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action
sequence | observation.state
sequence | timestamp
float32 0
29.9
| frame_index
int64 0
897
| episode_index
int64 0
1
| index
int64 0
1.8k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
51.6796875,
40.60546875,
23.02734375,
102.041015625,
133.681640625,
121.46484375
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50.888671875,
39.462890625,
25.751953125,
100.1953125,
132.802734375,
125.771484375
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[
51.591796875,
40.60546875,
22.8515625,
102.12890625,
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118.828125
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50.888671875,
39.375,
25.751953125,
100.1953125,
132.890625,
123.662109375
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[
51.591796875,
40.60546875,
22.763671875,
102.041015625,
133.681640625,
117.59765625
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50.9765625,
39.375,
25.6640625,
100.1953125,
132.890625,
121.2890625
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[
51.591796875,
40.60546875,
22.763671875,
102.041015625,
133.681640625,
117.59765625
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50.9765625,
39.375,
25.3125,
100.1953125,
132.890625,
118.65234375
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[
51.591796875,
40.60546875,
22.763671875,
102.041015625,
133.681640625,
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50.888671875,
39.375,
25.048828125,
100.1953125,
132.890625,
117.509765625
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[
51.591796875,
40.517578125,
22.67578125,
102.041015625,
133.681640625,
117.59765625
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39.375,
24.873046875,
100.1953125,
132.890625,
117.421875
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[
51.591796875,
40.341796875,
22.67578125,
102.041015625,
133.681640625,
117.509765625
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50.888671875,
39.375,
24.78515625,
100.1953125,
132.802734375,
117.421875
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[
51.591796875,
40.25390625,
22.67578125,
101.953125,
133.59375,
117.333984375
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50.9765625,
39.375,
24.78515625,
100.1953125,
132.890625,
117.421875
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[
51.591796875,
39.90234375,
22.060546875,
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133.59375,
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50.888671875,
39.375,
24.78515625,
100.1953125,
132.890625,
117.421875
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[
51.328125,
39.7265625,
21.005859375,
101.865234375,
133.41796875,
110.21484375
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50.888671875,
39.0234375,
24.78515625,
100.1953125,
132.890625,
116.54296875
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[
51.15234375,
39.55078125,
20.478515625,
101.865234375,
133.154296875,
106.787109375
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50.888671875,
38.583984375,
24.43359375,
100.1953125,
132.890625,
114.2578125
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[
50.9765625,
39.55078125,
20.126953125,
101.77734375,
133.154296875,
105.908203125
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38.408203125,
23.73046875,
100.1953125,
132.890625,
110.91796875
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[
50.9765625,
39.462890625,
20.0390625,
101.77734375,
133.06640625,
105.8203125
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50.80078125,
38.3203125,
23.5546875,
100.1953125,
133.2421875,
107.9296875
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[
50.9765625,
39.462890625,
20.0390625,
101.77734375,
133.06640625,
105.8203125
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50.44921875,
38.3203125,
23.5546875,
100.1953125,
132.890625,
107.75390625
] | 0.433333 | 13 | 0 | 13 | 0 |
[
50.888671875,
39.462890625,
19.951171875,
101.6015625,
133.06640625,
103.271484375
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50.361328125,
38.3203125,
23.5546875,
100.1953125,
132.890625,
107.75390625
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[
50.712890625,
39.462890625,
19.951171875,
101.337890625,
133.06640625,
101.6015625
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50.44921875,
38.3203125,
23.37890625,
100.1953125,
132.890625,
107.75390625
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[
50.712890625,
39.462890625,
19.951171875,
101.337890625,
133.06640625,
101.25
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50.44921875,
38.232421875,
22.8515625,
100.1953125,
132.890625,
107.75390625
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[
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39.462890625,
19.951171875,
101.337890625,
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101.25
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50.44921875,
38.232421875,
22.8515625,
100.1953125,
132.802734375,
107.75390625
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[
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39.462890625,
