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sequence | observation.state
sequence | timestamp
float32 0
11.4
| frame_index
int64 0
342
| episode_index
int64 0
19
| index
int64 0
5.7k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
1.58203125,
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[
1.494140625,
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[
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[
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3.603515625,
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[
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[
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[
1.494140625,
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[
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[
1.494140625,
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[
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35.068359375
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[
1.494140625,
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[
1.58203125,
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[
1.494140625,
3.603515625,
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[
1.58203125,
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[
1.494140625,
3.603515625,
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[
1.58203125,
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2.98828125,
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[
1.494140625,
3.603515625,
3.076171875,
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[
1.58203125,
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[
1.494140625,
3.603515625,
3.1640625,
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35.068359375
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[
1.58203125,
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2.98828125,
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[
1.494140625,
3.603515625,
3.1640625,
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[
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35.068359375
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[
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3.603515625,
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] | 0.366667 | 11 | 0 | 11 | 0 |
[
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[
1.494140625,
3.603515625,
3.076171875,
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[
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[
1.494140625,
3.603515625,
3.1640625,
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[
1.58203125,
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2.900390625,
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[
1.494140625,
3.603515625,
3.076171875,
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[
1.58203125,
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[
1.494140625,
3.603515625,
3.076171875,
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[
1.58203125,
0.615234375,
2.98828125,
-15.1171875,
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[
1.494140625,
3.603515625,
3.1640625,
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[
1.58203125,
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2.900390625,
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[
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3.603515625,
3.076171875,
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[
1.58203125,
0.615234375,
2.900390625,
-15.1171875,
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[
1.494140625,
3.603515625,
3.076171875,
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[
1.58203125,
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[
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3.603515625,
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[
1.58203125,
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[
1.494140625,
3.603515625,
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[
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[
1.494140625,
3.603515625,
3.076171875,
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[
1.58203125,
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2.98828125,
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[
1.494140625,
3.603515625,
3.076171875,
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[
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[
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3.603515625,
3.076171875,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
1.58203125,
0.615234375,
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-15.1171875,
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34.98046875
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[
1.494140625,
3.603515625,
3.076171875,
-15.029296875,
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[
1.58203125,
0.703125,
