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action
sequence | observation.state
sequence | timestamp
float32 0
17.4
| frame_index
int64 0
521
| episode_index
int64 0
45
| index
int64 0
18.6k
| 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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127.44140625,
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[
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[
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127.44140625,
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[
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[
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127.44140625,
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[
0.87890625,
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[
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127.44140625,
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[
0.87890625,
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[
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127.44140625,
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[
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[
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127.44140625,
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[
0.87890625,
128.49609375,
179.208984375,
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[
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127.44140625,
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[
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179.208984375,
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[
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127.44140625,
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[
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[
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127.44140625,
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[
0.87890625,
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[
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127.44140625,
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[
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[
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127.44140625,
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[
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[
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127.44140625,
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[
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[
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127.44140625,
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[
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[
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127.44140625,
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[
0.87890625,
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[
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127.44140625,
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[
0.87890625,
128.49609375,
179.208984375,
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[
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127.44140625,
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| 0
| 20
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[
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[
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127.44140625,
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[
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[
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127.44140625,
175.166015625,
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| 22
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[
0.87890625,
128.49609375,
179.208984375,
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34.1015625
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[
0,
127.44140625,
175.166015625,
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33.046875
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[
0.87890625,
128.49609375,
179.208984375,
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34.1015625
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[
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127.44140625,
175.166015625,
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| 24
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[
0.87890625,
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[
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127.44140625,
175.166015625,
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| 0
| 25
| 0
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[
0.87890625,
128.49609375,
179.208984375,
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[
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127.44140625,
175.166015625,
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| 0
| 26
| 0
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[
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[
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127.44140625,
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[
0.87890625,
128.49609375,
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[
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127.44140625,
175.166015625,
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| 0
| 28
| 0
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[
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128.49609375,
179.208984375,
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[
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127.44140625,
175.166015625,
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| 29
| 0
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[
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179.208984375,
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[
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127.44140625,
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| 30
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| 30
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[
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34.013671875
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[
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127.44140625,
175.166015625,
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33.046875
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| 31
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| 31
| 0
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[
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128.671875,
178.59375,
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[
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127.44140625,
175.166015625,
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33.046875
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| 32
| 0
| 32
| 0
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[
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177.71484375,
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[
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127.44140625,
175.166015625,
