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float32
0
22
frame_index
int64
0
220
episode_index
int64
0
275
index
int64
0
41k
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int64
0
15
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0.2
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0.3
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0.8
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0.9
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1
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1.1
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1.2
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1.3
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1.4
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1.5
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1.6
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1.7
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1.8
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1.9
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2
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2.1
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2.2
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2.3
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2.4
24
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2.5
25
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2.6
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2.7
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2.8
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2.9
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3
30
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3.1
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3.2
32
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3.3
33
0
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3.4
34
0
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3.5
35
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3.6
36
0
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3.7
37
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3.8
38
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3.9
39
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4
40
0
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4.1
41
0
41
7
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[ -0.025823617354035378, 0.4682721495628357, 0.04489722102880478, -1.1721692085266113, 0.09352962672710419, 2.6194920539855957, -0.014651312492787838, 0.3411649763584137 ]
4.2
42
0
42
7
[ -0.023010021075606346, 0.4187930226325989, 0.04908738657832146, -1.2011067867279053, 0.11965049803256989, 2.511282205581665, 0.009157232008874416, 0.6724935173988342 ]
[ -0.019472043961286545, 0.45360103249549866, 0.044924262911081314, -1.17430579662323, 0.09399738907814026, 2.583470344543457, 0.0011848723515868187, 0.3411649763584137 ]
4.3
43
0
43
7
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[ -0.017933065071702003, 0.44844117760658264, 0.044903162866830826, -1.1743797063827515, 0.09405457973480225, 2.567317008972168, 0.008588804863393307, 0.3411649763584137 ]
4.4
44
0
44
7
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[ -0.01798522286117077, 0.447176069021225, 0.044829111546278, -1.1743817329406738, 0.09445306658744812, 2.563077211380005, 0.013553467579185963, 0.3286833167076111 ]
4.5
45
0
45
7
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[ -0.01812642812728882, 0.4469038248062134, 0.04472453519701958, -1.1743931770324707, 0.09453405439853668, 2.562180995941162, 0.016179880127310753, 0.3286833167076111 ]
4.6
46
0
46
7
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[ -0.018335474655032158, 0.44542983174324036, 0.04430210217833519, -1.1729429960250854, 0.09451239556074142, 2.5603158473968506, 0.016254758462309837, 0.3245227634906769 ]
4.7
47
0
47
7
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[ -0.02031121775507927, 0.4192822575569153, 0.04106457158923149, -1.1638213396072388, 0.094523124396801, 2.544674873352051, 0.016398999840021133, 0.3245227634906769 ]
