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sequence | observation.state
sequence | timestamp
float32 0
14.8
| frame_index
int64 0
444
| episode_index
int64 0
0
| index
int64 0
444
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
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112.32421875,
124.892578125,
24.2578125,
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31.201171875
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[
-1.0546875,
112.587890625,
128.49609375,
24.345703125,
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31.201171875
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[
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112.060546875,
124.892578125,
24.2578125,
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31.201171875
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[
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112.236328125,
128.49609375,
24.345703125,
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31.201171875
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[
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111.884765625,
124.8046875,
24.2578125,
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31.201171875
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[
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112.060546875,
128.49609375,
24.345703125,
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31.201171875
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[
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111.533203125,
124.62890625,
24.2578125,
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31.201171875
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[
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111.796875,
128.49609375,
24.345703125,
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[
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110.91796875,
124.27734375,
24.2578125,
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31.201171875
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[
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111.533203125,
128.49609375,
24.345703125,
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[
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123.92578125,
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31.201171875
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[
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111.005859375,
128.49609375,
24.345703125,
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31.201171875
] | 0.166667 | 5 | 0 | 5 | 0 |
[
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109.6875,
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31.201171875
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[
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110.478515625,
128.408203125,
24.345703125,
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[
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108.80859375,
122.783203125,
24.345703125,
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31.201171875
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[
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109.6875,
127.880859375,
24.345703125,
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[
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107.841796875,
121.9921875,
24.345703125,
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31.201171875
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[
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108.984375,
127.177734375,
24.345703125,
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31.201171875
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[
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24.521484375,
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[
-0.52734375,
108.193359375,
126.123046875,
24.345703125,
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[
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105.908203125,
119.8828125,
25.400390625,
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31.11328125
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[
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107.40234375,
124.98046875,
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[
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105.1171875,
118.828125,
26.015625,
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31.11328125
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[
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106.5234375,
123.92578125,
25.048828125,
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31.201171875
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[
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104.150390625,
117.685546875,
26.71875,
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31.11328125
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[
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105.380859375,
122.431640625,
25.83984375,
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31.201171875
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[
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103.18359375,
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27.421875,
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31.11328125
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[
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104.501953125,
121.552734375,
26.630859375,
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31.201171875
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[
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102.3046875,
115.400390625,
28.388671875,
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31.11328125
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[
-0.615234375,
103.623046875,
120.5859375,
27.421875,
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[
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101.07421875,
114.08203125,
29.53125,
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31.11328125
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[
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102.65625,
119.53125,
28.212890625,
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[
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100.1953125,
112.67578125,
30.849609375,
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[
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101.689453125,
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28.916015625,
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[
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111.4453125,
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[