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| 33
| 0
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[
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129.0234375,
176.044921875,
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33.75
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[
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127.44140625,
175.166015625,
-30.146484375,
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33.046875
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| 34
| 0
| 34
| 0
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[
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129.0234375,
173.759765625,
-20.234375,
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33.310546875
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[
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127.529296875,
175.078125,
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32.958984375
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| 35
| 0
| 35
| 0
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[
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129.0234375,
171.5625,
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32.6953125
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[
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127.6171875,
174.0234375,
-29.8828125,
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33.046875
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| 36
| 0
| 36
| 0
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[
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129.0234375,
169.453125,
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32.607421875
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[
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127.529296875,
172.529296875,
-28.30078125,
2.28515625,
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| 37
| 0
| 37
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[
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129.0234375,
167.255859375,
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32.607421875
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[
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127.529296875,
170.5078125,
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| 38
| 0
| 38
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[
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[
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127.529296875,
168.92578125,
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| 39
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| 39
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[
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163.212890625,
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[
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127.44140625,
167.34375,
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1.494140625,
32.6953125
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| 40
| 0
| 40
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[
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161.3671875,
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[
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165.76171875,
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| 41
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[
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[
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127.353515625,
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| 42
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| 42
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[
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[
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127.353515625,
162.24609375,
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| 43
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| 43
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[
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154.6875,
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[
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127.44140625,
160.6640625,
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| 44
| 0
| 44
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[
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[
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127.177734375,
158.5546875,
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1.494140625,
32.6953125
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| 45
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| 45
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[
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126.650390625,
149.23828125,
4.921875,
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32.080078125
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[
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126.826171875,
156.181640625,
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1.494140625,
32.6953125
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| 46
| 0
| 46
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[
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125.244140625,
146.25,
8.349609375,
0.439453125,
32.080078125
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[
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126.5625,
153.45703125,
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1.494140625,
32.6953125
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| 47
| 0
| 47
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[
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123.046875,
143.26171875,
11.0546875,
0.3515625,
32.080078125
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[
-6.416015625,
125.859375,
150.380859375,
1.845703125,
1.494140625,
32.6953125
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| 48
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| 48
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[
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121.376953125,
140.712890625,
13.955078125,
0.439453125,
32.080078125
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[
-6.85546875,
124.716796875,
147.216796875,
4.74609375,
1.494140625,
32.6953125
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| 49
| 0
| 49
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[
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120.41015625,
138.8671875,
16.767578125,
0.52734375,
32.080078125
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[
-7.294921875,
123.046875,
143.876953125,
7.734375,
1.494140625,
32.6953125
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| 50
| 0
| 50
| 0
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[
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119.619140625,
137.63671875,
18.10546875,
0.615234375,
32.080078125
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[
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121.376953125,
141.328125,
10.1953125,
1.494140625,
32.6953125
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| 51
