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sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
-1.494140625,
106.5234375,
99.052734375,
81.474609375,
-49.306640625,
28.79464340209961
] |
[
0.17578125,
109.951171875,
106.5234375,
80.419921875,
-42.01171875,
27.738513946533203
] | 0
| 0
| 0
| 0
| 0
|
[
-1.494140625,
105.556640625,
97.3828125,
81.826171875,
-51.416015625,
28.79464340209961
] |
[
-0.439453125,
108.369140625,
104.677734375,
80.771484375,
-43.857421875,
28.268550872802734
] | 0.033333
| 1
| 0
| 1
| 0
|
[
-1.494140625,
104.765625,
95.537109375,
82.44140625,
-53.4375,
28.90625
] |
[
-0.87890625,
106.962890625,
103.18359375,
80.771484375,
-45.87890625,
28.268550872802734
] | 0.066667
| 2
| 0
| 2
| 0
|
[
-1.494140625,
103.623046875,
93.251953125,
83.583984375,
-55.634765625,
29.241069793701172
] |
[
-1.142578125,
105.46875,
101.6015625,
80.859375,
-48.33984375,
28.268550872802734
] | 0.1
| 3
| 0
| 3
| 0
|
[
-1.40625,
102.216796875,
90.87890625,
84.55078125,
-57.216796875,
29.352680206298828
] |
[
-1.142578125,
104.150390625,
99.66796875,
81.38671875,
-50.361328125,
28.180212020874023
] | 0.133333
| 4
| 0
| 4
| 0
|
[
-1.318359375,
100.8984375,
88.76953125,
85.60546875,
-58.88671875,
29.352680206298828
] |
[
-0.703125,
102.919921875,
97.734375,
82.353515625,
-52.470703125,
28.180212020874023
] | 0.166667
| 5
| 0
| 5
| 0
|
[
-1.23046875,
99.755859375,
87.099609375,
87.099609375,
-60.908203125,
29.46428680419922
] |
[
-0.439453125,
101.865234375,
95.712890625,
83.3203125,
-54.4921875,
28.5335693359375
] | 0.2
| 6
| 0
| 6
| 0
|
[
-1.23046875,
99.31640625,
86.484375,
87.71484375,
-62.666015625,
29.57589340209961
] |
[
-0.439453125,
100.634765625,
93.33984375,
84.111328125,
-55.986328125,
28.710247039794922
] | 0.233333
| 7
| 0
| 7
| 0
|
[
-1.23046875,
98.876953125,
86.484375,
87.71484375,
-64.248046875,
29.57589340209961
] |
[
-0.703125,
99.404296875,
91.40625,
85.4296875,
-57.041015625,
28.710247039794922
] | 0.266667
| 8
| 0
| 8
| 0
|
[
-1.494140625,
98.173828125,
86.66015625,
87.71484375,
-65.7421875,
29.57589340209961
] |
[
-1.23046875,
98.701171875,
90.087890625,
86.220703125,
-57.65625,
28.710247039794922
] | 0.3
| 9
| 0
| 9
| 0
|
[
-1.58203125,
97.822265625,
87.099609375,
87.451171875,
-66.796875,
29.57589340209961
] |
[
-1.318359375,
98.0859375,
89.384765625,
86.572265625,
-57.919921875,
28.710247039794922
] | 0.333333
| 10
| 0
| 10
| 0
|
[
-1.669921875,
97.470703125,
87.451171875,
87.1875,
-67.8515625,
29.57589340209961
] |
[
-1.318359375,
97.734375,
89.033203125,
86.66015625,
-58.18359375,
28.710247039794922
] | 0.366667
| 11
| 0
| 11
| 0
|
[
-1.845703125,
96.6796875,
87.802734375,
86.396484375,
-68.466796875,
29.57589340209961
] |
[
-1.23046875,
97.119140625,
88.9453125,
86.748046875,
-58.271484375,
28.710247039794922
] | 0.4
| 12
| 0
| 12
| 0
|
[
-2.109375,
95.2734375,
87.802734375,
85.4296875,
-69.169921875,
29.6875
] |
[
-0.966796875,
96.50390625,
88.9453125,
86.8359375,
-58.271484375,
28.710247039794922
] | 0.433333
| 13
| 0
| 13
| 0
|
[
-2.4609375,
93.779296875,
87.802734375,
84.462890625,
-69.78515625,
29.91071319580078
] |
[
-0.791015625,
95.712890625,
88.9453125,
86.30859375,
-58.271484375,
28.710247039794922
] | 0.466667
| 14
| 0
| 14
| 0
|
[
-2.900390625,
92.28515625,
87.802734375,
83.49609375,
-70.13671875,
29.91071319580078
] |
[
-1.0546875,
94.74609375,
88.9453125,
85.60546875,
-58.271484375,
28.710247039794922
] | 0.5
| 15
| 0
| 15
| 0
|
[
-2.98828125,
90.703125,
87.802734375,
82.177734375,
-69.873046875,
29.6875
] |
[
-1.494140625,
93.515625,
88.9453125,
84.7265625,
-58.271484375,
28.710247039794922
] | 0.533333
| 16
| 0
| 16
| 0
|
[
-2.63671875,
89.12109375,
87.802734375,
81.2109375,
-69.78515625,
29.57589340209961
] |
[
-2.197265625,
92.109375,
88.9453125,
83.84765625,
-58.271484375,
28.710247039794922
] | 0.566667
| 17
| 0
| 17
| 0
|
[
-1.7578125,
87.71484375,
87.802734375,
80.419921875,
-69.873046875,
29.6875
] |
[
-2.28515625,
90.615234375,
88.9453125,
82.880859375,
-58.271484375,
