08743675151140264, 2.354660509404459, -0.20862138715244694, 0.4612630187197728 ]
[ 0.06816352158784866, 0.14612609148025513, -0.1530955582857132, -2.2859928607940674, -0.08305995166301727, 2.320951223373413, -0.1794431358575821, 0.5408712559276158 ]
7.8
78
0
78
0
[ 0.05829126993965428, 0.16407412325137852, -0.14572817484913592, -2.291767297101148, -0.08743690337550063, 2.354660509404459, -0.20862138715244694, 0.46126302081219744 ]
[ 0.06815958023071289, 0.15076667070388794, -0.15309999883174896, -2.285984754562378, -0.08305862545967102, 2.32110333442688, -0.17944103479385376, 0.5408712559276158 ]
7.9
79
0
79
0
[ 0.05829126993965428, 0.1641353260932397, -0.14572817484913592, -2.291767297101148, -0.08743690489414162, 2.354660509404459, -0.20862138715244694, 0.4674781436009789 ]
[ 0.06814885139465332, 0.15401360392570496, -0.1530994474887848, -2.286011219024658, -0.08305862545967102, 2.3211371898651123, -0.17944033443927765, 0.5408712559276158 ]
8
80
0
80
0
[ 0.05829126993965428, 0.1641359381216583, -0.14572817484913592, -2.291767297101148, -0.08743690490932803, 2.354660509404459, -0.20862138715244694, 0.4737554175967239 ]
[ 0.06814827769994736, 0.15779565274715424, -0.1530938446521759, -2.2860324382781982, -0.08305995166301727, 2.3211753368377686, -0.17945058643817902, 0.5325501577721702 ]
8.1
81
0
81
0
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[ 0.0681450292468071, 0.1600557416677475, -0.15309637784957886, -2.2860021591186523, -0.08305923640727997, 2.3213512897491455, -0.1794433891773224, 0.5283896293905046 ]
8.2
82
0
82
0
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[ 0.0681387335062027, 0.16077764332294464, -0.1530962735414505, -2.2859842777252197, -0.08305515348911285, 2.3217613697052, -0.17943285405635834, 0.5242290596167247 ]
8.3
83
0
83
0
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[ 0.06810495257377625, 0.16077610850334167, -0.1531011164188385, -2.2857506275177, -0.0830472856760025, 2.3221547603607178, -0.1792738437652588, 0.49510523676872253 ]
8.4
84
0
84
0
[ 0.05829126993965428, 0.1641359443037635, -0.14572817484913592, -2.2871656630676296, -0.08436894488303086, 2.356194490177005, -0.1932820486870516, 0.657210320595534 ]
[ 0.0679268017411232, 0.16075392067432404, -0.15309680998325348, -2.2847564220428467, -0.08304562419652939, 2.323047161102295, -0.17915348708629608, 0.490944708387057 ]
8.5
85
0
85
0
[ 0.05829126993965428, 0.16413594430376355, -0.14572817484913592, -2.2871653578207924, -0.08436894334920347, 2.3561944901921916, -0.1932815839677253, 0.7325444804380983 ]
[ 0.0678667426109314, 0.16070017218589783, -0.1530909240245819, -2.2839035987854004, -0.08303841203451157, 2.323606491088867, -0.17905420064926147, 0.3952521002954907 ]
8.6
86
0
86
0
[ 0.05829126993965428, 0.16413594430376355, -0.1472468158291427, -2.2886839957483307, -0.08285030235385824, 2.371380899992411, -0.19328157932053203, 0.8679588153400951 ]
[ 0.06776333600282669, 0.16041956841945648, -0.15309657156467438, -2.282818078994751, -0.08301990479230881, 2.323836088180542, -0.17859846353530884, 0.35780713789992863 ]
8.7
87
0
87
0
[ 0.05677262895964733, 0.16413594430376355, -0.14726200223894279, -2.2917364640876197, -0.08283511594390479, 2.401905583690549, -0.1932815792740601, 0.9853285836891154 ]
[ 0.06743017584085464, 0.16062749922275543, -0.15310047566890717, -2.2828257083892822, -0.08301816880702972, 2.3282065391540527, -0.1785544455051422, 0.35780713789992863 ]
8.8
88
0
88
0
[ 0.05675744254984726, 0.16413594430376355, -0.14878079508304753, -2.2917669887710126, -0.08283496407980526, 2.4052481124875436, -0.19328157927359538, 0.9998532858368911 ]
[ 0.06646156311035156, 0.16091598570346832, -0.1531272679567337, -2.2832465171813965, -0.08301711827516556, 2.3501012325286865, -0.17814181745052338, 0.35780713789992863 ]
8.9
89
0
89
0
[ 0.05675729068574926, 0.16413594430376355, -0.15031462399149537, -2.2917672940178466, -0.08131632158115776, 2.4037628967955076, -0.1948002202535977, 0.9999985328583689 ]
[ 0.0656495988368988, 0.16129429638385773, -0.15339098870754242, -2.283484697341919, -0.08301769942045212, 2.366150379180908, -0.17756642401218414, 0.35780713789992863 ]
9
90
0
90
0