2.900390625,
-15.1171875,
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34.98046875
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[
1.494140625,
3.603515625,
3.1640625,
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] | 0.833333 | 25 | 0 | 25 | 0 |
[
1.58203125,
0.615234375,
2.900390625,
-15.1171875,
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34.98046875
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[
1.494140625,
3.603515625,
3.1640625,
-15.029296875,
-1.7578125,
34.98046875
] | 0.866667 | 26 | 0 | 26 | 0 |
[
1.58203125,
0.615234375,
2.900390625,
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[
1.494140625,
3.603515625,
3.076171875,
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[
1.58203125,
0.703125,
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[
1.494140625,
3.603515625,
3.076171875,
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[
1.58203125,
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[
1.494140625,
3.603515625,
3.1640625,
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] | 0.966667 | 29 | 0 | 29 | 0 |
[
1.58203125,
0.703125,
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[
1.494140625,
3.603515625,
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[
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[
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3.603515625,
3.1640625,
-15.029296875,
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[
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0.615234375,
2.900390625,
-15.029296875,
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[
1.494140625,
3.603515625,
3.076171875,
-15.029296875,
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34.98046875
] | 1.066667 | 32 | 0 | 32 | 0 |
[
1.58203125,
0.615234375,
2.98828125,
-15.029296875,
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34.98046875
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[
1.494140625,
3.603515625,
3.076171875,
-15.029296875,
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] | 1.1 | 33 | 0 | 33 | 0 |
[
1.669921875,
0.615234375,
2.98828125,
-14.677734375,
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34.98046875
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[
1.40625,
3.603515625,
3.076171875,
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[
1.669921875,
0.791015625,
3.076171875,
-14.326171875,
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34.98046875
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[
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3.603515625,
3.1640625,
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[
1.669921875,
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3.076171875,
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34.98046875
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[
1.494140625,
3.603515625,
3.076171875,
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-1.7578125,
34.98046875
] | 1.2 | 36 | 0 | 36 | 0 |
[
1.669921875,
1.0546875,
3.076171875,
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34.98046875
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[
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3.603515625,
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34.98046875
] | 1.233333 | 37 | 0 | 37 | 0 |
[
1.669921875,
1.142578125,
2.98828125,
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34.98046875
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[
1.58203125,
3.603515625,
3.076171875,
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34.98046875
] | 1.266667 | 38 | 0 | 38 | 0 |
[
1.93359375,
1.40625,
2.900390625,
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34.98046875
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[
1.58203125,
3.603515625,
2.98828125,
-11.513671875,
-1.7578125,
34.98046875
] | 1.3 | 39 | 0 | 39 | 0 |
[
2.4609375,
2.28515625,
2.900390625,
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34.98046875
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[
1.7578125,
3.603515625,
2.724609375,
-9.580078125,
-1.7578125,
34.98046875
] | 1.333333 | 40 | 0 | 40 | 0 |
[
3.076171875,
3.955078125,
2.900390625,
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34.98046875
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[
2.021484375,
3.69140625,
2.724609375,
-7.03125,
-1.58203125,
34.98046875
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[
3.779296875,
6.328125,
2.900390625,
1.40625,
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34.98046875
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[
2.4609375,
4.74609375,
2.724609375,
-3.69140625,
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34.98046875
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[
4.5703125,
9.228515625,
2.900390625,
5.44921875,
-1.669921875,
34.98046875
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[
2.8125,
