Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
16.4
| frame_index
int64 0
491
| episode_index
int64 0
49
| index
int64 0
18.9k
| 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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31.2890625
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[
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[
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[
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[
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[
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25.400390625,
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31.2890625
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[
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| 8
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[
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139.21875,
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31.2890625
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[
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[
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24.697265625,
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31.2890625
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[
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| 10
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[
-25.576171875,
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139.5703125,
24.2578125,
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[
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[
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[
-24.697265625,
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[
-25.48828125,
101.25,
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23.466796875,
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[
-24.697265625,
101.25,
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26.19140625,
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| 13
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[
-25.48828125,
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22.939453125,
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30.9375
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[
-24.697265625,
101.25,
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[
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22.67578125,
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[
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[
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22.412109375,
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29.619140625
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[
-24.697265625,
100.8984375,
140.9765625,
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| 16
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| 16
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[
-25.48828125,
101.07421875,
140.44921875,
22.060546875,
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29.1796875
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[
-24.697265625,
100.8984375,
140.9765625,
24.609375,
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| 17
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|
[
-25.48828125,
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21.796875,
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28.212890625
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[
-24.697265625,
100.8984375,
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| 0
| 18
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|
[
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101.07421875,
141.064453125,
21.181640625,
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25.83984375
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[
-24.697265625,
100.8984375,
141.50390625,
23.90625,
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| 19
| 0
| 19
| 0
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[
-25.48828125,
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141.416015625,
21.09375,
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24.169921875
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[
-24.697265625,
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141.85546875,
23.466796875,
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| 0
| 20
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[
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23.5546875
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[
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100.986328125,
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22.939453125,
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27.158203125
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| 21
| 0
| 21
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|
[
-25.576171875,
101.162109375,
141.85546875,
20.830078125,
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22.587890625
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[
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100.986328125,
142.294921875,
22.587890625,
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25.576171875
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| 22
| 0
| 22
| 0
|
[
-25.6640625,
101.162109375,
142.119140625,
20.654296875,
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20.91796875