19.951171875,
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101.25
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38.232421875,
22.8515625,
100.1953125,
132.802734375,
107.75390625
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[
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39.462890625,
19.951171875,
101.42578125,
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101.25
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50.44921875,
38.232421875,
22.763671875,
100.1953125,
132.626953125,
107.75390625
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[
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39.462890625,
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50.44921875,
38.232421875,
22.763671875,
100.1953125,
132.36328125,
107.75390625
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[
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39.462890625,
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101.337890625,
132.978515625,
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38.232421875,
22.763671875,
100.1953125,
132.01171875,
107.75390625
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[
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39.462890625,
19.423828125,
101.337890625,
132.978515625,
96.591796875
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50.44921875,
38.232421875,
22.8515625,
100.1953125,
132.01171875,
107.75390625
] | 0.733333 | 22 | 0 | 22 | 0 |
[
50.2734375,
39.462890625,
19.16015625,
101.25,
132.978515625,
94.39453125
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50.44921875,
38.232421875,
22.8515625,
100.1953125,
131.923828125,
107.75390625
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[
50.09765625,
39.462890625,
19.16015625,
101.162109375,
132.890625,
92.8125
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50.44921875,
38.232421875,
22.763671875,
100.1953125,
131.923828125,
107.75390625
] | 0.8 | 24 | 0 | 24 | 0 |
[
50.09765625,
39.462890625,
19.072265625,
101.162109375,
132.71484375,
92.8125
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50.44921875,
38.232421875,
22.8515625,
100.1953125,
131.923828125,
107.75390625
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[
50.09765625,
39.462890625,
19.072265625,
101.162109375,
132.71484375,
92.724609375
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50.44921875,
38.232421875,
22.763671875,
100.1953125,
131.923828125,
107.75390625
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[
50.09765625,
39.462890625,
19.072265625,
101.162109375,
132.71484375,
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50.44921875,
38.232421875,
22.763671875,
100.1953125,
131.923828125,
107.75390625
] | 0.9 | 27 | 0 | 27 | 0 |
[
50.009765625,
39.638671875,
19.072265625,
101.25,
132.5390625,
92.724609375
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50.44921875,
38.232421875,
22.8515625,
100.1953125,
131.923828125,
107.75390625
] | 0.933333 | 28 | 0 | 28 | 0 |
[
49.833984375,
40.078125,
19.072265625,
101.25,
131.923828125,
92.724609375
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50.44921875,
38.232421875,
22.763671875,
100.1953125,
131.923828125,
107.75390625
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[
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40.869140625,
19.072265625,
101.42578125,
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92.63671875
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50.2734375,
38.232421875,
22.8515625,
100.1953125,
131.748046875,
107.75390625
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[
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42.01171875,
19.16015625,
101.689453125,
130.078125,
91.494140625
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49.921875,
38.232421875,
22.763671875,
100.1953125,
131.396484375,
107.75390625
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[
48.33984375,
43.330078125,
19.16015625,
102.65625,
129.0234375,
91.0546875
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49.482421875,
38.49609375,
22.8515625,
100.1953125,
130.693359375,
107.75390625
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[
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44.736328125,
19.16015625,
103.447265625,
128.14453125,
90.966796875
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38.935546875,
22.8515625,
100.1953125,
130.166015625,
107.75390625
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[
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46.23046875,
19.16015625,
104.4140625,
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90.87890625
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48.427734375,
39.462890625,
22.8515625,
100.283203125,
129.287109375,
107.75390625
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[
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47.63671875,
19.16015625,
104.94140625,
126.2109375,
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40.517578125,
22.8515625,
100.546875,
128.408203125,
107.75390625
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[