6.50390625,
2.724609375,
-0.3515625,
-1.40625,
34.98046875
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[
5.625,
11.865234375,
2.900390625,
9.31640625,
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34.98046875
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[
3.33984375,
8.61328125,
3.1640625,
3.515625,
-1.40625,
34.98046875
] | 1.466667 | 44 | 0 | 44 | 0 |
[
6.767578125,
14.326171875,
2.900390625,
13.095703125,
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34.98046875
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[
4.21875,
10.634765625,
3.076171875,
7.55859375,
-1.40625,
34.98046875
] | 1.5 | 45 | 0 | 45 | 0 |
[
7.822265625,
16.611328125,
2.900390625,
16.259765625,
-1.669921875,
34.98046875
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[
5.537109375,
12.83203125,
3.076171875,
11.689453125,
-1.40625,
34.98046875
] | 1.533333 | 46 | 0 | 46 | 0 |
[
8.96484375,
18.896484375,
2.724609375,
19.3359375,
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34.98046875
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[
6.943359375,
14.765625,
3.1640625,
14.94140625,
-1.40625,
34.98046875
] | 1.566667 | 47 | 0 | 47 | 0 |
[
9.84375,
21.26953125,
2.724609375,
21.97265625,
-1.669921875,
34.98046875
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[
8.173828125,
16.5234375,
3.1640625,
18.10546875,
-1.40625,
34.98046875
] | 1.6 | 48 | 0 | 48 | 0 |
[
10.458984375,
23.90625,
2.63671875,
24.2578125,
-1.58203125,
34.98046875
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[
9.4921875,
18.544921875,
3.1640625,
21.09375,
-1.40625,
34.98046875
] | 1.633333 | 49 | 0 | 49 | 0 |
[
10.8984375,
26.89453125,
2.63671875,
26.3671875,
-1.58203125,
34.98046875
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[
10.37109375,
20.830078125,
3.1640625,
23.642578125,
-1.494140625,
34.98046875
] | 1.666667 | 50 | 0 | 50 | 0 |
[
10.986328125,
30.05859375,
2.63671875,
28.388671875,
-1.58203125,
34.98046875
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[
10.810546875,
23.73046875,
3.1640625,
25.751953125,
-1.40625,
34.98046875
] | 1.7 | 51 | 0 | 51 | 0 |
[
10.986328125,
33.22265625,
2.63671875,
30.498046875,
-1.669921875,
34.98046875
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[
10.8984375,
26.71875,
3.1640625,
27.7734375,
-1.40625,
34.98046875
] | 1.733333 | 52 | 0 | 52 | 0 |
[
10.986328125,
36.298828125,
2.63671875,
32.51953125,
-1.58203125,
34.98046875
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[
10.810546875,
29.70703125,
3.1640625,
29.794921875,
-1.40625,
34.98046875
] | 1.766667 | 53 | 0 | 53 | 0 |
[
10.986328125,
39.287109375,
2.63671875,
34.8046875,
-1.669921875,
34.98046875
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[
10.72265625,
32.6953125,
3.1640625,
31.728515625,
-1.40625,
34.98046875
] | 1.8 | 54 | 0 | 54 | 0 |
[
10.986328125,
42.451171875,
2.63671875,
37.353515625,
-1.669921875,
34.98046875
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[
10.72265625,
35.771484375,
3.1640625,
33.92578125,
-1.40625,
34.98046875
] | 1.833333 | 55 | 0 | 55 | 0 |
[
10.986328125,
45.52734375,
2.63671875,
39.990234375,
-1.669921875,
34.98046875
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[
10.72265625,
38.759765625,
3.1640625,
36.298828125,
-1.40625,
34.98046875
] | 1.866667 | 56 | 0 | 56 | 0 |
[
10.986328125,
48.33984375,
2.724609375,
42.978515625,
-1.669921875,
34.98046875
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[
10.8984375,
42.099609375,
3.1640625,
39.19921875,
-1.494140625,
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] | 1.9 | 57 | 0 | 57 | 0 |
[
10.810546875,
51.064453125,
2.63671875,
46.494140625,
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34.98046875
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[
10.986328125,
45.3515625,
3.1640625,
42.1875,
-1.40625,
34.98046875
] | 1.933333 | 58 | 0 | 58 | 0 |
[
10.810546875,
53.61328125,
2.724609375,
50.625,
-1.669921875,
34.98046875
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[
10.986328125,
47.98828125,
3.1640625,
45.263671875,
-1.494140625,
34.98046875
] | 1.966667 | 59 | 0 | 59 | 0 |
[
10.72265625,
55.72265625,
2.724609375,
54.84375,
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34.98046875
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[
10.986328125,
50.44921875,
3.1640625,
48.955078125,
-1.40625,
34.98046875
] | 2 | 60 | 0 | 60 | 0 |
[
10.634765625,
57.744140625,
2.98828125,
59.4140625,
-1.58203125,
34.98046875
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[
10.810546875,
52.734375,
3.1640625,
53.0859375,
-1.40625,
35.068359375
] | 2.033333 | 61 | 0 | 61 | 0 |
[
10.634765625,
59.501953125,
3.076171875,
64.248046875,
-1.58203125,
34.98046875
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[
10.72265625,
55.107421875,
3.1640625,
57.744140625,
-1.494140625,
35.068359375
] | 2.066667 | 62 | 0 | 62 | 0 |
[
10.634765625,
