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action
sequence | observation.state
sequence | timestamp
float32 0
29.9
| frame_index
int64 0
896
| episode_index
int64 0
1
| index
int64 0
1.79k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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69.609375,
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101.162109375,
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116.806640625,
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[
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102.919921875,
61.083984375,
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124.98046875,
102.919921875,
61.34765625,
84.55078125,
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[
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128.14453125,
102.919921875,
61.787109375,
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80.859375
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102.744140625,
62.138671875,
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129.90234375,
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129.90234375,
102.568359375,
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129.90234375,
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[
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129.90234375,
102.48046875,
63.10546875,
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129.90234375,
102.392578125,
63.10546875,
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129.814453125,
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63.017578125,
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[
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61.875,
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75.234375
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129.375,
105.1171875,
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75.234375
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128.408203125,
107.490234375,
62.9296875,
83.056640625,
80.859375
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109.51171875,
61.875,
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126.9140625,
109.072265625,
63.017578125,
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124.8046875,
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[
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59.94140625,
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[
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118.212890625,
56.953125,
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80.859375
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[
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107.314453125,
119.1796875,
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[
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102.041015625,
119.00390625,
50.09765625,
82.880859375,
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[
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96.15234375,
118.388671875,
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[
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90.263671875,
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45.263671875,
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[
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110.0390625,
44.208984375,
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115.400390625,
44.384765625,
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80.859375
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[
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108.193359375,
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111.884765625,
44.296875,
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80.859375
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[
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107.9296875,
45.966796875,
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108.28125,
44.296875,
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80.859375
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[
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74.970703125,
108.017578125,
45.966796875,
85.95703125,
75.234375
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75.5859375,
106.5234375,
43.681640625,
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80.859375
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[
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74.970703125,
108.017578125,
45.966796875,
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75.234375
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106.5234375,
43.681640625,
84.638671875,
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[
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74.970703125,
108.017578125,
45.966796875,
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75.234375
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74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
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[
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74.970703125,
107.9296875,
46.0546875,
85.869140625,
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
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[
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74.970703125,
107.75390625,
46.142578125,
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75.234375
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74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
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[
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74.8828125,
107.75390625,
46.142578125,
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75.234375
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74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
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[
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74.8828125,
107.75390625,
46.142578125,
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75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
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[
57.919921875,
74.970703125,
107.75390625,
46.142578125,
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
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[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
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75.234375
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74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.2 | 36 | 0 | 36 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
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75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.233333 | 37 | 0 | 37 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
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75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.266667 | 38 | 0 | 38 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
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75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.3 | 39 | 0 | 39 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.95703125,
75.234375
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74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.333333 | 40 | 0 | 40 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.366667 | 41 | 0 | 41 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
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75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.4 | 42 | 0 | 42 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.433333 | 43 | 0 | 43 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.466667 | 44 | 0 | 44 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.5 | 45 | 0 | 45 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.533333 | 46 | 0 | 46 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.566667 | 47 | 0 | 47 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.6 | 48 | 0 | 48 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.633333 | 49 | 0 | 49 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.666667 | 50 | 0 | 50 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.7 | 51 | 0 | 51 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.733333 | 52 | 0 | 52 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.766667 | 53 | 0 | 53 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.8 | 54 | 0 | 54 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.833333 | 55 | 0 | 55 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.8828125,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 1.866667 | 56 | 0 | 56 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.9 | 57 | 0 | 57 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
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[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 1.966667 | 59 | 0 | 59 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2 | 60 | 0 | 60 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
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75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.033333 | 61 | 0 | 61 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.066667 | 62 | 0 | 62 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.1 | 63 | 0 | 63 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
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56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
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[
57.919921875,
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85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.166667 | 65 | 0 | 65 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.2 | 66 | 0 | 66 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.233333 | 67 | 0 | 67 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.266667 | 68 | 0 | 68 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.3 | 69 | 0 | 69 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.333333 | 70 | 0 | 70 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.366667 | 71 | 0 | 71 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.4 | 72 | 0 | 72 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.433333 | 73 | 0 | 73 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.466667 | 74 | 0 | 74 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.5 | 75 | 0 | 75 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.533333 | 76 | 0 | 76 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.566667 | 77 | 0 | 77 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.6 | 78 | 0 | 78 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.633333 | 79 | 0 | 79 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.666667 | 80 | 0 | 80 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.7 | 81 | 0 | 81 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.733333 | 82 | 0 | 82 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.766667 | 83 | 0 | 83 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.8 | 84 | 0 | 84 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.833333 | 85 | 0 | 85 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.5234375,
43.76953125,
84.90234375,
80.859375
] | 2.866667 | 86 | 0 | 86 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.9 | 87 | 0 | 87 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 2.933333 | 88 | 0 | 88 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 2.966667 | 89 | 0 | 89 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 3 | 90 | 0 | 90 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 3.033333 | 91 | 0 | 91 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 3.066667 | 92 | 0 | 92 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 3.1 | 93 | 0 | 93 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 3.133333 | 94 | 0 | 94 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.5234375,
43.76953125,
84.90234375,
80.859375
] | 3.166667 | 95 | 0 | 95 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.859375
] | 3.2 | 96 | 0 | 96 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 3.233333 | 97 | 0 | 97 | 0 |
[
57.919921875,
74.8828125,
107.666015625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 3.266667 | 98 | 0 | 98 | 0 |
[
57.919921875,
74.8828125,
107.75390625,
46.142578125,
85.869140625,
75.234375
] | [
56.42578125,
74.794921875,
106.611328125,
43.76953125,
84.90234375,
80.947265625
] | 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": 1794,
"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": {
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"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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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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