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sequence | observation.state
sequence | timestamp
float32 0
16.6
| frame_index
int64 0
498
| episode_index
int64 0
49
| index
int64 0
18.4k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
48.955078125,
84.19921875,
104.677734375,
54.4921875,
29.1796875,
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[
46.7578125,
80.419921875,
106.435546875,
55.986328125,
28.65234375,
14.435879707336426
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[
49.04296875,
84.7265625,
104.4140625,
54.4921875,
29.1796875,
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[
46.7578125,
80.595703125,
106.5234375,
55.986328125,
28.65234375,
14.435879707336426
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|
[
49.04296875,
85.166015625,
104.150390625,
54.4921875,
29.091796875,
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[
46.845703125,
80.771484375,
106.5234375,
55.810546875,
28.916015625,
14.435879707336426
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|
[
48.955078125,
85.4296875,
104.0625,
54.4921875,
29.00390625,
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[
47.109375,
80.771484375,
106.5234375,
55.546875,
29.00390625,
14.435879707336426
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[
48.8671875,
85.60546875,
103.974609375,
54.580078125,
29.00390625,
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[
47.548828125,
80.771484375,
106.5234375,
55.1953125,
28.65234375,
14.435879707336426
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[
48.69140625,
85.60546875,
103.974609375,
54.66796875,
29.00390625,
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[
47.98828125,
80.771484375,
106.5234375,
54.931640625,
28.65234375,
14.435879707336426
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[
48.515625,
85.78125,
103.974609375,
54.755859375,
28.828125,
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[
48.251953125,
80.771484375,
106.5234375,
54.755859375,
28.740234375,
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[
48.33984375,
86.220703125,
103.88671875,
54.84375,
28.740234375,
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[
48.251953125,
80.771484375,
106.5234375,
54.66796875,
28.564453125,
14.435879707336426
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| 7
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|
[
48.251953125,
86.923828125,
103.7109375,
54.84375,
28.65234375,
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[
48.251953125,
80.771484375,
106.5234375,
54.580078125,
28.212890625,
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[
48.1640625,
87.978515625,
103.271484375,
54.84375,
28.4765625,
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[
48.1640625,
80.771484375,
106.5234375,
54.580078125,
28.212890625,
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[
47.98828125,
89.296875,
102.65625,
54.84375,
28.212890625,
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[
48.1640625,
80.771484375,
106.5234375,
54.580078125,
28.212890625,
14.435879707336426
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| 10
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| 10
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[
47.63671875,
90.703125,
101.865234375,
55.107421875,
27.861328125,
-0.40567949414253235
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[
48.076171875,
81.2109375,
106.5234375,
54.580078125,
28.212890625,
14.435879707336426
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| 11
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| 11
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[
47.197265625,
92.197265625,
100.546875,
55.72265625,
27.333984375,
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[
48.076171875,
82.08984375,
106.5234375,
54.66796875,
28.212890625,
14.435879707336426
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| 12
| 0
| 12
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|
[
46.40625,
93.8671875,
99.140625,
56.25,
26.279296875,
-0.40567949414253235
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[
47.8125,
83.232421875,
106.34765625,
54.755859375,
27.94921875,
14.435879707336426
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| 13
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| 13
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[
45.52734375,
95.80078125,
97.822265625,
56.513671875,
25.48828125,
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[
47.4609375,
84.375,
105.8203125,
54.931640625,
27.333984375,
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| 14
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| 14
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[
44.296875,
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96.328125,
57.216796875,
24.169921875,
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[
47.021484375,
85.60546875,
105.029296875,
55.37109375,
26.806640625,
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[
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100.01953125,
94.74609375,
58.095703125,
22.587890625,
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[
46.494140625,
87.099609375,
104.0625,
55.810546875,
26.015625,
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| 16
| 0
| 16
| 0
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[
40.95703125,
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92.98828125,
59.23828125,
22.1484375,
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[
45.791015625,
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103.0078125,
56.42578125,
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| 17
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[
38.84765625,
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60.46875,
21.09375,
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[
44.736328125,
90.87890625,
101.77734375,
57.12890625,
24.08203125,
14.435879707336426
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| 0
| 18
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|
[
36.5625,
106.435546875,
90.087890625,
60.99609375,
20.21484375,
-0.40567949414253235
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[
43.330078125,
92.98828125,
100.1953125,
57.919921875,
23.291015625,
14.435879707336426
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| 19
| 0
| 19
| 0
|
[
34.365234375,
108.017578125,
88.857421875,
61.69921875,
19.775390625,
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[
41.66015625,
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98.701171875,
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14.435879707336426
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| 20
| 0
| 20
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|
[
31.81640625,
109.3359375,
87.451171875,
62.75390625,
18.45703125,
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[
39.90234375,
97.3828125,
97.3828125,
59.326171875,
21.533203125,
14.435879707336426
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| 21
| 0
| 21
| 0
|
[
29.619140625,
110.654296875,
86.572265625,
63.369140625,
17.841796875,
-0.40567949414253235
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[
37.880859375,
99.4921875,
95.888671875,
60.1171875,
20.56640625,
14.435879707336426
] | 0.733333
| 22
| 0
| 22
| 0
|
[
27.59765625,
111.97265625,
86.30859375,
63.896484375,
17.138671875,