61.171875,
3.076171875,
69.78515625,
-1.58203125,
34.98046875
] |
[
10.72265625,
56.865234375,
3.251953125,
62.40234375,
-1.40625,
34.98046875
] | 2.1 | 63 | 0 | 63 | 0 |
[
10.37109375,
62.578125,
3.076171875,
75.234375,
-1.669921875,
34.98046875
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[
10.72265625,
58.623046875,
3.251953125,
67.5,
-1.40625,
34.98046875
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[
9.931640625,
63.896484375,
3.076171875,
80.33203125,
-1.58203125,
34.98046875
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[
10.72265625,
60.205078125,
3.251953125,
72.861328125,
-1.40625,
34.98046875
] | 2.166667 | 65 | 0 | 65 | 0 |
[
9.404296875,
64.951171875,
3.076171875,
84.638671875,
-1.669921875,
34.98046875
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[
10.37109375,
61.611328125,
3.1640625,
78.046875,
-1.40625,
35.068359375
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[
8.701171875,
65.91796875,
3.076171875,
87.978515625,
-1.669921875,
34.98046875
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[
9.84375,
62.841796875,
3.251953125,
82.6171875,
-1.40625,
34.98046875
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[
7.822265625,
66.796875,
3.076171875,
90.17578125,
-1.58203125,
34.98046875
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[
9.052734375,
63.984375,
3.251953125,
86.572265625,
-1.494140625,
34.98046875
] | 2.266667 | 68 | 0 | 68 | 0 |
[
6.767578125,
67.67578125,
3.076171875,
90.87890625,
-1.58203125,
34.98046875
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[
8.173828125,
64.775390625,
3.251953125,
89.296875,
-1.494140625,
34.98046875
] | 2.3 | 69 | 0 | 69 | 0 |
[
5.2734375,
68.5546875,
3.076171875,
90.87890625,
-1.58203125,
34.98046875
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[
7.119140625,
65.830078125,
3.251953125,
90.615234375,
-1.40625,
34.98046875
] | 2.333333 | 70 | 0 | 70 | 0 |
[
3.515625,
69.609375,
3.076171875,
90.87890625,
-1.669921875,
34.98046875
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[
5.9765625,
66.708984375,
3.251953125,
90.87890625,
-1.40625,
34.98046875
] | 2.366667 | 71 | 0 | 71 | 0 |
[
1.494140625,
70.6640625,
3.076171875,
90.87890625,
-1.58203125,
34.98046875
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[
4.39453125,
67.67578125,
3.251953125,
90.87890625,
-1.494140625,
34.98046875
] | 2.4 | 72 | 0 | 72 | 0 |
[
-0.3515625,
71.71875,
3.1640625,
90.966796875,
-1.58203125,
34.98046875
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[
2.373046875,
68.642578125,
3.251953125,
90.966796875,
-1.40625,
34.98046875
] | 2.433333 | 73 | 0 | 73 | 0 |
[
-2.109375,
72.7734375,
3.251953125,
91.0546875,
-1.58203125,
34.98046875
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[
0.3515625,
69.78515625,
3.251953125,
90.966796875,
-1.494140625,
34.98046875
] | 2.466667 | 74 | 0 | 74 | 0 |
[
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73.740234375,
3.779296875,
91.142578125,
-1.58203125,
34.98046875
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[
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70.927734375,
3.427734375,
90.966796875,
-1.40625,
34.98046875
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[
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74.443359375,
4.658203125,
91.0546875,
-1.58203125,
34.98046875
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[
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71.89453125,
3.955078125,
91.0546875,
-1.494140625,
34.98046875
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[
-3.779296875,
74.8828125,
6.416015625,
90.966796875,
-1.58203125,
34.98046875
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[
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72.861328125,
4.921875,
91.0546875,
-1.40625,
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[
-3.69140625,
75.673828125,
9.140625,
90.87890625,
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34.98046875
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[
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73.4765625,
6.767578125,
91.142578125,
-1.494140625,
34.98046875
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[
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77.16796875,
12.83203125,
90.791015625,
-1.58203125,
34.98046875
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[
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74.1796875,
9.4921875,
91.0546875,
-1.40625,
34.98046875
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[
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[
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75.41015625,
13.447265625,
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[
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22.1484375,
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[
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[