[ 0.05675728916710828, 0.16261730332375662, -0.15032996228057985, -2.2917672970703147, -0.08130113515617128, 2.403748044638587, -0.19481540666339772, 0.9999999853285837 ]
[ 0.06465943157672882, 0.16138602793216705, -0.15391723811626434, -2.283792018890381, -0.0830192044377327, 2.369001626968384, -0.17743465304374695, 0.35780713789992863 ]
9.1
91
0
91
0
[ 0.059794571111935764, 0.16108347593395003, -0.15033011566347068, -2.2917672971008396, -0.08130098329192141, 2.3976733321969905, -0.1948155585274957, 0.9999999998532858 ]
[ 0.06368426233530045, 0.16141808032989502, -0.15400543808937073, -2.2838993072509766, -0.08301809430122375, 2.3692901134490967, -0.17743465304374695, 0.35780713789992863 ]
9.2
92
0
92
0
[ 0.06286222589139792, 0.15651221472003157, -0.1503301171972996, -2.2917672971011447, -0.08433826373329237, 2.3915380211525474, -0.19937148298615662, 0.9999999999985328 ]
[ 0.0636778324842453, 0.16142567992210388, -0.1539926677942276, -2.2839088439941406, -0.08302129060029984, 2.3693652153015137, -0.17743590474128723, 0.35780713789992863 ]
9.3
93
0
93
0
[ 0.06441154341919862, 0.14887329720785852, -0.1488114762326311, -2.291767297101148, -0.08588727751771302, 2.377808899222042, -0.19941704223074325, 0.9999999999999853 ]
[ 0.0645948052406311, 0.16128942370414734, -0.1539524793624878, -2.2838997840881348, -0.08302044123411179, 2.3693654537200928, -0.17746181786060333, 0.35780713789992863 ]
9.4
94
0
94
0
[ 0.06594567757448357, 0.13664778019268256, -0.14727764884297767, -2.291767297101148, -0.09045869059557762, 2.3366683015425536, -0.202454779783203, 0.9999999999999999 ]
[ 0.066615030169487, 0.1602461189031601, -0.15366162359714508, -2.2839035987854004, -0.08301597833633423, 2.3693418502807617, -0.177466481924057, 0.35780713789992863 ]
9.5
95
0
95
0
[ 0.06747965989604335, 0.11982047424245618, -0.14726231056908112, -2.291767297101148, -0.09202304570636277, 2.2906976661655554, -0.22070884891880918, 1 ]
[ 0.06877945363521576, 0.15669791400432587, -0.15328890085220337, -2.284135580062866, -0.08301723748445511, 2.3625550270080566, -0.17757585644721985, 0.35780713789992863 ]
9.6
96
0
96
0
[ 0.06749499971925894, 0.0999098684428654, -0.14726215718634217, -2.291767297101148, -0.09052004827746413, 2.2644210631516697, -0.23304051745021903, 1 ]
[ 0.07102728635072708, 0.14894597232341766, -0.15326401591300964, -2.2850069999694824, -0.0830250084400177, 2.3458991050720215, -0.18174491822719574, 0.35780713789992863 ]
9.7
97
0
97
0
[ 0.0674951531174911, 0.09211755748483565, -0.14726215565251477, -2.291767297101148, -0.08898637732316819, 2.235304118501402, -0.23316383413553313, 1 ]
[ 0.07226815819740295, 0.13388626277446747, -0.1532442718744278, -2.2852423191070557, -0.0830274373292923, 2.31471848487854, -0.19254565238952637, 0.35780713789992863 ]
9.8
98
0
98
0
[ 0.06749515465147343, 0.07685322457518767, -0.14726215563717648, -2.2887300151411343, -0.08897104061362522, 2.2107146933747903, -0.23316506730238626, 1 ]
[ 0.07227861136198044, 0.11413826793432236, -0.15327055752277374, -2.2854678630828857, -0.08302682638168335, 2.281956434249878, -0.20091530680656433, 0.35780713789992863 ]
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": "v2.1",
    "robot_type": "Franka",
    "total_episodes": 17,
    "total_frames": 15722,
    "total_tasks": 1,
    "total_videos": 34,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:17"
    },
    "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": "float64",
            "shape": [
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            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "joint_7",
                "gripper"
            ]
        },
        "observation.images.wrist_camera": {
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "observation.images.side_camera": {
            "shape": [
                640,
                480,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 640,
                "video.width": 480,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "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": {
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            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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BibTeX:

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