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sequence | observation.state
sequence | timestamp
float32 0
14.9
| frame_index
int64 0
149
| episode_index
int64 0
29
| index
int64 0
4.5k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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[
72.94921875,
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29.970703125
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[
72.94921875,
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58.53515625,
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97.998046875,
29.970703125
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[
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58.53515625,
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97.998046875,
29.970703125
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[
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58.53515625,
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74.091796875,
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[
72.94921875,
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47.548828125,
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[
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[
73.564453125,
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58.53515625,
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[
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[
73.828125,
47.900390625,
58.53515625,
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16.5234375
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[
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[
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[
73.125,
47.98828125,
58.53515625,
50.712890625,
98.0859375,
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[
74.00390625,
50.185546875,
53.876953125,
51.943359375,
98.61328125,
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[
73.4765625,
47.98828125,
58.53515625,
50.80078125,
97.822265625,
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[
74.00390625,
50.185546875,
53.876953125,
52.03125,
98.61328125,
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[
73.65234375,
47.98828125,
58.53515625,
50.80078125,
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[
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52.20703125,
98.61328125,
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[
73.740234375,
47.98828125,
58.53515625,
51.328125,
97.91015625,
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[
73.388671875,
50.361328125,
53.876953125,
52.91015625,
98.525390625,
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[
73.30078125,
47.98828125,
58.53515625,
51.85546875,
98.0859375,
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[
73.388671875,
51.416015625,
53.876953125,
54.404296875,
98.525390625,
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[
73.125,
47.98828125,
58.53515625,
51.85546875,
98.0859375,
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[
73.740234375,
52.03125,
53.876953125,
56.25,
98.525390625,
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[
73.037109375,
48.1640625,
58.53515625,
53.0859375,
98.0859375,
16.5234375
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[
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54.31640625,
53.876953125,
58.18359375,
98.26171875,
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[
73.037109375,
48.955078125,
58.53515625,
55.283203125,
98.0859375,
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[
73.740234375,
56.337890625,
53.7890625,
59.58984375,
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[
72.94921875,
50.625,
58.53515625,
57.83203125,
97.998046875,
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[
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58.447265625,
53.7890625,
60.556640625,
98.173828125,
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[
72.94921875,
52.294921875,
58.53515625,
58.974609375,
97.91015625,
16.435546875
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[
74.00390625,
60.64453125,
53.7890625,
62.138671875,
98.0859375,
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[
72.861328125,
54.228515625,
58.53515625,
59.94140625,
97.91015625,
16.435546875
] | 1.8 | 18 | 0 | 18 | 0 |
[
74.1796875,
63.369140625,
53.7890625,
63.28125,
98.0859375,
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[
73.564453125,
56.42578125,
58.53515625,
61.69921875,
97.998046875,
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[
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53.349609375,
65.126953125,
97.998046875,
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[
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59.150390625,
