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list | observation.state
list | timestamp
float32 0
8.9
| frame_index
int64 0
89
| episode_index
int64 0
0
| index
int64 0
89
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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135,
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[
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[
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[
93.515625,
132.099609375,
176.30859375,
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[
94.21875,
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179.47265625,
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[
93.515625,
132.099609375,
176.30859375,
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[
94.658203125,
134.912109375,
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[
93.8671875,
132.099609375,
176.30859375,
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87.099609375,
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[
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13.623046875,
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[
93.955078125,
132.099609375,
176.30859375,
-1.23046875,
87.451171875,
84.111328125
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[
93.603515625,
134.736328125,
174.462890625,
14.94140625,
90.703125,
76.2890625
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[
93.955078125,
132.099609375,
173.232421875,
3.427734375,
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[
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134.736328125,
171.03515625,
20.830078125,
91.142578125,
76.2890625
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[
93.779296875,
132.099609375,
172.529296875,
5.009765625,
89.6484375,
84.111328125
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[
93.603515625,
134.6484375,
166.552734375,
26.71875,
91.494140625,
76.201171875
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[
93.603515625,
132.099609375,
166.201171875,
15.1171875,
91.0546875,
84.111328125
] | 1.2 | 12 | 0 | 12 | 0 |
[
93.603515625,
133.505859375,
161.3671875,
32.16796875,
91.7578125,
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[
93.603515625,
132.099609375,
165.41015625,
18.6328125,
91.142578125,
84.111328125
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[
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131.044921875,
156.005859375,
36.298828125,
91.40625,
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[
93.69140625,
131.30859375,
159.9609375,
29.443359375,
91.494140625,
84.111328125
] | 1.4 | 14 | 0 | 14 | 0 |
[
93.779296875,
127.79296875,
151.611328125,
38.935546875,
90.703125,
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[
93.8671875,
130.869140625,
158.203125,
33.837890625,
91.494140625,
84.111328125
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[
93.779296875,
123.662109375,
147.48046875,
40.869140625,
89.912109375,
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[
93.779296875,
124.8046875,
152.138671875,
40.078125,
90.87890625,
84.111328125
] | 1.6 | 16 | 0 | 16 | 0 |
[
93.779296875,
119.794921875,
144.140625,
41.396484375,
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76.201171875
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[
93.779296875,
124.189453125,
151.259765625,
40.517578125,
90.87890625,
84.111328125
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[
93.69140625,
115.6640625,
140.80078125,
41.572265625,
89.6484375,
76.201171875
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[
93.779296875,
118.916015625,
147.3046875,
41.484375,
90.87890625,
84.111328125
] | 1.8 | 18 | 0 | 18 | 0 |
[
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112.32421875,
137.900390625,
42.099609375,
89.6484375,
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[
93.779296875,
116.015625,
145.37109375,
41.30859375,
90.87890625,
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[
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135.439453125,
42.978515625,
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[
93.69140625,
112.5,
142.3828125,
42.01171875,
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[
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[
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108.720703125,
138.33984375,
43.681640625,
90.3515625,
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90,
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[
92.900390625,
108.28125,
137.109375,
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[
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106.875,
135,
43.9453125,
90.439453125,
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[
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125.68359375,
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[
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132.890625,
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[
90.703125,
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123.3984375,
44.912109375,
90.703125,
76.201171875
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[
91.40625,
102.3046875,
130.078125,
44.912109375,
90.52734375,
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[
