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action
sequence | observation.state
sequence | timestamp
float32 0
9.83
| frame_index
int64 0
295
| episode_index
int64 0
2
| index
int64 0
379
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
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130.60546875,
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[
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3.33984375,
130.60546875,
175.078125,
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33.57421875
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[
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136.7578125,
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3.427734375,
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3.33984375,
130.60546875,
175.078125,
2.373046875,
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33.57421875
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[
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136.7578125,
178.41796875,
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3.33984375,
130.60546875,
174.990234375,
2.373046875,
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33.57421875
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[
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178.41796875,
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3.33984375,
130.60546875,
174.990234375,
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[
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3.33984375,
130.60546875,
175.078125,
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33.57421875
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[
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136.7578125,
178.41796875,
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3.33984375,
130.60546875,
175.078125,
2.373046875,
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[
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136.7578125,
178.41796875,
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3.33984375,
130.60546875,
175.078125,
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[
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136.7578125,
178.41796875,
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130.60546875,
175.078125,
2.373046875,
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[
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136.7578125,
178.41796875,
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3.33984375,
130.60546875,
175.078125,
2.373046875,
7.646484375,
33.57421875
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[
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136.7578125,
178.41796875,
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3.33984375,
130.60546875,
175.078125,
2.373046875,
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[
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136.7578125,
178.41796875,
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13.0078125,
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130.60546875,
175.078125,
2.373046875,
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33.57421875
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[
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136.7578125,
178.41796875,
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130.60546875,
175.078125,
2.373046875,
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[
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136.7578125,
178.41796875,
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3.33984375,
130.60546875,
175.078125,
2.373046875,
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33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
13.0078125,
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3.33984375,
130.60546875,
175.078125,
2.373046875,
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33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.60546875,
174.990234375,
2.373046875,
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[
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136.7578125,
178.41796875,
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3.33984375,
130.60546875,
175.078125,
2.373046875,
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[
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136.7578125,
178.41796875,
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3.33984375,
130.517578125,
175.25390625,
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[
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130.517578125,
175.25390625,
2.197265625,
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33.57421875
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[
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136.7578125,
178.41796875,
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130.517578125,
175.25390625,
2.197265625,
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[
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136.7578125,
178.41796875,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
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[
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136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.133333 | 4 | 1 | 21 | 0 |
[
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136.7578125,
178.41796875,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
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33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
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[
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136.7578125,
178.41796875,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.233333 | 7 | 1 | 24 | 0 |
[
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136.7578125,
178.41796875,
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130.517578125,
175.25390625,
2.197265625,
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33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
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34.365234375
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.333333 | 10 | 1 | 27 | 0 |
[
3.8671875,
136.669921875,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.366667 | 11 | 1 | 28 | 0 |
[
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136.7578125,
178.41796875,
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13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
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130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.433333 | 13 | 1 | 30 | 0 |
[
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136.7578125,
178.41796875,
3.427734375,
13.0078125,
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130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
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[
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136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.533333 | 16 | 1 | 33 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.566667 | 17 | 1 | 34 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.6 | 18 | 1 | 35 | 0 |
[
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136.7578125,
178.41796875,
3.427734375,
13.0078125,
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130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.633333 | 19 | 1 | 36 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.666667 | 20 | 1 | 37 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.7 | 21 | 1 | 38 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.733333 | 22 | 1 | 39 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.766667 | 23 | 1 | 40 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.8 | 24 | 1 | 41 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.833333 | 25 | 1 | 42 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.866667 | 26 | 1 | 43 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.9 | 27 | 1 | 44 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.933333 | 28 | 1 | 45 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.966667 | 29 | 1 | 46 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1 | 30 | 1 | 47 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.033333 | 31 | 1 | 48 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 1.066667 | 32 | 1 | 49 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.1 | 33 | 1 | 50 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 1.133333 | 34 | 1 | 51 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.166667 | 35 | 1 | 52 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.2 | 36 | 1 | 53 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.233333 | 37 | 1 | 54 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.266667 | 38 | 1 | 55 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.3 | 39 | 1 | 56 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.333333 | 40 | 1 | 57 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 1.366667 | 41 | 1 | 58 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.4 | 42 | 1 | 59 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.433333 | 43 | 1 | 60 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 1.466667 | 44 | 1 | 61 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.5 | 45 | 1 | 62 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.533333 | 46 | 1 | 63 | 0 |
[
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136.7578125,
178.41796875,
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130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 1.566667 | 47 | 1 | 64 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.6 | 48 | 1 | 65 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 1.633333 | 49 | 1 | 66 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.666667 | 50 | 1 | 67 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.7 | 51 | 1 | 68 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.733333 | 52 | 1 | 69 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.766667 | 53 | 1 | 70 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.8 | 54 | 1 | 71 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.833333 | 55 | 1 | 72 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.866667 | 56 | 1 | 73 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
12.919921875,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.9 | 57 | 1 | 74 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.933333 | 58 | 1 | 75 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 1.966667 | 59 | 1 | 76 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 2 | 60 | 1 | 77 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 2.033333 | 61 | 1 | 78 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 2.066667 | 62 | 1 | 79 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
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34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 2.1 | 63 | 1 | 80 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 2.133333 | 64 | 1 | 81 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 2.166667 | 65 | 1 | 82 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 2.2 | 66 | 1 | 83 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0 | 0 | 2 | 84 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
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34.365234375
] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.033333 | 1 | 2 | 85 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
34.365234375
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.066667 | 2 | 2 | 86 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.1 | 3 | 2 | 87 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.133333 | 4 | 2 | 88 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.166667 | 5 | 2 | 89 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.2 | 6 | 2 | 90 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
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] | [
3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.233333 | 7 | 2 | 91 | 0 |
[
3.955078125,
136.7578125,
178.41796875,
3.427734375,
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] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.266667 | 8 | 2 | 92 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.3 | 9 | 2 | 93 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
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] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.333333 | 10 | 2 | 94 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.366667 | 11 | 2 | 95 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.4 | 12 | 2 | 96 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
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] | [
3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.433333 | 13 | 2 | 97 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
13.0078125,
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3.33984375,
130.517578125,
175.25390625,
2.197265625,
8.0859375,
33.57421875
] | 0.466667 | 14 | 2 | 98 | 0 |
[
3.8671875,
136.7578125,
178.41796875,
3.427734375,
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3.33984375,
130.517578125,
175.166015625,
2.197265625,
8.0859375,
33.57421875
] | 0.5 | 15 | 2 | 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": 3,
"total_frames": 380,
"total_tasks": 1,
"total_videos": 9,
"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.camara_01": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
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}
},
"observation.images.camara_02": {
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640,
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],
"names": [
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],
"info": {
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}
},
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"has_audio": false
}
},
"timestamp": {
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"shape": [
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"names": null
},
"frame_index": {
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},
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"index": {
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},
"task_index": {
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],
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}
}
}
Citation
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