Datasets:
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action list | observation.state list | timestamp float32 0 14.9 | frame_index int64 0 447 | episode_index int64 0 24 | index int64 0 11.2k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
[
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107.578125,
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0.615234375,
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77.6953125,
107.314453125,
94.21875,
32.255859375
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[
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0.615234375,
83.3203125,
77.6953125,
107.314453125,
94.21875,
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[
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0.703125,
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107.314453125,
94.21875,
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[
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0.615234375,
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77.6953125,
107.314453125,
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[
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0.615234375,
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77.6953125,
107.314453125,
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[
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0.615234375,
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[
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0.615234375,
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77.6953125,
107.314453125,
94.21875,
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[
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0.615234375,
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77.6953125,
107.314453125,
94.21875,
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[
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[
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0.615234375,
83.3203125,
77.6953125,
107.314453125,
94.21875,
32.255859375
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[
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0.615234375,
83.232421875,
77.6953125,
107.314453125,
94.21875,
32.255859375
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[
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0.615234375,
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77.6953125,
107.314453125,
94.21875,
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[
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0.615234375,
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77.6953125,
107.314453125,
94.21875,
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[
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0.615234375,
83.3203125,
77.6953125,
107.314453125,
94.21875,
32.255859375
] | 0.433333 | 13 | 0 | 13 | 0 |
[
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0.615234375,
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77.6953125,
107.314453125,
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[
0.615234375,
83.583984375,
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] | [
0.615234375,
83.232421875,
77.6953125,
107.314453125,
94.21875,
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[
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107.578125,
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0.615234375,
83.232421875,
77.6953125,
107.314453125,
94.21875,
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[
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107.578125,
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0.615234375,
83.3203125,
77.6953125,
107.314453125,
94.21875,
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[
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77.6953125,
107.314453125,
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[
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83.3203125,
77.6953125,
107.314453125,
94.21875,
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[
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0.615234375,
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77.6953125,
107.314453125,
94.21875,
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[
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77.6953125,
107.314453125,
94.21875,
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[
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] | [
0.615234375,
83.3203125,
77.6953125,
107.314453125,
94.21875,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
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0.615234375,
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77.6953125,
107.314453125,
94.21875,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
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0.615234375,
83.232421875,
77.6953125,
107.314453125,
94.21875,
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[
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] | [
0.615234375,
83.3203125,
77.6953125,
107.314453125,
94.21875,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
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107.578125,
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83.3203125,
77.6953125,
107.314453125,
94.21875,
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] | 0.866667 | 26 | 0 | 26 | 0 |
[
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107.314453125,
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[
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107.314453125,