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49.04296875,
19.16015625,
105.99609375,
125.771484375,
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41.748046875,
22.8515625,
100.72265625,
127.44140625,
107.75390625
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[
45.17578125,
50.2734375,
19.248046875,
106.875,
125.419921875,
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46.40625,
43.06640625,
22.8515625,
101.162109375,
126.474609375,
107.75390625
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[
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51.591796875,
19.3359375,
107.578125,
124.892578125,
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44.736328125,
22.8515625,
101.689453125,
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107.75390625
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[
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107.9296875,
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46.142578125,
22.763671875,
102.48046875,
124.98046875,
107.75390625
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[
44.208984375,
53.7890625,
20.126953125,
108.369140625,
124.62890625,
89.296875
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47.28515625,
22.763671875,
103.271484375,
124.453125,
107.75390625
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[
44.033203125,
54.66796875,
20.56640625,
108.544921875,
124.541015625,
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48.33984375,
22.8515625,
103.88671875,
124.1015625,
107.75390625
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[
44.033203125,
55.458984375,
20.830078125,
108.6328125,
124.541015625,
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44.47265625,
49.306640625,
22.763671875,
104.326171875,
123.837890625,
107.75390625
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[
44.033203125,
55.810546875,
21.09375,
108.720703125,
124.541015625,
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50.361328125,
22.8515625,
104.501953125,
123.837890625,
107.75390625
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[
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56.162109375,
21.181640625,
108.720703125,
124.541015625,
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51.15234375,
22.763671875,
104.677734375,
123.837890625,
107.75390625
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[
44.47265625,
56.162109375,
21.181640625,
108.80859375,
124.62890625,
88.681640625
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44.47265625,
51.85546875,
22.763671875,
104.677734375,
123.837890625,
107.75390625
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[
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56.162109375,
21.26953125,
108.80859375,
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44.47265625,
52.3828125,
22.763671875,
104.677734375,
123.837890625,
107.75390625
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[
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21.533203125,
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88.59375
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44.47265625,
52.734375,
22.763671875,
104.677734375,
123.837890625,
107.75390625
] | 1.566667 | 47 | 0 | 47 | 0 |
[
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56.07421875,
21.97265625,
108.80859375,
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88.59375
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44.560546875,
52.822265625,
22.763671875,
104.677734375,
123.837890625,
107.75390625
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[
45.703125,
56.162109375,
21.97265625,
108.80859375,
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44.6484375,
52.822265625,
22.763671875,
104.677734375,
123.837890625,
107.75390625
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[
45.87890625,
56.162109375,
22.060546875,
108.80859375,
124.892578125,
88.06640625
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44.6484375,
52.822265625,
22.8515625,
104.677734375,
123.837890625,
107.75390625
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[
45.791015625,
56.162109375,
21.97265625,
108.720703125,
124.98046875,
87.978515625
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44.6484375,
52.822265625,
22.8515625,
104.677734375,
123.837890625,
107.75390625
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[
45.791015625,
56.162109375,
21.97265625,
108.720703125,
125.068359375,
87.978515625
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44.6484375,
52.822265625,
22.8515625,
104.677734375,
123.837890625,
107.75390625
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[
45.703125,
56.162109375,
21.97265625,
108.720703125,
125.068359375,
87.978515625
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44.6484375,
52.822265625,
22.8515625,
104.677734375,
124.013671875,
107.75390625
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[
45.615234375,
56.513671875,
21.97265625,
108.80859375,
125.068359375,
87.890625
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44.6484375,
52.822265625,
22.8515625,
104.677734375,
124.365234375,
107.75390625