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| 51
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[
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118.916015625,
136.494140625,
18.544921875,
1.142578125,
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[
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120.05859375,
139.482421875,
12.568359375,
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32.6953125
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| 52
| 0
| 52
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[
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118.037109375,
134.736328125,
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[
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118.828125,
138.69140625,
14.58984375,
1.494140625,
32.6953125
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| 53
| 0
| 53
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[
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116.982421875,
132.5390625,
23.291015625,
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32.080078125
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[
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118.037109375,
138.1640625,
16.171875,
1.494140625,
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| 54
| 0
| 54
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[
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115.6640625,
129.7265625,
26.279296875,
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[
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137.021484375,
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| 55
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[
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28.564453125,
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[
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116.015625,
134.6484375,
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| 56
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| 56
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[
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[
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114.78515625,
131.396484375,
22.5,
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| 57
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| 57
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[
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[
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[
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[
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112.060546875,
124.716796875,
27.421875,
2.021484375,
32.6953125
] | 1.966667
| 59
| 0
| 59
| 0
|
[
-18.896484375,
108.984375,
118.037109375,
36.03515625,
6.15234375,
32.16796875
] |
[
-16.5234375,
110.830078125,
122.255859375,
29.53125,
2.109375,
32.6953125
] | 2
| 60
| 0
| 60
| 0
|
[
-19.775390625,
107.490234375,
115.751953125,
37.79296875,
6.85546875,
32.16796875
] |
[
-17.138671875,
109.51171875,
120.5859375,
31.2890625,
2.28515625,
32.6953125
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-20.390625,
106.171875,
113.5546875,
39.638671875,
7.20703125,
32.255859375
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[
-17.75390625,
108.017578125,
119.091796875,
32.958984375,
2.63671875,
32.6953125
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-21.4453125,
104.501953125,
111.4453125,
40.869140625,
7.734375,
32.255859375
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[
-18.720703125,
106.611328125,
117.421875,
34.541015625,
3.251953125,
32.6953125
] | 2.1
| 63
| 0
| 63
| 0
|
[
-22.060546875,
102.744140625,
109.248046875,
41.66015625,
8.4375,
32.255859375
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[
-19.6875,
105.380859375,
115.400390625,
36.123046875,
3.779296875,
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| 64
| 0
| 64
| 0
|
[
-23.115234375,
100.986328125,
106.962890625,
43.06640625,
8.876953125,
32.255859375
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[
-20.7421875,
103.7109375,
112.939453125,
37.529296875,
4.306640625,
32.783203125
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| 65
| 0
| 65
| 0
|
[
-23.994140625,
99.228515625,
104.4140625,
44.47265625,
9.4921875,
32.255859375
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[
-21.708984375,
101.77734375,
110.21484375,
38.935546875,
4.921875,
32.6953125
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| 66
| 0
| 66
| 0
|
[
-24.9609375,
97.55859375,
102.12890625,
45.791015625,
9.755859375,
32.255859375
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[
-22.236328125,
100.01953125,
107.841796875,
40.166015625,
5.44921875,
32.6953125
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| 67
| 0
| 67
| 0
|
[
-26.19140625,
95.9765625,
99.84375,
47.197265625,
9.931640625,
32.34375
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[
-22.939453125,
98.349609375,
105.64453125,
41.396484375,
5.9765625,
32.6953125
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| 68
| 0
| 68
| 0
|
[
-27.158203125,
94.482421875,
97.822265625,
48.1640625,
10.37109375,
32.34375
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[
-23.994140625,
96.6796875,
103.359375,
42.71484375,
6.240234375,
32.6953125
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| 69
| 0
| 69
| 0
|
[
-27.94921875,
92.98828125,
95.537109375,
49.21875,
11.513671875,
32.34375
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[
-25.400390625,
95.009765625,
100.8984375,
44.12109375,
6.50390625,
32.6953125
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| 70
| 0
| 70
| 0
|
[
-29.00390625,
91.494140625,
93.076171875,
50.625,
12.12890625,
32.34375
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[
-26.103515625,
93.1640625,
98.61328125,
45.263671875,
7.03125,
32.6953125
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| 71
| 0
| 71
| 0
|
[
-29.794921875,
90.087890625,
90.791015625,
51.6796875,
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32.34375
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[
-26.982421875,
91.845703125,
96.767578125,
46.318359375,
7.822265625,
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| 72
| 0
| 72
| 0
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[
-30.5859375,
88.59375,
88.681640625,
52.20703125,
13.7109375,
32.34375
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[
-27.861328125,
90.439453125,
94.39453125,
47.63671875,
8.525390625,
32.6953125
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| 73
| 0
| 73
| 0
|
[
-31.46484375,
87.099609375,
86.484375,
53.173828125,
14.4140625,
32.34375
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[
-28.65234375,
89.296875,
92.109375,
48.515625,
8.96484375,
32.6953125
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| 74
| 0
| 74
| 0
|
[
-32.431640625,
85.60546875,
84.55078125,
53.7890625,
15.205078125,
32.34375
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[
-29.70703125,
87.890625,
89.560546875,
49.5703125,
9.66796875,
32.6953125
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| 75
| 0
| 75
| 0
|
[
-33.22265625,
84.375,
82.880859375,