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100.634765625,
116.71875,
30.05859375,
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[
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110.21484375,
33.134765625,
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[
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115.3125,
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[
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34.27734375,
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[
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[
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104.677734375,
39.462890625,
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31.11328125
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[
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96.591796875,
112.060546875,
34.541015625,
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31.201171875
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[
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103.974609375,
40.078125,
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31.11328125
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[
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111.005859375,
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31.201171875
] | 0.7 | 21 | 0 | 21 | 0 |
[
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103.447265625,
40.78125,
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31.201171875
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[
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108.193359375,
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31.201171875
] | 0.733333 | 22 | 0 | 22 | 0 |
[
0.087890625,
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103.0078125,
41.30859375,
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31.11328125
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[
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91.7578125,
106.171875,
39.0234375,
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31.201171875
] | 0.766667 | 23 | 0 | 23 | 0 |
[
0.17578125,
89.82421875,
102.744140625,
41.572265625,
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31.201171875
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[
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90.52734375,
105.732421875,
40.517578125,
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31.201171875
] | 0.8 | 24 | 0 | 24 | 0 |
[
0.3515625,
88.9453125,
102.48046875,
41.923828125,
-5.537109375,
31.11328125
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[
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105.732421875,
41.396484375,
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31.201171875
] | 0.833333 | 25 | 0 | 25 | 0 |
[
0.52734375,
88.41796875,
102.216796875,
42.1875,
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31.201171875
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[
0,
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105.8203125,
42.099609375,
-5.09765625,
31.201171875
] | 0.866667 | 26 | 0 | 26 | 0 |
[
0.703125,
87.451171875,
102.041015625,
42.275390625,
-5.80078125,
31.201171875
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[
0.087890625,
88.2421875,
105.8203125,
42.099609375,
-5.09765625,
31.201171875
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[
0.966796875,
86.923828125,
101.865234375,
42.275390625,
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31.201171875
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[
0.17578125,
87.5390625,
105.64453125,
42.1875,
-5.2734375,
31.201171875
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[
1.142578125,
86.220703125,
101.865234375,
42.01171875,
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31.2890625
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[
0.3515625,
86.923828125,
105.556640625,
42.1875,
-5.44921875,
31.201171875
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[
1.318359375,
85.60546875,
101.865234375,
41.923828125,
-5.888671875,
31.904296875
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[
0.52734375,
86.220703125,
105.64453125,
42.275390625,
-5.44921875,
31.201171875
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[
1.40625,
85.166015625,
101.865234375,
41.8359375,
-5.888671875,
32.51953125
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[
0.703125,
85.4296875,
105.64453125,
42.275390625,
-5.537109375,
31.46484375
] | 1.033333 | 31 | 0 | 31 | 0 |
[
1.40625,
84.638671875,
101.865234375,
41.8359375,
-5.9765625,
32.87109375
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[
0.87890625,
84.90234375,
105.64453125,
42.275390625,
-5.537109375,
31.81640625
] | 1.066667 | 32 | 0 | 32 | 0 |
[
1.40625,
84.111328125,
101.865234375,
41.748046875,
-6.240234375,
32.87109375
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[
0.87890625,
84.375,
105.64453125,
42.275390625,
-5.537109375,
32.16796875
] | 1.1 | 33 | 0 | 33 | 0 |
[
1.494140625,
83.671875,
101.865234375,
41.748046875,
-6.416015625,
32.87109375
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[
0.87890625,
83.935546875,
105.64453125,
42.275390625,
-5.537109375,
32.34375
] | 1.133333 | 34 | 0 | 34 | 0 |
[
1.494140625,
83.232421875,
101.865234375,
41.572265625,
-6.591796875,
32.87109375
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[
0.966796875,
83.49609375,
105.64453125,
42.275390625,
-5.625,
32.34375
] | 1.166667 | 35 | 0 | 35 | 0 |
[
1.494140625,
82.79296875,
101.865234375,
41.1328125,
-6.591796875,
32.87109375
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[
0.966796875,
83.056640625,
105.64453125,
42.275390625,
-5.888671875,
32.34375
] | 1.2 | 36 | 0 | 36 | 0 |
[
1.494140625,
82.44140625,
101.6015625,
40.60546875,
-6.767578125,
32.87109375
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[
0.966796875,
82.529296875,
105.64453125,
42.275390625,
-6.15234375,
32.34375
] | 1.233333 | 37 | 0 | 37 | 0 |
[
1.494140625,
82.001953125,
101.42578125,
39.814453125,
-6.943359375,
32.87109375
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[
0.966796875,
82.177734375,
105.64453125,
42.1875,
-6.328125,
32.34375
] | 1.266667 | 38 | 0 | 38 | 0 |
[
1.40625,
81.474609375,
101.337890625,
38.759765625,
-7.03125,
32.87109375
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[
0.966796875,
81.826171875,
105.556640625,
42.01171875,
-6.416015625,
32.34375
] | 1.3 | 39 | 0 | 39 | 0 |
[
1.318359375,
80.947265625,
101.162109375,
37.44140625,
-7.03125,
32.87109375
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[
0.966796875,
81.38671875,
105.556640625,
41.396484375,
-6.591796875,
32.34375
] | 1.333333 | 40 | 0 | 40 | 0 |
[
1.23046875,
80.5078125,
100.8984375,
36.38671875,
-7.119140625,
32.87109375
