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action list | observation.state list | timestamp float32 0 11.8 | frame_index int64 0 236 | episode_index int64 0 29 | index int64 0 7.09k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
[
88.9453125,
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163.828125,
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33.310546875
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[
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156.005859375,
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89.47265625,
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160.751953125,
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[
90.087890625,
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89.47265625,
132.978515625,
158.37890625,
19.6875,
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33.310546875
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[
90.703125,
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155.126953125,
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89.82421875,
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157.763671875,
20.7421875,
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[
90.966796875,
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90.263671875,
132.978515625,
157.763671875,
20.7421875,
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[
90.87890625,
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90.615234375,
132.978515625,
157.587890625,
20.7421875,
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33.310546875
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[
90.52734375,
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25.048828125,
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32.6953125
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90.703125,
132.978515625,
156.708984375,
21.357421875,
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[
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90.615234375,
132.978515625,
154.3359375,
23.115234375,
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[
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31.11328125,
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90.439453125,
132.978515625,
150.556640625,
25.400390625,
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[
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34.453125,
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90.615234375,
132.626953125,
145.458984375,
28.125,
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[
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38.759765625,
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138.251953125,
32.080078125,
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[
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43.59375,
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132.890625,
35.33203125,
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32.16796875
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[
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127.177734375,
39.111328125,
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[
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55.283203125,
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31.376953125
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43.41796875,
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32.080078125
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[
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31.2890625
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48.427734375,
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[
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90.087890625,
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100.634765625,
55.546875,
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31.9921875
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[
104.23828125,
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84.638671875,
70.224609375,
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100.72265625,
104.765625,
94.04296875,
60.8203125,
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[
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72.509765625,
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102.65625,
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88.76953125,
65.478515625,
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31.81640625
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[
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104.853515625,
97.20703125,
84.814453125,
68.994140625,
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31.81640625
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[
