Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
19.9
| frame_index
int64 0
596
| episode_index
int64 0
0
| index
int64 0
596
| 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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[
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[
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[
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[
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| 29
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| 29
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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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122.51953125,
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93.515625,
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| 31
| 0
| 31
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[
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120.05859375,
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11.42578125
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[
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121.81640625,
92.8125,
94.482421875,
1.40625,
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| 32
| 0
| 32
| 0
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[
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[
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120.9375,
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| 33
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| 33
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[
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98.4375,
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[
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| 34
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| 34
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[
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98.525390625,
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[
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119.794921875,
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| 35
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| 35
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[
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11.42578125
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[
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119.53125,
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| 36
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| 36
| 0
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[
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119.619140625,
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98.96484375,
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[
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119.53125,
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| 37
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| 37
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[
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119.619140625,
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[
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119.53125,
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| 38
| 0
| 38
| 0
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[
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119.619140625,
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98.96484375,
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[
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119.53125,
87.275390625,
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| 39
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| 39
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[
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119.619140625,
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[
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119.53125,
87.275390625,
96.85546875,
-7.470703125,
15.732421875
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| 40
| 0
| 40
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[
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119.794921875,
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98.876953125,
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[
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119.53125,
87.275390625,
96.85546875,
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15.732421875
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| 41
| 0
| 41
| 0
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[
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119.8828125,
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98.876953125,
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11.42578125