58.53515625,
63.10546875,
97.91015625,
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[
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51.240234375,
68.02734375,
97.3828125,
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[
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62.490234375,
58.53515625,
64.951171875,
97.20703125,
16.435546875
] | 2.1 | 21 | 0 | 21 | 0 |
[
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69.697265625,
47.98828125,
71.19140625,
96.328125,
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[
74.619140625,
64.775390625,
58.53515625,
67.8515625,
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16.435546875
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[
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72.333984375,
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[
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52.998046875,
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] | 2.3 | 23 | 0 | 23 | 0 |
[
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72.24609375,
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[
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66.97265625,
50.625,
72.0703125,
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[
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73.30078125,
45.791015625,
72.685546875,
93.427734375,
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[
80.595703125,
68.02734375,
50.44921875,
72.0703125,
94.39453125,
16.5234375
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[
85.078125,
74.794921875,
45.703125,
72.509765625,
92.197265625,
-10.634765625
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[
82.6171875,
69.609375,
50.44921875,
72.0703125,
93.427734375,
16.435546875
] | 2.6 | 26 | 0 | 26 | 0 |
[
87.5390625,
75.5859375,
45.703125,
72.333984375,
90.966796875,
-10.634765625
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[
84.638671875,
70.751953125,
50.44921875,
72.0703125,
92.4609375,
16.435546875
] | 2.7 | 27 | 0 | 27 | 0 |
[
90,
76.46484375,
45.615234375,
71.89453125,
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[
86.484375,
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50.44921875,
72.0703125,
90.703125,
16.435546875
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[
92.4609375,
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45.52734375,
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[
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50.44921875,
72.0703125,
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16.435546875
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[
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[
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72.0703125,
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16.435546875
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[
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45.52734375,
70.48828125,
86.66015625,
-10.634765625
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[
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74.35546875,
50.44921875,
72.0703125,
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16.435546875
] | 3.1 | 31 | 0 | 31 | 0 |
[
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45.439453125,
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86.1328125,
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[
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50.44921875,
72.0703125,
86.748046875,
16.435546875
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[
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45.439453125,
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[
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74.970703125,
50.44921875,
71.89453125,
86.1328125,
16.435546875
] | 3.3 | 33 | 0 | 33 | 0 |
[
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45.439453125,
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85.78125,
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[
98.4375,
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50.44921875,
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[
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45.3515625,
67.412109375,
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[
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50.44921875,
70.224609375,
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] | 3.5 | 35 | 0 | 35 | 0 |
[
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45.3515625,
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[
100.72265625,
75.05859375,
50.44921875,
70.048828125,
85.25390625,
16.5234375
] | 3.6 | 36 | 0 | 36 | 0 |
