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LIBERO_PIHaus

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observation.images.image
image
observation.images.wrist_image
image
observation.images.image_depth
image
observation.images.wrist_depth
image
observation.images.image_mask
image
observation.images.wrist_mask
image
observation.images.object_of_interest_mask
image
observation.images.object_of_interest_wrist_mask
image
observation.state
list
observation.states.ee_state
list
observation.states.joint_state
list
observation.states.gripper_state
list
action
list
ooi_mapping
string
ooi
string
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
0
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0.1
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0.2
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
0.5
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
0.6
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0.8
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
0.9
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1.1
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1.2
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1.3
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1.4
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1.5
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
1.6
16
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
1.7
17
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
1.8
18
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18
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
1.9
19
0
19
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2
20
0
20
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.1
21
0
21
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.2
22
0
22
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.3
23
0
23
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.4
24
0
24
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.5
25
0
25
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.6
26
0
26
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.7
27
0
27
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.8
28
0
28
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
2.9
29
0
29
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3
30
0
30
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.1
31
0
31
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.2
32
0
32
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.3
33
0
33
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.4
34
0
34
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.5
35
0
35
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.6
36
0
36
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.7
37
0
37
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.8
38
0
38
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
3.9
39
0
39
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4
40
0
40
0
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[ 0, 0, -0.4419642984867096, 0.024642856791615486, -0.14678572118282318, -0.18642857670783997, 1 ]
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.1
41
0
41
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.2
42
0
42
0
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[ 0, 0, -0.4821428656578064, 0.014999999664723873, -0.1574999988079071, -0.1435714215040207, 1 ]
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.3
43
0
43
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.4
44
0
44
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.5
45
0
45
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.6
46
0
46
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.7
47
0
47
0
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[ 0, 0, -0.5062500238418579, 0.02678571455180645, -0.1371428519487381, -0.09428571164608002, 1 ]
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.8
48
0
48
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
4.9
49
0
49
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5
50
0
50
0
[ -0.029095835983753204, -0.044584136456251144, 1.0729519128799438, 2.8660452365875244, -1.5927214622497559, 0.16353371739387512, 0.03991791978478432, -0.03983557969331741 ]
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.1
51
0
51
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.2
52
0
52
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.3
53
0
53
0
[ -0.030238958075642586, -0.04491572827100754, 1.0523476600646973, 2.856339454650879, -1.6450920104980469, 0.21778644621372223, 0.03995226323604584, -0.03983170539140701 ]
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.4
54
0
54
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.5
55
0
55
0
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['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.6
56
0
56
0
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{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.7
57
0
57
0
[ -0.02921987511217594, -0.04643872752785683, 1.0251027345657349, 2.831511974334717, -1.7048267126083374, 0.2588813602924347, 0.03999904915690422, -0.03981972858309746 ]
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[ 0.03999904915690422, -0.03981972858309746 ]
[ 0.18482142686843872, -0.0401785708963871, -0.36964285373687744, 0.012857142835855484, 0.0010714285308495164, -0.07821428775787354, 1 ]
{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.8
58
0
58
0
[ -0.028017682954669, -0.04687773063778877, 1.0190421342849731, 2.8243072032928467, -1.7191754579544067, 0.2652240991592407, 0.040005408227443695, -0.03981632739305496 ]
[ -0.028017682954669, -0.04687773063778877, 1.0190421342849731, 2.8243072032928467, -1.7191754579544067, 0.2652240991592407 ]
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[ 0.040005408227443695, -0.03981632739305496 ]
[ 0.18214285373687744, -0.04285714402794838, -0.35624998807907104, 0.012857142835855484, 0.009642857126891613, -0.0771428570151329, 1 ]
{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
5.9
59
0
59
0
[ -0.026694176718592644, -0.04739387705922127, 1.01323664188385, 2.8168163299560547, -1.7333405017852783, 0.26969099044799805, 0.0400075800716877, -0.03981339558959007 ]
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[ 0.1607142835855484, -0.04285714402794838, -0.34017857909202576, 0.010714286006987095, 0.013928571715950966, -0.07285714149475098, 1 ]
{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6
60
0
60
0
[ -0.025402016937732697, -0.04800772666931152, 1.007704734802246, 2.809176206588745, -1.746777892112732, 0.27219632267951965, 0.04000864177942276, -0.03981064260005951 ]
[ -0.025402016937732697, -0.04800772666931152, 1.007704734802246, 2.809176206588745, -1.746777892112732, 0.27219632267951965 ]
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[ 0.04000864177942276, -0.03981064260005951 ]
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{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6.1
61
0
61
0
[ -0.024153631180524826, -0.04865904152393341, 1.002495288848877, 2.8015499114990234, -1.7594196796417236, 0.2731561064720154, 0.040009260177612305, -0.03980780765414238 ]
[ -0.024153631180524826, -0.04865904152393341, 1.002495288848877, 2.8015499114990234, -1.7594196796417236, 0.2731561064720154 ]
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[ 0.13928571343421936, -0.03482142835855484, -0.3187499940395355, 0.010714286006987095, 0.01607142947614193, -0.06964285671710968, 1 ]
{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6.2
62
0
62
0
[ -0.022888783365488052, -0.049284808337688446, 0.9975871443748474, 2.793956756591797, -1.7715924978256226, 0.2730873227119446, 0.04000964015722275, -0.039804939180612564 ]
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{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6.3
63
0
63
0
[ -0.021609576418995857, -0.049813564866781235, 0.9929057359695435, 2.7864768505096436, -1.7833117246627808, 0.27230772376060486, 0.04000982269644737, -0.03980220854282379 ]
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{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6.4
64
0
64
0
[ -0.020360518246889114, -0.050240084528923035, 0.9884129166603088, 2.7791693210601807, -1.79448401927948, 0.27109402418136597, 0.040009863674640656, -0.039799708873033524 ]
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{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6.5
65
0
65
0
[ -0.019154297187924385, -0.05062470585107803, 0.9840345978736877, 2.7719197273254395, -1.8052488565444946, 0.2696150541305542, 0.040009841322898865, -0.03979741781949997 ]
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[ 0.040009841322898865, -0.03979741781949997 ]
[ 0.11517857015132904, -0.02142857201397419, -0.31607142090797424, 0.010714286006987095, 0.019285714253783226, -0.061071429401636124, 1 ]
{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6.6
66
0
66
0
[ -0.017965326085686684, -0.0509735606610775, 0.9796271920204163, 2.7646517753601074, -1.8157321214675903, 0.2675933241844177, 0.04000981152057648, -0.03979526087641716 ]
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{'akita_black_bowl_1': 1, 'wine_bottle_1': 2, 'white_cabinet_1': 3, 'wine_rack_1': 4, 'MountedPanda0': 5, 'background': 0, 'gripper': 7}
['akita_black_bowl_1', 'white_cabinet_1', 'gripper']
6.7
67
0
67
0
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