Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
14.9
| frame_index
int64 0
448
| episode_index
int64 0
29
| index
int64 0
13.4k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
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[
14.23828125,
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80.5078125,
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[
13.18359375,
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[
14.0625,
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47.63671875,
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[
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[
13.095703125,
41.923828125,
45.52734375,
81.03515625,
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14.800514221191406
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[
13.798828125,
41.572265625,
47.4609375,
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[
13.095703125,
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45.52734375,
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[
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|
[
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[
13.7109375,
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47.4609375,
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[
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[
13.623046875,
41.572265625,
47.4609375,
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[
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[
13.53515625,
41.572265625,
47.4609375,
80.859375,
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| 7
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[
12.744140625,
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45.52734375,
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[
13.53515625,
41.572265625,
47.4609375,
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[
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45.52734375,
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[
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41.572265625,
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[
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[
13.359375,
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[
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45.52734375,
82.44140625,
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[
13.359375,
41.572265625,
47.4609375,
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[
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[
13.095703125,
41.572265625,
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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45,
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[
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[
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47.373046875,
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| 19
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[
6.416015625,
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[
8.7890625,
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[
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[
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47.373046875,
84.375,
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| 21
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[
5.2734375,
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85.078125,
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[
7.294921875,
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| 22
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| 22
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[
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55.1953125,
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[
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| 23
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| 23
| 0
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[
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55.546875,
45.087890625,
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[
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50.185546875,
47.373046875,
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| 24
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[
4.130859375,
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84.375,
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[
5.361328125,
50.888671875,
47.373046875,
84.814453125,
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| 25
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| 25
| 0
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[
3.779296875,
54.31640625,
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[
4.921875,
51.240234375,
47.373046875,
84.814453125,
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| 26
| 0
| 26
| 0
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[
3.515625,
52.91015625,
38.84765625,
86.044921875,
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[
4.658203125,
51.416015625,
46.494140625,
84.814453125,
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16.53333282470703
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| 27
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[
3.251953125,
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35.771484375,
87.01171875,
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[
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51.328125,
45.17578125,
84.990234375,
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| 28
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| 28
| 0
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[
2.98828125,
49.74609375,
33.046875,
87.71484375,
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14.800514221191406
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[
4.21875,
50.712890625,
43.330078125,
85.60546875,
-26.71875,
16.53333282470703
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| 29
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| 29
| 0
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[
2.8125,
48.8671875,
31.2890625,
87.71484375,
-26.54296875,
14.800514221191406
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[
4.04296875,
49.658203125,
40.78125,
86.30859375,
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16.53333282470703
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| 30
| 0
| 30
| 0
|
[
2.548828125,
47.900390625,
29.443359375,
87.71484375,
-26.54296875,
14.800514221191406
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[
3.779296875,
48.8671875,
38.3203125,
86.923828125,
-26.71875,
16.53333282470703
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| 31
| 0
| 31
| 0
|
[
2.28515625,
47.021484375,
27.421875,
87.802734375,
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14.800514221191406
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[
3.427734375,
47.8125,
36.123046875,
87.099609375,
-26.71875,
16.53333282470703
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| 32
| 0
| 32
| 0
|
[
2.021484375,
46.0546875,
25.3125,
87.978515625,
-26.54296875,
14.800514221191406
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[
3.076171875,
46.845703125,
33.92578125,
87.275390625,
-26.71875,
16.53333282470703
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| 33
| 0
| 33
| 0
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[
1.669921875,
45.17578125,
23.466796875,
88.154296875,
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14.800514221191406
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[
2.724609375,
46.0546875,
31.9921875,
87.5390625,
-26.71875,
16.53333282470703
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| 34
| 0
| 34
| 0
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[
1.318359375,
44.47265625,
22.236328125,
88.154296875,
-26.455078125,
14.800514221191406
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[
2.4609375,
45.087890625,
29.8828125,
87.71484375,
-26.71875,
16.53333282470703
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| 35
| 0
| 35
| 0
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[
0.791015625,
43.76953125,
21.181640625,
88.154296875,
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14.800514221191406
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[
2.109375,
44.12109375,
27.861328125,
87.890625,
-26.71875,
16.53333282470703
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| 36
| 0
| 36
| 0
|
[
0.263671875,
43.06640625,
20.56640625,
88.154296875,
-26.71875,
14.800514221191406
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[
1.845703125,
