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action
sequence | observation.state
sequence | timestamp
float32 0
19.5
| frame_index
int64 0
585
| episode_index
int64 0
26
| index
int64 0
14.7k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
47.021484375,
130.78125,
137.4609375,
17.75390625,
-22.060546875,
15.46875
] | [
49.5703125,
123.75,
141.240234375,
18.369140625,
-23.115234375,
15.556640625
] | 0 | 0 | 0 | 0 | 0 |
[
45.52734375,
132.36328125,
136.494140625,
17.75390625,
-21.4453125,
15.46875
] | [
48.69140625,
125.947265625,
141.240234375,
18.369140625,
-22.587890625,
15.556640625
] | 0.033333 | 1 | 0 | 1 | 0 |
[
44.6484375,
133.2421875,
135.966796875,
17.666015625,
-20.91796875,
15.46875
] | [
47.4609375,
128.3203125,
140.888671875,
18.45703125,
-22.060546875,
15.556640625
] | 0.066667 | 2 | 0 | 2 | 0 |
[
44.208984375,
133.76953125,
135.703125,
17.841796875,
-20.302734375,
15.46875
] | [
44.47265625,
130.25390625,
138.33984375,
18.369140625,
-20.7421875,
15.556640625
] | 0.1 | 3 | 0 | 3 | 0 |
[
44.296875,
133.76953125,
135.87890625,
18.017578125,
-20.126953125,
15.556640625
] | [
44.12109375,
130.25390625,
137.724609375,
18.369140625,
-20.478515625,
15.556640625
] | 0.133333 | 4 | 0 | 4 | 0 |
[
44.82421875,
133.59375,
136.142578125,
19.423828125,
-20.21484375,
15.732421875
] | [
44.296875,
130.25390625,
137.63671875,
18.369140625,
-20.21484375,
15.556640625
] | 0.166667 | 5 | 0 | 5 | 0 |
[
46.7578125,
133.41796875,
135.791015625,
23.994140625,
-20.56640625,
15.99609375
] | [
44.208984375,
130.166015625,
137.63671875,
18.6328125,
-20.0390625,
15.556640625
] | 0.2 | 6 | 0 | 6 | 0 |
[
49.921875,
133.330078125,
134.912109375,
30.498046875,
-21.62109375,
18.369140625
] | [
44.560546875,
130.25390625,
137.724609375,
19.951171875,
-20.0390625,
15.556640625
] | 0.233333 | 7 | 0 | 7 | 0 |
[
53.26171875,
131.484375,
133.857421875,
36.38671875,
-23.37890625,
25.6640625
] | [
45.966796875,
130.25390625,
137.724609375,
22.939453125,
-20.21484375,
15.908203125
] | 0.266667 | 8 | 0 | 8 | 0 |
[
55.546875,
129.287109375,
132.978515625,
39.990234375,
-24.697265625,
32.6953125
] | [
48.515625,
129.990234375,
137.373046875,
27.59765625,
-20.830078125,
18.28125
] | 0.3 | 9 | 0 | 9 | 0 |
[
56.689453125,
128.232421875,
132.099609375,
41.66015625,
-25.83984375,
35.68359375
] | [
51.767578125,
129.462890625,
136.669921875,
32.607421875,
-21.884765625,
22.8515625
] | 0.333333 | 10 | 0 | 10 | 0 |
[
56.953125,
127.353515625,
130.60546875,
42.978515625,
-26.103515625,
36.73828125
] | [
54.31640625,
128.935546875,
136.0546875,
37.08984375,
-22.939453125,
28.388671875
] | 0.366667 | 11 | 0 | 11 | 0 |
[
57.041015625,
126.2109375,
128.49609375,
45.263671875,
-26.279296875,
37.177734375
] | [
55.810546875,
126.38671875,
133.330078125,
42.890625,
-25.048828125,
36.2109375
] | 0.4 | 12 | 0 | 12 | 0 |
[
56.865234375,
124.453125,
125.68359375,
49.306640625,
-26.279296875,
37.265625
] | [
56.07421875,
126.03515625,
132.5390625,
43.857421875,
-25.3125,
36.5625
] | 0.433333 | 13 | 0 | 13 | 0 |
[
56.162109375,
123.486328125,
124.892578125,
50.625,
-26.103515625,
37.265625
] | [
56.25,
124.189453125,
127.705078125,
48.427734375,
-25.83984375,
36.5625
] | 0.466667 | 14 | 0 | 14 | 0 |
[
54.31640625,
121.376953125,
125.68359375,
50.44921875,
-25.927734375,
37.265625
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56.07421875,
123.57421875,
126.650390625,
49.04296875,
-25.83984375,
36.5625
] | 0.5 | 15 | 0 | 15 | 0 |
[
53.7890625,
119.70703125,
126.650390625,
48.955078125,
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37.265625
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55.37109375,
122.431640625,
126.03515625,
49.658203125,
-25.6640625,
36.5625
] | 0.533333 | 16 | 0 | 16 | 0 |
[
53.525390625,
117.94921875,
127.96875,
46.40625,
-25.927734375,
37.265625
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54.140625,
120.9375,
126.73828125,
50.09765625,
-25.3125,
36.5625
] | 0.566667 | 17 | 0 | 17 | 0 |
[
53.4375,
116.103515625,
129.0234375,
44.296875,
-26.015625,
37.265625
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53.61328125,
119.00390625,
127.705078125,
49.833984375,
-25.13671875,
36.5625
] | 0.6 | 18 | 0 | 18 | 0 |
[
53.26171875,
114.43359375,
129.7265625,
42.451171875,
-26.103515625,
37.265625
] | [
53.173828125,
116.982421875,
129.55078125,
48.603515625,
-25.13671875,
36.5625
] | 0.633333 | 19 | 0 | 19 | 0 |