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[
0.966796875,
80.771484375,
105.64453125,
40.60546875,
-6.767578125,
32.34375
] | 1.366667 | 41 | 0 | 41 | 0 |
[
1.142578125,
79.541015625,
100.1953125,
36.03515625,
-7.294921875,
32.87109375
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[
0.966796875,
80.244140625,
105.380859375,
39.7265625,
-6.767578125,
32.34375
] | 1.4 | 42 | 0 | 42 | 0 |
[
0.966796875,
79.013671875,
99.4921875,
35.947265625,
-7.3828125,
32.87109375
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[
0.966796875,
79.453125,
104.677734375,
38.935546875,
-6.767578125,
32.34375
] | 1.433333 | 43 | 0 | 43 | 0 |
[
0.791015625,
77.87109375,
98.525390625,
35.771484375,
-7.55859375,
32.87109375
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[
0.966796875,
78.837890625,
103.53515625,
38.232421875,
-6.767578125,
32.34375
] | 1.466667 | 44 | 0 | 44 | 0 |
[
0.703125,
77.080078125,
97.822265625,
35.68359375,
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32.87109375
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[
0.87890625,
78.046875,
102.392578125,
37.705078125,
-6.767578125,
32.34375
] | 1.5 | 45 | 0 | 45 | 0 |
[
0.52734375,
76.201171875,
96.85546875,
35.595703125,
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32.87109375
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[
0.791015625,
77.16796875,
100.986328125,
37.44140625,
-7.03125,
32.34375
] | 1.533333 | 46 | 0 | 46 | 0 |
[
0.3515625,
75.41015625,
96.064453125,
35.5078125,
-7.822265625,
32.87109375
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[
0.703125,
76.201171875,
100.01953125,
37.177734375,
-7.20703125,
32.34375
] | 1.566667 | 47 | 0 | 47 | 0 |
[
0.17578125,
74.53125,
95.185546875,
35.5078125,
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32.87109375
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[
0.615234375,
75.234375,
99.404296875,
37.001953125,
-7.470703125,
32.34375
] | 1.6 | 48 | 0 | 48 | 0 |
[
0.087890625,
73.740234375,
94.658203125,
35.5078125,
-7.91015625,
32.783203125
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[
0.439453125,
74.443359375,
98.876953125,
37.001953125,
-7.55859375,
32.34375
] | 1.633333 | 49 | 0 | 49 | 0 |
[
-0.087890625,
73.125,
94.39453125,
35.595703125,
-7.91015625,
32.783203125
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[
0.3515625,
73.740234375,
98.349609375,
37.001953125,
-7.646484375,
32.34375
] | 1.666667 | 50 | 0 | 50 | 0 |
[
-0.087890625,
72.421875,
94.482421875,
35.68359375,
-7.91015625,
32.87109375
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[
0.263671875,
72.94921875,
97.55859375,
37.001953125,
-7.55859375,
32.34375
] | 1.7 | 51 | 0 | 51 | 0 |
[
-0.17578125,
71.71875,
94.482421875,
35.947265625,
-7.91015625,
32.87109375
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[
0.087890625,
72.24609375,
96.767578125,
36.826171875,
-7.55859375,
32.34375
] | 1.733333 | 52 | 0 | 52 | 0 |
[
-0.17578125,
71.3671875,
94.482421875,
35.859375,
-7.91015625,
32.783203125
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[
0,
71.630859375,
96.416015625,
36.73828125,
-7.646484375,
32.34375
] | 1.766667 | 53 | 0 | 53 | 0 |
[
-0.17578125,
70.751953125,
94.482421875,
35.947265625,
-7.91015625,
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[
-0.087890625,
71.19140625,
96.416015625,
36.650390625,
-7.646484375,
32.34375
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[
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70.13671875,
94.482421875,
36.03515625,
-7.91015625,
32.783203125
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[
-0.17578125,
70.927734375,
96.15234375,
36.5625,
-7.734375,
32.34375
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[
-0.3515625,
69.609375,
94.482421875,
36.03515625,
-7.998046875,
32.783203125
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[
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70.48828125,
95.80078125,
36.474609375,
-7.734375,
32.34375
] | 1.866667 | 56 | 0 | 56 | 0 |
[
-0.52734375,
68.73046875,
94.482421875,
36.123046875,
-8.26171875,
32.783203125
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[
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69.9609375,
95.44921875,
36.123046875,
-7.734375,
32.34375
] | 1.9 | 57 | 0 | 57 | 0 |
[
-0.703125,
68.115234375,
94.482421875,
36.123046875,
-8.349609375,
32.783203125
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[
-0.3515625,
69.521484375,
95.2734375,
35.859375,
-7.734375,
32.34375
] | 1.933333 | 58 | 0 | 58 | 0 |
[
-0.791015625,
67.8515625,
94.5703125,
36.123046875,
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32.783203125
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[
-0.439453125,
68.818359375,
95.009765625,
35.859375,
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32.34375
] | 1.966667 | 59 | 0 | 59 | 0 |
[
-1.0546875,
67.060546875,
95.185546875,
36.123046875,
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[
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68.291015625,
94.658203125,
35.771484375,
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[
-1.23046875,
66.708984375,
95.9765625,
36.123046875,
-8.349609375,
32.783203125
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[
-0.703125,
67.8515625,
94.658203125,
35.771484375,
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32.34375
] | 2.033333 | 61 | 0 | 61 | 0 |
[
-1.40625,
66.708984375,
96.328125,
36.123046875,
-8.4375,
32.607421875
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[
-0.87890625,
67.32421875,
95.185546875,
35.771484375,
-7.91015625,
32.34375
] | 2.066667 | 62 | 0 | 62 | 0 |
[
-1.494140625,
66.62109375,
96.591796875,
36.123046875,
-8.4375,
32.34375
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[
-1.0546875,
67.1484375,
95.712890625,
35.68359375,
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32.34375
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[
-1.494140625,
66.62109375,
96.6796875,
35.947265625,
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30.673828125
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[
-1.142578125,
67.1484375,
95.888671875,
35.68359375,
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32.34375
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[
-1.669921875,
66.62109375,
96.943359375,
35.859375,
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29.267578125
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[
-1.23046875,
67.1484375,
95.888671875,
35.68359375,
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31.728515625
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[
-1.93359375,
66.62109375,
97.470703125,
35.771484375,
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27.94921875
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[