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[
-36.474609375,
119.53125,
87.71484375,
96.85546875,
-8.26171875,
15.732421875
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| 42
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| 42
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[
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119.970703125,
88.681640625,
98.96484375,
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11.42578125
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[
-38.583984375,
119.53125,
88.681640625,
96.85546875,
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| 43
| 0
| 43
| 0
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[
-47.197265625,
120.146484375,
88.9453125,
98.96484375,
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11.42578125
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[
-40.95703125,
119.53125,
89.6484375,
96.85546875,
-8.173828125,
15.732421875
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| 44
| 0
| 44
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[
-50.2734375,
120.234375,
88.9453125,
98.96484375,
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11.42578125
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[
-43.59375,
119.53125,
90.087890625,
96.85546875,
-7.998046875,
15.732421875
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| 45
| 0
| 45
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[
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120.234375,
88.9453125,
99.140625,
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[
-46.494140625,
119.53125,
90.087890625,
96.85546875,
-7.470703125,
15.732421875
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| 46
| 0
| 46
| 0
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[
-55.546875,
120.234375,
88.9453125,
99.228515625,
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11.42578125
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[
-49.482421875,
119.53125,
90.087890625,
96.85546875,
-6.85546875,
15.732421875
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| 47
| 0
| 47
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[
-58.447265625,
120.05859375,
88.9453125,
99.31640625,
-4.74609375,
11.42578125
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[
-52.294921875,
119.53125,
90.087890625,
96.85546875,
-6.328125,
15.732421875
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| 48
| 0
| 48
| 0
|
[
-60.99609375,
119.8828125,
88.9453125,
99.31640625,
-4.04296875,
11.42578125
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[
-54.931640625,
119.53125,
90.087890625,
96.85546875,
-5.80078125,
15.732421875
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| 49
| 0
| 49
| 0
|
[
-63.544921875,
119.70703125,
88.9453125,
99.31640625,
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11.42578125
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[
-57.65625,
119.53125,
90.087890625,
96.85546875,
-5.185546875,
15.732421875
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| 50
| 0
| 50
| 0
|
[
-65.126953125,
119.53125,
88.9453125,
98.96484375,
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11.42578125
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[
-60.29296875,
119.53125,
90.087890625,
96.85546875,
-4.482421875,
15.732421875
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| 51
| 0
| 51
| 0
|
[
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118.564453125,
88.9453125,
98.525390625,
-3.251953125,
11.42578125
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[
-62.75390625,
119.53125,
90.087890625,
96.85546875,
-3.955078125,
15.732421875
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| 52
| 0
| 52
| 0
|
[
-67.67578125,
117.861328125,
88.9453125,
98.4375,
-3.076171875,
11.42578125
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[
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119.091796875,
90.087890625,
96.85546875,
-3.603515625,
15.732421875
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| 53
| 0
| 53
| 0
|
[
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117.421875,
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11.42578125
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[
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118.4765625,
90.087890625,
96.85546875,
-3.251953125,
15.732421875
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| 54
| 0
| 54
| 0
|
[
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117.24609375,
88.2421875,
97.998046875,
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11.42578125
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[
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117.861328125,
90.087890625,
96.85546875,
-3.1640625,
