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sequence | observation.state
sequence | timestamp
float32 0
23.6
| frame_index
int64 0
708
| episode_index
int64 0
59
| index
int64 0
18k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
1.142578125,
113.115234375,
106.611328125,
32.431640625,
60.205078125,
35.33203125
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0.966796875,
114.78515625,
105.8203125,
37.177734375,
59.326171875,
33.92578125
] | 0 | 0 | 0 | 0 | 0 |
[
1.0546875,
113.203125,
106.611328125,
32.431640625,
60.205078125,
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0.966796875,
113.90625,
106.69921875,
36.123046875,
59.326171875,
33.92578125
] | 0.033333 | 1 | 0 | 1 | 0 |
[
1.0546875,
113.203125,
106.611328125,
32.431640625,
60.205078125,
35.33203125
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1.0546875,
112.939453125,
107.2265625,
35.5078125,
59.326171875,
33.92578125
] | 0.066667 | 2 | 0 | 2 | 0 |
[
1.0546875,
113.203125,
106.611328125,
32.431640625,
60.205078125,
35.33203125
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1.0546875,
112.67578125,
107.314453125,
35.5078125,
59.501953125,
33.92578125
] | 0.1 | 3 | 0 | 3 | 0 |
[
1.142578125,
113.203125,
106.611328125,
32.431640625,
60.205078125,
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0.966796875,
112.8515625,
107.2265625,
35.419921875,
59.501953125,
33.92578125
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[
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113.203125,
106.611328125,
32.431640625,
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112.939453125,
107.2265625,
35.33203125,
59.501953125,
33.92578125
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[
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106.69921875,
32.431640625,
60.205078125,
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112.763671875,
107.314453125,
35.33203125,
59.501953125,
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[
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106.69921875,
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112.763671875,
107.314453125,
35.33203125,
59.501953125,
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[
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112.8515625,
107.314453125,
35.33203125,
59.501953125,
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[
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106.69921875,
32.431640625,
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0.966796875,
112.8515625,
107.314453125,
35.33203125,
59.501953125,
33.92578125
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[
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113.203125,
106.69921875,
32.431640625,
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0.966796875,
112.763671875,
107.314453125,
35.33203125,
59.501953125,
33.92578125
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[
1.142578125,
113.203125,
106.69921875,
32.34375,
60.205078125,
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112.763671875,
107.314453125,
35.33203125,
59.501953125,
33.92578125
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[
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106.69921875,
31.904296875,
60.205078125,
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0.966796875,
112.8515625,
107.314453125,
35.33203125,
59.501953125,
33.92578125
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[
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106.69921875,
31.2890625,
60.205078125,
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112.8515625,
107.314453125,
35.33203125,
59.501953125,
33.92578125
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[
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106.5234375,
30.849609375,
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112.8515625,
107.314453125,
35.068359375,
59.501953125,
33.92578125
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[
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112.939453125,
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30.849609375,
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35.33203125
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112.8515625,
107.314453125,
34.453125,
59.501953125,
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[
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112.32421875,
107.314453125,
33.837890625,
59.501953125,
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[
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111.97265625,
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111.884765625,
107.314453125,
33.486328125,
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[
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111.357421875,
107.314453125,
33.310546875,
59.501953125,
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[
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110.830078125,
107.314453125,
33.310546875,
59.501953125,
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[
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110.302734375,
107.2265625,
33.310546875,
59.501953125,
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[
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109.248046875,
106.69921875,
33.310546875,
59.501953125,
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[
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29.091796875,
60.99609375,
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108.369140625,
105.99609375,
33.310546875,
59.501953125,
33.92578125
] | 0.733333 | 22 | 0 | 22 | 0 |
[
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108.017578125,
100.72265625,
29.091796875,
61.787109375,
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107.666015625,
104.853515625,
33.22265625,
59.501953125,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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108.10546875,
100.458984375,
29.1796875,
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107.666015625,
104.150390625,
33.22265625,
59.677734375,
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[
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108.193359375,
99.84375,
29.619140625,
64.951171875,
35.33203125
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107.75390625,
103.88671875,
33.046875,
60.46875,
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[
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107.666015625,
103.359375,
32.6953125,
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[
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98.26171875,
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107.666015625,
102.919921875,
32.607421875,
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[
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108.6328125,
96.767578125,
36.5625,
72.421875,
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107.666015625,
102.48046875,
32.607421875,
65.390625,
33.92578125
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[
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108.6328125,
95.009765625,
41.484375,
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35.33203125
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107.666015625,