[
53.173828125,
112.939453125,
130.166015625,
40.78125,
-26.279296875,
37.177734375
] | [
53.173828125,
115.48828125,
131.1328125,
47.197265625,
-25.400390625,
36.5625
] | 0.666667 | 20 | 0 | 20 | 0 |
[
53.173828125,
111.62109375,
130.4296875,
39.90234375,
-26.54296875,
37.177734375
] | [
53.173828125,
113.642578125,
131.8359375,
45.703125,
-25.6640625,
36.5625
] | 0.7 | 21 | 0 | 21 | 0 |
[
53.173828125,
110.56640625,
130.517578125,
39.375,
-26.89453125,
37.177734375
] | [
53.173828125,
112.236328125,
131.923828125,
43.857421875,
-25.751953125,
36.5625
] | 0.733333 | 22 | 0 | 22 | 0 |
[
53.173828125,
109.6875,
130.60546875,
38.583984375,
-26.89453125,
37.177734375
] | [
53.0859375,
110.7421875,
131.923828125,
42.36328125,
-25.83984375,
36.5625
] | 0.766667 | 23 | 0 | 23 | 0 |
[
53.173828125,
108.984375,
130.693359375,
37.529296875,
-26.89453125,
37.177734375
] | [
53.0859375,
109.599609375,
131.923828125,
41.30859375,
-25.83984375,
36.5625
] | 0.8 | 24 | 0 | 24 | 0 |
[
52.734375,
108.10546875,
130.693359375,
36.73828125,
-26.89453125,
37.177734375
] | [
53.0859375,
108.6328125,
131.923828125,
40.517578125,
-25.751953125,
36.5625
] | 0.833333 | 25 | 0 | 25 | 0 |
[
52.470703125,
107.05078125,
130.78125,
35.771484375,
-26.982421875,
37.177734375
] | [
52.734375,
107.9296875,
131.923828125,
39.55078125,
-25.83984375,
36.5625
] | 0.866667 | 26 | 0 | 26 | 0 |
[
52.03125,
105.908203125,
130.869140625,
34.62890625,
-26.982421875,
37.177734375
] | [
52.55859375,
107.40234375,
131.923828125,
38.759765625,
-25.83984375,
36.5625
] | 0.9 | 27 | 0 | 27 | 0 |
[
51.6796875,
104.677734375,
130.869140625,
33.486328125,
-26.982421875,
37.08984375
] | [
52.20703125,
106.435546875,
131.923828125,
37.705078125,
-25.83984375,
36.5625
] | 0.933333 | 28 | 0 | 28 | 0 |
[
51.416015625,
103.271484375,
130.869140625,
32.16796875,
-26.982421875,
37.08984375
] | [
52.03125,
104.765625,
131.923828125,
36.5625,
-25.83984375,
36.5625
] | 0.966667 | 29 | 0 | 29 | 0 |
[
51.240234375,
101.77734375,
130.869140625,
30.76171875,
-27.0703125,
37.08984375
] | [
51.6796875,
103.447265625,
132.01171875,
35.5078125,
-25.83984375,
36.5625
] | 1 | 30 | 0 | 30 | 0 |
[
51.064453125,
100.283203125,
130.869140625,
29.53125,
-27.24609375,
37.001953125
] | [
51.416015625,
102.3046875,
132.01171875,
34.541015625,
-26.015625,
36.5625
] | 1.033333 | 31 | 0 | 31 | 0 |
[
51.064453125,
98.7890625,
130.78125,
28.388671875,
-27.59765625,
36.9140625
] | [
51.240234375,
101.07421875,
131.8359375,
33.134765625,
-26.3671875,
36.5625
] | 1.066667 | 32 | 0 | 32 | 0 |
[
50.9765625,
97.55859375,
130.693359375,
27.421875,
-27.861328125,
36.826171875
] | [
51.15234375,
99.4921875,
131.8359375,
31.640625,
-26.630859375,
36.474609375
] | 1.1 | 33 | 0 | 33 | 0 |
[
50.888671875,
96.416015625,
130.693359375,
26.806640625,
-28.125,
36.73828125
] | [
50.80078125,
97.998046875,
131.748046875,
30.05859375,
-26.89453125,
36.474609375
] | 1.133333 | 34 | 0 | 34 | 0 |
[
50.80078125,
95.361328125,
130.693359375,
25.751953125,
-28.564453125,
36.650390625
] | [
50.44921875,
97.20703125,
131.748046875,
28.916015625,
-27.0703125,
36.474609375
] | 1.166667 | 35 | 0 | 35 | 0 |
[
50.625,
94.482421875,
130.869140625,
24.521484375,
-28.740234375,
35.859375
] | [
50.185546875,
95.9765625,
131.66015625,
27.861328125,
-27.509765625,
36.474609375
] | 1.2 | 36 | 0 | 36 | 0 |
[
50.537109375,
93.779296875,
130.95703125,
23.37890625,
-28.916015625,
34.8046875
] | [
50.185546875,
95.009765625,
131.66015625,
26.806640625,
-27.685546875,
36.298828125
] | 1.233333 | 37 | 0 | 37 | 0 |
[
50.361328125,
93.33984375,
131.220703125,
21.884765625,
-29.1796875,
33.310546875
] | [
50.09765625,
94.306640625,
131.66015625,
25.751953125,
-27.861328125,
35.771484375
] | 1.266667 | 38 | 0 | 38 | 0 |
[
50.185546875,
93.1640625,
131.484375,
20.478515625,
-29.1796875,
30.498046875
] | [
50.009765625,
93.955078125,
131.66015625,
24.78515625,
-28.037109375,
35.244140625
] | 1.3 | 39 | 0 | 39 | 0 |
[
50.09765625,
93.1640625,
132.01171875,
19.248046875,
-29.091796875,
27.421875
] | [
49.921875,
93.8671875,
131.748046875,
23.994140625,
-28.30078125,
34.541015625
] | 1.333333 | 40 | 0 | 40 | 0 |
[
49.921875,
93.33984375,
132.36328125,
17.9296875,
-29.00390625,
23.818359375
] | [
49.921875,
93.8671875,
132.099609375,
23.291015625,
-28.564453125,
33.22265625
] | 1.366667 | 41 | 0 | 41 | 0 |
[
49.5703125,
93.779296875,
