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action sequence | observation.state sequence | timestamp float32 0 29.7 | frame_index int64 0 892 | episode_index int64 0 0 | index int64 0 892 | 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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-0.703125,
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44.12109375,
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[
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45,
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114.521484375,
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[
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[
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[
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45,
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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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114.2578125,
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[
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86.923828125,
114.2578125,
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[
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86.923828125,
114.2578125,
44.560546875,
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] | 0.7 | 21 | 0 | 21 | 0 |
[
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44.6484375,
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86.923828125,
114.2578125,
44.560546875,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
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112.5,
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86.923828125,
114.2578125,
44.560546875,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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114.2578125,
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[
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86.923828125,
114.08203125,
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[
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86.8359375,
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44.6484375,
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[
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86.8359375,
113.73046875,
44.6484375,
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[
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86.923828125,
113.73046875,
44.6484375,
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[
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87.099609375,
113.642578125,
44.736328125,
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[
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87.1875,
113.5546875,
44.736328125,
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[
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87.1875,
113.37890625,
44.82421875,
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] | 1.033333 | 31 | 0 | 31 | 0 |
[
0.439453125,
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111.09375,
45.17578125,
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87.1875,
113.37890625,
44.82421875,
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] | 1.066667 | 32 | 0 | 32 | 0 |
[
0.615234375,
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0.087890625,
87.275390625,
113.37890625,
44.82421875,
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] | 1.1 | 33 | 0 | 33 | 0 |
[
0.791015625,
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111.09375,
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0.3515625,
87.5390625,
113.37890625,
45.087890625,
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] | 1.133333 | 34 | 0 | 34 | 0 |
[
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0.615234375,
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113.37890625,
45.17578125,
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] | 1.166667 | 35 | 0 | 35 | 0 |
[
1.142578125,
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] | [
0.703125,
88.06640625,
113.37890625,
45.439453125,
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] | 1.2 | 36 | 0 | 36 | 0 |
[
1.40625,
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] | [
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88.59375,
113.37890625,
45.703125,
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] | 1.233333 | 37 | 0 | 37 | 0 |
[
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113.37890625,
45.87890625,
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] | 1.266667 | 38 | 0 | 38 | 0 |
[
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0.703125,
90,
113.37890625,
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] | 1.3 | 39 | 0 | 39 | 0 |
[
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0.703125,
90.615234375,
113.37890625,
46.494140625,
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] | 1.333333 | 40 | 0 | 40 | 0 |
[
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1.0546875,
91.318359375,
113.37890625,
46.93359375,
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] | 1.366667 | 41 | 0 | 41 | 0 |
[
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] | [
1.318359375,
91.93359375,
113.37890625,
47.373046875,
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] | 1.4 | 42 | 0 | 42 | 0 |
[
2.197265625,
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] | [
1.845703125,
92.4609375,
113.37890625,
47.8125,
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] | 1.433333 | 43 | 0 | 43 | 0 |
[
2.28515625,
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109.248046875,
49.921875,
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-0.10395010560750961
] | [
2.28515625,
93.076171875,
113.37890625,
48.33984375,
9.228515625,
1.8735363483428955
] | 1.466667 | 44 | 0 | 44 | 0 |
[
2.28515625,
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109.248046875,
50.2734375,
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] | [
2.373046875,
93.779296875,
113.37890625,
48.8671875,
9.228515625,
1.8735363483428955
] | 1.5 | 45 | 0 | 45 | 0 |
[
2.28515625,
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109.248046875,
50.625,
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] | [
2.4609375,
94.39453125,
113.37890625,
49.39453125,
9.228515625,
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] | 1.533333 | 46 | 0 | 46 | 0 |
[
2.28515625,
99.66796875,
109.248046875,
51.064453125,
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] | [
2.4609375,
95.185546875,
113.37890625,
49.74609375,
9.228515625,
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] | 1.566667 | 47 | 0 | 47 | 0 |
[
2.28515625,
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109.248046875,
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] | [
2.109375,
95.9765625,
113.37890625,
50.185546875,
9.228515625,
1.8735363483428955
] | 1.6 | 48 | 0 | 48 | 0 |
[
2.28515625,
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109.248046875,
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1.93359375,
96.767578125,
113.37890625,
50.625,
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] | 1.633333 | 49 | 0 | 49 | 0 |
[
2.28515625,
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109.248046875,
52.20703125,
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1.845703125,
97.470703125,
113.37890625,
50.9765625,
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] | 1.666667 | 50 | 0 | 50 | 0 |
[
2.28515625,
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109.248046875,
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] | [
1.845703125,
98.26171875,
113.37890625,
51.328125,
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] | 1.7 | 51 | 0 | 51 | 0 |
[
2.28515625,
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109.248046875,
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1.845703125,
99.052734375,
113.37890625,
51.767578125,
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] | 1.733333 | 52 | 0 | 52 | 0 |
[
2.28515625,
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1.845703125,
99.84375,
113.37890625,
52.20703125,
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] | 1.766667 | 53 | 0 | 53 | 0 |
[
2.197265625,