28.710247039794922
] | 0.6
| 18
| 0
| 18
| 0
|
[
-0.791015625,
86.8359375,
87.802734375,
79.98046875,
-69.873046875,
29.6875
] |
[
-2.28515625,
89.033203125,
88.9453125,
81.9140625,
-58.271484375,
28.710247039794922
] | 0.633333
| 19
| 0
| 19
| 0
|
[
0.087890625,
86.572265625,
87.802734375,
79.892578125,
-69.873046875,
29.6875
] |
[
-1.669921875,
87.626953125,
88.9453125,
80.947265625,
-58.271484375,
28.710247039794922
] | 0.666667
| 20
| 0
| 20
| 0
|
[
0.966796875,
86.484375,
87.71484375,
79.716796875,
-70.048828125,
29.79910659790039
] |
[
-0.966796875,
86.1328125,
88.9453125,
79.98046875,
-58.271484375,
28.710247039794922
] | 0.7
| 21
| 0
| 21
| 0
|
[
1.93359375,
86.484375,
87.626953125,
79.453125,
-70.048828125,
29.6875
] |
[
-0.263671875,
85.4296875,
88.9453125,
79.541015625,
-58.271484375,
28.710247039794922
] | 0.733333
| 22
| 0
| 22
| 0
|
[
2.900390625,
86.484375,
87.36328125,
79.453125,
-70.400390625,
29.6875
] |
[
0.17578125,
85.166015625,
88.9453125,
79.365234375,
-58.271484375,
28.710247039794922
] | 0.766667
| 23
| 0
| 23
| 0
|
[
4.04296875,
86.484375,
86.923828125,
79.453125,
-70.751953125,
29.6875
] |
[
0.615234375,
85.166015625,
88.9453125,
79.189453125,
-58.271484375,
28.710247039794922
] | 0.8
| 24
| 0
| 24
| 0
|
[
5.361328125,
86.484375,
86.572265625,
79.453125,
-71.19140625,
29.6875
] |
[
0.703125,
85.25390625,
88.9453125,
79.1015625,
-58.271484375,
28.710247039794922
] | 0.833333
| 25
| 0
| 25
| 0
|
[
6.767578125,
86.484375,
86.044921875,
79.453125,
-71.54296875,
29.46428680419922
] |
[
1.669921875,
85.25390625,
88.59375,
79.1015625,
-58.271484375,
28.710247039794922
] | 0.866667
| 26
| 0
| 26
| 0
|
[
8.525390625,
86.484375,
85.60546875,
79.541015625,
-71.71875,
29.241069793701172
] |
[
2.900390625,
85.25390625,
88.505859375,
78.92578125,
-58.271484375,
28.710247039794922
] | 0.9
| 27
| 0
| 27
| 0
|
[
10.107421875,
86.484375,
85.078125,
79.8046875,
-72.158203125,
29.241069793701172
] |
[
4.74609375,
85.25390625,
88.41796875,
79.013671875,
-58.271484375,
28.710247039794922
] | 0.933333
| 28
| 0
| 28
| 0
|
[
11.513671875,
86.484375,
84.90234375,
79.8046875,
-72.685546875,
29.241069793701172
] |
[
6.240234375,
85.25390625,
88.06640625,
79.013671875,
-58.271484375,
28.710247039794922
] | 0.966667
| 29
| 0
| 29
| 0
|
[
12.744140625,
86.484375,
84.7265625,
79.62890625,
-73.212890625,
29.12946319580078
] |
[
7.822265625,
85.25390625,
87.71484375,
79.013671875,
-58.271484375,
28.710247039794922
] | 1
| 30
| 0
| 30
| 0
|
[
14.150390625,
86.484375,
84.7265625,
79.453125,
-73.828125,
29.12946319580078
] |
[
8.876953125,
85.25390625,
87.1875,
79.013671875,
-58.271484375,
28.710247039794922
] | 1.033333
| 31
| 0
| 31
| 0
|
[
15.1171875,
86.484375,
84.638671875,
79.365234375,
-74.53125,
29.01785659790039
] |
[
10.1953125,
85.25390625,
86.748046875,
78.92578125,
-58.271484375,
28.710247039794922
] | 1.066667
| 32
| 0
| 32
| 0
|
[
15.8203125,
86.396484375,
84.638671875,
79.365234375,
-74.8828125,
29.01785659790039
] |
[
11.6015625,
85.25390625,
86.484375,
79.013671875,
-58.271484375,
28.710247039794922
] | 1.1
| 33
| 0
| 33
| 0
|
[
15.99609375,
85.95703125,
84.638671875,
79.62890625,
-75.146484375,
29.01785659790039
] |
[
13.271484375,
85.25390625,
86.30859375,
79.013671875,
-58.271484375,
28.710247039794922
] | 1.133333
| 34
| 0
| 34
| 0
|
[
15.99609375,
85.341796875,
84.638671875,
79.892578125,
-75.234375,
28.90625
] |
[
14.58984375,
85.25390625,
86.220703125,
79.013671875,
-58.271484375,
28.710247039794922
] | 1.166667
| 35
| 0
| 35
| 0
|
[
15.732421875,
84.814453125,
84.7265625,
80.068359375,
-75.146484375,
28.90625
] |
[
14.765625,
84.7265625,
86.1328125,
79.013671875,
-58.271484375,
28.710247039794922
] | 1.2
| 36
| 0
| 36
| 0
|
[
15.205078125,
84.462890625,
84.990234375,
80.33203125,
-75.05859375,
28.79464340209961
] |
[
14.765625,
84.375,
86.1328125,
79.013671875,
-58.271484375,
28.710247039794922
] | 1.233333
| 37
| 0
| 37
| 0
|
[
14.58984375,
84.19921875,
85.517578125,
80.33203125,
-74.70703125,
28.79464340209961
] |
[