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92.109375,
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106.611328125,
94.5703125,
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72.0703125,
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[
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76.81640625,
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108.369140625,
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[
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110.126953125,
90.703125,
82.08984375,
76.025390625,
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[
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79.013671875,
77.783203125,
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30.234375
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110.91796875,
89.6484375,
82.08984375,
76.640625,
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31.2890625
] | 1.1 | 22 | 0 | 22 | 0 |
[
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87.1875,
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77.87109375,
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111.62109375,
88.59375,
82.001953125,
77.080078125,
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] | 1.15 | 23 | 0 | 23 | 0 |
[
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79.013671875,
77.87109375,
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30.234375
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112.236328125,
87.099609375,
82.001953125,
77.34375,
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] | 1.2 | 24 | 0 | 24 | 0 |
[
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84.7265625,
78.837890625,
77.87109375,
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30.146484375
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112.763671875,
85.95703125,
82.001953125,
77.431640625,
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30.76171875
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[
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78.662109375,
77.87109375,
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29.53125
] | [
113.203125,
84.462890625,
82.001953125,
77.431640625,
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30.673828125
] | 1.3 | 26 | 0 | 26 | 0 |
[
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78.3984375,
77.87109375,
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29.53125
] | [
113.5546875,
83.3203125,
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77.431640625,
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30.05859375
] | 1.35 | 27 | 0 | 27 | 0 |
[
114.873046875,
80.419921875,
77.958984375,
77.783203125,
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29.53125
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113.90625,
81.9140625,
82.001953125,
77.431640625,
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30.05859375
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[
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77.34375,
77.783203125,
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29.53125
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114.2578125,
80.5078125,
82.001953125,
77.431640625,
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29.970703125
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[
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77.783203125,
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29.53125
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114.521484375,
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77.431640625,
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29.970703125
] | 1.5 | 30 | 0 | 30 | 0 |
[
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76.2890625,
75.05859375,
77.87109375,
-58.18359375,
29.443359375
] | [
114.9609375,
77.783203125,
80.244140625,
77.431640625,
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29.970703125
] | 1.55 | 31 | 0 | 31 | 0 |
[
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73.828125,
77.958984375,
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29.443359375
] | [
115.400390625,
76.11328125,
77.87109375,
77.431640625,
-57.744140625,
29.8828125
] | 1.6 | 32 | 0 | 32 | 0 |
[
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73.212890625,
73.125,
77.958984375,
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29.443359375
] | [
115.576171875,
74.70703125,
76.728515625,
77.51953125,
-57.744140625,
29.8828125
] | 1.65 | 33 | 0 | 33 | 0 |
[
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72.0703125,
72.7734375,
77.958984375,
-58.095703125,
29.443359375
] | [
115.576171875,
73.30078125,
76.025390625,
77.51953125,
-57.744140625,
29.8828125
] | 1.7 | 34 | 0 | 34 | 0 |
[
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71.19140625,
