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sequence | observation.state
sequence | timestamp
float32 0
26.2
| frame_index
int64 0
786
| episode_index
int64 0
99
| index
int64 0
26.8k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|
[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
-5.185546875,
111.97265625,
177.451171875,
-30.322265625,
-4.39453125,
-4.74609375
] | 2 | 60 | 0 | 60 | 0 |
[
-5.888671875,
112.060546875,
170.33203125,
-26.982421875,
-13.271484375,
-7.91015625
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[
-5.44921875,
111.97265625,
175.341796875,
-30.234375,
-6.85546875,
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[
-4.833984375,
112.060546875,
164.794921875,
-19.951171875,
-14.765625,
-7.91015625
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[
-5.361328125,
112.060546875,
172.705078125,
-29.1796875,
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[
-3.955078125,
112.060546875,
158.115234375,
-11.162109375,
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[
-4.833984375,
111.884765625,
169.453125,
-25.83984375,
-10.8984375,
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[
-3.1640625,
111.884765625,
151.611328125,
-2.900390625,
-17.75390625,
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[
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111.708984375,
164.443359375,
-20.56640625,
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[
-2.28515625,
110.91796875,
145.37109375,
4.21875,
-20.390625,
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[
-3.515625,
111.357421875,
157.763671875,
-13.53515625,
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-4.74609375
] | 2.166667 | 65 | 0 | 65 | 0 |
[
-1.0546875,
108.984375,
139.21875,
10.1953125,
-22.5,
-7.91015625
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[
-2.8125,
110.478515625,
150.029296875,
-6.064453125,
-16.171875,
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[
0.439453125,
106.611328125,
133.06640625,
15.46875,
-23.994140625,
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[
-2.109375,
109.248046875,
142.91015625,
0.87890625,
-18.28125,
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[
2.548828125,
103.447265625,
126.826171875,
21.796875,
-27.0703125,
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[
-1.142578125,
107.578125,
137.021484375,
7.03125,
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[
4.658203125,
99.580078125,
120.146484375,
27.421875,
-29.70703125,
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[
0.087890625,
105.380859375,
131.484375,
12.744140625,
-22.236328125,
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[
6.416015625,
95.9765625,
113.90625,
31.640625,
-31.2890625,
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[
1.7578125,
102.3046875,
125.68359375,
18.6328125,
-24.609375,
-4.74609375
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[
8.4375,
92.28515625,
108.10546875,
35.947265625,
-33.75,
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[
3.515625,
98.701171875,
119.619140625,
24.2578125,
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[
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40.25390625,
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[
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95.09765625,
113.291015625,
29.091796875,
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[
12.3046875,
84.638671875,
96.416015625,
45.087890625,
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4.921875
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[
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91.318359375,
107.138671875,
33.57421875,
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[
14.23828125,
80.859375,
90.17578125,
50.09765625,
-42.1875,
12.3046875
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[
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87.5390625,
101.162109375,
38.232421875,
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-1.40625
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[
15.732421875,
76.81640625,
83.14453125,
55.72265625,
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19.3359375
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[
11.6015625,
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95.2734375,
42.890625,
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[
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72.7734375,
75.76171875,
61.171875,
-44.384765625,
23.291015625
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[
13.271484375,
79.365234375,
89.033203125,
47.724609375,
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10.01953125
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[
17.666015625,
68.818359375,
68.37890625,
66.533203125,
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24.78515625
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[
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[
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70.927734375,
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[
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75.05859375,
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[
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62.2265625,
56.513671875,
74.00390625,
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26.89453125
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[
16.69921875,
67.412109375,
67.412109375,
62.841796875,
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24.345703125
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[
20.21484375,
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52.998046875,
75.76171875,
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29.619140625
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[
17.578125,
63.80859375,
60.46875,
67.32421875,
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25.400390625
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[
21.181640625,
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51.50390625,
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31.9921875