101.162109375,
33.486328125,
67.412109375,
33.92578125
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[
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108.6328125,
93.1640625,
46.669921875,
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107.666015625,
99.4921875,
35.859375,
69.78515625,
33.92578125
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[
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108.720703125,
91.845703125,
51.240234375,
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107.666015625,
97.55859375,
39.462890625,
72.0703125,
33.92578125
] | 1.033333 | 31 | 0 | 31 | 0 |
[
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108.984375,
90.439453125,
55.986328125,
79.453125,
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107.666015625,
95.185546875,
44.208984375,
74.35546875,
33.92578125
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[
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107.666015625,
93.427734375,
49.921875,
76.552734375,
33.92578125
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[
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107.9296875,
92.4609375,
55.283203125,
78.92578125,
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[
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108.369140625,
92.4609375,
59.23828125,
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[
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109.16015625,
92.4609375,
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[
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92.4609375,
64.6875,
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[
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92.4609375,
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[
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66.26953125,
98.4375,
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[
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73.212890625,
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36.9140625
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110.830078125,
92.4609375,
67.8515625,
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[
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109.6875,
90.17578125,
70.400390625,
111.62109375,
35.068359375
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[
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107.9296875,
86.8359375,
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[
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126.9140625,
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104.94140625,
82.265625,
74.970703125,
119.619140625,
37.705078125
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[
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100.8984375,
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45.087890625
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102.48046875,
81.38671875,
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123.046875,
39.90234375
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[
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100.1953125,
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100.8984375,
81.474609375,
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125.33203125,
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[
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99.755859375,
81.73828125,
77.34375,
128.14453125,
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[
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81.03515625,
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99.052734375,
81.826171875,
77.34375,
130.341796875,
47.021484375
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[
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81.826171875,
77.34375,
132.451171875,
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[
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97.119140625,
81.826171875,
77.34375,
134.47265625,
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[
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96.591796875,
81.9140625,
77.34375,
136.23046875,
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[
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84.55078125,
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96.064453125,
82.44140625,
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138.515625,
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[
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95.625,
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140.625,
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[
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94.21875,
87.451171875,
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94.833984375,
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75.76171875,
142.55859375,
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[
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87.451171875,
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93.8671875,
88.2421875,
74.35546875,
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[
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91.40625,
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92.548828125,
88.2421875,
73.4765625,
145.810546875,
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[
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90.439453125,
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91.0546875,
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146.865234375,
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[
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89.82421875,
88.681640625,
72.0703125,
147.744140625,
51.064453125
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[
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90.087890625,
63.984375,
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89.033203125,
89.296875,
70.927734375,
148.18359375,
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[
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87.890625,
90.087890625,
63.28125,
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88.2421875,
90.439453125,
69.169921875,
148.447265625,
51.064453125
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[
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86.923828125,
90.087890625,
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151.083984375,
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87.1875,
91.23046875,
67.5,
148.623046875,
51.064453125
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[
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86.1328125,
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66.26953125,
149.23828125,
51.064453125
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[
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85.341796875,
90.087890625,
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152.138671875,
52.470703125
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85.60546875,
91.23046875,
65.302734375,
149.765625,
51.064453125
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[
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90.087890625,