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27.158203125,
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34.98046875
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[
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80.244140625,
22.060546875,
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34.98046875
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[
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90.263671875,
32.34375,
86.484375,
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34.98046875
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[
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83.671875,
27.0703125,
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34.98046875
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[
-2.8125,
93.69140625,
37.353515625,
84.375,
-1.669921875,
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[
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87.626953125,
32.6953125,
87.5390625,
-1.40625,
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[
-2.197265625,
97.20703125,
42.275390625,
81.5625,
-1.669921875,
34.98046875
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[
-3.1640625,
91.40625,
37.79296875,
85.4296875,
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34.98046875
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[
-1.494140625,
100.37109375,
46.669921875,
78.134765625,
-1.669921875,
34.98046875
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[
-2.548828125,
94.658203125,
42.275390625,
82.96875,
-1.494140625,
34.98046875
] | 2.866667 | 86 | 0 | 86 | 0 |
[
-1.142578125,
102.919921875,
50.09765625,
74.619140625,
-1.58203125,
35.068359375
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[
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97.822265625,
46.669921875,
79.892578125,
-1.494140625,
34.98046875
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[
-0.966796875,
104.94140625,
53.349609375,
71.103515625,
-1.669921875,
34.98046875
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[
-1.40625,
100.634765625,
50.185546875,
76.376953125,
-1.494140625,
34.98046875
] | 2.933333 | 88 | 0 | 88 | 0 |
[
-0.966796875,
106.435546875,
56.337890625,
67.8515625,
-1.58203125,
34.98046875
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[
-1.142578125,
103.0078125,
53.525390625,
72.7734375,
-1.494140625,
34.98046875
] | 2.966667 | 89 | 0 | 89 | 0 |
[
-0.966796875,
107.578125,
59.150390625,
64.86328125,
-1.669921875,
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[
-1.142578125,
104.765625,
56.513671875,
69.43359375,
-1.494140625,
35.068359375
] | 3 | 90 | 0 | 90 | 0 |
[
-1.142578125,
108.193359375,
61.69921875,
62.2265625,
-1.58203125,
34.98046875
] |
[
-1.23046875,
105.99609375,
59.4140625,
66.26953125,
-1.494140625,
35.068359375
] | 3.033333 | 91 | 0 | 91 | 0 |
[
-1.318359375,
108.544921875,
64.072265625,
59.853515625,
-1.58203125,
34.98046875
] |
[
-1.23046875,
106.875,
61.962890625,
63.45703125,
-1.494140625,
34.98046875
] | 3.066667 | 92 | 0 | 92 | 0 |
[
-1.318359375,
108.80859375,
66.181640625,
57.744140625,
-1.58203125,
34.98046875
] |
[
-1.23046875,
107.314453125,
64.423828125,
60.908203125,
-1.494140625,
34.98046875
] | 3.1 | 93 | 0 | 93 | 0 |
[
-1.40625,
109.16015625,
68.37890625,
55.986328125,
-1.58203125,
34.98046875
] |
[
-1.23046875,
107.578125,
66.533203125,
58.7109375,
-1.494140625,
34.98046875
] | 3.133333 | 94 | 0 | 94 | 0 |
[
-1.669921875,
109.599609375,
70.400390625,
54.755859375,
-1.58203125,
34.98046875
] |
[
-1.142578125,
107.9296875,
68.642578125,
56.865234375,
-1.494140625,
34.98046875
] | 3.166667 | 95 | 0 | 95 | 0 |
[
-2.197265625,
110.302734375,
72.421875,
53.876953125,
-1.669921875,
34.98046875
] |
[
-1.40625,
108.28125,
70.6640625,
55.546875,
-1.40625,
34.98046875
] | 3.2 | 96 | 0 | 96 | 0 |
[
-2.900390625,
111.005859375,
74.53125,
53.26171875,
-1.669921875,
34.98046875
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[
-1.845703125,
108.896484375,
72.861328125,
54.4921875,
-1.494140625,
34.98046875
] | 3.233333 | 97 | 0 | 97 | 0 |
[
-3.603515625,
111.97265625,
77.255859375,
52.91015625,
-1.669921875,
34.98046875
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[
-2.548828125,
109.599609375,
74.8828125,
53.876953125,
-1.40625,
34.98046875
] | 3.266667 | 98 | 0 | 98 | 0 |
[
-4.130859375,
112.8515625,
80.595703125,
52.470703125,
-1.58203125,
34.98046875
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[
-3.251953125,
110.478515625,
77.6953125,
53.4375,
-1.40625,
35.068359375
] | 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": 2,
"total_frames": 1087,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
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"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"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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