54.140625,
15.99609375,
32.34375
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[
-30.5859375,
86.396484375,
87.36328125,
50.361328125,
10.458984375,
32.6953125
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| 76
| 0
| 76
| 0
|
[
-34.1015625,
83.232421875,
81.03515625,
54.66796875,
16.5234375,
32.34375
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[
-31.552734375,
84.814453125,
85.25390625,
51.064453125,
11.07421875,
32.6953125
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| 77
| 0
| 77
| 0
|
[
-34.892578125,
81.9140625,
79.365234375,
55.01953125,
17.2265625,
32.34375
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[
-32.607421875,
83.583984375,
83.84765625,
51.416015625,
11.77734375,
32.6953125
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| 78
| 0
| 78
| 0
|
[
-35.419921875,
80.5078125,
77.6953125,
55.283203125,
17.841796875,
32.34375
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[
-33.3984375,
82.08984375,
82.6171875,
52.03125,
12.48046875,
32.6953125
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| 79
| 0
| 79
| 0
|
[
-35.859375,
79.013671875,
75.9375,
55.37109375,
18.28125,
32.34375
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[
-34.013671875,
80.5078125,
80.947265625,
52.55859375,
13.095703125,
32.6953125
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| 80
| 0
| 80
| 0
|
[
-36.2109375,
77.607421875,
74.35546875,
55.458984375,
18.896484375,
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[
-34.365234375,
79.189453125,
79.013671875,
52.91015625,
13.623046875,
32.6953125
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| 81
| 0
| 81
| 0
|
[
-36.5625,
76.025390625,
72.59765625,
55.458984375,
19.599609375,
32.255859375
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[
-34.98046875,
78.046875,
77.34375,
53.0859375,
14.150390625,
32.6953125
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| 82
| 0
| 82
| 0
|
[
-36.9140625,
74.70703125,
71.015625,
55.458984375,
20.302734375,
32.16796875
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[
-35.33203125,
76.640625,
75.498046875,
53.0859375,
14.677734375,
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| 83
| 0
| 83
| 0
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[
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73.4765625,
69.521484375,
55.458984375,
20.830078125,
32.16796875
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[
-35.5078125,
75.234375,
73.740234375,
53.0859375,
15.29296875,
32.6953125
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| 84
| 0
| 84
| 0
|
[
-37.44140625,
72.158203125,
67.939453125,
55.546875,
21.26953125,
32.16796875
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[
-35.859375,
73.65234375,
72.421875,
53.0859375,
15.908203125,
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| 85
| 0
| 85
| 0
|
[
-37.529296875,
71.103515625,
66.533203125,
55.546875,
22.060546875,
32.16796875
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[
-36.298828125,
72.421875,
71.015625,
53.0859375,
16.435546875,
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| 86
| 0
| 86
| 0
|
[
-37.705078125,
69.9609375,
65.21484375,
55.458984375,
22.5,
32.080078125
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[
-36.474609375,
71.103515625,
69.609375,
53.0859375,
17.05078125,
32.6953125
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| 87
| 0
| 87
| 0
|
[
-37.880859375,
69.169921875,
64.248046875,
55.546875,
23.203125,
32.080078125
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[
-36.5625,
69.873046875,
68.203125,
53.0859375,
17.666015625,
32.6953125
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| 88
| 0
| 88
| 0
|
[
-38.056640625,
68.642578125,
63.369140625,
55.458984375,
23.90625,
32.080078125
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[
-36.650390625,
68.818359375,
66.708984375,
53.0859375,
18.193359375,
32.6953125
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| 89
| 0
| 89
| 0
|
[
-38.232421875,
68.02734375,
62.666015625,
55.458984375,
24.345703125,
32.080078125
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[
-37.001953125,
67.939453125,
66.09375,
53.0859375,
18.6328125,
32.6953125
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| 90
| 0
| 90
| 0
|
[
-38.3203125,
67.32421875,
61.962890625,
55.37109375,
24.873046875,
32.080078125
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[
-37.353515625,
67.5,
65.478515625,
53.0859375,
19.072265625,
32.6953125
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| 91
| 0
| 91
| 0
|
[
-38.3203125,
66.62109375,
61.083984375,
55.37109375,
25.3125,
32.080078125
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[
-37.529296875,
66.97265625,
64.6875,
53.0859375,
19.423828125,
32.6953125
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| 92
| 0
| 92
| 0
|
[
-38.3203125,
65.91796875,
60.380859375,
55.37109375,
25.48828125,
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[
-37.529296875,
66.181640625,
63.720703125,
53.0859375,
19.86328125,
32.6953125
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| 93
| 0
| 93
| 0
|
[
-38.3203125,
65.302734375,
60.029296875,
55.283203125,
25.6640625,
32.080078125
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[
-37.529296875,
65.21484375,
62.75390625,
53.0859375,
20.302734375,
32.6953125
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| 94
| 0
| 94
| 0
|
[
-38.232421875,
64.423828125,
59.501953125,
55.1953125,
26.103515625,
32.080078125
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[
-37.6171875,
64.6875,
62.490234375,
53.0859375,
20.654296875,
32.6953125
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| 95
| 0
| 95
| 0
|
[
-38.232421875,
63.984375,
59.0625,
55.1953125,
26.3671875,
32.080078125
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[
-37.6171875,
64.072265625,
62.490234375,
53.0859375,
21.005859375,
32.6953125
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| 96
| 0
| 96
| 0
|
[
-38.232421875,
63.193359375,
58.623046875,
55.107421875,
26.455078125,
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[
-37.529296875,
63.28125,
62.138671875,
53.0859375,
21.357421875,
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| 97
| 0
| 97
| 0
|
[
-38.232421875,
62.490234375,
58.0078125,
55.107421875,
26.806640625,
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[
-37.6171875,
62.490234375,
61.34765625,
53.0859375,
21.357421875,
32.6953125
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| 98
| 0
| 98
| 0
|
[
-38.232421875,
61.5234375,
57.392578125,
55.107421875,
26.89453125,
32.080078125
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[
-37.6171875,
61.875,
61.083984375,
53.0859375,
21.357421875,
32.6953125
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 46,
"total_frames": 18597,
"total_tasks": 1,
"total_videos": 92,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:46"
},
"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": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.above": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 1280,
"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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