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109.248046875,
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1.93359375,
100.634765625,
113.37890625,
52.646484375,
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[
2.021484375,
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101.337890625,
113.37890625,
53.0859375,
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] | 1.833333 | 55 | 0 | 55 | 0 |
[
1.845703125,
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102.041015625,
113.37890625,
53.349609375,
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] | 1.866667 | 56 | 0 | 56 | 0 |
[
1.669921875,
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109.51171875,
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] | [
1.93359375,
102.83203125,
113.37890625,
53.701171875,
8.7890625,
1.8735363483428955
] | 1.9 | 57 | 0 | 57 | 0 |
[
1.494140625,
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109.51171875,
54.84375,
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1.93359375,
103.53515625,
113.37890625,
53.96484375,
8.7890625,
1.8735363483428955
] | 1.933333 | 58 | 0 | 58 | 0 |
[
1.23046875,
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109.51171875,
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] | [
1.93359375,
104.23828125,
113.37890625,
54.228515625,
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1.8735363483428955
] | 1.966667 | 59 | 0 | 59 | 0 |
[
0.87890625,
109.16015625,
109.6875,
55.634765625,
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1.93359375,
105.029296875,
113.37890625,
54.4921875,
8.4375,
1.8735363483428955
] | 2 | 60 | 0 | 60 | 0 |
[
0.615234375,
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113.37890625,
54.931640625,
8.26171875,
1.8735363483428955
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[
0.263671875,
110.0390625,
109.775390625,
56.42578125,
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-0.10395010560750961
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1.58203125,
106.5234375,
113.37890625,
55.283203125,
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[
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107.138671875,
113.37890625,
55.72265625,
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107.578125,
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[
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108.017578125,
113.37890625,
56.337890625,
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[
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108.369140625,
113.37890625,
56.6015625,
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[
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-0.87890625,
108.6328125,
113.37890625,
56.6015625,
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[
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108.984375,
113.37890625,
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[
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109.248046875,
113.37890625,
56.865234375,
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[
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109.423828125,
113.37890625,
56.865234375,
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109.51171875,
113.37890625,
56.865234375,
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109.51171875,
113.37890625,
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109.51171875,
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56.865234375,
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[
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109.51171875,
113.37890625,
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[
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[
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[
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109.51171875,
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[
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[
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[
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[
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109.51171875,
113.37890625,
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[
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113.37890625,
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[
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109.599609375,
113.37890625,
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[
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113.466796875,
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[
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112.587890625,
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110.21484375,
113.466796875,
56.689453125,
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[
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111.26953125,
112.587890625,
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110.390625,
113.466796875,
56.25,
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[
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112.412109375,
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110.390625,
113.466796875,
55.634765625,
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[
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[
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109.951171875,
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[
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109.3359375,
113.466796875,
53.173828125,
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[
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50.625,
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108.28125,
113.466796875,
52.55859375,
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[
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109.775390625,
50.2734375,
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107.2265625,
113.466796875,
52.119140625,
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1.8735363483428955
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[
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104.0625,
108.896484375,
50.09765625,
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106.171875,
113.466796875,
51.6796875,
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[
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107.841796875,
50.09765625,
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113.466796875,
51.15234375,
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[
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104.0625,
112.939453125,
50.9765625,
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[
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103.0078125,
111.708984375,
50.888671875,
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[
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104.0625,
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101.953125,
110.390625,
50.888671875,
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[
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108.984375,
50.888671875,
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 1,
"total_frames": 893,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
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"video.codec": "h264",
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"video.is_depth_map": false,
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}
},
"observation.images.phone": {
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640,
3
],
"names": [
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],
"info": {
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}
},
"timestamp": {
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},
"frame_index": {
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"episode_index": {
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},
"index": {
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},
"task_index": {
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"shape": [
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"names": null
}
}
}
Citation
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