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[
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83.583984375,
75.9375,
107.578125,
94.39453125,
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] | [
0.615234375,
83.3203125,
77.6953125,
107.314453125,
94.21875,
32.255859375
] | 0.966667 | 29 | 0 | 29 | 0 |
[
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83.583984375,
76.025390625,
107.578125,
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] | [
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83.3203125,
77.6953125,
107.314453125,
94.21875,
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[
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76.025390625,
107.578125,
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77.6953125,
107.314453125,
94.21875,
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[
0.703125,
83.583984375,
76.025390625,
107.578125,
94.130859375,
33.57421875
] | [
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83.3203125,
77.6953125,
107.314453125,
94.21875,
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[
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76.025390625,
107.578125,
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33.57421875
] | [
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83.3203125,
77.6953125,
107.314453125,
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[
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76.025390625,
107.666015625,
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107.314453125,
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[
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76.025390625,
108.10546875,
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33.662109375
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83.3203125,
77.6953125,
107.314453125,
94.130859375,
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[
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85.693359375,
76.201171875,
108.45703125,
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33.662109375
] | [
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83.3203125,
77.6953125,
107.314453125,
94.130859375,
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] | 1.2 | 36 | 0 | 36 | 0 |
[
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86.748046875,
76.46484375,
108.720703125,
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83.49609375,
77.6953125,
107.314453125,
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] | 1.233333 | 37 | 0 | 37 | 0 |
[
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87.890625,
76.728515625,
108.720703125,
94.306640625,
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] | [
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83.84765625,
77.6953125,
107.314453125,
94.130859375,
32.255859375
] | 1.266667 | 38 | 0 | 38 | 0 |
[
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88.857421875,
76.728515625,
108.720703125,
94.306640625,
33.57421875
] | [
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84.638671875,
77.6953125,
107.314453125,
94.130859375,
32.255859375
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[
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76.640625,
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] | [
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107.314453125,
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[
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76.46484375,
108.720703125,
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107.314453125,
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[
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76.11328125,
108.720703125,
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] | [
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107.314453125,
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[
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[
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77.6953125,
107.40234375,
94.130859375,
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[
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74.00390625,
109.6875,
94.39453125,
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0.615234375,
90.3515625,
77.6953125,
107.40234375,
94.21875,
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[
0.703125,
93.8671875,
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110.830078125,
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91.0546875,
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[
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71.19140625,
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[
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69.78515625,
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] | [
0.703125,
91.669921875,
75.322265625,
108.80859375,
94.21875,
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[
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109.86328125,
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[
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67.060546875,
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94.39453125,
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1.0546875,
91.7578125,
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94.21875,
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[
1.40625,
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] | [
1.142578125,
91.7578125,
70.576171875,
111.708984375,
94.21875,
32.255859375
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[