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52.470703125
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84.90234375,
91.23046875,
63.896484375,
150.64453125,
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[
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90.087890625,
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152.578125,
52.470703125
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83.935546875,
91.142578125,
63.10546875,
151.083984375,
51.15234375
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[
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90.087890625,
59.677734375,
152.578125,
52.470703125
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-55.8984375,
83.056640625,
91.23046875,
62.578125,
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[
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82.880859375,
90.087890625,
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-56.337890625,
82.529296875,
91.23046875,
62.314453125,
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[
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82.705078125,
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-56.689453125,
82.001953125,
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[
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81.38671875,
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91.40625,
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81.474609375,
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81.474609375,
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92.4609375,
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-58.7109375,
81.38671875,
93.076171875,
61.962890625,
152.314453125,
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[
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82.6171875,
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153.984375,
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-58.798828125,
81.2109375,
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[
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81.2109375,
93.076171875,
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[
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81.298828125,
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61.5234375,
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[
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81.2109375,
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81.2109375,
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[
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81.2109375,
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[
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[
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81.2109375,
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61.5234375,
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[
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82.001953125,
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81.298828125,
93.779296875,
61.5234375,
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45
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[
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82.001953125,
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81.298828125,
93.779296875,
61.611328125,
157.587890625,
45
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[
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82.001953125,
93.603515625,
64.423828125,
160.048828125,
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81.298828125,
93.779296875,
61.787109375,
158.02734375,
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[
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81.9140625,
93.515625,
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-60.908203125,
81.298828125,
93.69140625,
62.490234375,
158.642578125,
44.82421875
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[
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81.9140625,
93.515625,
64.599609375,
160.48828125,
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80.947265625,
93.69140625,
62.75390625,
159.2578125,
44.47265625
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[
-62.2265625,
81.9140625,
93.515625,
65.126953125,
160.48828125,
27.94921875
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-61.34765625,
80.859375,
93.603515625,
62.75390625,
159.521484375,
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[
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81.9140625,
93.427734375,
65.654296875,
160.400390625,
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-61.435546875,
80.859375,
93.603515625,
62.841796875,
159.521484375,
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[
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81.9140625,
93.427734375,
66.005859375,
160.3125,
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-61.435546875,
80.859375,
93.603515625,
63.017578125,
159.521484375,
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] | 3.033333 | 91 | 0 | 91 | 0 |
[
-62.2265625,
81.9140625,
93.427734375,
66.26953125,
159.9609375,
24.08203125
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-61.435546875,
80.859375,
93.603515625,
63.017578125,
159.521484375,
44.47265625
] | 3.066667 | 92 | 0 | 92 | 0 |
[
-62.138671875,
81.9140625,
93.33984375,
67.060546875,
159.43359375,
23.115234375
] | [
-61.435546875,
80.859375,
93.603515625,
63.193359375,
159.521484375,
44.47265625
] | 3.1 | 93 | 0 | 93 | 0 |
[
-62.05078125,
81.9140625,
93.1640625,
67.587890625,
158.5546875,
21.4453125
] | [
-61.435546875,
80.859375,
93.603515625,
63.28125,
159.521484375,
44.47265625
] | 3.133333 | 94 | 0 | 94 | 0 |
[
-62.138671875,
82.001953125,
93.076171875,
68.37890625,
158.02734375,
19.423828125
] | [
-61.435546875,
80.859375,
93.603515625,
63.369140625,
159.345703125,
44.47265625
] | 3.166667 | 95 | 0 | 95 | 0 |
[
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82.001953125,
92.98828125,
68.5546875,
157.763671875,
18.984375
] | [
-61.5234375,
81.03515625,
93.603515625,
63.544921875,
158.90625,
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] | 3.2 | 96 | 0 | 96 | 0 |
[
-62.2265625,
82.08984375,
92.900390625,
68.642578125,
157.412109375,
18.896484375
] | [
-61.5234375,
81.03515625,
93.427734375,
63.80859375,
158.466796875,
44.47265625
] | 3.233333 | 97 | 0 | 97 | 0 |
[
-62.2265625,
82.001953125,
92.8125,
68.818359375,
157.1484375,
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] | [
-61.611328125,
81.03515625,
93.33984375,
63.984375,
157.939453125,
44.47265625
] | 3.266667 | 98 | 0 | 98 | 0 |
[
-62.2265625,
82.001953125,
92.8125,
68.818359375,
157.1484375,
18.544921875
] | [
-61.611328125,
81.03515625,
93.33984375,
64.072265625,
157.67578125,
44.47265625
] | 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": 60,
"total_frames": 17980,
"total_tasks": 1,
"total_videos": 120,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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.top": {
"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
}
},
"observation.images.front": {
"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",
"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
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