4.8
48
0
48
7
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[ -0.025148265063762665, 0.3592852056026459, 0.03933156654238701, -1.1611725091934204, 0.09485562145709991, 2.4905242919921875, 0.017560461536049843, 0.3245227634906769 ]
4.9
49
0
49
7
[ -0.0337471142411232, 0.23037709295749664, 0.0261850543320179, -1.2254202365875244, 0.12119966745376587, 2.339768648147583, 0.010753204114735126, 0.678896963596344 ]
[ -0.02839006297290325, 0.31688347458839417, 0.038688961416482925, -1.1639094352722168, 0.09523247927427292, 2.4400527477264404, 0.018241606652736664, 0.3245227634906769 ]
5
50
0
50
7
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[ -0.030931029468774796, 0.28776517510414124, 0.036764491349458694, -1.1671900749206543, 0.09544914960861206, 2.4071645736694336, 0.0184929221868515, 0.3245227634906769 ]
5.1
51
0
51
7
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[ -0.03340357169508934, 0.261527419090271, 0.0301815178245306, -1.183856725692749, 0.09546079486608505, 2.362736701965332, 0.017754772678017616, 0.3245227634906769 ]
5.2
52
0
52
7
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[ -0.034616053104400635, 0.22211021184921265, 0.014759127981960773, -1.2373439073562622, 0.09538253396749496, 2.2879819869995117, 0.007653455715626478, 0.3245227634906769 ]
5.3
53
0
53
7
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[ -0.03588085249066353, 0.169810488820076, 0.0037966701202094555, -1.3062752485275269, 0.09536061435937881, 2.2259232997894287, -0.026554612442851067, 0.3245227634906769 ]
5.4
54
0
54
7
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[ -0.03574654459953308, 0.0962037444114685, -0.002986908657476306, -1.388913631439209, 0.09536898881196976, 2.156014919281006, -0.06374285370111465, 0.3245227634906769 ]
5.5
55
0
55
7
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[ -0.03531802445650101, 0.03746577352285385, -0.00521096121519804, -1.4464045763015747, 0.09533199667930603, 2.0624282360076904, -0.09571956098079681, 0.3245227634906769 ]
5.6
56
0
56
7
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[ -0.03389379009604454, -0.032304104417562485, -0.005303798243403435, -1.4991776943206787, 0.09539379179477692, 1.9828888177871704, -0.10944642126560211, 0.3245227634906769 ]
5.7
57
0
57
7
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[ -0.030104056000709534, -0.09538821876049042, -0.004872146528214216, -1.5429537296295166, 0.09538587182760239, 1.909037470817566, -0.1214095950126648, 0.3245227634906769 ]
5.8
58
0
58
7
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[ -0.022927340120077133, -0.1486658751964569, -0.004113363567739725, -1.5947401523590088, 0.0954318419098854, 1.8450936079025269, -0.13544707000255585, 0.3245227634906769 ]
5.9
59
0
59
7
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[ -0.009121080860495567, -0.18466557562351227, -0.0016510873101651669, -1.6551518440246582, 0.095521941781044, 1.8119196891784668, -0.1413097083568573, 0.3245227634906769 ]
6
60
0
60
7
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[ 0.025661977007985115, -0.19935740530490875, 0.0023986001033335924, -1.7226663827896118, 0.09589123725891113, 1.7938398122787476, -0.14265458285808563, 0.3245227634906769 ]
6.1
61
0
61
7
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[ 0.06288789957761765, -0.19854137301445007, 0.004235344938933849, -1.7813472747802734, 0.09610112756490707, 1.792433738708496, -0.13892284035682678, 0.3245227634906769 ]
6.2
62
0
62
7
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[ 0.08131936937570572, -0.19871415197849274, 0.0054572043009102345, -1.8175177574157715, 0.0969374030828476, 1.790687084197998, -0.1171623021364212, 0.3245227634906769 ]
6.3
63
0
63
7
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[ 0.12673333287239075, -0.1975603848695755, 0.007934109307825565, -1.866140604019165, 0.0981752946972847, 1.788970947265625, -0.048296619206666946, 0.3245227634906769 ]
