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action
sequence | observation.state
sequence | timestamp
float32 0
33.6
| frame_index
int64 0
1.01k
| episode_index
int64 0
19
| index
int64 0
16.8k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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[
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[
4.21875,
99.140625,
94.306640625,
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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[
4.04296875,
101.337890625,
93.33984375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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[
4.04296875,
101.337890625,
93.33984375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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[
4.04296875,
101.337890625,
93.33984375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 0
| 11
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[
4.04296875,
101.337890625,
93.33984375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 0
| 12
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[
4.04296875,
101.337890625,
93.427734375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
-4.306640625,
0.13908205926418304
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| 13
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[
4.04296875,
101.25,
93.427734375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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[
4.04296875,
101.25,
93.33984375,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 0
| 15
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[
4.04296875,
101.25,
93.251953125,
104.4140625,
-4.482421875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 16
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[
4.04296875,
101.25,
93.251953125,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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| 17
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[
4.04296875,
101.162109375,
93.1640625,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
-4.306640625,
0.13908205926418304
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| 0
| 18
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[
4.04296875,
100.986328125,
93.1640625,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 19
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[
4.04296875,
100.810546875,
93.076171875,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 0
| 20
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[
4.04296875,
100.72265625,
92.98828125,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 21
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[
4.04296875,
100.72265625,
92.98828125,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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| 22
| 0
| 22
| 0
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[
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100.634765625,
92.98828125,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 23
| 0
| 23
| 0
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[
3.955078125,
100.546875,
92.900390625,
104.4140625,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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| 24
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| 24
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[
3.955078125,
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92.8125,
104.326171875,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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| 0
| 25
| 0
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[
3.8671875,
100.458984375,
92.8125,
104.23828125,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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0.13908205926418304
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| 26
| 0
| 26
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[
3.779296875,
100.458984375,
92.8125,
104.23828125,
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[
4.21875,
99.140625,
94.306640625,
104.326171875,
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| 27
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| 27
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[
3.33984375,
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92.8125,
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[
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99.140625,
94.306640625,
104.326171875,
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| 28
| 0
| 28
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[
2.8125,
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92.8125,
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[
3.955078125,
99.140625,
94.306640625,
104.326171875,
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| 29
| 0
| 29
| 0
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[
2.197265625,
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92.8125,
104.23828125,
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[
3.779296875,
99.140625,
94.306640625,
104.326171875,
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| 30
| 0
| 30
| 0
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[
1.494140625,
100.37109375,
92.8125,
104.23828125,
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[
3.515625,
99.140625,
94.306640625,
104.326171875,
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| 31
| 0
| 31
| 0
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[
0.615234375,
100.37109375,
92.724609375,
104.150390625,
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[
3.076171875,
99.140625,
94.306640625,
104.326171875,
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| 32
| 0
| 32
| 0
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[
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100.37109375,
92.724609375,
103.623046875,
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[
2.4609375,
99.140625,
94.306640625,
104.326171875,
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| 33
| 0
| 33
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[
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100.37109375,
92.724609375,
102.919921875,
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[
1.58203125,
99.140625,
94.306640625,
104.150390625,
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| 34
| 0
| 34
| 0
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[
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92.724609375,
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[
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99.140625,
94.306640625,
104.0625,
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| 35
| 0
| 35
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[
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[
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99.140625,
94.306640625,
103.88671875,
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| 36
| 0
| 36
| 0
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[
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[
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99.140625,
94.306640625,
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| 37
| 0
| 37
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[
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[
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| 38
| 0
| 38
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[
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[
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99.140625,
94.306640625,
101.689453125,
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| 39
| 0
| 39
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[
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100.37109375,
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98.7890625,
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[
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99.140625,
94.306640625,
100.986328125,
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| 40
| 0
| 40
| 0
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[
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[
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99.140625,
94.306640625,
100.283203125,
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| 41
| 0
| 41
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[
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100.283203125,
92.724609375,
98.4375,
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[
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99.140625,
94.306640625,
99.66796875,
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| 42
| 0
| 42
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[
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100.283203125,
92.724609375,
98.4375,
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[
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99.140625,
94.306640625,
99.31640625,
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| 43
| 0
| 43
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[
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100.283203125,
92.724609375,
98.4375,
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[
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99.140625,
94.306640625,
99.140625,
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| 44
| 0
| 44
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[
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100.283203125,
92.724609375,
98.26171875,
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[
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99.140625,
94.306640625,
98.96484375,
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| 45
| 0
| 45
| 0
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[
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100.1953125,
92.724609375,
98.0859375,
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[
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99.140625,
94.306640625,
98.7890625,
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| 46
| 0
| 46
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[
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100.1953125,
92.724609375,
97.646484375,
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[
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99.140625,
94.306640625,
98.701171875,
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| 47
| 0
| 47
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[
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100.1953125,
92.724609375,
97.294921875,
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[
-8.173828125,
99.140625,
94.306640625,
98.4375,
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| 48
| 0
| 48
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[
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100.1953125,
92.724609375,
97.03125,
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[
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99.140625,
94.306640625,
98.0859375,
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| 49
| 0
| 49
| 0
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[
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100.1953125,
92.724609375,
96.85546875,
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[
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99.140625,
94.306640625,
97.822265625,
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| 50
| 0
| 50
| 0
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[
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100.1953125,
92.724609375,
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[
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99.140625,
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| 51
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| 51
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[
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[
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99.140625,
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| 52
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| 52
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[
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[
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94.306640625,
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| 53
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| 53
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[
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[
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94.306640625,
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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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[
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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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| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 20,
"total_frames": 16772,
"total_tasks": 1,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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.laptop": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.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": 30,
"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",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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