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[
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100.986328125,
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24.169921875
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| 23
| 0
| 23
| 0
|
[
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101.07421875,
142.55859375,
19.775390625,
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20.56640625
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[
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100.986328125,
142.646484375,
22.1484375,
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22.8515625
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| 24
| 0
| 24
| 0
|
[
-25.83984375,
101.07421875,
142.91015625,
19.51171875,
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19.599609375
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[
-24.78515625,
100.986328125,
142.91015625,
21.796875,
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21.796875
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| 25
| 0
| 25
| 0
|
[
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100.986328125,
143.26171875,
19.423828125,
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17.75390625
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[
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100.986328125,
143.349609375,
21.181640625,
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| 26
| 0
| 26
| 0
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[
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143.525390625,
19.3359375,
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16.5234375
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[
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100.986328125,
143.701171875,
20.7421875,
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| 27
| 0
| 27
| 0
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[
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100.986328125,
143.61328125,
19.248046875,
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15.205078125
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[
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100.986328125,
143.876953125,
20.302734375,
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| 28
| 0
| 28
| 0
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[
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100.986328125,
143.701171875,
19.16015625,
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13.359375
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[
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100.986328125,
144.052734375,
20.0390625,
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17.2265625
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| 29
| 0
| 29
| 0
|
[
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143.701171875,
18.6328125,
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12.48046875
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[
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100.986328125,
144.052734375,
19.951171875,
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| 30
| 0
| 30
| 0
|
[
-25.751953125,
100.810546875,
143.7890625,
18.544921875,
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10.37109375
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[
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100.986328125,
144.052734375,
19.775390625,
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14.58984375
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| 31
| 0
| 31
| 0
|
[
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100.810546875,
143.96484375,
18.45703125,
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9.404296875
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[
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100.8984375,
144.140625,
19.599609375,
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13.0078125
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| 32
| 0
| 32
| 0
|
[
-25.83984375,
100.72265625,
144.052734375,
18.369140625,
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8.0859375
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[
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100.8984375,
144.228515625,
19.423828125,
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11.513671875
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| 33
| 0
| 33
| 0
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[
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100.72265625,
144.052734375,
18.369140625,
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6.328125
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[
-24.9609375,
100.8984375,
144.404296875,
19.072265625,
-81.9140625,
10.01953125
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| 34
| 0
| 34
| 0
|
[
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100.72265625,
144.228515625,
17.9296875,
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3.69140625
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[
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100.8984375,
144.404296875,
19.072265625,
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8.7890625
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| 35
| 0
| 35
| 0
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[