[
104.0625,
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45.3515625,
66.005859375,
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-10.634765625
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[
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50.44921875,
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] | 3.7 | 37 | 0 | 37 | 0 |
[
104.853515625,
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45.3515625,
64.951171875,
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-10.634765625
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[
103.53515625,
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50.44921875,
69.2578125,
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16.435546875
] | 3.8 | 38 | 0 | 38 | 0 |
[
105.732421875,
79.189453125,
45.3515625,
63.896484375,
84.814453125,
-10.634765625
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[
103.798828125,
76.11328125,
50.44921875,
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84.111328125,
16.435546875
] | 3.9 | 39 | 0 | 39 | 0 |
[
106.5234375,
79.1015625,
45.3515625,
63.45703125,
84.638671875,
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[
104.765625,
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50.44921875,
66.533203125,
84.111328125,
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] | 4 | 40 | 0 | 40 | 0 |
[
107.05078125,
78.92578125,
45.3515625,
62.2265625,
84.287109375,
-10.634765625
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[
105.732421875,
76.025390625,
50.44921875,
66.26953125,
84.111328125,
16.435546875
] | 4.1 | 41 | 0 | 41 | 0 |
[
107.2265625,
78.75,
45.3515625,
60.8203125,
84.287109375,
-10.634765625
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[
106.611328125,
76.025390625,
50.44921875,
65.654296875,
84.111328125,
16.435546875
] | 4.2 | 42 | 0 | 42 | 0 |
[
107.578125,
78.57421875,
45.3515625,
59.501953125,
83.759765625,
-10.634765625
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[
106.69921875,
76.025390625,
50.44921875,
63.80859375,
84.111328125,
16.435546875
] | 4.3 | 43 | 0 | 43 | 0 |
[
108.10546875,
78.310546875,
45.3515625,
58.53515625,
82.529296875,
-10.634765625
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[
106.69921875,
76.025390625,
50.44921875,
62.666015625,
83.49609375,
16.435546875
] | 4.4 | 44 | 0 | 44 | 0 |
[
108.369140625,
77.87109375,
45.3515625,
58.18359375,
82.265625,
-10.634765625
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[
107.40234375,
76.025390625,
50.44921875,
61.787109375,
82.529296875,
16.435546875
] | 4.5 | 45 | 0 | 45 | 0 |
[
108.6328125,
77.87109375,
45.3515625,
57.65625,
81.9140625,
-10.546875
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[
107.578125,
75.76171875,
50.44921875,
61.69921875,
82.08984375,
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] | 4.6 | 46 | 0 | 46 | 0 |
[
108.45703125,
77.87109375,
45.3515625,
57.12890625,
81.5625,
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[
107.578125,
75.76171875,
50.44921875,
61.69921875,
81.5625,
16.435546875
] | 4.7 | 47 | 0 | 47 | 0 |
[
108.28125,
77.87109375,
45.3515625,
56.865234375,
81.38671875,
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[
107.578125,
75.76171875,
50.44921875,
61.69921875,
81.38671875,
16.435546875
] | 4.8 | 48 | 0 | 48 | 0 |
[
108.45703125,
77.6953125,
45.3515625,
56.689453125,
80.771484375,
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[
107.578125,
75.76171875,
50.44921875,
60.29296875,
81.2109375,
16.435546875
] | 4.9 | 49 | 0 | 49 | 0 |
[
108.45703125,
77.6953125,
45.3515625,
56.42578125,
80.68359375,
-10.107421875
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[
107.578125,
75.76171875,
50.44921875,
59.58984375,
80.595703125,
16.435546875
] | 5 | 50 | 0 | 50 | 0 |
[
108.45703125,
77.6953125,
45.3515625,
56.25,
80.595703125,
-10.01953125
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[
107.578125,
75.76171875,
50.44921875,
59.58984375,
80.419921875,
16.435546875
] | 5.1 | 51 | 0 | 51 | 0 |
[
108.369140625,
77.607421875,
45.3515625,
56.07421875,
80.595703125,
-9.931640625
] |
[
107.578125,
75.76171875,
50.44921875,
59.677734375,
80.33203125,
16.435546875
] | 5.2 | 52 | 0 | 52 | 0 |
[
108.369140625,
77.607421875,
45.3515625,
55.72265625,
80.419921875,
-9.84375
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[
107.578125,
75.76171875,
50.44921875,
59.58984375,
80.33203125,
16.435546875
] | 5.3 | 53 | 0 | 53 | 0 |
[
108.369140625,
77.431640625,
45.3515625,
54.931640625,
77.080078125,
1.0546875
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[
107.578125,
75.76171875,
50.44921875,
59.677734375,
80.33203125,
16.435546875
] | 5.4 | 54 | 0 | 54 | 0 |
[
108.369140625,