14.150390625,
83.759765625,
86.1328125,
79.365234375,
-58.271484375,
28.356891632080078
] | 1.266667
| 38
| 0
| 38
| 0
|
[
13.88671875,
84.0234375,
86.044921875,
80.33203125,
-74.35546875,
28.79464340209961
] |
[
14.150390625,
83.232421875,
86.1328125,
79.716796875,
-58.271484375,
28.180212020874023
] | 1.3
| 39
| 0
| 39
| 0
|
[
13.18359375,
83.935546875,
86.66015625,
80.33203125,
-74.091796875,
28.79464340209961
] |
[
14.326171875,
83.14453125,
86.220703125,
79.716796875,
-58.271484375,
28.180212020874023
] | 1.333333
| 40
| 0
| 40
| 0
|
[
12.392578125,
83.759765625,
87.099609375,
80.33203125,
-73.828125,
28.79464340209961
] |
[
14.23828125,
83.14453125,
86.572265625,
79.716796875,
-58.271484375,
28.180212020874023
] | 1.366667
| 41
| 0
| 41
| 0
|
[
11.77734375,
83.3203125,
87.5390625,
80.244140625,
-73.564453125,
28.79464340209961
] |
[
13.88671875,
82.705078125,
86.572265625,
79.892578125,
-58.271484375,
28.180212020874023
] | 1.4
| 42
| 0
| 42
| 0
|
[
11.337890625,
82.96875,
87.802734375,
79.892578125,
-73.30078125,
28.68303680419922
] |
[
12.65625,
82.44140625,
86.923828125,
79.27734375,
-58.271484375,
28.180212020874023
] | 1.433333
| 43
| 0
| 43
| 0
|
[
11.07421875,
82.529296875,
87.890625,
79.8046875,
-73.037109375,
28.68303680419922
] |
[
11.6015625,
82.265625,
87.275390625,
79.8046875,
-58.271484375,
28.180212020874023
] | 1.466667
| 44
| 0
| 44
| 0
|
[
10.8984375,
82.177734375,
87.890625,
79.8046875,
-72.7734375,
28.571430206298828
] |
[
11.337890625,
81.73828125,
87.451171875,
79.8046875,
-58.271484375,
28.180212020874023
] | 1.5
| 45
| 0
| 45
| 0
|
[
10.634765625,
81.73828125,
87.890625,
79.8046875,
-72.7734375,
28.571430206298828
] |
[
11.162109375,
81.38671875,
87.36328125,
78.75,
-58.271484375,
28.180212020874023
] | 1.533333
| 46
| 0
| 46
| 0
|
[
10.1953125,
81.03515625,
87.890625,
79.8046875,
-72.685546875,
28.571430206298828
] |
[
11.42578125,
81.2109375,
87.36328125,
78.837890625,
-58.271484375,
28.180212020874023
] | 1.566667
| 47
| 0
| 47
| 0
|
[
9.84375,
80.419921875,
87.890625,
79.8046875,
-72.509765625,
28.571430206298828
] |
[
11.07421875,
80.771484375,
87.36328125,
79.541015625,
-58.271484375,
28.180212020874023
] | 1.6
| 48
| 0
| 48
| 0
|
[
9.580078125,
79.98046875,
87.890625,
79.8046875,
-72.333984375,
28.571430206298828
] |
[
10.458984375,
80.33203125,
87.36328125,
79.1015625,
-58.271484375,
28.180212020874023
] | 1.633333
| 49
| 0
| 49
| 0
|
[
9.228515625,
79.541015625,
87.890625,
79.8046875,
-72.158203125,
28.34821319580078
] |
[
9.404296875,
79.716796875,
87.36328125,
78.57421875,
-58.271484375,
28.180212020874023
] | 1.666667
| 50
| 0
| 50
| 0
|
[
9.052734375,
79.27734375,
87.890625,
79.8046875,
-71.982421875,
28.01339340209961
] |
[
9.228515625,
78.837890625,
87.36328125,
79.189453125,
-58.271484375,
28.180212020874023
] | 1.7
| 51
| 0
| 51
| 0
|
[
8.876953125,
78.92578125,
87.890625,
79.716796875,
-71.89453125,
27.678569793701172
] |
[
9.140625,
78.22265625,
87.36328125,
79.453125,
-58.271484375,
28.180212020874023
] | 1.733333
| 52
| 0
| 52
| 0
|
[
8.701171875,
78.57421875,
87.890625,
79.716796875,
-71.89453125,
27.45535659790039
] |
[
9.755859375,
78.046875,
87.36328125,
79.1015625,
-58.271484375,
28.09187126159668
] | 1.766667
| 53
| 0
| 53
| 0
|
[
8.61328125,
78.22265625,
87.890625,
79.62890625,
-71.89453125,
27.45535659790039
] |
[
9.580078125,
77.607421875,
87.36328125,
78.75,
-58.271484375,
27.561838150024414
] | 1.8
| 54
| 0
| 54
| 0
|
[
8.525390625,
77.607421875,
87.890625,
79.453125,
-71.89453125,
27.23214340209961
] |
[
9.228515625,
77.431640625,
87.36328125,
79.013671875,
-58.271484375,
27.29681968688965
] | 1.833333
| 55
| 0
| 55
| 0
|
[
8.525390625,
77.080078125,
87.890625,
79.189453125,
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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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[
7.20703125,
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23.4375
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[