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93.955078125,
64.072265625,
116.103515625,
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112.5,
94.21875,
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[
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93.955078125,
62.314453125,
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1.40625,
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68.203125,
113.203125,
94.21875,
32.255859375
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[
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93.955078125,
60.556640625,
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94.21875,
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1.58203125,
91.7578125,
66.708984375,
113.90625,
94.21875,
32.255859375
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[
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93.955078125,
58.798828125,
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1.7578125,
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64.6875,
114.609375,
94.21875,
32.255859375
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[
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93.955078125,
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1.845703125,
91.845703125,
62.75390625,
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94.21875,
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[
2.373046875,
93.955078125,
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2.109375,
91.845703125,
60.99609375,
116.103515625,
94.04296875,
32.255859375
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[
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93.955078125,
54.755859375,
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2.28515625,
91.845703125,
59.765625,
116.54296875,
94.04296875,
32.255859375
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[
2.98828125,
93.955078125,
53.4375,
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2.4609375,
91.845703125,
58.623046875,
117.0703125,
94.04296875,
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[
3.251953125,
93.955078125,
52.20703125,
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2.8125,
91.845703125,
57.392578125,
117.509765625,
94.04296875,
32.255859375
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[
3.603515625,
93.955078125,
51.240234375,
120.849609375,
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2.900390625,
91.845703125,
56.07421875,
117.7734375,
94.04296875,
32.255859375
] | 2.033333 | 61 | 0 | 61 | 0 |
[
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93.8671875,
50.09765625,
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3.1640625,
91.845703125,
54.755859375,
118.125,
94.04296875,
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[
4.04296875,
93.8671875,
49.130859375,
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3.33984375,
91.845703125,
53.525390625,
118.30078125,
94.04296875,
32.255859375
] | 2.1 | 63 | 0 | 63 | 0 |
[
4.21875,
93.8671875,
48.251953125,
121.552734375,
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3.515625,
91.845703125,
52.470703125,
118.65234375,
94.04296875,
32.255859375
] | 2.133333 | 64 | 0 | 64 | 0 |
[
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3.603515625,
91.845703125,
51.591796875,
118.828125,
94.04296875,
32.255859375
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[
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50.9765625,
118.916015625,
93.955078125,
32.255859375
] | 2.2 | 66 | 0 | 66 | 0 |
[
5.009765625,
93.8671875,
46.0546875,
121.9921875,
93.69140625,
33.662109375
] | [
3.955078125,
91.845703125,
50.2734375,
119.00390625,
93.955078125,
32.255859375
] | 2.233333 | 67 | 0 | 67 | 0 |
[
5.185546875,
93.8671875,
45.52734375,
122.16796875,
93.779296875,
33.57421875
] | [
4.21875,
91.845703125,
49.658203125,
119.1796875,
93.8671875,
32.255859375
] | 2.266667 | 68 | 0 | 68 | 0 |
[
5.537109375,
93.8671875,
45.3515625,
122.16796875,
93.779296875,
33.57421875
] | [
4.5703125,
91.845703125,
49.130859375,
119.35546875,
93.779296875,
32.255859375
] | 2.3 | 69 | 0 | 69 | 0 |
[
5.9765625,
93.8671875,
45.263671875,
122.16796875,
93.69140625,
33.57421875
] | [
4.74609375,
91.845703125,
48.603515625,
119.443359375,
93.69140625,
32.255859375
] | 2.333333 | 70 | 0 | 70 | 0 |
[
6.416015625,
93.8671875,
45.087890625,
122.16796875,
93.779296875,
33.662109375
] | [
5.185546875,
91.845703125,
48.427734375,
119.53125,
93.69140625,
32.255859375
] | 2.366667 | 71 | 0 | 71 | 0 |
[
7.119140625,
93.8671875,
44.912109375,
122.16796875,
93.779296875,
33.662109375
] | [
5.625,
91.845703125,
48.427734375,
119.53125,
93.69140625,
32.255859375
] | 2.4 | 72 | 0 | 72 | 0 |
[
7.91015625,
93.8671875,
44.6484375,
122.16796875,
93.779296875,
33.662109375
] | [
6.15234375,
91.845703125,
48.427734375,
119.619140625,
93.69140625,
32.255859375
] | 2.433333 | 73 | 0 | 73 | 0 |
[
8.876953125,
93.779296875,
44.296875,
122.080078125,
93.779296875,
33.662109375
] | [
6.943359375,
91.845703125,
48.33984375,
119.619140625,
93.69140625,
32.255859375
] | 2.466667 | 74 | 0 | 74 | 0 |
[
9.84375,
93.515625,
44.12109375,
122.080078125,
93.8671875,
33.57421875
] | [
7.822265625,
91.845703125,
48.33984375,
119.619140625,
93.69140625,
32.255859375
] | 2.5 | 75 | 0 | 75 | 0 |
[
10.8984375,
93.076171875,
43.9453125,
121.9921875,
94.130859375,
33.57421875
] | [
8.701171875,
91.845703125,
48.427734375,
119.619140625,
93.69140625,
32.255859375
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[
11.953125,
92.724609375,