43.505859375,
26.279296875,
87.978515625,
-26.71875,
16.53333282470703
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| 37
| 0
| 37
| 0
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[
-0.263671875,
42.626953125,
20.390625,
87.890625,
-26.89453125,
14.800514221191406
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[
1.494140625,
42.890625,
24.9609375,
87.978515625,
-26.71875,
16.53333282470703
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| 38
| 0
| 38
| 0
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[
-0.703125,
42.1875,
20.390625,
87.5390625,
-26.89453125,
14.800514221191406
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[
0.966796875,
42.1875,
23.90625,
87.978515625,
-26.71875,
16.53333282470703
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| 39
| 0
| 39
| 0
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[
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41.748046875,
20.390625,
87.099609375,
-26.89453125,
14.800514221191406
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[
0.439453125,
41.748046875,
23.37890625,
87.978515625,
-26.71875,
16.53333282470703
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| 40
| 0
| 40
| 0
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[
-1.58203125,
41.30859375,
20.390625,
86.66015625,
-26.982421875,
14.800514221191406
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[
0,
41.484375,
23.203125,
87.978515625,
-26.71875,
16.53333282470703
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| 41
| 0
| 41
| 0
|
[
-2.021484375,
40.78125,
20.390625,
86.30859375,
-26.982421875,
14.800514221191406
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[
-0.52734375,
41.044921875,
23.115234375,
87.978515625,
-26.71875,
16.53333282470703
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| 42
| 0
| 42
| 0
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[
-2.373046875,
40.25390625,
20.302734375,
86.1328125,
-26.982421875,
14.800514221191406
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[
-0.87890625,
40.4296875,
23.02734375,
87.451171875,
-26.71875,
16.53333282470703
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| 43
| 0
| 43
| 0
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[
-2.63671875,
39.814453125,
20.302734375,
85.78125,
-26.982421875,
14.800514221191406
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[
-1.23046875,
39.90234375,
22.8515625,
87.099609375,
-26.71875,
16.53333282470703
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| 44
| 0
| 44
| 0
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[
-2.900390625,
39.375,
20.302734375,
85.517578125,
-26.982421875,
14.800514221191406
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[
-1.58203125,
39.287109375,
22.8515625,
86.8359375,
-26.71875,
16.53333282470703
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| 45
| 0
| 45
| 0
|
[
-3.076171875,
39.111328125,
20.302734375,
85.078125,
-26.982421875,
14.800514221191406
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[
-1.93359375,
38.84765625,
22.8515625,
86.572265625,
-26.71875,
16.53333282470703
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| 46
| 0
| 46
| 0
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[
-3.251953125,
38.84765625,
20.302734375,
84.638671875,
-26.982421875,
14.800514221191406
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[
-2.28515625,
38.49609375,
22.8515625,
86.220703125,
-26.71875,
16.53333282470703
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| 47
| 0
| 47
| 0
|
[
-3.427734375,
38.759765625,
20.302734375,
84.287109375,
-26.982421875,
14.800514221191406
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[
-2.548828125,
38.3203125,
22.8515625,
85.869140625,
-26.71875,
16.53333282470703
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| 48
| 0
| 48
| 0
|
[
-3.515625,
38.759765625,
20.302734375,
84.0234375,
-26.982421875,
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[
-2.8125,
38.232421875,
22.8515625,
85.517578125,
-26.71875,
16.53333282470703
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| 49
| 0
| 49
| 0
|
[
-3.69140625,
38.759765625,
20.21484375,
83.84765625,
-26.982421875,
14.800514221191406
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[
-2.900390625,
38.14453125,
22.8515625,
85.166015625,
-26.71875,
16.53333282470703
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| 50
| 0
| 50
| 0
|
[
-3.8671875,
38.759765625,
20.0390625,
83.759765625,
-26.982421875,
14.800514221191406
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[
-3.076171875,
38.14453125,
22.8515625,
84.814453125,
-26.71875,
16.53333282470703
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| 51
| 0
| 51
| 0
|
[
-4.04296875,
38.84765625,
19.86328125,
83.671875,
-26.982421875,
14.800514221191406
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[
-3.1640625,
38.14453125,
22.8515625,
84.638671875,
-26.71875,
16.53333282470703
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| 52
| 0
| 52
| 0
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[
-4.130859375,
38.84765625,
19.6875,
83.583984375,
-26.982421875,
14.800514221191406
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[
-3.33984375,
38.14453125,
22.67578125,
84.462890625,
-26.71875,
16.53333282470703
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| 53
| 0
| 53
| 0
|
[
-4.21875,
38.84765625,
19.51171875,
83.49609375,
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14.800514221191406
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[
-3.515625,
38.14453125,
22.5,
84.375,
-26.71875,
16.53333282470703
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| 54
| 0
| 54
| 0
|
[
-4.306640625,
38.84765625,
19.3359375,
83.408203125,
-26.982421875,
14.800514221191406
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[
-3.603515625,
38.14453125,
22.32421875,
84.375,
-26.71875,
16.53333282470703
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| 55
| 0
| 55
| 0
|
[
-4.39453125,
38.84765625,
19.248046875,
83.3203125,
-26.982421875,
14.800514221191406
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[
-3.779296875,
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| 56
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|
[
-4.39453125,
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[
-3.779296875,
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| 57
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[
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[
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[
-4.39453125,
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[
-3.8671875,
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| 60
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|
[
-4.39453125,
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[
-3.8671875,
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[
-4.306640625,
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[
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[
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[
-3.8671875,
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| 63
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[
-4.130859375,
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[
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[
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[
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[
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[
-3.8671875,
36.5625,
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[
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[
-3.8671875,
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[
-4.04296875,
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[
-3.8671875,
36.5625,
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| 68
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| 68
| 0
|
[
-4.04296875,
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[
-3.8671875,
36.5625,
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| 69
| 0
| 69
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|
[
-4.04296875,
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[
-3.8671875,
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| 70
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[
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[
-3.8671875,
36.5625,
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| 71
| 0
| 71
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[
-4.04296875,
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[
-3.8671875,
36.5625,
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-26.71875,