90.791015625,
100.8984375,
121.2890625,
44.912109375,
90.703125,
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[
91.318359375,
100.634765625,
128.3203125,
44.912109375,
90.791015625,
84.111328125
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[
90.791015625,
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[
91.40625,
99.228515625,
127.001953125,
45.263671875,
90.791015625,
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90.87890625,
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46.40625,
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[
91.40625,
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124.716796875,
45.3515625,
90.791015625,
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[
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90.703125,
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[
91.40625,
94.921875,
124.716796875,
45.3515625,
90.87890625,
84.111328125
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[
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[
91.40625,
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117.509765625,
47.8125,
90.87890625,
84.111328125
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[
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106.5234375,
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90.3515625,
76.201171875
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[
91.40625,
92.548828125,
117.421875,
47.8125,
90.87890625,
84.111328125
] | 3.1 | 31 | 0 | 31 | 0 |
[
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104.0625,
48.427734375,
90.17578125,
76.201171875
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[
91.669921875,
87.099609375,
114.08203125,
48.603515625,
90.87890625,
84.111328125
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[
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100.37109375,
49.39453125,
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[
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84.814453125,
113.37890625,
48.603515625,
90.87890625,
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] | 3.3 | 33 | 0 | 33 | 0 |
[
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50.09765625,
90.17578125,
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[
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106.435546875,
50.625,
90.87890625,
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[
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90.703125,
51.943359375,
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[
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105.732421875,
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[
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[
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78.486328125,
104.677734375,
52.03125,
90.966796875,
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] | 3.6 | 36 | 0 | 36 | 0 |
[
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87.1875,
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[
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98.7890625,
52.998046875,
90.966796875,
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] | 3.7 | 37 | 0 | 37 | 0 |
[
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52.998046875,
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[
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95.009765625,
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90.966796875,
84.111328125
] | 3.8 | 38 | 0 | 38 | 0 |
[
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81.38671875,
54.228515625,
89.912109375,
76.201171875
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[
92.4609375,
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93.69140625,
53.26171875,
91.0546875,
84.111328125
] | 3.9 | 39 | 0 | 39 | 0 |
[
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69.78515625,
78.134765625,
55.107421875,
89.6484375,
76.201171875
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[
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68.994140625,
87.802734375,
55.72265625,
90.966796875,
84.111328125
] | 4 | 40 | 0 | 40 | 0 |
[
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56.07421875,
89.6484375,
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[
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68.115234375,
87.5390625,
55.8984375,
90.966796875,
84.111328125
] | 4.1 | 41 | 0 | 41 | 0 |
[
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65.21484375,
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56.6015625,
89.6484375,
76.201171875
] |
[
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64.51171875,
80.771484375,
57.48046875,
91.0546875,
84.111328125
] | 4.2 | 42 | 0 | 42 | 0 |
[
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63.017578125,
68.02734375,
57.568359375,
89.6484375,
76.201171875
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[
92.8125,
62.841796875,
79.62890625,
57.568359375,
91.0546875,
84.111328125
] | 4.3 | 43 | 0 | 43 | 0 |
[
92.548828125,
61.34765625,
65.21484375,
58.271484375,
89.6484375,
76.201171875
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[
92.900390625,
61.435546875,
78.662109375,
57.568359375,
91.0546875,
84.111328125
] | 4.4 | 44 | 0 | 44 | 0 |
[