6.4
64
0
64
7
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[ 0.1769469976425171, -0.19680120050907135, 0.014011294580996037, -1.8995871543884277, 0.09717041254043579, 1.7891448736190796, 0.03255324065685272, 0.3203622102737427 ]
6.5
65
0
65
7
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[ 0.22217100858688354, -0.19773167371749878, 0.016217168420553207, -1.9206130504608154, 0.0919080376625061, 1.7890610694885254, 0.10649614036083221, 0.31620165705680847 ]
6.6
66
0
66
7
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[ 0.24866674840450287, -0.19753657281398773, 0.015459362417459488, -1.936641812324524, 0.0865781307220459, 1.7888574600219727, 0.1606082171201706, 0.31620165705680847 ]
6.7
67
0
67
7
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[ 0.2881055474281311, -0.1818167120218277, 0.014950609765946865, -1.9653276205062866, 0.08250617980957031, 1.7890375852584839, 0.23620010912418365, 0.31620165705680847 ]
6.8
68
0
68
7
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[ 0.3244546055793762, -0.15576167404651642, 0.015121166594326496, -1.9728487730026245, 0.08216345310211182, 1.7894892692565918, 0.30142146348953247, 0.31620165705680847 ]
6.9
69
0
69
7
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[ 0.3700444996356964, -0.11782809346914291, 0.016206707805395126, -1.9733046293258667, 0.07976849377155304, 1.7910735607147217, 0.3803165555000305, 0.31620165705680847 ]
7
70
0
70
7
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[ 0.40385475754737854, -0.08666664361953735, 0.015964753925800323, -1.972973108291626, 0.07867066562175751, 1.7912477254867554, 0.44220665097236633, 0.31620165705680847 ]
7.1
71
0
71
7
[ 0.4800722897052765, 0.042350418865680695, 0.04713846370577812, -1.8918285369873047, 0.07054761797189713, 1.8143457174301147, 0.6741169691085815, 0.6831031441688538 ]
[ 0.4405305087566376, -0.052194710820913315, 0.01585426740348339, -1.9709819555282593, 0.07812749594449997, 1.7928282022476196, 0.5134047269821167, 0.31620165705680847 ]
7.2
72
0
72
7
[ 0.48013535141944885, 0.12950798869132996, 0.07032886892557144, -1.8397687673568726, 0.07208160310983658, 1.8541804552078247, 0.7448006868362427, 0.6830824017524719 ]
[ 0.4711534380912781, -0.022056253626942635, 0.01719415746629238, -1.9630497694015503, 0.07766582816839218, 1.7997115850448608, 0.5814703106880188, 0.31620165705680847 ]
7.3
73
0
73
7
[ 0.480135977268219, 0.17593879997730255, 0.07663533836603165, -1.8149499893188477, 0.07209694385528564, 1.8758397102355957, 0.7713243961334229, 0.6830822229385376 ]
[ 0.4821615517139435, 0.006334606092423201, 0.03411001339554787, -1.9422152042388916, 0.07794439792633057, 1.8299672603607178, 0.6395124197006226, 0.3203622102737427 ]
7.4
74
0
74
7
[ 0.480135977268219, 0.21588777005672455, 0.07669840008020401, -1.7843289375305176, 0.07209709286689758, 1.8882054090499878, 0.7943692803382874, 0.6830822229385376 ]
[ 0.49212366342544556, 0.07448534667491913, 0.06217213347554207, -1.905827283859253, 0.07779084146022797, 1.877455711364746, 0.718069851398468, 0.3203622102737427 ]
7.5
75
0
75
7
[ 0.480135977268219, 0.27399560809135437, 0.07821767032146454, -1.7551685571670532, 0.07209710031747818, 1.8989596366882324, 0.8249725103378296, 0.6830822229385376 ]
[ 0.4940882623195648, 0.14748172461986542, 0.07077406346797943, -1.869608759880066, 0.07742972671985626, 1.9082839488983154, 0.7584208250045776, 0.3203622102737427 ]
7.6
76
0
76
7
[ 0.480135977268219, 0.32621049880981445, 0.07823286950588226, -1.7290600538253784, 0.07057845592498779, 1.8975484371185303, 0.8450208902359009, 0.6830822229385376 ]
[ 0.48880040645599365, 0.22079633176326752, 0.0679335743188858, -1.8171387910842896, 0.07729653269052505, 1.922442078590393, 0.7797769904136658, 0.3203622102737427 ]
7.7
77
0
77
7
[ 0.480135977268219, 0.34191903471946716, 0.07671437412500381, -1.7287989854812622, 0.06752599030733109, 1.8929784297943115, 0.8437027335166931, 0.6830822229385376 ]