72.685546875,
77.958984375,
-58.18359375,
29.35546875
] | [
115.6640625,
71.982421875,
75.9375,
77.51953125,
-57.744140625,
29.8828125
] | 1.75 | 35 | 0 | 35 | 0 |
[
116.806640625,
70.224609375,
72.685546875,
77.958984375,
-58.359375,
27.94921875
] | [
115.751953125,
70.83984375,
75.9375,
77.51953125,
-57.744140625,
29.794921875
] | 1.8 | 36 | 0 | 36 | 0 |
[
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69.43359375,
72.685546875,
77.783203125,
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27.7734375
] | [
115.927734375,
69.9609375,
75.9375,
77.51953125,
-57.744140625,
29.00390625
] | 1.85 | 37 | 0 | 37 | 0 |
[
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68.90625,
72.685546875,
77.783203125,
-58.271484375,
26.89453125
] | [
116.19140625,
69.169921875,
75.9375,
77.51953125,
-57.744140625,
28.30078125
] | 1.9 | 38 | 0 | 38 | 0 |
[
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68.5546875,
72.685546875,
77.87109375,
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25.48828125
] | [
116.71875,
68.5546875,
76.025390625,
77.51953125,
-57.83203125,
27.333984375
] | 1.95 | 39 | 0 | 39 | 0 |
[
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68.291015625,
72.685546875,
77.87109375,
-58.095703125,
23.203125
] | [
116.982421875,
68.466796875,
75.9375,
77.51953125,
-57.744140625,
26.3671875
] | 2 | 40 | 0 | 40 | 0 |
[
118.125,
67.939453125,
72.685546875,
77.87109375,
-57.83203125,
20.126953125
] | [
117.158203125,
68.115234375,
75.849609375,
77.51953125,
-57.744140625,
24.609375
] | 2.05 | 41 | 0 | 41 | 0 |
[
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67.587890625,
72.685546875,
77.87109375,
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17.2265625
] | [
117.24609375,
67.67578125,
75.498046875,
77.51953125,
-57.744140625,
22.412109375
] | 2.1 | 42 | 0 | 42 | 0 |
[
118.125,
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72.685546875,
77.783203125,
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13.0078125
] | [
117.421875,
67.5,
75.322265625,
77.51953125,
-57.744140625,
19.51171875
] | 2.15 | 43 | 0 | 43 | 0 |
[
118.125,
67.1484375,
72.685546875,
77.783203125,
-57.392578125,
11.07421875
] | [
117.59765625,
67.236328125,
75.234375,
77.51953125,
-57.65625,
15.8203125
] | 2.2 | 44 | 0 | 44 | 0 |
[
118.125,
67.236328125,
72.685546875,
77.783203125,
-56.953125,
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] | [
117.685546875,
66.97265625,
75.234375,
77.51953125,
-57.65625,
15.29296875
] | 2.25 | 45 | 0 | 45 | 0 |
[
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67.412109375,
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77.783203125,
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] | [
117.685546875,
66.97265625,
75.05859375,
77.51953125,
-57.568359375,
15.205078125
] | 2.3 | 46 | 0 | 46 | 0 |
[
118.212890625,
68.466796875,
72.59765625,
78.310546875,
-56.6015625,
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] | [
117.685546875,
66.97265625,
74.794921875,
77.51953125,
-57.392578125,
15.205078125
] | 2.35 | 47 | 0 | 47 | 0 |
[
118.037109375,
70.400390625,
72.509765625,
79.453125,
-56.337890625,
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] | [
117.685546875,
66.97265625,
74.70703125,
77.51953125,
-57.216796875,
15.205078125
] | 2.4 | 48 | 0 | 48 | 0 |
[
117.24609375,
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72.59765625,
80.859375,
-55.810546875,
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] | [
117.685546875,
67.587890625,
74.794921875,
77.6953125,
-56.865234375,
15.205078125
] | 2.45 | 49 | 0 | 49 | 0 |
[
115.6640625,
77.080078125,
72.59765625,
82.353515625,
-55.107421875,
4.482421875
] | [
117.509765625,
69.08203125,
74.8828125,
78.22265625,
-56.513671875,
15.205078125
] | 2.5 | 50 | 0 | 50 | 0 |
[
113.115234375,
80.947265625,
72.59765625,
83.3203125,
-54.31640625,
4.39453125
] | [
116.806640625,
71.630859375,
74.8828125,
79.189453125,
-56.25,
15.205078125
] | 2.55 | 51 | 0 | 51 | 0 |
[
109.248046875,
84.638671875,
72.59765625,
83.759765625,
-53.349609375,
4.39453125
] | [
115.048828125,
75.234375,
74.794921875,
80.419921875,
-55.72265625,
15.205078125
] | 2.6 | 52 | 0 | 52 | 0 |
[
104.23828125,
88.2421875,
72.59765625,
83.759765625,
-52.55859375,
4.39453125
] | [
112.1484375,
79.453125,
74.8828125,
81.5625,
-55.01953125,
15.205078125
] | 2.65 | 53 | 0 | 53 | 0 |
[
98.349609375,
91.318359375,
72.421875,
83.49609375,
-51.6796875,
4.39453125
] | [
108.017578125,
83.3203125,
74.794921875,
82.265625,
-54.140625,
15.205078125
] | 2.7 | 54 | 0 | 54 | 0 |
[
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72.421875,
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] | [
102.919921875,
86.8359375,
74.794921875,
82.6171875,
-53.26171875,
15.205078125
] | 2.75 | 55 | 0 | 55 | 0 |
[