132.978515625,
15.908203125,
-28.828125,
19.51171875
] | [
49.658203125,
93.8671875,
132.5390625,
22.1484375,
-28.740234375,
31.728515625
] | 1.4 | 42 | 0 | 42 | 0 |
[
49.21875,
95.009765625,
133.857421875,
13.623046875,
-28.564453125,
15.380859375
] | [
49.482421875,
93.8671875,
132.626953125,
21.005859375,
-28.65234375,
29.970703125
] | 1.433333 | 43 | 0 | 43 | 0 |
[
48.779296875,
96.6796875,
134.47265625,
12.12890625,
-28.65234375,
14.58984375
] | [
49.482421875,
94.04296875,
133.41796875,
19.6875,
-28.4765625,
28.30078125
] | 1.466667 | 44 | 0 | 44 | 0 |
[
48.076171875,
99.580078125,
134.736328125,
11.865234375,
-28.828125,
14.501953125
] | [
49.04296875,
94.833984375,
134.560546875,
18.10546875,
-28.30078125,
27.24609375
] | 1.5 | 45 | 0 | 45 | 0 |
[
46.58203125,
103.359375,
134.912109375,
11.77734375,
-28.740234375,
14.4140625
] | [
47.197265625,
99.66796875,
135.966796875,
16.259765625,
-28.212890625,
26.89453125
] | 1.533333 | 46 | 0 | 46 | 0 |
[
40.341796875,
116.015625,
134.12109375,
12.3046875,
-27.7734375,
14.326171875
] | [
46.7578125,
100.283203125,
135.87890625,
16.083984375,
-28.212890625,
26.806640625
] | 1.566667 | 47 | 0 | 47 | 0 |
[
37.265625,
120.9375,
132.978515625,
12.568359375,
-26.806640625,
14.326171875
] | [
41.923828125,
109.3359375,
136.40625,
15.46875,
-27.421875,
26.806640625
] | 1.6 | 48 | 0 | 48 | 0 |
[
31.376953125,
127.44140625,
130.25390625,
12.392578125,
-26.015625,
14.326171875
] | [
33.22265625,
122.34375,
132.978515625,
14.853515625,
-26.19140625,
26.806640625
] | 1.633333 | 49 | 0 | 49 | 0 |
[
19.16015625,
134.736328125,
124.453125,
6.943359375,
-22.67578125,
14.4140625
] | [
23.818359375,
129.990234375,
128.84765625,
12.919921875,
-23.90625,
26.806640625
] | 1.666667 | 50 | 0 | 50 | 0 |
[
2.8125,
134.736328125,
116.54296875,
2.4609375,
-23.37890625,
14.4140625
] | [
16.611328125,
130.4296875,
124.8046875,
10.72265625,
-22.587890625,
26.806640625
] | 1.7 | 51 | 0 | 51 | 0 |
[
-5.185546875,
134.560546875,
115.13671875,
0.615234375,
-25.400390625,
14.501953125
] | [
-1.845703125,
130.4296875,
118.65234375,
5.888671875,
-23.642578125,
26.806640625
] | 1.733333 | 52 | 0 | 52 | 0 |
[
-20.478515625,
133.505859375,
118.388671875,
-1.142578125,
-28.30078125,
14.501953125
] | [
-7.998046875,
130.4296875,
118.30078125,
2.98828125,
-25.224609375,
26.806640625
] | 1.766667 | 53 | 0 | 53 | 0 |
[
-26.89453125,
133.154296875,
122.431640625,
-1.669921875,
-28.740234375,
14.501953125
] | [
-11.337890625,
130.341796875,
119.00390625,
2.4609375,
-25.6640625,
26.806640625
] | 1.8 | 54 | 0 | 54 | 0 |
[
-30.76171875,
132.1875,
124.98046875,
-1.7578125,
-29.1796875,
14.501953125
] | [
-27.509765625,
130.25390625,
127.001953125,
2.109375,
-28.30078125,
26.806640625
] | 1.833333 | 55 | 0 | 55 | 0 |
[
-39.375,
129.990234375,
130.078125,
-0.791015625,
-30.322265625,
14.501953125
] | [
-32.255859375,
129.814453125,
129.7265625,
1.845703125,
-28.916015625,
26.806640625
] | 1.866667 | 56 | 0 | 56 | 0 |
[
-42.5390625,
127.79296875,
132.802734375,
0.17578125,
-31.640625,
14.501953125
] | [
-37.44140625,
128.935546875,
132.71484375,
1.58203125,
-29.70703125,
26.806640625
] | 1.9 | 57 | 0 | 57 | 0 |
[
-44.912109375,
125.771484375,
135.087890625,
0.87890625,
-31.552734375,
14.501953125
] | [
-38.671875,
127.96875,
133.154296875,
1.669921875,
-29.970703125,
26.806640625
] | 1.933333 | 58 | 0 | 58 | 0 |
[
-45.87890625,
124.013671875,
136.494140625,
1.0546875,
-31.81640625,
14.501953125
] | [
-41.044921875,
126.03515625,
135.3515625,
1.58203125,
-30.41015625,
26.806640625
] | 1.966667 | 59 | 0 | 59 | 0 |
[
-46.40625,
122.51953125,
137.900390625,
1.0546875,
-31.81640625,
14.501953125
] | [
-43.76953125,
124.892578125,
138.251953125,
1.93359375,
-30.76171875,
26.806640625
] | 2 | 60 | 0 | 60 | 0 |
[
-47.197265625,
120.673828125,
138.955078125,
1.0546875,
-31.904296875,
14.501953125
] | [
-44.82421875,
123.3984375,
140.185546875,
2.197265625,
-30.849609375,
26.806640625
] | 2.033333 | 61 | 0 | 61 | 0 |
[
-47.373046875,
118.828125,
139.74609375,
1.0546875,
-31.904296875,
14.501953125
] | [
-45.439453125,
121.46484375,
140.2734375,
2.28515625,
-30.9375,
26.806640625
] | 2.066667 | 62 | 0 | 62 | 0 |
[
-47.4609375,
117.0703125,
140.361328125,
1.0546875,
-31.904296875,
14.501953125
] | [
-45.87890625,
119.8828125,
140.44921875,
2.197265625,
-31.025390625,
26.806640625
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[