92.548828125,
60.46875,
63.544921875,
58.53515625,
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76.201171875
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[
92.900390625,
60.029296875,
73.916015625,
59.4140625,
91.0546875,
84.111328125
] | 4.5 | 45 | 0 | 45 | 0 |
[
92.548828125,
59.58984375,
62.05078125,
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76.201171875
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[
92.8125,
58.623046875,
69.9609375,
59.501953125,
91.142578125,
84.111328125
] | 4.6 | 46 | 0 | 46 | 0 |
[
92.548828125,
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61.171875,
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76.201171875
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[
92.8125,
58.0078125,
69.9609375,
59.501953125,
91.0546875,
84.111328125
] | 4.7 | 47 | 0 | 47 | 0 |
[
92.548828125,
59.501953125,
61.259765625,
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88.154296875,
76.201171875
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[
92.8125,
58.0078125,
69.9609375,
59.501953125,
91.0546875,
84.111328125
] | 4.8 | 48 | 0 | 48 | 0 |
[
92.373046875,
59.853515625,
61.259765625,
60.8203125,
87.890625,
76.201171875
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[
92.8125,
58.0078125,
69.9609375,
59.501953125,
91.0546875,
84.111328125
] | 4.9 | 49 | 0 | 49 | 0 |
[
92.28515625,
59.853515625,
61.34765625,
61.083984375,
87.890625,
76.201171875
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[
92.8125,
58.0078125,
69.9609375,
59.853515625,
91.0546875,
84.111328125
] | 5 | 50 | 0 | 50 | 0 |
[
92.373046875,
59.94140625,
61.435546875,
61.083984375,
87.890625,
76.201171875
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[
92.8125,
58.0078125,
69.9609375,
61.259765625,
90.966796875,
84.111328125
] | 5.1 | 51 | 0 | 51 | 0 |
[
93.076171875,
64.951171875,
69.609375,
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88.06640625,
76.201171875
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[
92.900390625,
58.798828125,
70.48828125,
61.171875,
90.966796875,
84.111328125
] | 5.2 | 52 | 0 | 52 | 0 |
[
93.076171875,
66.97265625,
72.94921875,
56.162109375,
87.890625,
76.201171875
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[
93.076171875,
61.083984375,
73.037109375,
61.34765625,
90.3515625,
84.111328125
] | 5.3 | 53 | 0 | 53 | 0 |
[
93.076171875,
69.873046875,
77.6953125,
52.822265625,
87.890625,
76.201171875
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[
93.076171875,
63.80859375,
75.76171875,
58.798828125,
89.47265625,
84.111328125
] | 5.4 | 54 | 0 | 54 | 0 |
[
92.98828125,
72.94921875,
83.49609375,
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88.06640625,
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[
93.076171875,
66.4453125,
81.38671875,
55.37109375,
88.681640625,
84.111328125
] | 5.5 | 55 | 0 | 55 | 0 |
[
92.8125,
75.849609375,
88.154296875,
46.7578125,
88.154296875,
76.201171875
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[
93.076171875,
69.345703125,
87.275390625,
51.767578125,
88.41796875,
84.111328125
] | 5.6 | 56 | 0 | 56 | 0 |
[
92.63671875,
78.92578125,
93.1640625,
43.9453125,
88.154296875,
76.201171875
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[
92.98828125,
72.685546875,
91.58203125,
49.21875,
88.41796875,
84.111328125
] | 5.7 | 57 | 0 | 57 | 0 |
[
92.4609375,
82.001953125,
98.96484375,
40.517578125,
88.154296875,
76.201171875
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[
92.900390625,
76.9921875,
98.349609375,
45.3515625,
88.330078125,
84.111328125
] | 5.8 | 58 | 0 | 58 | 0 |
[
92.109375,
85.25390625,
104.94140625,
36.38671875,
88.505859375,
76.201171875
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[
92.900390625,
79.1015625,
102.48046875,
45.17578125,
88.41796875,
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] | 5.9 | 59 | 0 | 59 | 0 |
[
91.845703125,
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[
92.63671875,
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109.775390625,
38.408203125,
88.59375,
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[
91.669921875,
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113.642578125,
32.783203125,
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76.201171875
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[
92.63671875,
85.4296875,
113.02734375,
36.5625,
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84.111328125
] | 6.1 | 61 | 0 | 61 | 0 |
[
91.669921875,
92.8125,
118.65234375,
30.234375,
89.296875,
76.201171875
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[
92.548828125,
87.626953125,
116.630859375,
34.8046875,
89.033203125,
84.111328125
] | 6.2 | 62 | 0 | 62 | 0 |
[
91.93359375,
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124.27734375,
27.158203125,
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[
92.548828125,
90.52734375,
121.9921875,
32.6953125,
89.296875,
84.111328125
] | 6.3 | 63 | 0 | 63 | 0 |
[
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24.521484375,
89.560546875,
76.201171875
] |
[
92.548828125,
91.58203125,
126.650390625,
29.1796875,
89.6484375,
84.111328125
] | 6.4 | 64 | 0 | 64 | 0 |
[
92.197265625,
100.546875,
134.384765625,
21.884765625,
89.736328125,
76.201171875