85.517578125,
96.064453125,
72.421875,
82.353515625,
-49.658203125,
4.39453125
] | [
95.185546875,
90.87890625,
74.794921875,
82.6171875,
-51.943359375,
15.205078125
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[
79.1015625,
97.734375,
72.509765625,
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4.39453125
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89.736328125,
92.98828125,
74.794921875,
82.705078125,
-50.9765625,
15.205078125
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[
72.685546875,
98.7890625,
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81.5625,
-50.185546875,
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84.0234375,
94.833984375,
74.8828125,
82.705078125,
-50.185546875,
15.205078125
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[
66.708984375,
99.228515625,
72.509765625,
80.419921875,
-51.6796875,
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77.783203125,
96.15234375,
74.8828125,
82.6171875,
-50.009765625,
15.205078125
] | 2.95 | 59 | 0 | 59 | 0 |
[
62.138671875,
99.84375,
72.509765625,
79.453125,
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] | [
71.71875,
97.03125,
74.8828125,
82.265625,
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15.205078125
] | 3 | 60 | 0 | 60 | 0 |
[
57.744140625,
99.84375,
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64.775390625,
97.822265625,
74.8828125,
81.650390625,
-51.15234375,
15.205078125
] | 3.05 | 61 | 0 | 61 | 0 |
[
54.052734375,
99.31640625,
72.861328125,
78.837890625,
-55.01953125,
4.482421875
] | [
60.8203125,
97.998046875,
74.8828125,
81.38671875,
-51.943359375,
15.205078125
] | 3.1 | 62 | 0 | 62 | 0 |
[
51.416015625,
97.734375,
73.30078125,
78.22265625,
-55.283203125,
4.482421875
] | [
56.953125,
97.91015625,
74.8828125,
81.38671875,
-52.91015625,
15.205078125
] | 3.15 | 63 | 0 | 63 | 0 |
[
49.04296875,
96.15234375,
73.740234375,
77.51953125,
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] | [
53.61328125,
97.470703125,
74.8828125,
81.2109375,
-53.7890625,
15.205078125
] | 3.2 | 64 | 0 | 64 | 0 |
[
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74.970703125,
76.11328125,
-55.8984375,
4.482421875
] | [
50.9765625,
96.6796875,
74.8828125,
80.68359375,
-54.31640625,
15.205078125
] | 3.25 | 65 | 0 | 65 | 0 |
[
46.40625,
93.69140625,
76.376953125,
74.70703125,
-56.513671875,
4.5703125
] | [
48.515625,
95.009765625,
75.9375,
79.453125,
-54.931640625,
15.205078125
] | 3.3 | 66 | 0 | 66 | 0 |
[
45.703125,
92.4609375,
78.486328125,
71.982421875,
-56.337890625,
4.5703125
] | [
47.548828125,
93.779296875,
77.431640625,
78.3984375,
-55.37109375,
15.205078125
] | 3.35 | 67 | 0 | 67 | 0 |
[
45.439453125,
91.0546875,
80.068359375,
69.9609375,
-56.162109375,
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] | [
46.7578125,
92.63671875,
79.62890625,
76.81640625,
-55.634765625,
15.205078125
] | 3.4 | 68 | 0 | 68 | 0 |
[
45.263671875,
89.560546875,
82.177734375,
68.02734375,
-56.337890625,
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] | [
46.23046875,
91.23046875,
81.2109375,
74.8828125,
-55.72265625,
15.205078125
] | 3.45 | 69 | 0 | 69 | 0 |
[
45.263671875,
88.9453125,
84.7265625,
65.390625,
-56.162109375,
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] | [
45.87890625,
89.736328125,
83.408203125,
72.509765625,
-55.72265625,
15.205078125
] | 3.5 | 70 | 0 | 70 | 0 |
[
45.3515625,
88.681640625,
86.923828125,
63.369140625,
-56.162109375,
4.5703125
] | [
45.791015625,
88.681640625,
85.693359375,
70.048828125,
-55.72265625,
15.205078125
] | 3.55 | 71 | 0 | 71 | 0 |
[
45.3515625,
88.681640625,
89.12109375,
61.259765625,
-56.337890625,
4.5703125
] | [
45.791015625,
88.2421875,
88.857421875,
67.060546875,
-55.72265625,
15.205078125
] | 3.6 | 72 | 0 | 72 | 0 |
[
45.439453125,
88.681640625,
90.703125,
59.94140625,
-56.337890625,
4.5703125
] | [
45.791015625,
88.2421875,
90.3515625,
65.21484375,
-55.72265625,
15.205078125
] | 3.65 | 73 | 0 | 73 | 0 |
[
45.439453125,
88.681640625,
92.28515625,
58.18359375,
-56.337890625,
4.5703125
] | [
45.791015625,
88.2421875,
91.58203125,
63.45703125,
-55.72265625,
15.205078125
] | 3.7 | 74 | 0 | 74 | 0 |
[
45.52734375,
88.505859375,
93.427734375,
56.25,
-56.162109375,
4.5703125
] | [
45.703125,
88.2421875,
93.076171875,
61.69921875,
-55.72265625,
15.205078125
] | 3.75 | 75 | 0 | 75 | 0 |
[
45.439453125,
87.802734375,
94.130859375,
54.755859375,
-56.162109375,
4.658203125
] | [
45.703125,
88.2421875,
94.39453125,
60.1171875,
-55.72265625,
15.205078125
] | 3.8 | 76 | 0 | 76 | 0 |
[
45.439453125,
87.1875,
94.306640625,
54.052734375,
-56.162109375,
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] | [
45.703125,
87.71484375,
95.185546875,
58.53515625,
-55.72265625,
15.205078125
] | 3.85 | 77 | 0 | 77 | 0 |
[
45.3515625,