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[
35.859375,
101.25,
94.39453125,
60.99609375,
19.599609375,
14.435879707336426
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| 23
| 0
| 23
| 0
|
[
25.576171875,
113.115234375,
86.30859375,
64.51171875,
16.435546875,
-0.40567949414253235
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[
33.662109375,
102.919921875,
93.076171875,
61.875,
18.720703125,
14.435879707336426
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| 24
| 0
| 24
| 0
|
[
23.642578125,
113.994140625,
86.30859375,
65.126953125,
16.34765625,
-0.40567949414253235
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[
31.2890625,
104.501953125,
92.28515625,
62.666015625,
18.10546875,
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| 25
| 0
| 25
| 0
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[
21.62109375,
114.609375,
86.30859375,
66.181640625,
15.908203125,
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[
28.828125,
106.083984375,
91.669921875,
63.45703125,
17.2265625,
14.435879707336426
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| 26
| 0
| 26
| 0
|
[
19.599609375,
115.3125,
86.484375,
67.1484375,
15.64453125,
-0.40567949414253235
] |
[
26.630859375,
107.314453125,
91.23046875,
64.16015625,
16.69921875,
14.435879707336426
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| 27
| 0
| 27
| 0
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[
17.578125,
116.19140625,
87.099609375,
67.8515625,
15.380859375,
-0.40567949414253235
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[
24.609375,
108.544921875,
90.966796875,
65.126953125,
16.083984375,
14.435879707336426
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| 28
| 0
| 28
| 0
|
[
15.380859375,
117.24609375,
88.06640625,
68.5546875,
14.94140625,
-0.40567949414253235
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[
22.763671875,
109.599609375,
90.87890625,
65.91796875,
15.732421875,
14.435879707336426
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| 29
| 0
| 29
| 0
|
[
13.271484375,
118.30078125,
88.9453125,
69.2578125,
14.94140625,
-0.40567949414253235
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[
21.005859375,
110.56640625,
90.87890625,
66.533203125,
15.380859375,
14.435879707336426
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| 30
| 0
| 30
| 0
|
[
11.25,
119.091796875,
89.6484375,
70.3125,
14.853515625,
-0.40567949414253235
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[
19.16015625,
111.62109375,
90.87890625,
67.412109375,
14.853515625,
14.435879707336426
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| 31
| 0
| 31
| 0
|
[
9.31640625,
119.794921875,
90.615234375,
70.927734375,
14.765625,
-0.40567949414253235
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[
17.2265625,
112.67578125,
90.87890625,
68.203125,
14.677734375,
14.435879707336426
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| 32
| 0
| 32
| 0
|
[
7.470703125,
120.673828125,
91.7578125,
71.3671875,
14.677734375,
-0.40567949414253235
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[
15.029296875,
113.642578125,
90.87890625,
68.994140625,
14.501953125,
14.435879707336426
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| 33
| 0
| 33
| 0
|
[
5.361328125,
121.46484375,
92.724609375,
72.333984375,
14.150390625,
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[
12.744140625,
114.521484375,
90.87890625,
69.609375,
14.326171875,
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| 34
| 0
| 34
| 0
|
[
3.33984375,
122.87109375,
94.130859375,
72.861328125,
14.150390625,
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[
10.546875,
115.576171875,
91.494140625,
70.400390625,
14.150390625,
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| 35
| 0
| 35
| 0
|
[
1.142578125,
124.892578125,
95.9765625,
73.212890625,
14.150390625,
-0.40567949414253235
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[
8.525390625,
116.455078125,
92.197265625,
71.103515625,
14.0625,
14.435879707336426
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| 36
| 0
| 36
| 0
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[
-1.40625,
127.265625,
97.734375,
74.00390625,
13.974609375,
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[
6.6796875,
117.59765625,
93.251953125,
71.71875,
14.0625,
14.435879707336426
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| 37
| 0
| 37
| 0
|
[
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129.638671875,
99.31640625,
74.794921875,
14.23828125,
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[
4.74609375,
119.1796875,
94.658203125,
72.421875,
13.974609375,
14.435879707336426
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| 38
| 0
| 38
| 0
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[
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132.099609375,
100.72265625,
75.9375,
14.677734375,
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[
2.98828125,
120.9375,
96.064453125,
73.125,
13.7109375,
14.435879707336426
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| 39
| 0
| 39
| 0
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[
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134.47265625,
102.12890625,
76.9921875,
15.1171875,
-0.40567949414253235
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[
1.142578125,
123.046875,
97.734375,
73.65234375,
13.88671875,
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| 40
| 0
| 40
| 0
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[
-10.458984375,
136.58203125,
103.359375,
78.134765625,
15.46875,
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[
-1.142578125,
125.595703125,
99.31640625,
74.443359375,
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| 41
| 0
| 41
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[
-11.953125,
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104.58984375,
79.27734375,
15.46875,
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[
-3.427734375,
127.79296875,
100.72265625,
75.41015625,
14.23828125,
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| 42
| 0
| 42
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[
-13.359375,
140.9765625,
106.171875,
80.15625,
15.29296875,
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[
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130.166015625,
102.216796875,
76.552734375,
14.4140625,
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| 43
| 0
| 43
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[
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[
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132.5390625,
103.623046875,
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14.58984375,
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| 44
| 0
| 44
| 0
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[
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[
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134.82421875,
104.94140625,
78.837890625,
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| 45
| 0
| 45
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[
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147.65625,
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84.462890625,
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[
-10.72265625,
137.197265625,
106.34765625,
79.98046875,
14.326171875,