] |
[
92.548828125,
96.240234375,
132.099609375,
26.103515625,
89.560546875,
84.111328125
] | 6.5 | 65 | 0 | 65 | 0 |
[
92.4609375,
103.271484375,
139.39453125,
18.984375,
89.736328125,
76.201171875
] |
[
92.548828125,
99.404296875,
136.58203125,
23.466796875,
89.82421875,
84.111328125
] | 6.6 | 66 | 0 | 66 | 0 |
[
92.8125,
106.435546875,
144.404296875,
16.435546875,
89.82421875,
76.201171875
] |
[
92.548828125,
102.48046875,
141.15234375,
20.21484375,
89.82421875,
84.111328125
] | 6.7 | 67 | 0 | 67 | 0 |
[
93.076171875,
109.072265625,
148.53515625,
15.029296875,
89.912109375,
76.201171875
] |
[
92.8125,
105.908203125,
145.986328125,
16.875,
89.82421875,
84.111328125
] | 6.8 | 68 | 0 | 68 | 0 |
[
93.076171875,
111.357421875,
151.5234375,
14.58984375,
89.82421875,
76.201171875
] |
[
92.98828125,
108.544921875,
149.501953125,
14.765625,
89.82421875,
84.111328125
] | 6.9 | 69 | 0 | 69 | 0 |
[
93.1640625,
114.08203125,
154.6875,
13.974609375,
89.82421875,
76.201171875
] |
[
93.076171875,
111.26953125,
152.2265625,
14.4140625,
89.82421875,
84.111328125
] | 7 | 70 | 0 | 70 | 0 |
[
94.21875,
117.509765625,
158.5546875,
12.83203125,
89.912109375,
76.201171875
] |
[
93.1640625,
113.90625,
154.951171875,
13.7109375,
89.82421875,
84.111328125
] | 7.1 | 71 | 0 | 71 | 0 |
[
94.5703125,
120.76171875,
161.19140625,
12.83203125,
89.912109375,
76.201171875
] |
[
93.8671875,
117.333984375,
158.37890625,
12.216796875,
89.912109375,
84.111328125
] | 7.2 | 72 | 0 | 72 | 0 |
[
94.5703125,
123.3984375,
163.65234375,
12.83203125,
89.912109375,
76.201171875
] |
[
94.130859375,
120.41015625,
160.751953125,
12.216796875,
89.82421875,
84.111328125
] | 7.3 | 73 | 0 | 73 | 0 |
[
94.5703125,
126.9140625,
166.81640625,
12.83203125,
90.791015625,
76.201171875
] |
[
94.306640625,
123.046875,
162.685546875,
12.12890625,
89.82421875,
84.111328125
] | 7.4 | 74 | 0 | 74 | 0 |
[
94.482421875,
130.517578125,
169.453125,
12.919921875,
90.703125,
76.201171875
] |
[
94.39453125,
126.650390625,
165.322265625,
12.12890625,
90.17578125,
84.111328125
] | 7.5 | 75 | 0 | 75 | 0 |
[
94.39453125,
133.41796875,
172.08984375,
12.919921875,
91.142578125,
76.201171875
] |
[
94.482421875,
129.990234375,
167.51953125,
12.12890625,
90.263671875,
84.111328125
] | 7.6 | 76 | 0 | 76 | 0 |
[
94.306640625,
133.76953125,
173.232421875,
13.0078125,
91.142578125,
76.201171875
] |
[
94.39453125,
131.044921875,
168.310546875,
11.689453125,
90.439453125,
84.111328125
] | 7.7 | 77 | 0 | 77 | 0 |
[
94.39453125,
133.9453125,
174.462890625,
12.744140625,
91.142578125,
76.201171875
] |
[
94.306640625,
131.044921875,
168.662109375,
11.689453125,
90.439453125,
84.111328125
] | 7.8 | 78 | 0 | 78 | 0 |
[
94.130859375,
134.560546875,
175.95703125,
12.48046875,
91.142578125,
76.201171875
] |
[
94.306640625,
131.1328125,
168.662109375,
11.689453125,
90.52734375,
84.111328125
] | 7.9 | 79 | 0 | 79 | 0 |
[
94.04296875,
134.560546875,
175.95703125,
12.48046875,
91.23046875,
76.201171875
] |
[
94.130859375,
131.1328125,
168.662109375,
11.689453125,
90.439453125,
84.111328125
] | 8 | 80 | 0 | 80 | 0 |
[
94.21875,
134.6484375,
176.044921875,
12.48046875,
91.58203125,
76.201171875
] |
[
94.21875,
131.1328125,
168.662109375,
11.689453125,
90.52734375,
84.111328125
] | 8.1 | 81 | 0 | 81 | 0 |
[
94.21875,
134.6484375,
176.044921875,
12.48046875,
92.900390625,
76.201171875
] |
[
94.21875,
131.1328125,
168.662109375,
11.689453125,
91.23046875,
84.111328125
] | 8.2 | 82 | 0 | 82 | 0 |
[
94.306640625,
134.6484375,
175.95703125,
12.48046875,
92.900390625,
76.201171875
] |
[
94.306640625,
131.1328125,
168.662109375,
11.689453125,
91.7578125,
84.111328125
] | 8.3 | 83 | 0 | 83 | 0 |
[
94.39453125,
134.6484375,
176.044921875,
12.48046875,
93.1640625,
76.201171875
] |
[
94.306640625,
131.1328125,
168.662109375,
11.689453125,
91.845703125,
84.111328125
] | 8.4 | 84 | 0 | 84 | 0 |
[
94.482421875,
134.6484375,
176.044921875,
12.48046875,
93.076171875,
76.2890625
] |
[
94.39453125,
131.1328125,
168.662109375,
11.689453125,
91.93359375,
84.111328125
] | 8.5 | 85 | 0 | 85 | 0 |
[
94.306640625,
134.6484375,
176.044921875,
12.12890625,
92.900390625,
76.2890625
] |
[
94.482421875,
131.1328125,
168.662109375,
11.689453125,
91.93359375,
84.111328125
] | 8.6 | 86 | 0 | 86 | 0 |
[
94.306640625,
134.6484375,
176.044921875,
12.12890625,
92.98828125,
76.2890625
] |
[
94.482421875,
131.1328125,
168.662109375,
11.689453125,
91.93359375,
84.111328125
] | 8.7 | 87 | 0 | 87 | 0 |
[
94.306640625,
134.6484375,
176.044921875,
12.12890625,
92.98828125,
76.2890625
] |
[
94.306640625,
131.1328125,
168.662109375,
11.689453125,
91.93359375,
84.111328125
] | 8.8 | 88 | 0 | 88 | 0 |
[
94.306640625,
134.6484375,
176.044921875,
12.12890625,
92.98828125,
76.2890625
] |
[
94.306640625,
131.1328125,
168.662109375,
11.689453125,
91.93359375,
84.111328125
] | 8.9 | 89 | 0 | 89 | 0 |
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 1,
"total_frames": 90,
"total_tasks": 1,
"total_videos": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"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.on_follow_arm": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"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
}
}
}
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