86.8359375,
94.306640625,
53.701171875,
-56.07421875,
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] | [
45.703125,
86.8359375,
95.361328125,
57.216796875,
-55.72265625,
15.205078125
] | 3.9 | 78 | 0 | 78 | 0 |
[
45.17578125,
86.484375,
94.39453125,
52.998046875,
-56.07421875,
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] | [
45.703125,
86.572265625,
95.44921875,
56.07421875,
-55.72265625,
15.205078125
] | 3.95 | 79 | 0 | 79 | 0 |
[
44.736328125,
86.1328125,
94.482421875,
52.3828125,
-56.07421875,
4.921875
] | [
45.615234375,
86.30859375,
95.361328125,
55.546875,
-55.72265625,
15.205078125
] | 4 | 80 | 0 | 80 | 0 |
[
44.560546875,
85.166015625,
94.658203125,
51.328125,
-55.986328125,
4.921875
] | [
45.439453125,
85.869140625,
95.361328125,
54.931640625,
-55.72265625,
15.205078125
] | 4.05 | 81 | 0 | 81 | 0 |
[
44.384765625,
84.0234375,
94.658203125,
50.80078125,
-56.07421875,
5.185546875
] | [
45.263671875,
85.166015625,
95.625,
54.31640625,
-55.72265625,
15.205078125
] | 4.1 | 82 | 0 | 82 | 0 |
[
44.033203125,
83.49609375,
94.833984375,
50.712890625,
-55.986328125,
5.712890625
] | [
45.263671875,
84.0234375,
95.712890625,
53.61328125,
-55.72265625,
15.205078125
] | 4.15 | 83 | 0 | 83 | 0 |
[
43.681640625,
83.49609375,
95.185546875,
50.712890625,
-56.162109375,
5.888671875
] | [
44.912109375,
82.96875,
95.888671875,
52.998046875,
-55.72265625,
15.205078125
] | 4.2 | 84 | 0 | 84 | 0 |
[
43.681640625,
83.671875,
95.712890625,
50.712890625,
-56.337890625,
6.591796875
] | [
44.47265625,
82.96875,
95.9765625,
52.91015625,
-55.72265625,
15.205078125
] | 4.25 | 85 | 0 | 85 | 0 |
[
43.681640625,
83.759765625,
95.9765625,
50.80078125,
-55.72265625,
12.919921875
] | [
44.384765625,
82.96875,
96.416015625,
52.734375,
-55.72265625,
15.205078125
] | 4.3 | 86 | 0 | 86 | 0 |
[
43.505859375,
83.671875,
96.328125,
51.15234375,
-54.84375,
30.5859375
] | [
44.47265625,
82.96875,
96.767578125,
52.734375,
-55.72265625,
15.205078125
] | 4.35 | 87 | 0 | 87 | 0 |
[
43.41796875,
83.583984375,
96.85546875,
51.943359375,
-55.72265625,
40.4296875
] | [
44.384765625,
82.96875,
97.119140625,
52.734375,
-55.72265625,
19.16015625
] | 4.4 | 88 | 0 | 88 | 0 |
[
43.505859375,
84.814453125,
97.646484375,
53.525390625,
-56.77734375,
39.19921875
] | [
44.208984375,
82.96875,
97.470703125,
52.734375,
-55.72265625,
30.146484375
] | 4.45 | 89 | 0 | 89 | 0 |
[
43.59375,
87.01171875,
98.349609375,
55.283203125,
-56.953125,
36.73828125
] | [
44.296875,
83.14453125,
98.61328125,
53.173828125,
-55.986328125,
37.705078125
] | 4.5 | 90 | 0 | 90 | 0 |
[
44.47265625,
90,
99.4921875,
57.48046875,
-56.865234375,
35.419921875
] | [
44.296875,
83.935546875,
99.228515625,
53.7890625,
-56.25,
37.353515625
] | 4.55 | 91 | 0 | 91 | 0 |
[
46.494140625,
94.04296875,
101.162109375,
60.380859375,
-55.72265625,
35.15625
] | [
44.47265625,
85.869140625,
100.283203125,
55.01953125,
-56.337890625,
36.298828125
] | 4.6 | 92 | 0 | 92 | 0 |
[
49.921875,
99.580078125,
104.0625,
61.611328125,
-52.119140625,
35.068359375
] | [
45.3515625,
89.208984375,
102.12890625,
57.041015625,
-56.162109375,
35.859375
] | 4.65 | 93 | 0 | 93 | 0 |
[
54.580078125,
106.34765625,
106.787109375,
62.314453125,
-46.58203125,
35.068359375
] | [
47.373046875,
93.69140625,
105.1171875,
58.974609375,
-55.01953125,
35.68359375
] | 4.7 | 94 | 0 | 94 | 0 |
[
60.64453125,
112.412109375,
108.6328125,
62.841796875,
-38.84765625,
35.068359375
] | [
52.119140625,
101.07421875,
108.6328125,
61.69921875,
-50.9765625,
35.68359375
] | 4.75 | 95 | 0 | 95 | 0 |
[
66.4453125,
116.54296875,
109.3359375,
62.9296875,
-32.16796875,
35.068359375
] | [
56.25,
106.69921875,
109.51171875,
62.2265625,
-46.142578125,
35.68359375
] | 4.8 | 96 | 0 | 96 | 0 |
[
72.59765625,
118.916015625,
109.599609375,
63.017578125,
-25.83984375,
35.068359375
] | [
61.611328125,
111.796875,
110.21484375,
62.9296875,
-39.990234375,
35.68359375
] | 4.85 | 97 | 0 | 97 | 0 |
[
78.134765625,
119.443359375,
109.6875,
61.171875,
-16.611328125,
35.068359375
] | [
67.587890625,
115.83984375,
110.478515625,
63.10546875,
-33.3984375,
35.68359375
] | 4.9 | 98 | 0 | 98 | 0 |
[
82.44140625,
119.267578125,
109.86328125,
58.0078125,
-7.91015625,
35.15625
] | [
73.564453125,
117.94921875,
110.7421875,
62.9296875,
-26.279296875,
35.68359375
] | 4.95 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 30,
"total_frames": 7090,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:30"
},
"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.webcam_0": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.webcam_1": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"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": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
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