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100.986328125,
144.4921875,
17.2265625,
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0.3515625
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[
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100.8984375,
144.404296875,
18.896484375,
-81.73828125,
7.294921875
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| 36
| 0
| 36
| 0
|
[
-26.279296875,
101.25,
144.931640625,
16.171875,
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[
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100.8984375,
144.66796875,
18.544921875,
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5.80078125
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| 37
| 0
| 37
| 0
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[
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101.337890625,
145.283203125,
15.46875,
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[
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100.986328125,
145.546875,
17.05078125,
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| 38
| 0
| 38
| 0
|
[
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101.42578125,
145.37109375,
15.1171875,
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[
-25.48828125,
100.986328125,
145.634765625,
16.5234375,
-78.310546875,
5.2734375
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| 39
| 0
| 39
| 0
|
[
-26.89453125,
101.513671875,
145.283203125,
15.1171875,
-74.794921875,
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[
-25.751953125,
100.986328125,
145.634765625,
15.908203125,
-77.255859375,
5.2734375
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| 40
| 0
| 40
| 0
|
[
-26.982421875,
101.77734375,
145.283203125,
15.029296875,
-74.091796875,
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[
-25.927734375,
100.986328125,
145.72265625,
15.732421875,
-76.552734375,
5.2734375
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| 41
| 0
| 41
| 0
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[
-26.982421875,
102.12890625,
145.37109375,
15.029296875,
-73.388671875,
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[
-26.19140625,
101.07421875,
145.72265625,
15.46875,
-75.146484375,
5.2734375
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| 42
| 0
| 42
| 0
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[
-26.982421875,
103.623046875,
146.07421875,
14.58984375,
-71.806640625,
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[
-26.279296875,
101.07421875,
145.72265625,
15.46875,
-74.619140625,
5.2734375
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| 43
| 0
| 43
| 0
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[
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105.205078125,
146.42578125,
14.501953125,
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[
-26.279296875,
101.513671875,
146.162109375,
15.29296875,
-74.00390625,
5.2734375
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| 44
| 0
| 44
| 0
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[
-26.982421875,
106.69921875,
146.865234375,
14.58984375,
-69.521484375,
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[
-26.279296875,
102.48046875,
146.953125,
14.94140625,
-73.037109375,
5.2734375
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| 45
| 0
| 45
| 0
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[
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108.28125,
147.3046875,
14.58984375,
-67.939453125,
-10.1953125
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[
-26.279296875,
103.798828125,
147.568359375,
14.94140625,
-72.158203125,
5.2734375
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| 46
| 0
| 46
| 0
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[
-26.89453125,
110.0390625,
147.65625,
14.853515625,
-66.09375,
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[
-26.279296875,
106.787109375,
149.0625,
15.1171875,
-69.873046875,
5.2734375
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| 47
| 0
| 47
| 0
|
[
-26.806640625,
113.5546875,
147.744140625,
16.34765625,
-63.984375,
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[
-26.279296875,
107.314453125,
149.23828125,
15.205078125,
-69.43359375,
5.2734375
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| 48
| 0
| 48
| 0
|
[
-26.3671875,
116.103515625,
147.65625,
17.666015625,
-62.841796875,
-10.283203125
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[
-26.279296875,
108.896484375,
149.326171875,
15.556640625,
-68.115234375,
5.2734375
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| 49
| 0
| 49
| 0
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[
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118.740234375,
147.568359375,
18.896484375,
-61.435546875,
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[
-26.279296875,
114.345703125,
149.23828125,
18.10546875,
-64.599609375,
5.2734375
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| 50
| 0
| 50
| 0
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[
-24.78515625,
122.958984375,
147.48046875,
20.7421875,
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-10.283203125
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[
-26.279296875,
115.6640625,
149.23828125,
18.896484375,
-63.45703125,
5.2734375
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| 51
| 0
| 51
| 0
|
[
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125.595703125,
