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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
1.79k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
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129.638671875,
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[
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129.638671875,
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[
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129.638671875,
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[
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176.1328125,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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[
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[
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129.638671875,
176.1328125,
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91.494140625,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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91.40625,
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[
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129.638671875,
176.1328125,
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[
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129.638671875,
176.1328125,
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91.40625,
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[
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129.638671875,
176.1328125,
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91.0546875,
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[
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129.638671875,
176.1328125,
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129.638671875,
175.869140625,
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[
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129.638671875,
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86.66015625,
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[
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171.03515625,
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[
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[
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129.55078125,
162.421875,
3.076171875,
81.5625,
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[
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18.28125,
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129.55078125,
157.1484375,
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[
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129.638671875,
151.083984375,
11.953125,
76.640625,
81.03515625
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[
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129.638671875,
145.283203125,
15.99609375,
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[
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129.638671875,
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19.51171875,
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81.03515625
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135.703125,
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70.6640625,
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129.638671875,
136.93359375,
23.115234375,
72.59765625,
81.03515625
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[
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36.5625,
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129.638671875,
133.41796875,
26.630859375,
71.630859375,
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[
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40.78125,
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129.638671875,
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[
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112.939453125,
45,
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34.8046875,
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[
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129.638671875,
119.267578125,
39.111328125,
70.048828125,
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[
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70.13671875,
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[
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129.638671875,
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47.548828125,
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81.03515625
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[
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65.390625,
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129.55078125,
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52.119140625,
70.48828125,
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[
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133.681640625,
91.23046875,
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74.619140625
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129.638671875,
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56.77734375,
70.400390625,
81.03515625
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[
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88.505859375,
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129.55078125,
94.658203125,
62.314453125,
70.13671875,
81.03515625
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[
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129.55078125,
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67.412109375,
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81.03515625
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[
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129.55078125,
89.384765625,
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[