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115.3125,
140.712890625,
1.0546875,
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118.30078125,
140.9765625,
2.197265625,
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26.806640625
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[
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113.466796875,
140.712890625,
0.87890625,
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114.43359375,
141.6796875,
2.28515625,
-31.025390625,
26.806640625
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[
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111.005859375,
140.712890625,
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113.73046875,
141.767578125,
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-31.025390625,
26.806640625
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112.32421875,
141.767578125,
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-30.9375,
26.806640625
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140.712890625,
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108.80859375,
141.50390625,
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26.806640625
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107.9296875,
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2.109375,
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26.806640625
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106.5234375,
141.767578125,
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26.806640625
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105.556640625,
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26.806640625
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104.765625,
142.294921875,
2.109375,
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26.806640625
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103.359375,
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0.3515625,
-31.025390625,
14.853515625
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103.53515625,
142.294921875,
2.109375,
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26.806640625
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[
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103.095703125,
141.240234375,
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102.83203125,
142.470703125,
2.197265625,
-30.9375,
26.806640625
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[
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102.744140625,
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0.703125,
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102.041015625,
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2.109375,
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[
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101.25,
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101.07421875,
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100.8984375,
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100.810546875,
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[
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100.8984375,
143.4375,
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[
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100.8984375,
143.701171875,
2.109375,
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[
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-30.76171875,
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101.25,
144.404296875,
2.109375,
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36.474609375
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[
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104.765625,
145.1953125,
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-30.76171875,
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101.689453125,
145.107421875,
2.109375,
-30.05859375,
36.474609375
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[
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105.380859375,
145.8984375,
2.548828125,
-30.673828125,
37.6171875
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102.041015625,
145.8984375,
2.109375,
-29.970703125,
36.474609375
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[
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106.083984375,
146.42578125,
2.4609375,
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102.568359375,