77.255859375,
45.3515625,
54.84375,
75.41015625,
2.4609375
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[
107.578125,
75.76171875,
50.44921875,
58.53515625,
78.134765625,
16.435546875
] | 5.5 | 55 | 0 | 55 | 0 |
[
108.28125,
77.255859375,
45.3515625,
54.4921875,
74.970703125,
13.18359375
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[
107.578125,
75.76171875,
50.44921875,
57.83203125,
75.849609375,
16.435546875
] | 5.6 | 56 | 0 | 56 | 0 |
[
108.28125,
77.255859375,
45.3515625,
54.4921875,
72.421875,
14.853515625
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[
107.578125,
75.76171875,
50.44921875,
57.65625,
74.443359375,
16.875
] | 5.7 | 57 | 0 | 57 | 0 |
[
108.28125,
77.255859375,
45.3515625,
54.4921875,
71.279296875,
20.0390625
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[
107.578125,
75.76171875,
50.44921875,
57.744140625,
72.7734375,
16.962890625
] | 5.8 | 58 | 0 | 58 | 0 |
[
108.544921875,
77.255859375,
45.3515625,
54.4921875,
71.19140625,
24.345703125
] |
[
107.578125,
75.76171875,
50.44921875,
57.65625,
71.455078125,
18.984375
] | 5.9 | 59 | 0 | 59 | 0 |
[
108.6328125,
77.255859375,
45.3515625,
54.4921875,
70.751953125,
27.333984375
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[
107.578125,
75.76171875,
50.44921875,
57.041015625,
71.103515625,
22.5
] | 6 | 60 | 0 | 60 | 0 |
[
108.6328125,
77.255859375,
45.3515625,
54.4921875,
70.6640625,
27.333984375
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[
107.578125,
75.76171875,
50.44921875,
57.041015625,
70.48828125,
25.48828125
] | 6.1 | 61 | 0 | 61 | 0 |
[
108.369140625,
77.255859375,
45.3515625,
54.4921875,
70.6640625,
27.421875
] |
[
107.578125,
75.76171875,
50.44921875,
57.041015625,
70.224609375,
25.6640625
] | 6.2 | 62 | 0 | 62 | 0 |
[
108.28125,
77.255859375,
45.439453125,
54.4921875,
70.6640625,
27.421875
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[
107.578125,
75.76171875,
50.44921875,
57.041015625,
70.13671875,
25.6640625
] | 6.3 | 63 | 0 | 63 | 0 |
[
108.10546875,
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45.439453125,
54.4921875,
70.6640625,
27.421875
] |
[
107.578125,
75.76171875,
50.44921875,
57.041015625,
70.224609375,
25.6640625
] | 6.4 | 64 | 0 | 64 | 0 |
[
107.9296875,
77.255859375,
45.439453125,
54.931640625,
70.6640625,
27.421875
] |
[
107.578125,
75.76171875,
50.44921875,
57.041015625,
70.224609375,
25.6640625
] | 6.5 | 65 | 0 | 65 | 0 |
[
107.578125,
77.255859375,
45.439453125,
55.107421875,
70.6640625,
27.421875
] |
[
107.138671875,
75.76171875,
50.44921875,
57.041015625,
70.13671875,
25.6640625
] | 6.6 | 66 | 0 | 66 | 0 |
[
107.490234375,
77.255859375,
45.439453125,
55.283203125,
70.6640625,
27.421875
] |
[
106.962890625,
75.76171875,
50.44921875,
57.041015625,
70.224609375,
25.6640625
] | 6.7 | 67 | 0 | 67 | 0 |
[
107.40234375,
77.255859375,
45.439453125,
55.37109375,
70.927734375,
28.4765625
] |
[
106.962890625,
75.76171875,
50.44921875,
57.041015625,
70.13671875,
25.6640625
] | 6.8 | 68 | 0 | 68 | 0 |
[
107.40234375,
77.255859375,
45.52734375,
57.3046875,
71.103515625,
32.16796875
] |
[
106.962890625,
75.76171875,
50.44921875,
57.041015625,
70.224609375,
26.630859375
] | 6.9 | 69 | 0 | 69 | 0 |
[
107.314453125,
77.431640625,
45.52734375,
60.1171875,
71.19140625,
32.16796875
] |
[
106.962890625,
75.76171875,
50.44921875,
57.041015625,
70.6640625,
30.498046875
] | 7 | 70 | 0 | 70 | 0 |
[
106.69921875,
78.134765625,
45.52734375,
63.017578125,
71.279296875,
32.16796875
] |
[
106.962890625,
75.76171875,
50.44921875,
60.029296875,
70.927734375,
30.76171875
] | 7.1 | 71 | 0 | 71 | 0 |
[
106.171875,
78.662109375,
45.52734375,
67.587890625,
71.3671875,
32.16796875
] |
[
106.171875,
76.025390625,
50.44921875,
63.193359375,
70.927734375,
30.76171875
] | 7.2 | 72 | 0 | 72 | 0 |
[
105.29296875,
79.1015625,
45.52734375,
73.212890625,
72.94921875,
32.16796875
] |
[
105.99609375,
76.025390625,
50.44921875,
67.060546875,
70.927734375,
30.76171875
] | 7.3 | 73 | 0 | 73 | 0 |
[
104.58984375,
79.365234375,
45.52734375,
79.27734375,
73.4765625,
32.16796875
] |
[
105.205078125,
76.2890625,
50.44921875,
72.421875,
71.71875,
30.76171875
] | 7.4 | 74 | 0 | 74 | 0 |
[
103.7109375,
79.892578125,
45.52734375,
84.0234375,
73.564453125,
32.16796875
] |
[
104.150390625,
76.2890625,
50.44921875,
78.22265625,
72.685546875,
30.76171875
] | 7.5 | 75 | 0 | 75 | 0 |
[
102.12890625,
81.03515625,
45.703125,
87.71484375,
73.564453125,
32.16796875
] |
[
103.271484375,
76.2890625,
50.44921875,
83.408203125,
73.037109375,
30.76171875
] | 7.6 | 76 | 0 | 76 | 0 |
[
100.107421875,
82.529296875,
46.7578125,
91.0546875,
73.564453125,
32.16796875
] |
[
102.392578125,
78.046875,
50.44921875,
86.572265625,
73.037109375,