147.3046875,
22.236328125,
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[
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123.22265625,
149.4140625,
22.587890625,
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| 52
| 0
| 52
| 0
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[
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131.484375,
146.162109375,
24.521484375,
-55.283203125,
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[
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123.837890625,
149.326171875,
22.763671875,
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| 53
| 0
| 53
| 0
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[
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133.41796875,
145.810546875,
24.78515625,
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[
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125.771484375,
149.23828125,
23.203125,
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| 54
| 0
| 54
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[
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135,
145.107421875,
25.3125,
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[
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130.341796875,
148.623046875,
25.6640625,
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| 55
| 0
| 55
| 0
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[
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136.40625,
143.26171875,
25.751953125,
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[
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130.341796875,
148.7109375,
25.83984375,
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| 56
| 0
| 56
| 0
|
[
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136.494140625,
142.294921875,
25.751953125,
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-10.283203125
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[
-12.392578125,
130.341796875,
147.041015625,
26.279296875,
-47.98828125,
5.2734375
] | 1.9
| 57
| 0
| 57
| 0
|
[
-5.44921875,
136.40625,
139.130859375,
23.642578125,
-42.1875,
-10.283203125
] |
[
-5.9765625,
130.341796875,
142.91015625,
26.3671875,
-46.845703125,
5.2734375
] | 1.933333
| 58
| 0
| 58
| 0
|
[
5.2734375,
135.703125,
138.33984375,
13.447265625,
-31.904296875,
-10.283203125
] |
[
-5.9765625,
130.4296875,
142.998046875,
26.279296875,
-46.845703125,
5.2734375
] | 1.966667
| 59
| 0
| 59
| 0
|
[
7.20703125,
135.703125,
138.427734375,
12.48046875,
-30.498046875,
-10.283203125
] |
[
-3.603515625,
130.341796875,
143.26171875,
25.13671875,
-45,
5.2734375
] | 2
| 60
| 0
| 60
| 0
|
[
9.052734375,
135.615234375,
138.427734375,
11.337890625,
-29.35546875,
-10.283203125
] |
[
5.361328125,
130.4296875,
142.822265625,
20.126953125,
-36.2109375,
5.2734375
] | 2.033333
| 61
| 0
| 61
| 0
|
[
11.865234375,
135.263671875,
138.427734375,
9.4921875,
-27.333984375,
-10.283203125
] |
[
11.07421875,
130.4296875,
142.91015625,
14.501953125,
-31.11328125,
5.2734375
] | 2.066667
| 62
| 0
| 62
| 0
|
[
17.2265625,
133.9453125,
137.900390625,
5.888671875,
-25.3125,
-10.283203125
] |
[
16.259765625,
130.4296875,
142.822265625,
13.359375,
-27.421875,
5.2734375
] | 2.1
| 63
| 0
| 63
| 0
|
[
23.818359375,
130.693359375,
136.0546875,
3.603515625,
-22.8515625,
-10.37109375
] |
[
16.611328125,
130.341796875,
142.822265625,
13.447265625,
-26.806640625,
5.2734375
] | 2.133333
| 64
| 0
| 64
| 0
|
[
25.751953125,
129.55078125,
135.263671875,
2.4609375,
-22.1484375,
-10.37109375
] |
[
21.181640625,
129.55078125,
142.119140625,
11.42578125,
-25.048828125,
5.2734375
] | 2.166667
| 65
| 0
| 65
| 0
|
[
29.70703125,
127.08984375,
133.681640625,
1.142578125,
-20.302734375,
-10.37109375
] |
[
23.02734375,
129.19921875,
141.416015625,
10.283203125,
-24.2578125,
5.2734375
] | 2.2
| 66
| 0
| 66
| 0
|
[
31.728515625,
125.68359375,
132.890625,
0.439453125,
-19.423828125,
-10.37109375
] |
[
26.103515625,
128.3203125,
139.5703125,
8.525390625,
-23.115234375,
5.2734375
] | 2.233333
| 67
| 0
| 67
| 0
|
[
33.662109375,
124.013671875,
132.275390625,
-0.791015625,
-18.369140625,
-10.37109375
] |
[
28.564453125,
127.265625,
137.900390625,
7.119140625,
-22.060546875,
5.2734375
] | 2.266667
| 68
| 0
| 68
| 0
|
[
35.5078125,
122.607421875,
131.396484375,
-1.318359375,
-17.841796875,
-10.37109375
] |
[
31.025390625,
125.771484375,
136.318359375,
5.361328125,
-20.830078125,
5.2734375
] | 2.3
| 69
| 0
| 69
| 0
|
[
37.44140625,
121.025390625,
130.517578125,
-2.021484375,
-16.962890625,
-10.37109375
] |
[
33.046875,
124.189453125,
135.439453125,
3.955078125,
-19.775390625,
5.2734375
] | 2.333333
| 70
| 0
| 70
| 0
|
[
39.111328125,
119.619140625,
129.638671875,
-2.8125,
-16.5234375,
-10.37109375
] |
[
34.892578125,
122.431640625,
134.82421875,
2.98828125,
-18.896484375,
5.2734375
] | 2.366667
| 71
| 0
| 71
| 0
|
[
40.78125,
118.212890625,
128.671875,
-2.900390625,
-16.171875,
-10.37109375
] |
[
36.9140625,
120.76171875,
134.560546875,
2.197265625,
-18.193359375,
5.2734375
] | 2.4
| 72
| 0
| 72
| 0
|
[
42.275390625,
116.89453125,
127.705078125,
-2.98828125,
-15.64453125,
-10.37109375
] |
[
40.341796875,
117.59765625,
133.857421875,
1.669921875,
-17.138671875,
5.2734375
] | 2.433333
| 73
| 0
| 73
| 0
|
[
44.736328125,
114.78515625,
126.38671875,
-3.8671875,
-14.765625,
-10.37109375
] |
[
42.5390625,
115.83984375,
132.451171875,