15.732421875
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| 55
| 0
| 55
| 0
|
[
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116.982421875,
87.890625,
98.0859375,
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11.42578125
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[
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117.421875,
90.087890625,
96.85546875,
-2.98828125,
15.732421875
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| 56
| 0
| 56
| 0
|
[
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116.89453125,
87.626953125,
98.26171875,
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11.42578125
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[
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117.0703125,
90.087890625,
96.85546875,
-2.98828125,
15.732421875
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| 57
| 0
| 57
| 0
|
[
-74.091796875,
116.806640625,
87.01171875,
98.349609375,
-3.1640625,
11.42578125
] |
[
-71.279296875,
116.806640625,
90.087890625,
96.85546875,
-2.98828125,
15.732421875
] | 1.933333
| 58
| 0
| 58
| 0
|
[
-75.234375,
116.54296875,
86.30859375,
98.525390625,
-3.1640625,
11.42578125
] |
[
-72.509765625,
116.806640625,
90,
96.85546875,
-2.98828125,
15.732421875
] | 1.966667
| 59
| 0
| 59
| 0
|
[
-76.552734375,
116.279296875,
85.78125,
98.61328125,
-3.1640625,
11.42578125
] |
[
-73.65234375,
116.630859375,
89.82421875,
96.85546875,
-2.900390625,
15.732421875
] | 2
| 60
| 0
| 60
| 0
|
[
-77.783203125,
116.19140625,
85.4296875,
98.61328125,
-3.1640625,
11.42578125
] |
[
-74.794921875,
116.3671875,
89.296875,
96.85546875,
-2.900390625,
15.732421875
] | 2.033333
| 61
| 0
| 61
| 0
|
[
-79.013671875,
116.103515625,
85.341796875,
98.61328125,
-3.1640625,
11.42578125
] |
[
-76.201171875,
116.103515625,
88.41796875,
96.85546875,
-2.900390625,
15.732421875
] | 2.066667
| 62
| 0
| 62
| 0
|
[
-79.98046875,
115.927734375,
85.341796875,
98.61328125,
-2.98828125,
11.42578125
] |
[
-77.34375,
116.015625,
87.890625,
96.85546875,
-2.98828125,
15.732421875
] | 2.1
| 63
| 0
| 63
| 0
|
[
-81.03515625,
115.83984375,
85.341796875,
98.525390625,
-2.724609375,
11.42578125
] |
[
-78.3984375,
115.927734375,
87.802734375,
96.85546875,
-2.900390625,
15.732421875
] | 2.133333
| 64
| 0
| 64
| 0
|
[
-82.001953125,
115.751953125,
85.4296875,
98.26171875,
-2.28515625,
11.42578125
] |
[
-79.541015625,
115.751953125,
87.802734375,
96.85546875,
-2.900390625,
15.732421875
] | 2.166667
| 65
| 0
| 65
| 0
|
[
-82.96875,
115.48828125,
85.517578125,
98.26171875,
-1.845703125,
11.42578125
] |
[
-80.68359375,
115.6640625,
87.802734375,
96.85546875,
-2.8125,
15.732421875
] | 2.2
| 66
| 0
| 66
| 0
|
[
-83.935546875,
115.3125,
85.78125,
97.998046875,
-1.494140625,
11.42578125
] |
[
-81.650390625,
115.48828125,
87.802734375,
96.85546875,
-2.8125,
15.732421875
] | 2.233333
| 67
| 0
| 67
| 0
|
[
-84.990234375,
114.873046875,
85.869140625,
97.91015625,
-0.966796875,
11.42578125
] |
[
-82.529296875,
115.224609375,
87.802734375,
96.85546875,
-2.63671875,
15.732421875
] | 2.266667
| 68
| 0
| 68
| 0
|
[
-85.78125,
114.2578125,
85.869140625,
97.646484375,
-0.791015625,
11.42578125
] |
[
-83.49609375,
115.048828125,
87.802734375,
96.85546875,
-2.109375,
15.8203125
] | 2.3
| 69
| 0
| 69
| 0
|
[
-86.484375,
113.466796875,
85.869140625,
97.294921875,
-0.703125,
11.42578125
] |
[
-84.55078125,
114.521484375,
87.802734375,
96.85546875,
-1.58203125,
15.732421875
] | 2.333333
| 70
| 0
| 70
| 0
|
[
-87.099609375,
112.8515625,
85.869140625,
96.767578125,
-0.52734375,
11.42578125
] |
[
-85.4296875,
113.90625,
87.802734375,
96.85546875,
-1.23046875,
15.732421875
] | 2.366667
| 71
| 0
| 71
| 0
|
[
-87.890625,
112.1484375,
85.95703125,
96.416015625,
-0.087890625,
11.42578125
] |
[
-86.220703125,
113.291015625,
87.802734375,
96.767578125,
-0.966796875,
15.732421875
] | 2.4
| 72
| 0
| 72
| 0
|
[
-88.505859375,
111.884765625,
86.396484375,
96.15234375,
0.439453125,
11.42578125
] |
[
-86.923828125,
112.587890625,
87.802734375,
96.591796875,
-0.615234375,
15.732421875
] | 2.433333
| 73
| 0
| 73
| 0
|
[
-89.208984375,
111.533203125,
87.099609375,
95.80078125,
0.966796875,
11.42578125
] |
[
-87.451171875,
112.1484375,
87.802734375,
96.416015625,
-0.3515625,
15.732421875
] | 2.466667
| 74
| 0
| 74
| 0
|
[
-89.736328125,
111.09375,
87.890625,
95.537109375,
1.40625,
11.42578125
] |
[
-88.2421875,
111.708984375,
87.890625,
96.328125,
0,
15.732421875
] | 2.5
| 75
| 0
| 75
| 0
|
[
-89.912109375,
110.56640625,
88.76953125,
94.833984375,
1.669921875,
11.513671875
] |
[
-88.857421875,
111.26953125,
88.154296875,
96.064453125,
0.52734375,
15.732421875
] | 2.533333
| 76
| 0
| 76
| 0
|
[
-90.087890625,
110.390625,
89.82421875,
93.779296875,
1.7578125,
11.513671875
] |
[
-89.296875,