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87.5390625,
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[
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129.462890625,
86.1328125,
79.453125,
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81.03515625
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[
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129.375,
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[
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129.0234375,
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[
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128.49609375,
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84.7265625,
61.611328125,
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[
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81.5625,
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[
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80.68359375,
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126.650390625,
85.078125,
85.078125,
61.259765625,
81.03515625
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[
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125.15625,
83.935546875,
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[
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[
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[
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45.87890625,
120.234375,
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[
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80.595703125,
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[
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81.2109375,
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117.24609375,
80.68359375,
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[
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116.015625,
81.298828125,
81.826171875,
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103.095703125
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[
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115.48828125,
83.056640625,
79.541015625,
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[
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86.923828125,
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115.3125,
85.869140625,
76.2890625,
63.6328125,
115.3125
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[
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86.484375,
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46.845703125,
114.697265625,
87.890625,
72.94921875,
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[
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113.291015625,
87.890625,
70.224609375,
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115.576171875
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[
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108.896484375,
86.484375,
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111.884765625,
87.978515625,
68.73046875,
63.984375,
115.576171875
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[
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86.484375,
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110.302734375,
87.890625,
68.02734375,
64.16015625,
115.576171875
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[
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86.484375,
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108.6328125,
87.890625,
67.8515625,
64.51171875,
115.576171875
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[
48.603515625,
104.853515625,
86.484375,
68.115234375,
65.91796875,
119.091796875
] | [
46.93359375,
107.05078125,
87.978515625,
67.8515625,
64.6875,
116.015625
] | 2.166667 | 65 | 0 | 65 | 0 |
[
48.8671875,
103.53515625,
86.572265625,
69.169921875,
66.005859375,
119.794921875
] | [
47.28515625,
105.64453125,
87.978515625,
67.939453125,
64.775390625,
117.158203125
] | 2.2 | 66 | 0 | 66 | 0 |
[
49.21875,
102.3046875,
87.099609375,
69.345703125,
66.005859375,
120.673828125
] | [
47.4609375,
104.326171875,
87.978515625,
68.291015625,
65.126953125,
117.94921875
] | 2.233333 | 67 | 0 | 67 | 0 |
[
49.5703125,
101.07421875,
87.5390625,
69.43359375,
65.654296875,
122.16796875
] | [
47.98828125,
103.0078125,
87.978515625,
68.73046875,
65.478515625,
118.740234375
] | 2.266667 | 68 | 0 | 68 | 0 |
[
50.09765625,
99.755859375,
87.71484375,
70.048828125,
64.3359375,
122.16796875
] | [
48.251953125,
101.77734375,
87.978515625,
68.994140625,
65.390625,
119.970703125
] | 2.3 | 69 | 0 | 69 | 0 |
[
50.9765625,
98.4375,
87.890625,
70.927734375,
62.75390625,
122.080078125
] | [
48.779296875,
100.546875,
87.978515625,
69.2578125,
65.126953125,
120.9375
] | 2.333333 | 70 | 0 | 70 | 0 |
[
51.85546875,
97.20703125,
88.2421875,
71.54296875,
61.5234375,
122.080078125
] | [
49.04296875,
99.31640625,
87.978515625,
69.609375,
64.3359375,
121.11328125
] | 2.366667 | 71 | 0 | 71 | 0 |
[
53.0859375,
96.416015625,
88.857421875,
72.158203125,
61.259765625,
121.9921875
] | [
49.658203125,
98.0859375,
88.41796875,
69.9609375,
63.193359375,
121.11328125
] | 2.4 | 72 | 0 | 72 | 0 |
[
54.31640625,
95.80078125,
89.47265625,
72.509765625,
61.259765625,
121.904296875
] | [
50.80078125,
96.85546875,
89.033203125,
70.83984375,
62.2265625,
120.76171875
] | 2.433333 | 73 | 0 | 73 | 0 |
[
55.72265625,
94.833984375,
89.560546875,
73.4765625,
61.34765625,
121.904296875
] | [
52.20703125,
95.625,
89.6484375,
71.3671875,
61.435546875,
120.76171875
] | 2.466667 | 74 | 0 | 74 | 0 |
[
57.041015625,
94.04296875,
89.82421875,
73.828125,
61.5234375,
121.81640625
] | [
53.349609375,
94.658203125,
89.912109375,
72.24609375,
61.083984375,
120.76171875
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[
58.271484375,
93.33984375,
90.263671875,
73.828125,