1.669921875,
-16.787109375,
5.2734375
] | 2.466667
| 74
| 0
| 74
| 0
|
[
47.724609375,
112.060546875,
125.5078125,
-5.712890625,
-14.23828125,
-10.37109375
] |
[
43.06640625,
115.3125,
131.923828125,
1.669921875,
-16.69921875,
5.2734375
] | 2.5
| 75
| 0
| 75
| 0
|
[
49.21875,
110.56640625,
124.98046875,
-6.591796875,
-13.974609375,
-10.37109375
] |
[
44.736328125,
113.90625,
130.517578125,
1.142578125,
-16.435546875,
5.2734375
] | 2.533333
| 76
| 0
| 76
| 0
|
[
50.80078125,
108.80859375,
124.189453125,
-7.470703125,
-13.271484375,
-10.37109375
] |
[
46.58203125,
112.236328125,
129.375,
-0.087890625,
-15.8203125,
5.2734375
] | 2.566667
| 77
| 0
| 77
| 0
|
[
52.119140625,
107.2265625,
123.22265625,
-7.998046875,
-12.568359375,
-10.37109375
] |
[
48.427734375,
110.302734375,
128.583984375,
-1.40625,
-15.029296875,
5.2734375
] | 2.6
| 78
| 0
| 78
| 0
|
[
53.349609375,
105.732421875,
121.9921875,
-8.0859375,
-12.392578125,
-10.37109375
] |
[
50.185546875,
108.45703125,
127.96875,
-2.4609375,
-14.326171875,
5.2734375
] | 2.633333
| 79
| 0
| 79
| 0
|
[
54.4921875,
104.0625,
120.673828125,
-8.0859375,
-11.953125,
-10.37109375
] |
[
51.6796875,
106.611328125,
127.08984375,
-3.1640625,
-13.623046875,
5.2734375
] | 2.666667
| 80
| 0
| 80
| 0
|
[
55.283203125,
102.48046875,
119.35546875,
-8.0859375,
-11.77734375,
-10.37109375
] |
[
52.998046875,
105.029296875,
126.298828125,
-3.33984375,
-13.18359375,
5.2734375
] | 2.7
| 81
| 0
| 81
| 0
|
[
56.162109375,
101.07421875,
118.125,
-8.0859375,
-11.689453125,
-10.37109375
] |
[
53.96484375,
103.095703125,
125.068359375,
-3.33984375,
-12.744140625,
5.2734375
] | 2.733333
| 82
| 0
| 82
| 0
|
[
56.689453125,
99.66796875,
116.89453125,
-8.0859375,
-11.337890625,
-10.37109375
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[
54.755859375,
101.6015625,
123.662109375,
-3.33984375,
-12.48046875,
5.2734375
] | 2.766667
| 83
| 0
| 83
| 0
|
[
57.3046875,
98.349609375,
115.83984375,
-8.0859375,
-10.986328125,
-10.37109375
] |
[
55.458984375,
100.107421875,
122.34375,
-3.33984375,
-12.3046875,
5.2734375
] | 2.8
| 84
| 0
| 84
| 0
|
[
57.919921875,
96.943359375,
114.697265625,
-8.0859375,
-10.72265625,
-10.37109375
] |
[
56.337890625,
98.61328125,
120.673828125,
-3.33984375,
-12.041015625,
5.2734375
] | 2.833333
| 85
| 0
| 85
| 0
|
[
58.18359375,
95.80078125,
113.818359375,
-8.0859375,
-10.72265625,
-10.37109375
] |
[
56.865234375,
97.3828125,
119.53125,
-3.33984375,
-11.865234375,
5.2734375
] | 2.866667
| 86
| 0
| 86
| 0
|
[
58.53515625,
94.658203125,
112.939453125,
-8.0859375,
-10.634765625,
-10.37109375
] |
[
57.216796875,
96.15234375,
118.564453125,
-3.33984375,
-11.6015625,
5.2734375
] | 2.9
| 87
| 0
| 87
| 0
|
[
58.7109375,
93.515625,
111.97265625,
-8.0859375,
-10.634765625,
-10.37109375
] |
[
57.48046875,
95.009765625,
117.59765625,
-3.33984375,
-11.42578125,
5.2734375
] | 2.933333
| 88
| 0
| 88
| 0
|
[
58.88671875,
92.548828125,
111.26953125,
-8.0859375,
-10.634765625,
-10.37109375
] |
[
57.568359375,
93.69140625,
116.71875,
-3.33984375,
-11.337890625,
5.2734375
] | 2.966667
| 89
| 0
| 89
| 0
|
[
58.88671875,
91.7578125,
110.7421875,
-8.173828125,
-10.634765625,
-10.37109375
] |
[
57.83203125,
92.28515625,
115.927734375,
-3.33984375,
-11.162109375,
5.2734375
] | 3
| 90
| 0
| 90
| 0
|
[
58.974609375,
91.142578125,
110.56640625,
-8.173828125,
-10.634765625,
-10.37109375
] |
[
57.83203125,
91.669921875,
115.6640625,
-3.33984375,
-11.162109375,
5.2734375
] | 3.033333
| 91
| 0
| 91
| 0
|
[
59.0625,
90.791015625,
110.7421875,
-8.173828125,
-10.634765625,
-10.37109375
] |
[
57.919921875,
90.791015625,
115.3125,
-3.33984375,
-11.162109375,
5.2734375
] | 3.066667
| 92
| 0
| 92
| 0
|
[
59.150390625,
90.703125,
111.181640625,
-8.173828125,
-10.634765625,
-10.37109375
] |
[
58.0078125,
90.17578125,
115.13671875,
-3.33984375,
-11.162109375,
5.2734375
] | 3.1
| 93
| 0
| 93
| 0
|
[
59.150390625,
90.615234375,
111.796875,
-8.26171875,
-10.634765625,
-10.37109375
] |
[
58.0078125,
90,
115.3125,
-3.33984375,
-11.162109375,
5.2734375
] | 3.133333
| 94
| 0
| 94
| 0
|
[
59.23828125,
90.615234375,
112.67578125,
-9.140625,
-10.634765625,
-10.37109375
] |
[
58.095703125,
89.82421875,
115.3125,
-3.33984375,
-11.162109375,
5.2734375
] | 3.166667
| 95
| 0
| 95
| 0
|
[
59.23828125,
90.615234375,
113.291015625,
-9.931640625,
-10.634765625,
-10.37109375
] |
[
58.095703125,
89.82421875,
115.3125,
-3.33984375,
-11.162109375,
5.2734375
] | 3.2
| 96
| 0
| 96
| 0
|
[
59.150390625,
90.615234375,
113.818359375,
-10.107421875,
-10.634765625,
-10.37109375
] |
[
58.18359375,
89.82421875,
115.224609375,
-3.427734375,
-11.162109375,
5.2734375
] | 3.233333
| 97
| 0
| 97
| 0
|
[
59.0625,
90.615234375,
113.994140625,
-10.1953125,
-10.634765625,
-10.37109375
] |
[
58.18359375,
89.82421875,
115.224609375,
-4.130859375,
-11.162109375,
5.2734375
] | 3.266667
| 98
| 0
| 98
| 0
|
[
58.974609375,
90.52734375,
114.169921875,
-10.37109375,
-10.634765625,
-10.37109375
] |
[
58.18359375,
89.82421875,
115.400390625,
-4.833984375,
-11.162109375,
5.2734375
] | 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": 50,
"total_frames": 18907,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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.phone": {
"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": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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