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| 46
| 0
| 46
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[
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150.205078125,
109.16015625,
85.517578125,
13.447265625,
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[
-12.392578125,
139.482421875,
107.2265625,
81.38671875,
14.23828125,
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| 47
| 0
| 47
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[
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[
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142.03125,
107.841796875,
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| 48
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[
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[
-15.908203125,
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| 49
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[
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[
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| 0
| 50
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[
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91.40625,
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[
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149.4140625,
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| 51
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| 51
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[
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[
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[
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[
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| 53
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[
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[
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| 54
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[
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[
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| 55
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| 55
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[
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16.787109375,
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[
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157.32421875,
109.423828125,
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[
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156.796875,
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95.625,
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[
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157.587890625,
109.6875,
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[
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[
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[
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107.578125,
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[
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109.6875,
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[
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150.29296875,
106.69921875,
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[
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155.7421875,
109.599609375,
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[
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147.65625,
105.8203125,
95.537109375,
18.896484375,
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[
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153.984375,
109.51171875,
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17.05078125,
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[
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104.853515625,
95.2734375,
19.072265625,
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[
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152.05078125,
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[
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142.55859375,
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[
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149.501953125,
108.984375,
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[
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94.482421875,
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[
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18.28125,
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[
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[
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135,
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[
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[
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[
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[
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99.140625,
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[
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[
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[
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134.384765625,
104.94140625,
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[
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[
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104.0625,
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[
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[
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[
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[
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128.671875,
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[
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[
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[
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[
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| 75
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[
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[
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| 76
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| 76
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[
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[
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99.228515625,
94.39453125,
23.37890625,
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| 77
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| 77
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[
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117.0703125,
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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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[
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[
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[
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90,
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[
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|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "so100",
"total_episodes": 50,
"total_frames": 18407,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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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"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
"names": null
},
"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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