43.9453125,
121.904296875,
94.482421875,
33.3984375
] | [
9.66796875,
91.7578125,
48.076171875,
119.619140625,
93.779296875,
32.255859375
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[
13.095703125,
92.28515625,
43.9453125,
121.81640625,
95.888671875,
33.046875
] | [
10.634765625,
91.7578125,
47.4609375,
119.619140625,
93.8671875,
32.255859375
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[
14.0625,
91.669921875,
43.681640625,
121.728515625,
96.943359375,
32.958984375
] | [
11.865234375,
91.7578125,
47.109375,
119.70703125,
94.21875,
32.255859375
] | 2.633333 | 79 | 0 | 79 | 0 |
[
15.1171875,
91.0546875,
43.2421875,
121.640625,
97.91015625,
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13.0078125,
91.494140625,
47.109375,
119.70703125,
94.921875,
32.255859375
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[
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90.263671875,
43.06640625,
121.46484375,
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32.958984375
] | [
13.974609375,
91.142578125,
47.109375,
119.70703125,
95.888671875,
32.255859375
] | 2.7 | 81 | 0 | 81 | 0 |
[
17.138671875,
89.47265625,
42.5390625,
121.376953125,
101.337890625,
33.046875
] | [
14.853515625,
90.439453125,
47.109375,
119.70703125,
97.03125,
32.255859375
] | 2.733333 | 82 | 0 | 82 | 0 |
[
18.369140625,
88.59375,
41.748046875,
121.201171875,
102.568359375,
33.046875
] | [
15.908203125,
89.560546875,
46.845703125,
119.70703125,
98.4375,
32.255859375
] | 2.766667 | 83 | 0 | 83 | 0 |
[
19.423828125,
87.802734375,
40.78125,
121.201171875,
103.7109375,
33.046875
] | [
17.05078125,
88.681640625,
45.791015625,
119.70703125,
99.931640625,
32.255859375
] | 2.8 | 84 | 0 | 84 | 0 |
[
20.390625,
86.66015625,
39.55078125,
121.201171875,
104.765625,
33.046875
] | [
18.10546875,
87.890625,
44.6484375,
119.70703125,
101.337890625,
32.255859375
] | 2.833333 | 85 | 0 | 85 | 0 |
[
20.91796875,
85.517578125,
38.232421875,
121.201171875,
106.083984375,
33.046875
] | [
19.16015625,
86.923828125,
43.330078125,
119.70703125,
102.65625,
32.255859375
] | 2.866667 | 86 | 0 | 86 | 0 |
[
21.357421875,
84.7265625,
37.265625,
121.201171875,
106.69921875,
33.046875
] | [
20.0390625,
85.869140625,
41.8359375,
119.70703125,
103.798828125,
32.255859375
] | 2.9 | 87 | 0 | 87 | 0 |
[
21.62109375,
84.0234375,
36.38671875,
121.201171875,
106.787109375,
33.046875
] | [
20.654296875,
84.90234375,
40.517578125,
119.70703125,
104.94140625,
32.255859375
] | 2.933333 | 88 | 0 | 88 | 0 |
[
21.708984375,
83.408203125,
35.595703125,
121.11328125,
106.787109375,
33.046875
] | [
21.09375,
83.935546875,
39.90234375,
119.70703125,
105.64453125,
32.255859375
] | 2.966667 | 89 | 0 | 89 | 0 |
[
21.708984375,
82.880859375,
35.15625,
121.11328125,
106.875,
33.046875
] | [
21.357421875,
83.14453125,
39.19921875,
119.70703125,
106.083984375,
32.255859375
] | 3 | 90 | 0 | 90 | 0 |
[
21.708984375,
82.6171875,
34.892578125,
121.11328125,
106.962890625,
33.046875
] | [
21.533203125,
82.6171875,
38.583984375,
119.70703125,
106.34765625,
32.255859375
] | 3.033333 | 91 | 0 | 91 | 0 |
[
21.708984375,
82.44140625,
34.8046875,
121.11328125,
107.05078125,
33.046875
] | [
21.62109375,
82.44140625,
38.232421875,
119.70703125,
106.435546875,
32.255859375
] | 3.066667 | 92 | 0 | 92 | 0 |
[
21.708984375,
82.353515625,
34.892578125,
121.201171875,
106.962890625,
33.046875
] | [
21.708984375,
82.353515625,
38.232421875,
119.70703125,
106.5234375,
32.255859375
] | 3.1 | 93 | 0 | 93 | 0 |
[
21.4453125,
82.08984375,
34.98046875,
121.201171875,
107.05078125,
33.046875
] | [
21.708984375,
82.353515625,
38.14453125,
119.70703125,
106.611328125,
32.255859375
] | 3.133333 | 94 | 0 | 94 | 0 |
[
21.357421875,
82.001953125,
35.15625,
121.2890625,
107.05078125,
33.046875
] | [
21.708984375,
82.177734375,
38.14453125,
119.70703125,
106.611328125,
32.255859375
] | 3.166667 | 95 | 0 | 95 | 0 |
[
21.26953125,
81.5625,
35.419921875,
121.2890625,
107.05078125,
33.046875
] | [
21.533203125,
81.73828125,
38.14453125,
119.70703125,
106.611328125,
32.255859375
] | 3.2 | 96 | 0 | 96 | 0 |
[
21.181640625,
81.03515625,
35.771484375,
121.376953125,
107.05078125,
33.046875
] | [
21.357421875,
81.298828125,
38.14453125,
119.70703125,
106.611328125,
32.255859375
] | 3.233333 | 97 | 0 | 97 | 0 |
[
21.09375,
80.5078125,
36.298828125,
121.46484375,
107.05078125,
33.046875
] | [
21.09375,
80.859375,
38.14453125,
119.70703125,
106.611328125,
32.255859375
] | 3.266667 | 98 | 0 | 98 | 0 |
[
21.005859375,
79.892578125,
37.177734375,
121.46484375,
107.05078125,
33.046875
] | [
21.09375,
80.33203125,
38.14453125,
119.70703125,
106.611328125,
32.255859375
] | 3.3 | 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": 25,
"total_frames": 11188,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:25"
},
"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.top": {
"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,
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}
},
"observation.images.left": {
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640,
3
],
"names": [
"height",
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"channels"
],
"info": {
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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"video.channels": 3,
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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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],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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