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[
7.119140625,
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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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[
5.9765625,
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[
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[
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[
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[
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[
5.712890625,
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74.35546875,
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[
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[
5.712890625,
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[
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[
5.712890625,
66.09375,
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[
6.591796875,
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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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[
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[
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[
6.50390625,
66.357421875,
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[
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66.005859375,
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[
6.50390625,
67.587890625,
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[
5.712890625,
66.005859375,
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73.916015625,
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[
6.15234375,
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[
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[
5.625,
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[
5.712890625,
66.09375,
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[
5.009765625,
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[
5.712890625,
66.708984375,
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[
4.482421875,
77.34375,
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[
5.712890625,
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| 92
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[
4.04296875,
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[
5.537109375,
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78.046875,
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|
[
3.69140625,
80.859375,
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[
5.09765625,
70.6640625,
83.056640625,
80.68359375,
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| 94
| 0
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| 0
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[
3.515625,
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92.373046875,
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[
4.658203125,
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[
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[
3.779296875,
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[
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[
2.98828125,
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[
3.603515625,
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[
2.8125,
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[
3.955078125,
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[
2.8125,
79.013671875,
74.8828125,
93.515625,
-48.779296875,
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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": "v2.0",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 1016,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.laptop": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "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": 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": {
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"shape": [
1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
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