-1.318359375,
67.1484375,
95.888671875,
35.68359375,
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30.5859375
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[
-2.109375,
66.62109375,
97.91015625,
35.68359375,
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26.982421875
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[
-1.40625,
67.1484375,
96.15234375,
35.68359375,
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[
-2.197265625,
66.62109375,
98.4375,
35.68359375,
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25.83984375
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[
-1.58203125,
67.1484375,
96.6796875,
35.595703125,
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[
-2.28515625,
66.62109375,
98.7890625,
35.595703125,
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24.2578125
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[
-1.58203125,
67.1484375,
97.119140625,
35.595703125,
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-2.28515625,
66.62109375,
99.052734375,
35.595703125,
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[
-1.669921875,
67.1484375,
97.470703125,
35.5078125,
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[
-2.28515625,
66.62109375,
99.140625,
35.595703125,
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20.91796875
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[
-1.7578125,
67.1484375,
97.470703125,
35.5078125,
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[
-2.28515625,
66.62109375,
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[
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67.1484375,
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22.5
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66.62109375,
99.228515625,
35.595703125,
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[
-1.845703125,
67.1484375,
97.822265625,
35.5078125,
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21.005859375
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[
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66.62109375,
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35.595703125,
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[
-1.845703125,
67.1484375,
97.91015625,
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[
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67.1484375,
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67.1484375,
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[
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[
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[
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[
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67.1484375,
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[
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[
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67.1484375,
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[
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[
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[
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67.1484375,
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[
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[
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67.1484375,
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[
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[
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67.1484375,
98.0859375,
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[
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[
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67.1484375,
98.0859375,
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[
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66.97265625,
99.4921875,
33.57421875,
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[
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67.1484375,
98.173828125,
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[
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67.412109375,
99.31640625,
33.57421875,
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[
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67.1484375,
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[
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[
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67.32421875,
98.7890625,
33.57421875,
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[
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[
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67.587890625,
98.7890625,
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[
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[
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68.02734375,
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[
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70.13671875,
97.03125,
34.013671875,
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[
-3.8671875,
68.37890625,
98.26171875,
33.3984375,
-3.427734375,
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[
-5.2734375,
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[
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68.642578125,
97.734375,
33.3984375,
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[
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95.537109375,
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[
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[
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[
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33.3984375,
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[
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94.306640625,
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[
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[
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93.515625,
35.68359375,
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[
-5.09765625,
70.224609375,
96.064453125,
33.57421875,
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[
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74.1796875,
92.4609375,
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[
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96.064453125,
33.92578125,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 445,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:1"
},
"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.overhead_cam": {
"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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.side_cam": {
"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": "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
}
}
}
Citation
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