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[
45.52734375,
57.041015625,
22.060546875,
108.80859375,
125.15625,
87.275390625
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44.6484375,
52.822265625,
22.8515625,
104.677734375,
124.541015625,
107.75390625
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[
45.439453125,
57.919921875,
22.060546875,
108.80859375,
125.068359375,
86.484375
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44.6484375,
53.0859375,
22.8515625,
104.677734375,
124.62890625,
107.75390625
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[
45.52734375,
59.0625,
22.1484375,
108.984375,
125.068359375,
86.30859375
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44.6484375,
53.26171875,
22.8515625,
104.677734375,
124.716796875,
107.75390625
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[
45.87890625,
60.205078125,
22.32421875,
109.16015625,
125.068359375,
84.90234375
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44.6484375,
54.228515625,
22.8515625,
104.765625,
124.716796875,
107.75390625
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[
46.23046875,
61.611328125,
22.939453125,
109.16015625,
124.892578125,
84.7265625
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44.6484375,
55.107421875,
22.939453125,
104.765625,
124.716796875,
107.578125
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[
47.021484375,
62.841796875,
23.642578125,
109.248046875,
124.892578125,
84.7265625
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44.912109375,
56.162109375,
22.8515625,
105.1171875,
124.541015625,
107.578125
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[
47.900390625,
63.984375,
24.2578125,
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124.892578125,
84.7265625
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45.439453125,
57.392578125,
23.466796875,
105.205078125,
124.189453125,
107.578125
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[
48.955078125,
64.951171875,
24.345703125,
109.16015625,
125.068359375,
84.814453125
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46.0546875,
58.798828125,
24.609375,
105.29296875,
124.1015625,
107.578125
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[
50.09765625,
65.91796875,
24.345703125,
109.248046875,
125.244140625,
84.90234375
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46.845703125,
59.765625,
25.224609375,
105.556640625,
124.27734375,
107.578125
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[
51.416015625,
67.236328125,
24.78515625,
109.3359375,
125.5078125,
84.90234375
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47.8125,
60.46875,
25.400390625,
105.8203125,
124.453125,
107.578125
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[
52.646484375,
68.291015625,
24.9609375,
109.072265625,
125.68359375,
84.90234375
] | [
48.955078125,
61.5234375,
25.400390625,
105.908203125,
124.62890625,
107.578125
] | 2.166667 | 65 | 0 | 65 | 0 |
[
54.140625,
68.466796875,
24.697265625,
108.544921875,
125.947265625,
84.90234375
] | [
50.185546875,
62.841796875,
25.400390625,
105.99609375,
124.716796875,
107.490234375
] | 2.2 | 66 | 0 | 66 | 0 |
[
55.72265625,
68.37890625,
24.2578125,
108.369140625,
126.826171875,
84.90234375
] | [
51.591796875,
63.984375,
25.3125,
105.99609375,
124.8046875,
107.578125
] | 2.233333 | 67 | 0 | 67 | 0 |
[
57.48046875,
68.291015625,
24.08203125,
108.193359375,
127.529296875,
84.990234375
] | [
52.998046875,
64.775390625,
25.3125,
105.99609375,
124.892578125,
107.490234375
] | 2.266667 | 68 | 0 | 68 | 0 |
[
58.974609375,
68.02734375,
23.73046875,
108.017578125,
129.111328125,
84.990234375
] | [
54.4921875,
65.21484375,
25.3125,
105.99609375,
125.419921875,
107.578125
] | 2.3 | 69 | 0 | 69 | 0 |
[
60.380859375,
67.763671875,
23.642578125,
107.490234375,
130.693359375,
84.990234375
] | [
56.07421875,
65.21484375,
25.3125,
105.99609375,
126.2109375,
107.578125
] | 2.333333 | 70 | 0 | 70 | 0 |
[
61.69921875,
67.236328125,
23.642578125,
107.05078125,
131.748046875,
84.990234375
] | [
57.568359375,
65.21484375,
25.3125,
105.99609375,
127.44140625,
107.578125
] | 2.366667 | 71 | 0 | 71 | 0 |
[
62.9296875,
66.708984375,
23.5546875,
106.69921875,
132.451171875,
84.990234375
] | [
59.0625,
65.21484375,
25.400390625,
105.99609375,
128.583984375,
107.578125
] | 2.4 | 72 | 0 | 72 | 0 |
[
63.80859375,
66.005859375,
23.115234375,
106.611328125,
132.978515625,
84.990234375
] | [
60.380859375,
65.0390625,
25.3125,
105.99609375,
129.814453125,
107.578125
] | 2.433333 | 73 | 0 | 73 | 0 |
[
64.423828125,
65.302734375,
22.412109375,
106.611328125,
133.154296875,
84.990234375
] | [
61.5234375,
65.0390625,
25.3125,
105.99609375,
130.78125,
107.490234375
] | 2.466667 | 74 | 0 | 74 | 0 |
[
64.6875,
64.6875,
22.32421875,
106.611328125,
133.154296875,
84.990234375
] | [
62.578125,
64.6875,
25.3125,
105.99609375,
131.484375,
107.578125
] | 2.5 | 75 | 0 | 75 | 0 |
[
64.775390625,
64.3359375,
22.32421875,
106.611328125,
133.154296875,
84.990234375
] | [
63.10546875,
64.16015625,
25.3125,
105.99609375,
132.099609375,
107.578125
] | 2.533333 | 76 | 0 | 76 | 0 |
[
64.775390625,
63.984375,
22.236328125,