61.5234375,
121.81640625
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54.66796875,
93.8671875,
90,
72.685546875,
60.908203125,
120.76171875
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[
59.4140625,
92.373046875,
90.439453125,
74.00390625,
61.5234375,
121.81640625
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56.07421875,
93.251953125,
90.3515625,
72.861328125,
60.908203125,
120.76171875
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[
60.1171875,
91.845703125,
90.615234375,
74.267578125,
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121.81640625
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57.392578125,
92.4609375,
90.791015625,
73.30078125,
60.908203125,
120.76171875
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[
60.732421875,
90.87890625,
90.703125,
74.53125,
61.611328125,
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58.447265625,
91.318359375,
90.87890625,
73.564453125,
60.908203125,
120.76171875
] | 2.633333 | 79 | 0 | 79 | 0 |
[
61.083984375,
90.3515625,
90.966796875,
74.53125,
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121.81640625
] | [
59.0625,
90.3515625,
90.966796875,
73.740234375,
60.908203125,
120.76171875
] | 2.666667 | 80 | 0 | 80 | 0 |
[
61.259765625,
89.560546875,
91.142578125,
74.53125,
61.611328125,
121.81640625
] | [
59.765625,
89.736328125,
90.966796875,
73.828125,
60.908203125,
120.76171875
] | 2.7 | 81 | 0 | 81 | 0 |
[
61.259765625,
89.12109375,
91.58203125,
74.443359375,
61.69921875,
121.81640625
] | [
60.29296875,
89.208984375,
91.142578125,
73.828125,
60.8203125,
120.76171875
] | 2.733333 | 82 | 0 | 82 | 0 |
[
61.259765625,
88.505859375,
92.109375,
74.1796875,
61.69921875,
121.81640625
] | [
60.64453125,
88.681640625,
91.494140625,
73.916015625,
60.908203125,
120.76171875
] | 2.766667 | 83 | 0 | 83 | 0 |
[
61.171875,
87.890625,
92.63671875,
74.00390625,
61.611328125,
121.81640625
] | [
60.732421875,
88.2421875,
92.197265625,
73.828125,
60.908203125,
120.76171875
] | 2.8 | 84 | 0 | 84 | 0 |
[
61.083984375,
87.36328125,
93.251953125,
73.388671875,
61.69921875,
121.81640625
] | [
60.732421875,
87.5390625,
92.900390625,
73.828125,
60.908203125,
120.76171875
] | 2.833333 | 85 | 0 | 85 | 0 |
[
60.99609375,
86.484375,
93.69140625,
72.421875,
61.69921875,
121.81640625
] | [
60.8203125,
86.923828125,
93.427734375,
73.65234375,
60.908203125,
120.76171875
] | 2.866667 | 86 | 0 | 86 | 0 |
[
60.908203125,
85.693359375,
93.69140625,
71.455078125,
61.611328125,
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] | [
60.556640625,
86.220703125,
93.8671875,
73.388671875,
60.8203125,
120.76171875
] | 2.9 | 87 | 0 | 87 | 0 |
[
60.8203125,
84.55078125,
93.515625,
70.83984375,
61.611328125,
121.904296875
] | [
60.29296875,
85.517578125,
93.955078125,
72.861328125,
60.908203125,
120.76171875
] | 2.933333 | 88 | 0 | 88 | 0 |
[
60.732421875,
83.84765625,
93.251953125,
70.224609375,
61.69921875,
121.904296875
] | [
60.29296875,
84.55078125,
93.8671875,
72.0703125,
60.908203125,
120.76171875
] | 2.966667 | 89 | 0 | 89 | 0 |
[
60.556640625,
82.79296875,
93.1640625,
69.169921875,
61.69921875,
121.9921875
] | [
60.29296875,
83.49609375,
93.955078125,
71.279296875,
60.8203125,
120.76171875
] | 3 | 90 | 0 | 90 | 0 |
[
60.29296875,
82.177734375,
93.1640625,
67.939453125,
61.69921875,
122.080078125
] | [
60.205078125,
82.44140625,
93.955078125,
70.48828125,
60.8203125,
120.76171875
] | 3.033333 | 91 | 0 | 91 | 0 |
[
59.765625,
81.826171875,
93.1640625,
67.412109375,
61.611328125,
122.16796875
] | [
60.205078125,
81.826171875,
93.955078125,
69.697265625,
60.8203125,
121.2890625
] | 3.066667 | 92 | 0 | 92 | 0 |
[
59.150390625,
81.474609375,
93.1640625,
66.533203125,
61.435546875,
122.34375
] | [
59.94140625,
81.2109375,
93.955078125,
68.642578125,
60.8203125,
121.552734375
] | 3.1 | 93 | 0 | 93 | 0 |
[
58.623046875,
81.298828125,
93.1640625,
65.830078125,
61.083984375,
122.87109375
] | [
59.765625,
80.771484375,
93.955078125,
67.8515625,
60.8203125,
121.552734375
] | 3.133333 | 94 | 0 | 94 | 0 |
[
58.18359375,
80.859375,
93.251953125,
65.21484375,
60.732421875,
123.486328125
] | [
59.326171875,
80.5078125,
93.955078125,
66.884765625,
60.8203125,
121.552734375
] | 3.166667 | 95 | 0 | 95 | 0 |
[
58.0078125,
80.419921875,
93.427734375,
64.51171875,
60.8203125,
123.486328125
] | [
58.88671875,
80.33203125,
93.955078125,
66.181640625,
60.732421875,
122.080078125
] | 3.2 | 96 | 0 | 96 | 0 |
[
57.83203125,
79.98046875,
93.603515625,
64.072265625,
60.908203125,
123.486328125
] | [
58.7109375,
79.98046875,
93.8671875,
65.56640625,
60.380859375,
122.34375
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[
57.568359375,
79.62890625,
93.779296875,
63.45703125,
60.99609375,
123.486328125
] | [
58.359375,
79.189453125,
93.8671875,
65.0390625,
60.1171875,
122.34375
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[
57.3046875,
79.189453125,
93.779296875,
63.193359375,
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123.486328125
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58.0078125,
78.662109375,
93.955078125,
64.599609375,
60.029296875,
122.34375
] | 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": 1795,
"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": [
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"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": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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"has_audio": false
}
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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1
],
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},
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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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