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action
sequence | observation.state
sequence | timestamp
float32 0
16
| frame_index
int64 0
80
| episode_index
int64 0
0
| index
int64 0
80
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
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101.77734375,
144.755859375,
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98.7890625,
145.37109375,
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[
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144.931640625,
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99.84375,
145.37109375,
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[
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111.708984375,
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103.7109375,
145.37109375,
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109.951171875,
145.72265625,
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118.125,
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124.892578125,
154.423828125,
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[
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128.759765625,
156.09375,
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[
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157.5,
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128.84765625,
156.796875,
5.2734375,
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34.013671875
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[
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129.462890625,
157.939453125,
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[
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131.1328125,
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129.462890625,
160.3125,
3.515625,
2.28515625,
34.013671875
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[
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131.1328125,
165.41015625,
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129.462890625,
163.564453125,
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[
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129.462890625,
166.376953125,
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2.28515625,
34.013671875
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[
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2.8125,
34.892578125
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129.462890625,
169.27734375,
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2.28515625,
34.013671875
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[
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129.55078125,
173.14453125,
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34.013671875
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[
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129.375,
174.19921875,
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34.013671875
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[
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130.95703125,
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129.375,
174.814453125,
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[
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129.462890625,
175.869140625,
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[
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129.375,
175.869140625,
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34.013671875
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[
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129.375,
175.869140625,
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2.724609375,
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[
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129.375,
175.869140625,
-17.314453125,
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129.375,
176.8359375,
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[
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177.451171875,
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129.375,
176.8359375,
-10.72265625,
2.28515625,
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[
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177.451171875,
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128.935546875,
176.8359375,
-8.7890625,
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[
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128.232421875,
176.8359375,
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2.28515625,
34.013671875
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[
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128.14453125,
176.8359375,
-6.767578125,
2.28515625,
34.013671875
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[
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128.49609375,
177.451171875,
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128.056640625,
176.8359375,
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2.28515625,
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[
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176.484375,
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34.892578125
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127.96875,
176.8359375,
-6.767578125,
2.28515625,
34.013671875
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[
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128.759765625,
173.056640625,
-3.8671875,
0.87890625,
34.892578125
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127.96875,
175.869140625,
-6.767578125,
1.40625,
34.013671875
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[