146.337890625,
2.109375,
-29.970703125,
36.474609375
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[
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106.787109375,
147.041015625,
2.4609375,
-30.322265625,
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103.359375,
146.513671875,
2.109375,
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36.5625
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[
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107.666015625,
147.48046875,
2.4609375,
-29.70703125,
37.79296875
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104.23828125,
147.392578125,
2.109375,
-29.970703125,
36.474609375
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[
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108.6328125,
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2.4609375,
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-47.021484375,
104.853515625,
148.18359375,
2.109375,
-29.8828125,
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[
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2.724609375,
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105.64453125,
148.53515625,
2.197265625,
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36.5625
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[
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147.65625,
3.603515625,
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106.5234375,
148.359375,
2.109375,
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[
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115.048828125,
147.3046875,
5.361328125,
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37.705078125
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107.9296875,
148.271484375,
2.28515625,
-29.1796875,
36.474609375
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[
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118.125,
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7.03125,
-27.0703125,
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110.390625,
148.447265625,
3.427734375,
-28.916015625,
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[
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145.546875,
9.228515625,
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113.115234375,
148.447265625,
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[
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116.103515625,
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[
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-23.37890625,
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119.1796875,
147.744140625,
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[
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138.603515625,
21.357421875,
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121.81640625,
146.337890625,
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[
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127.96875,
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26.982421875,
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143.701171875,
15.64453125,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 27,
"total_frames": 14666,
"total_tasks": 1,
"total_videos": 54,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:27"
},
"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": {
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"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": "av1",
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}
},
"observation.images.phone": {
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640,
3
],
"names": [
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],
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"video.codec": "av1",
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}
},
"timestamp": {
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},
"frame_index": {
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},
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},
"index": {
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},
"task_index": {
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"shape": [
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],
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}
}
}
Citation
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