106.611328125,
133.154296875,
84.990234375
] | [
63.369140625,
63.6328125,
25.3125,
105.99609375,
132.5390625,
107.578125
] | 2.566667 | 77 | 0 | 77 | 0 |
[
64.775390625,
63.544921875,
22.1484375,
106.611328125,
133.154296875,
84.990234375
] | [
63.45703125,
62.9296875,
25.400390625,
105.99609375,
132.71484375,
107.578125
] | 2.6 | 78 | 0 | 78 | 0 |
[
64.599609375,
63.10546875,
22.1484375,
106.5234375,
133.06640625,
84.990234375
] | [
63.45703125,
62.490234375,
25.400390625,
105.99609375,
132.71484375,
107.578125
] | 2.633333 | 79 | 0 | 79 | 0 |
[
64.3359375,
62.490234375,
22.060546875,
106.5234375,
133.06640625,
84.990234375
] | [
63.45703125,
62.2265625,
25.400390625,
105.99609375,
132.71484375,
107.578125
] | 2.666667 | 80 | 0 | 80 | 0 |
[
64.072265625,
61.787109375,
22.060546875,
106.5234375,
132.978515625,
84.990234375
] | [
63.45703125,
61.875,
25.3125,
105.99609375,
132.71484375,
107.578125
] | 2.7 | 81 | 0 | 81 | 0 |
[
63.6328125,
60.908203125,
22.060546875,
106.5234375,
132.626953125,
84.990234375
] | [
63.45703125,
61.171875,
25.3125,
105.99609375,
132.5390625,
107.578125
] | 2.733333 | 82 | 0 | 82 | 0 |
[
63.10546875,
59.94140625,
22.060546875,
106.5234375,
132.099609375,
84.990234375
] | [
63.369140625,
60.205078125,
25.224609375,
105.99609375,
132.275390625,
107.490234375
] | 2.766667 | 83 | 0 | 83 | 0 |
[
62.75390625,
59.0625,
22.060546875,
106.5234375,
131.572265625,
84.990234375
] | [
63.369140625,
59.0625,
25.3125,
105.99609375,
132.099609375,
107.578125
] | 2.8 | 84 | 0 | 84 | 0 |
[
62.40234375,
58.271484375,
22.060546875,
106.5234375,
130.693359375,
84.990234375
] | [
63.10546875,
58.271484375,
25.400390625,
105.99609375,
131.923828125,
107.578125
] | 2.833333 | 85 | 0 | 85 | 0 |
[
62.138671875,
57.83203125,
22.060546875,
106.611328125,
129.814453125,
84.990234375
] | [
62.841796875,
57.65625,
25.400390625,
105.99609375,
131.396484375,
107.578125
] | 2.866667 | 86 | 0 | 86 | 0 |
[
61.962890625,
57.3046875,
22.1484375,
106.611328125,
129.375,
84.990234375
] | [
62.666015625,
56.953125,
25.3125,
105.99609375,
130.4296875,
107.578125
] | 2.9 | 87 | 0 | 87 | 0 |
[
61.69921875,
56.77734375,
22.1484375,
106.611328125,
129.0234375,
84.990234375
] | [
62.2265625,
56.6015625,
25.3125,
105.99609375,
129.814453125,
107.578125
] | 2.933333 | 88 | 0 | 88 | 0 |
[
61.5234375,
56.513671875,
22.060546875,
106.611328125,
128.583984375,
84.990234375
] | [
61.787109375,
55.986328125,
25.3125,
105.99609375,
129.19921875,
107.578125
] | 2.966667 | 89 | 0 | 89 | 0 |
[
61.34765625,
56.337890625,
22.060546875,
106.5234375,
128.14453125,
84.90234375
] | [
61.435546875,
55.458984375,
25.3125,
105.99609375,
128.671875,
107.578125
] | 3 | 90 | 0 | 90 | 0 |
[
61.259765625,
56.337890625,
22.060546875,
106.435546875,
127.353515625,
84.90234375
] | [
61.259765625,
55.1953125,
25.400390625,
105.99609375,
128.3203125,
107.578125
] | 3.033333 | 91 | 0 | 91 | 0 |
[
61.259765625,
56.337890625,
21.97265625,
106.435546875,
126.298828125,
84.814453125
] | [
61.171875,
55.1953125,
25.400390625,
105.908203125,
127.880859375,
107.578125
] | 3.066667 | 92 | 0 | 92 | 0 |
[
61.34765625,
56.337890625,
21.62109375,
106.435546875,
124.892578125,
84.7265625
] | [
61.171875,
55.1953125,
25.3125,
105.99609375,
127.265625,
107.578125
] | 3.1 | 93 | 0 | 93 | 0 |
[
61.435546875,
56.337890625,
21.181640625,
106.435546875,
124.013671875,
84.7265625
] | [
61.171875,
55.1953125,
25.3125,
105.908203125,
126.2109375,
107.578125
] | 3.133333 | 94 | 0 | 94 | 0 |
[
61.611328125,
56.337890625,
20.56640625,
106.435546875,
123.837890625,
84.638671875
] | [
61.171875,
55.1953125,
25.3125,
105.99609375,
125.15625,
107.578125
] | 3.166667 | 95 | 0 | 95 | 0 |
[
61.787109375,
56.337890625,
19.951171875,
106.259765625,
123.75,
84.55078125
] | [
61.171875,
55.1953125,
25.3125,
105.908203125,
124.27734375,
107.578125
] | 3.2 | 96 | 0 | 96 | 0 |
[
62.05078125,
56.337890625,
19.3359375,
106.171875,
123.837890625,
84.111328125
] | [
61.171875,
55.1953125,
24.873046875,
105.99609375,
123.662109375,
107.490234375
] | 3.233333 | 97 | 0 | 97 | 0 |
[
62.490234375,
56.337890625,
19.072265625,
105.732421875,
123.837890625,
83.84765625
] | [
61.259765625,
55.1953125,
23.90625,
105.908203125,
123.134765625,
107.578125
] | 3.266667 | 98 | 0 | 98 | 0 |
[
62.841796875,
56.337890625,
19.072265625,
105.380859375,
123.837890625,
83.84765625
] | [
61.34765625,
55.1953125,
23.115234375,
105.732421875,
122.958984375,
107.490234375
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 2,
"total_frames": 1796,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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.follower": {
"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",
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],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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},
"index": {
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},
"task_index": {
"dtype": "int64",
"shape": [
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],
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}
}
}
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