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| 72
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| 72
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[
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[
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| 73
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| 73
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[
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[
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| 74
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| 74
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[
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[
-3.8671875,
36.5625,
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-26.71875,
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| 75
| 0
| 75
| 0
|
[
-4.130859375,
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18.80859375,
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28.314027786254883
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[
-3.8671875,
36.5625,
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83.84765625,
-26.71875,
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| 76
| 0
| 76
| 0
|
[
-4.130859375,
37.44140625,
18.80859375,
83.935546875,
-26.71875,
28.314027786254883
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[
-3.8671875,
36.5625,
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-26.71875,
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| 77
| 0
| 77
| 0
|
[
-4.21875,
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[
-3.8671875,
36.5625,
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83.84765625,
-26.71875,
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| 78
| 0
| 78
| 0
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[
-4.21875,
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18.80859375,
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[
-3.8671875,
36.5625,
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| 79
| 0
| 79
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[
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[
-3.8671875,
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-26.71875,
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| 80
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| 80
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[
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[
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| 81
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[
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[
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[
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| 83
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| 83
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[
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[
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36.5625,
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| 84
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[
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[
-3.8671875,
36.5625,
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84.19921875,
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| 85
| 0
| 85
| 0
|
[
-3.8671875,
37.79296875,
18.80859375,
84.638671875,
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[
-3.8671875,
36.5625,
21.62109375,
84.19921875,
-26.71875,
27.599998474121094
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| 86
| 0
| 86
| 0
|
[
-3.8671875,
37.79296875,
18.80859375,
84.814453125,
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[
-3.8671875,
36.5625,
21.62109375,
84.19921875,
-26.71875,
27.599998474121094
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| 87
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| 87
| 0
|
[
-3.779296875,
37.880859375,
18.80859375,
84.90234375,
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[
-3.8671875,
36.5625,
21.62109375,
84.375,
-26.71875,
27.599998474121094
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| 88
| 0
| 88
| 0
|
[
-3.779296875,
37.880859375,
18.80859375,
85.078125,
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28.314027786254883
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[
-3.8671875,
36.5625,
21.62109375,
84.55078125,
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27.599998474121094
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| 89
| 0
| 89
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|
[
-3.779296875,
37.880859375,
18.80859375,
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28.314027786254883
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[
-3.8671875,
36.5625,
21.62109375,
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27.599998474121094
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| 90
| 0
| 90
| 0
|
[
-3.8671875,
38.056640625,
18.80859375,
85.95703125,
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28.314027786254883
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[
-3.8671875,
36.5625,
21.62109375,
84.90234375,
-26.71875,
27.599998474121094
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| 91
| 0
| 91
| 0
|
[
-4.04296875,
38.3203125,
18.80859375,
86.484375,
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28.314027786254883
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[
-3.8671875,
36.5625,
21.62109375,
85.166015625,
-26.71875,
27.599998474121094
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| 92
| 0
| 92
| 0
|
[
-4.130859375,
38.583984375,
18.80859375,
87.099609375,
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[
-3.8671875,
36.5625,
21.62109375,
85.60546875,
-26.54296875,
27.599998474121094
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| 93
| 0
| 93
| 0
|
[
-4.306640625,
39.0234375,
18.80859375,
87.626953125,
-25.576171875,
28.314027786254883
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[
-3.8671875,
36.5625,
21.62109375,
85.95703125,
-26.3671875,
27.599998474121094
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| 94
| 0
| 94
| 0
|
[
-4.306640625,
39.375,
18.80859375,
88.06640625,
-25.3125,
28.314027786254883
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[
-3.8671875,
36.5625,
21.62109375,
86.484375,
-26.103515625,
27.599998474121094
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| 95
| 0
| 95
| 0
|
[
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39.7265625,
18.80859375,
88.505859375,
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[
-3.8671875,
36.5625,
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87.01171875,
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27.599998474121094
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| 96
| 0
| 96
| 0
|
[
-4.306640625,
40.078125,
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[
-3.8671875,
36.5625,
21.533203125,
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-25.6640625,
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| 97
| 0
| 97
| 0
|
[
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40.4296875,
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[
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36.5625,
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87.890625,
-25.48828125,
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| 98
| 0
| 98
| 0
|
[
-4.21875,
40.869140625,
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90,
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[
-3.8671875,
36.5625,
21.26953125,
88.330078125,
-25.48828125,
27.599998474121094
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| 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": "so100",
"total_episodes": 30,
"total_frames": 13442,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"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.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": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.phone": {
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"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": {
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1
],
"names": null
},
"frame_index": {
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1
],
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},
"episode_index": {
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1
],
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},
"index": {
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1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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