[ 0.48635292053222656, 0.25789183378219604, 0.06801418215036392, -1.7926671504974365, 0.07730691879987717, 1.9225528240203857, 0.8034040927886963, 0.3203622102737427 ]
7.8
78
0
78
7
[ 0.4786173403263092, 0.34966933727264404, 0.0736619085073471, -1.7348709106445312, 0.06749546527862549, 1.8853394985198975, 0.8452082276344299, 0.6830822229385376 ]
[ 0.4865521490573883, 0.30688971281051636, 0.06921900808811188, -1.772391676902771, 0.07729419320821762, 1.9227776527404785, 0.8257546424865723, 0.3203622102737427 ]
7.9
79
0
79
7
[ 0.47860217094421387, 0.34974682331085205, 0.07363138347864151, -1.772897720336914, 0.06749515980482101, 1.8655208349227905, 0.8452232480049133, 0.6830822229385376 ]
[ 0.4861363172531128, 0.3461180031299591, 0.06849917769432068, -1.7562532424926758, 0.07723648846149445, 1.9216116666793823, 0.8284773826599121, 0.3203622102737427 ]
8
80
0
80
7
[ 0.4816392958164215, 0.34822896122932434, 0.07666835933923721, -1.8173185586929321, 0.06749515235424042, 1.8638039827346802, 0.8406674861907959, 0.6830822229385376 ]
[ 0.48441630601882935, 0.3522319793701172, 0.06710754334926605, -1.756359338760376, 0.07722289115190506, 1.9127777814865112, 0.8292226791381836, 0.3203622102737427 ]
8.1
81
0
81
7
[ 0.48318830132484436, 0.3466951549053192, 0.07669873535633087, -1.8648406267166138, 0.06293923407793045, 1.8637868165969849, 0.8360660076141357, 0.6830822229385376 ]
[ 0.4842732548713684, 0.35542717576026917, 0.06728214025497437, -1.7816596031188965, 0.0772194191813469, 1.8900022506713867, 0.8294040560722351, 0.3203622102737427 ]
8.2
82
0
82
7
[ 0.48472243547439575, 0.34971708059310913, 0.07669903337955475, -1.877465009689331, 0.05378182604908943, 1.8668239116668701, 0.8360199928283691, 0.6830822229385376 ]
[ 0.4863656461238861, 0.360665500164032, 0.06975074857473373, -1.8232783079147339, 0.0771881490945816, 1.883285641670227, 0.8294035792350769, 0.3203622102737427 ]
8.3
83
0
83
7
[ 0.48170047998428345, 0.37556421756744385, 0.07821767777204514, -1.874553918838501, 0.04154112562537193, 1.8744474649429321, 0.8360195159912109, 0.6768670678138733 ]
[ 0.48863470554351807, 0.3644621670246124, 0.07180608808994293, -1.86320161819458, 0.07688090950250626, 1.8839308023452759, 0.8292560577392578, 0.3203622102737427 ]
8.4
84
0
84
7
[ 0.4816702604293823, 0.4077141284942627, 0.07823286950588226, -1.865412950515747, 0.01560182124376297, 1.886672854423523, 0.8360195159912109, 0.6540161371231079 ]
[ 0.4909234344959259, 0.3649327754974365, 0.07208197563886642, -1.8661935329437256, 0.07536979019641876, 1.8841074705123901, 0.829262912273407, 0.3203622102737427 ]
8.5
85
0
85
7
[ 0.48015132546424866, 0.43537119030952454, 0.07975166290998459, -1.8562097549438477, -0.01654903218150139, 1.9384288787841797, 0.8329822421073914, 0.5874930024147034 ]
[ 0.49078893661499023, 0.3764364719390869, 0.0721086859703064, -1.8666974306106567, 0.07141152769327164, 1.8901423215866089, 0.8292417526245117, 0.3245227634906769 ]
8.6
86
0
86
7
[ 0.48013612627983093, 0.47665104269981384, 0.07824821025133133, -1.8318194150924683, -0.035094231367111206, 1.9738752841949463, 0.8132095336914062, 0.5474653244018555 ]
[ 0.491210013628006, 0.40730559825897217, 0.07404233515262604, -1.8643991947174072, 0.06016271188855171, 1.9124715328216553, 0.8292129635810852, 0.3494860529899597 ]
8.7
87
0
87
7
[ 0.4786173403263092, 0.48465704917907715, 0.07823317497968674, -1.8255009651184082, -0.03527968376874924, 1.9772670269012451, 0.8084558844566345, 0.47041186690330505 ]
[ 0.4920279085636139, 0.42962029576301575, 0.07954855263233185, -1.8598359823226929, 0.05036205053329468, 1.93965744972229, 0.829284131526947, 0.4160548150539398 ]
8.8
88
0
88
7
[ 0.47860217094421387, 0.4862557649612427, 0.07975166290998459, -1.8178446292877197, -0.03528153896331787, 1.980338215827942, 0.8053710460662842, 0.32876521348953247 ]
[ 0.4939693510532379, 0.45153024792671204, 0.08381812274456024, -1.8431274890899658, 0.037546999752521515, 1.9448537826538086, 0.8308287262916565, 0.44933921098709106 ]