30.76171875
] | 7.7 | 77 | 0 | 77 | 0 |
[
97.91015625,
85.25390625,
50.44921875,
92.109375,
73.740234375,
32.16796875
] |
[
100.37109375,
79.62890625,
50.44921875,
90.087890625,
73.037109375,
30.76171875
] | 7.8 | 78 | 0 | 78 | 0 |
[
97.119140625,
87.890625,
54.84375,
92.4609375,
73.828125,
32.16796875
] |
[
97.646484375,
82.08984375,
50.888671875,
91.669921875,
73.037109375,
30.76171875
] | 7.9 | 79 | 0 | 79 | 0 |
[
96.240234375,
90.615234375,
59.4140625,
92.8125,
73.828125,
32.16796875
] |
[
97.03125,
84.990234375,
55.37109375,
92.021484375,
73.037109375,
30.76171875
] | 8 | 80 | 0 | 80 | 0 |
[
96.240234375,
93.251953125,
64.072265625,
92.8125,
73.916015625,
32.16796875
] |
[
96.064453125,
87.626953125,
60.46875,
91.93359375,
73.037109375,
30.76171875
] | 8.1 | 81 | 0 | 81 | 0 |
[
95.888671875,
93.779296875,
68.37890625,
93.515625,
73.828125,
32.16796875
] |
[
95.9765625,
90.703125,
65.126953125,
91.93359375,
73.037109375,
30.76171875
] | 8.2 | 82 | 0 | 82 | 0 |
[
95.09765625,
94.658203125,
72.509765625,
93.515625,
73.916015625,
32.16796875
] |
[
95.09765625,
91.23046875,
68.994140625,
92.724609375,
73.037109375,
30.76171875
] | 8.3 | 83 | 0 | 83 | 0 |
[
93.603515625,
94.658203125,
76.81640625,
93.515625,
74.00390625,
32.255859375
] |
[
94.833984375,
92.021484375,
73.212890625,
92.900390625,
73.037109375,
30.76171875
] | 8.4 | 84 | 0 | 84 | 0 |
[
92.900390625,
94.21875,
80.244140625,
93.427734375,
74.00390625,
32.255859375
] |
[
93.33984375,
92.28515625,
76.9921875,
92.724609375,
73.740234375,
30.76171875
] | 8.5 | 85 | 0 | 85 | 0 |
[
90.263671875,
93.1640625,
82.44140625,
93.251953125,
75.498046875,
32.16796875
] |
[
92.197265625,
92.4609375,
81.03515625,
92.8125,
73.916015625,
30.76171875
] | 8.6 | 86 | 0 | 86 | 0 |
[
88.2421875,
90.966796875,
82.705078125,
93.251953125,
75.498046875,
32.16796875
] |
[
90.263671875,
92.28515625,
82.6171875,
92.63671875,
74.70703125,
30.76171875
] | 8.7 | 87 | 0 | 87 | 0 |
[
87.36328125,
89.033203125,
82.705078125,
93.1640625,
75.498046875,
32.16796875
] |
[
88.330078125,
89.82421875,
82.6171875,
92.63671875,
75.05859375,
30.76171875
] | 8.8 | 88 | 0 | 88 | 0 |
[
86.66015625,
88.06640625,
82.705078125,
92.8125,
75.5859375,
32.16796875
] |
[
87.275390625,
88.59375,
82.705078125,
92.63671875,
75.05859375,
30.76171875
] | 8.9 | 89 | 0 | 89 | 0 |
[
86.66015625,
87.5390625,
82.705078125,
91.58203125,
75.498046875,
32.16796875
] |
[
86.1328125,
87.71484375,
82.705078125,
92.197265625,
74.970703125,
30.76171875
] | 9 | 90 | 0 | 90 | 0 |
[
86.8359375,
84.7265625,
82.6171875,
90.966796875,
75.498046875,
32.16796875
] |
[
85.95703125,
86.66015625,
82.705078125,
91.494140625,
75.05859375,
30.76171875
] | 9.1 | 91 | 0 | 91 | 0 |
[
86.748046875,
82.08984375,
82.705078125,
90.17578125,
75.5859375,
32.34375
] |
[
85.95703125,
83.759765625,
82.705078125,
90.52734375,
75.05859375,
30.76171875
] | 9.2 | 92 | 0 | 92 | 0 |
[
86.66015625,
80.68359375,
82.6171875,
89.6484375,
75.5859375,
32.431640625
] |
[
85.95703125,
81.5625,
82.705078125,
90,
75.05859375,
30.76171875
] | 9.3 | 93 | 0 | 93 | 0 |
[
86.748046875,
80.33203125,
82.6171875,
89.6484375,
75.673828125,
32.51953125
] |
[
85.95703125,
79.541015625,
82.705078125,
89.296875,
75.146484375,
30.76171875
] | 9.4 | 94 | 0 | 94 | 0 |
[
86.923828125,
80.33203125,
82.6171875,
89.6484375,
75.673828125,
32.51953125
] |
[
85.95703125,
79.453125,
82.705078125,
89.033203125,
75.05859375,
30.76171875
] | 9.5 | 95 | 0 | 95 | 0 |
[
87.099609375,
80.244140625,
82.6171875,
89.6484375,
75.673828125,
32.51953125
] |
[
85.95703125,
79.365234375,
82.705078125,
89.033203125,
75.05859375,
30.76171875
] | 9.6 | 96 | 0 | 96 | 0 |
[
87.1875,
80.068359375,
82.6171875,
89.6484375,
75.5859375,
32.783203125
] |
[
86.748046875,
79.365234375,
82.705078125,
89.033203125,
75.05859375,
30.76171875
] | 9.7 | 97 | 0 | 97 | 0 |
[
87.1875,
79.892578125,
82.6171875,
89.560546875,
75.5859375,
33.310546875
] |
[
86.923828125,
79.365234375,
82.705078125,
89.033203125,
75.05859375,
30.76171875
] | 9.8 | 98 | 0 | 98 | 0 |
[
87.099609375,
77.958984375,
82.6171875,
89.033203125,
75.5859375,
33.662109375
] |
[
86.923828125,
78.486328125,
82.705078125,
88.9453125,
75.05859375,
31.728515625
] | 9.9 | 99 | 0 | 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": 30,
"total_frames": 4500,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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.logitech1": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 10.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.logitech2": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 10.0,
"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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