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[
18.45703125,
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55.283203125,
70.751953125,
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26.54296875
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[
22.060546875,
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76.201171875,
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31.9921875
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[
19.599609375,
58.623046875,
53.0859375,
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28.65234375
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[
22.763671875,
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51.240234375,
76.201171875,
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31.728515625
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[
20.654296875,
57.041015625,
52.91015625,
74.970703125,
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29.8828125
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[
23.291015625,
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51.240234375,
76.201171875,
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30.9375
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[
21.181640625,
56.07421875,
53.0859375,
76.11328125,
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30.05859375
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[
23.818359375,
55.810546875,
51.240234375,
76.2890625,
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29.00390625
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[
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55.283203125,
53.173828125,
76.201171875,
-48.1640625,
29.8828125
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[
24.2578125,
55.283203125,
51.240234375,
76.2890625,
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26.455078125
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[
22.060546875,
54.404296875,
53.0859375,
76.11328125,
-48.779296875,
29.35546875
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[
24.43359375,
54.84375,
51.15234375,
76.201171875,
-50.361328125,
24.78515625
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[
22.587890625,
54.140625,
53.0859375,
76.11328125,
-49.21875,
28.212890625
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[
24.43359375,
54.228515625,
51.15234375,
75.41015625,
-50.361328125,
23.37890625
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[
23.02734375,
53.701171875,
52.998046875,
75.9375,
-49.482421875,
26.279296875
] | 2.933333 | 88 | 0 | 88 | 0 |
[
24.345703125,
53.173828125,
50.537109375,
74.619140625,
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22.060546875
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[
23.466796875,
53.349609375,
52.998046875,
75.9375,
-49.5703125,
24.345703125
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[
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51.328125,
48.603515625,
74.70703125,
-50.185546875,
21.708984375
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[
23.642578125,
52.734375,
52.998046875,
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22.67578125
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[
24.169921875,
49.5703125,
46.669921875,
74.70703125,
-49.921875,
21.62109375
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[
23.642578125,
51.50390625,
52.646484375,
75.41015625,
-49.5703125,
21.62109375
] | 3.033333 | 91 | 0 | 91 | 0 |
[
24.169921875,
47.900390625,
44.6484375,
74.70703125,
-49.482421875,
21.533203125
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[
23.642578125,
49.74609375,
50.80078125,
75.322265625,
-49.482421875,
21.357421875
] | 3.066667 | 92 | 0 | 92 | 0 |
[
24.2578125,
46.318359375,
42.71484375,
74.70703125,
-49.39453125,
21.357421875
] |
[
23.642578125,
47.724609375,
47.8125,
75.05859375,
-49.306640625,
21.357421875
] | 3.1 | 93 | 0 | 93 | 0 |
[
24.345703125,
44.82421875,
40.693359375,
74.70703125,
-49.39453125,
21.357421875
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[
23.642578125,
46.0546875,
45.615234375,
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-49.130859375,
21.357421875
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[
24.609375,
43.76953125,
39.287109375,
74.619140625,
-49.39453125,
21.357421875
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[
23.642578125,
44.384765625,
43.857421875,
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21.357421875
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[
24.9609375,
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74.70703125,
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[
23.642578125,
42.890625,
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[
25.400390625,
41.748046875,
37.177734375,
74.70703125,
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21.62109375
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[
23.642578125,
41.748046875,
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-49.04296875,
21.26953125
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[
25.83984375,
41.044921875,
36.9140625,
74.619140625,
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21.181640625
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[
23.90625,
40.869140625,
39.19921875,
74.70703125,
-49.04296875,
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] | 3.266667 | 98 | 0 | 98 | 0 |
[
26.455078125,
40.4296875,
36.826171875,
74.619140625,
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[
24.169921875,
40.4296875,
38.056640625,
74.70703125,
-49.130859375,
21.26953125
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 100,
"total_frames": 26846,
"total_tasks": 1,
"total_videos": 200,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:100"
},
"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": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
1080,
1920,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 1080,
"video.width": 1920,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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