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129.462890625,
169.013671875,
1.845703125,
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34.892578125
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127.96875,
173.671875,
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0.087890625,
34.013671875
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[
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130.78125,
163.740234375,
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34.892578125
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128.408203125,
170.419921875,
1.318359375,
0.263671875,
34.013671875
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[
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131.1328125,
159.78515625,
14.326171875,
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34.892578125
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129.0234375,
164.091796875,
8.4375,
0.263671875,
34.013671875
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[
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131.220703125,
157.8515625,
16.787109375,
0,
34.892578125
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129.462890625,
160.576171875,
14.23828125,
0.263671875,
34.013671875
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[
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131.30859375,
153.45703125,
23.115234375,
0,
34.892578125
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129.462890625,
159.43359375,
16.083984375,
0.263671875,
34.013671875
] | 6.4 | 32 | 0 | 32 | 0 |
[
-3.1640625,
131.30859375,
148.0078125,
31.376953125,
-0.087890625,
34.892578125
] | [
-2.98828125,
129.462890625,
154.51171875,
23.37890625,
0.263671875,
34.013671875
] | 6.6 | 33 | 0 | 33 | 0 |
[
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131.30859375,
143.26171875,
39.0234375,
-0.17578125,
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-2.98828125,
129.462890625,
149.677734375,
31.376953125,
0.263671875,
34.013671875
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[
-3.251953125,
131.30859375,
141.767578125,
43.505859375,
-0.615234375,
34.98046875
] | [
-2.98828125,
129.462890625,
144.580078125,
39.375,
0.263671875,
34.013671875
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[
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131.30859375,
139.306640625,
49.306640625,
-1.669921875,
35.068359375
] | [
-2.98828125,
129.462890625,
143.349609375,
43.2421875,
0.263671875,
34.013671875
] | 7.2 | 36 | 0 | 36 | 0 |
[
-2.4609375,
131.30859375,
136.58203125,
55.107421875,
-3.33984375,
35.068359375
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129.462890625,
141.15234375,
49.130859375,
-0.615234375,
34.541015625
] | 7.4 | 37 | 0 | 37 | 0 |
[
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131.30859375,
136.494140625,
52.55859375,
-2.98828125,
34.98046875
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129.462890625,
137.900390625,
55.107421875,
-2.724609375,
34.541015625
] | 7.6 | 38 | 0 | 38 | 0 |
[
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136.494140625,
45.439453125,
-1.318359375,
34.98046875
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129.462890625,
137.900390625,
53.173828125,
-2.109375,
34.013671875
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[
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135.703125,
136.40625,
39.0234375,
-0.439453125,
35.15625
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130.166015625,
137.900390625,
46.40625,
-1.0546875,
34.013671875
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[
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135.703125,
137.4609375,
29.970703125,
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130.869140625,
137.900390625,
40.693359375,
-0.17578125,
34.541015625
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[
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135.703125,
137.98828125,
22.412109375,
1.0546875,
35.419921875
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130.869140625,
137.900390625,
31.025390625,
-0.17578125,
34.541015625
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[
-5.888671875,
135.703125,
141.15234375,
13.974609375,
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130.869140625,
137.900390625,
24.43359375,
0.703125,
34.541015625
] | 8.6 | 43 | 0 | 43 | 0 |
[
-5.9765625,
135.615234375,
151.083984375,
-3.8671875,
3.33984375,
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130.869140625,
142.822265625,
15.380859375,
1.0546875,
34.541015625
] | 8.8 | 44 | 0 | 44 | 0 |
[
-5.9765625,
135.615234375,
159.697265625,
-17.578125,
5.009765625,
35.5078125
] | [
-5.009765625,
130.869140625,
152.314453125,
0.52734375,
2.98828125,
34.541015625
] | 9 | 45 | 0 | 45 | 0 |
[
-5.9765625,
135.615234375,
165.05859375,
-25.576171875,
6.15234375,
35.5078125
] | [
-5.09765625,
130.869140625,
160.400390625,
-13.623046875,
4.833984375,
34.541015625
] | 9.2 | 46 | 0 | 46 | 0 |
[
-5.9765625,
135.615234375,
167.431640625,
-28.4765625,
6.50390625,
35.595703125
] | [
-5.009765625,
130.869140625,
166.552734375,
-21.796875,
5.625,
34.541015625
] | 9.4 | 47 | 0 | 47 | 0 |
[
-5.9765625,
135.615234375,
168.57421875,
-29.619140625,
6.591796875,
35.595703125
] | [
-4.921875,
130.869140625,
168.046875,
-24.345703125,
5.625,
34.541015625
] | 9.6 | 48 | 0 | 48 | 0 |
[
-5.9765625,
135.52734375,
169.98046875,
-29.970703125,
7.03125,
35.595703125
] | [
-4.921875,
130.869140625,
168.75,
-24.9609375,
5.625,
34.541015625
] | 9.8 | 49 | 0 | 49 | 0 |
[
-6.064453125,
135.615234375,
172.6171875,
-30.234375,
7.294921875,
35.595703125
] | [