110.7421875,
89.296875,
95.80078125,
0.966796875,
15.732421875
] | 2.566667
| 77
| 0
| 77
| 0
|
[
-90.17578125,
109.951171875,
90.791015625,
92.548828125,
1.669921875,
11.513671875
] |
[
-89.560546875,
110.302734375,
90.439453125,
95.712890625,
1.318359375,
15.732421875
] | 2.6
| 78
| 0
| 78
| 0
|
[
-90.263671875,
109.3359375,
91.669921875,
91.40625,
1.494140625,
11.513671875
] |
[
-89.6484375,
109.86328125,
91.669921875,
95.009765625,
1.494140625,
15.732421875
] | 2.633333
| 79
| 0
| 79
| 0
|
[
-90.3515625,
108.896484375,
92.4609375,
90.52734375,
1.40625,
11.513671875
] |
[
-89.736328125,
109.423828125,
92.4609375,
93.955078125,
1.494140625,
15.732421875
] | 2.666667
| 80
| 0
| 80
| 0
|
[
-90.263671875,
108.6328125,
93.1640625,
89.384765625,
1.23046875,
11.513671875
] |
[
-89.736328125,
108.896484375,
92.98828125,
92.98828125,
1.494140625,
15.732421875
] | 2.7
| 81
| 0
| 81
| 0
|
[
-90.263671875,
108.017578125,
93.515625,
88.2421875,
1.142578125,
11.513671875
] |
[
-89.82421875,
108.45703125,
93.69140625,
91.93359375,
1.40625,
15.732421875
] | 2.733333
| 82
| 0
| 82
| 0
|
[
-90.087890625,
107.40234375,
93.515625,
87.890625,
0.791015625,
11.513671875
] |
[
-89.82421875,
108.193359375,
94.39453125,
90.791015625,
1.40625,
15.8203125
] | 2.766667
| 83
| 0
| 83
| 0
|
[
-89.912109375,
107.2265625,
93.515625,
87.275390625,
0.52734375,
11.6015625
] |
[
-89.82421875,
107.666015625,
94.5703125,
89.82421875,
1.40625,
15.732421875
] | 2.8
| 84
| 0
| 84
| 0
|
[
-89.82421875,
106.962890625,
93.515625,
86.396484375,
0.087890625,
11.77734375
] |
[
-89.82421875,
107.2265625,
94.5703125,
88.857421875,
1.318359375,
15.732421875
] | 2.833333
| 85
| 0
| 85
| 0
|
[
-89.736328125,
106.5234375,
93.515625,
85.95703125,
-0.439453125,
11.865234375
] |
[
-89.82421875,
106.875,
94.5703125,
88.154296875,
0.966796875,
15.732421875
] | 2.866667
| 86
| 0
| 86
| 0
|
[
-89.6484375,
105.99609375,
93.427734375,
85.869140625,
-0.615234375,
12.568359375
] |
[
-89.82421875,
106.5234375,
94.5703125,
87.36328125,
0.52734375,
15.732421875
] | 2.9
| 87
| 0
| 87
| 0
|
[
-89.6484375,
105.732421875,
92.98828125,
85.869140625,
-0.615234375,
14.4140625
] |
[
-89.6484375,
106.083984375,
94.5703125,
86.923828125,
0.087890625,
15.732421875
] | 2.933333
| 88
| 0
| 88
| 0
|
[
-89.6484375,
105.46875,
92.4609375,
85.869140625,
-0.703125,
15.8203125
] |
[
-89.6484375,
105.556640625,
94.5703125,
86.572265625,
-0.17578125,
15.8203125
] | 2.966667
| 89
| 0
| 89
| 0
|
[
-89.6484375,
105.1171875,
91.93359375,
85.869140625,
-0.615234375,
18.193359375
] |
[
-89.6484375,
105.29296875,
94.5703125,
86.30859375,
-0.3515625,
16.171875
] | 3
| 90
| 0
| 90
| 0
|
[
-89.47265625,
104.677734375,
91.40625,
85.869140625,
-0.615234375,
20.21484375
] |
[
-89.6484375,
105.1171875,
94.5703125,
86.30859375,
-0.439453125,
16.962890625
] | 3.033333
| 91
| 0
| 91
| 0
|
[
-89.12109375,
104.4140625,
90.791015625,
85.869140625,
-0.615234375,
21.357421875
] |
[
-89.6484375,
104.677734375,
94.5703125,
86.30859375,
-0.439453125,
18.193359375
] | 3.066667
| 92
| 0
| 92
| 0
|
[
-89.033203125,
104.4140625,
90.52734375,
85.869140625,
-0.703125,
21.357421875
] |
[
-89.384765625,
104.23828125,
94.21875,
86.30859375,
-0.439453125,
19.775390625
] | 3.1
| 93
| 0
| 93
| 0
|
[
-89.033203125,
104.4140625,
90.17578125,
85.869140625,
-0.703125,
21.796875
] |
[
-89.296875,
104.150390625,
93.69140625,
86.1328125,
-0.439453125,
20.830078125
] | 3.133333
| 94
| 0
| 94
| 0
|
[
-88.857421875,
104.4140625,
89.912109375,
85.869140625,
-0.703125,
22.939453125
] |
[
-89.208984375,
104.23828125,
93.1640625,
86.220703125,
-0.439453125,
21.26953125
] | 3.166667
| 95
| 0
| 95
| 0
|
[
-88.857421875,
104.4140625,
89.6484375,
85.95703125,
-0.703125,
23.37890625
] |
[
-89.033203125,
104.23828125,
92.373046875,
86.220703125,
-0.439453125,
21.884765625
] | 3.2
| 96
| 0
| 96
| 0
|
[
-88.857421875,
104.4140625,
89.296875,
85.95703125,
-0.703125,
23.37890625
] |
[
-89.033203125,
104.23828125,
92.021484375,
86.220703125,
-0.439453125,
22.67578125
] | 3.233333
| 97
| 0
| 97
| 0
|
[
-88.857421875,
104.326171875,
88.9453125,
85.95703125,
-0.703125,
23.73046875
] |
[
-89.033203125,
104.23828125,
91.845703125,
86.220703125,
-0.439453125,
22.8515625
] | 3.266667
| 98
| 0
| 98
| 0
|
[
-88.76953125,
104.23828125,
88.59375,
86.044921875,
-0.615234375,
24.43359375
] |
[
-88.9453125,
104.23828125,
91.7578125,
86.220703125,
-0.439453125,
23.115234375
] | 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": 1,
"total_frames": 597,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.overhead_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.side_cam": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"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
BibTeX:
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