-4.921875,
130.869140625,
169.892578125,
-24.9609375,
6.50390625,
34.541015625
] | 10 | 50 | 0 | 50 | 0 |
[
-5.9765625,
135.615234375,
175.25390625,
-30.322265625,
7.470703125,
35.5078125
] | [
-5.888671875,
130.869140625,
173.14453125,
-26.982421875,
6.85546875,
34.541015625
] | 10.2 | 51 | 0 | 51 | 0 |
[
-5.537109375,
135.439453125,
176.66015625,
-28.828125,
7.3828125,
35.595703125
] | [
-5.009765625,
130.869140625,
174.90234375,
-27.0703125,
6.85546875,
34.541015625
] | 10.4 | 52 | 0 | 52 | 0 |
[
-4.833984375,
135.3515625,
177.099609375,
-26.103515625,
7.03125,
35.595703125
] | [
-4.921875,
130.869140625,
175.869140625,
-26.982421875,
6.85546875,
34.541015625
] | 10.6 | 53 | 0 | 53 | 0 |
[
-2.63671875,
135.263671875,
177.36328125,
-20.7421875,
6.15234375,
35.244140625
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-3.8671875,
130.869140625,
176.8359375,
-25.6640625,
6.85546875,
34.541015625
] | 10.8 | 54 | 0 | 54 | 0 |
[
-2.724609375,
135.17578125,
177.451171875,
-16.5234375,
5.80078125,
35.419921875
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-1.93359375,
130.869140625,
176.8359375,
-19.599609375,
6.328125,
34.541015625
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[
-2.724609375,
135.17578125,
177.451171875,
-13.18359375,
5.80078125,
35.5078125
] | [
-1.93359375,
130.869140625,
176.8359375,
-15.908203125,
5.185546875,
34.541015625
] | 11.2 | 56 | 0 | 56 | 0 |
[
-2.8125,
135.087890625,
177.451171875,
-11.07421875,
5.712890625,
35.5078125
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-1.93359375,
130.869140625,
176.8359375,
-12.744140625,
5.185546875,
34.541015625
] | 11.4 | 57 | 0 | 57 | 0 |
[
-2.724609375,
135.087890625,
177.451171875,
-9.140625,
5.537109375,
35.33203125
] | [
-1.93359375,
130.869140625,
176.8359375,
-10.810546875,
5.185546875,
34.541015625
] | 11.6 | 58 | 0 | 58 | 0 |
[
-2.900390625,
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177.451171875,
-7.998046875,
5.361328125,
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-1.93359375,
130.869140625,
176.8359375,
-8.876953125,
5.185546875,
34.541015625
] | 11.8 | 59 | 0 | 59 | 0 |
[
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-5.44921875,
5.44921875,
35.15625
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130.869140625,
176.8359375,
-6.85546875,
5.185546875,
34.541015625
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[
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177.451171875,
-4.921875,
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35.15625
] | [
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130.869140625,
176.8359375,
-4.921875,
5.185546875,
34.541015625
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[
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134.6484375,
177.451171875,
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34.98046875
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130.869140625,
176.8359375,
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5.09765625,
34.541015625
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[
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177.451171875,
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176.8359375,
-3.955078125,
5.09765625,
34.013671875
] | 12.6 | 63 | 0 | 63 | 0 |
[
-2.373046875,
133.76953125,
177.451171875,
-2.4609375,
5.537109375,
34.98046875
] | [
-1.93359375,
130.869140625,
176.8359375,
-3.33984375,
5.009765625,
34.013671875
] | 12.8 | 64 | 0 | 64 | 0 |
[
-2.63671875,
133.41796875,
177.451171875,
-2.197265625,
5.44921875,
34.98046875
] | [
-1.93359375,
130.693359375,
176.8359375,
-2.548828125,
5.009765625,
34.013671875
] | 13 | 65 | 0 | 65 | 0 |
[
-2.724609375,
132.71484375,
177.451171875,
-1.494140625,
5.712890625,
34.98046875
] | [
-1.93359375,
130.693359375,
176.8359375,
-2.63671875,
5.009765625,
34.013671875
] | 13.2 | 66 | 0 | 66 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.40625,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 13.4 | 67 | 0 | 67 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 13.6 | 68 | 0 | 68 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 13.8 | 69 | 0 | 69 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 14 | 70 | 0 | 70 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 14.2 | 71 | 0 | 71 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 14.4 | 72 | 0 | 72 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.0546875,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 14.6 | 73 | 0 | 73 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 14.8 | 74 | 0 | 74 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 15 | 75 | 0 | 75 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 15.2 | 76 | 0 | 76 | 0 |
[
-2.900390625,
132.71484375,
177.451171875,
-1.0546875,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 15.4 | 77 | 0 | 77 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 15.6 | 78 | 0 | 78 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 15.8 | 79 | 0 | 79 | 0 |
[
-2.900390625,
132.626953125,
177.451171875,
-1.142578125,
5.712890625,
34.892578125
] | [
-1.93359375,
130.60546875,
176.8359375,
-2.109375,
5.009765625,
34.013671875
] | 16 | 80 | 0 | 80 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 81,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 5,
"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.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"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.phone": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 5.0,
"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
BibTeX:
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