8.9
89
0
89
7
[ 0.47860202193260193, 0.4847531020641327, 0.0812854915857315, -1.8162493705749512, -0.03528155758976936, 1.978850245475769, 0.8053402304649353, 0.29420143365859985 ]
[ 0.49415045976638794, 0.4564146101474762, 0.08407625555992126, -1.8377608060836792, 0.0341108962893486, 1.949617624282837, 0.8315255045890808, 0.4576603174209595 ]
9
90
0
90
7
[ 0.47860199213027954, 0.47866350412368774, 0.09800587594509125, -1.8131961822509766, -0.033762916922569275, 1.9682048559188843, 0.8068585395812988, 0.29385578632354736 ]
[ 0.49436426162719727, 0.46716398000717163, 0.08911987394094467, -1.831884503364563, 0.03557634726166725, 1.977782964706421, 0.831477701663971, 0.5783162117004395 ]
9.1
91
0
91
7
[ 0.47860199213027954, 0.45734164118766785, 0.1133594885468483, -1.8010164499282837, -0.02767316624522209, 1.9438002109527588, 0.8083924055099487, 0.2938523292541504 ]
[ 0.4941447973251343, 0.47989925742149353, 0.09284830838441849, -1.8237766027450562, 0.03393504023551941, 1.990578055381775, 0.8311536312103271, 0.7031326293945312 ]
9.2
92
0
92
7
[ 0.4801206588745117, 0.4054946303367615, 0.1423671990633011, -1.7963387966156006, -0.007869936525821686, 1.8661054372787476, 0.8114449977874756, 0.3042108416557312 ]
[ 0.49410057067871094, 0.4804338216781616, 0.0983855202794075, -1.8186933994293213, 0.02698415517807007, 1.988694667816162, 0.830222487449646, 0.7072932124137878 ]
9.3
93
0
93
7
[ 0.48013582825660706, 0.33663731813430786, 0.15176913142204285, -1.7947733402252197, 0.04244324937462807, 1.78484046459198, 0.8114755153656006, 0.3084578514099121 ]
[ 0.493884414434433, 0.47245174646377563, 0.10451065003871918, -1.803330421447754, 0.009938049130141735, 1.9766318798065186, 0.826004147529602, 0.7072932124137878 ]
9.4
94
0
94
7
[ 0.480135977268219, 0.3070945739746094, 0.1670495569705963, -1.7947577238082886, 0.05661414936184883, 1.7703601121902466, 0.8114758133888245, 0.3105720281600952 ]
[ 0.49415355920791626, 0.44351083040237427, 0.12293743342161179, -1.7845455408096313, 0.011833051219582558, 1.9086991548538208, 0.8238645792007446, 0.6989721059799194 ]
9.5
95
0
95
7
[ 0.4816546142101288, 0.2718704044818878, 0.1717582792043686, -1.7962762117385864, 0.0597931407392025, 1.7383238077163696, 0.8129944801330566, 0.3105931580066681 ]
[ 0.4954991042613983, 0.37145450711250305, 0.14425550401210785, -1.7707127332687378, 0.021825892850756645, 1.81298828125, 0.8259133100509644, 0.6948115825653076 ]
9.6
96
0
96
7
[ 0.4816698133945465, 0.2396266907453537, 0.17180536687374115, -1.794772744178772, 0.07045541703701019, 1.7076306343078613, 0.8114910125732422, 0.30852165818214417 ]
[ 0.49611538648605347, 0.31283074617385864, 0.15711037814617157, -1.775116205215454, 0.036198899149894714, 1.771856665611267, 0.8259026408195496, 0.690650999546051 ]
9.7
97
0
97
7
[ 0.47863268852233887, 0.1891891062259674, 0.165731281042099, -1.7932389974594116, 0.07663660496473312, 1.679988145828247, 0.8038827776908875, 0.31057265400886536 ]
[ 0.4960547089576721, 0.27544105052948, 0.16275350749492645, -1.7827898263931274, 0.0397142693400383, 1.7442231178283691, 0.8258191347122192, 0.6948115825653076 ]
9.8
98
0
98
7
[ 0.4649345576763153, 0.10667812079191208, 0.12922315299510956, -1.7917050123214722, 0.06910520792007446, 1.632633924484253, 0.7081323266029358, 0.3105931580066681 ]
[ 0.49454113841056824, 0.2516416013240814, 0.16265109181404114, -1.7848329544067383, 0.04652503877878189, 1.7241787910461426, 0.825208306312561, 0.6948115825653076 ]
9.9
99
0
99
7
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 10,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.images.wrist_camera": {
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "observation.images.side_1_camera": {
            "shape": [
                224,
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                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "observation.images.side_2_camera": {
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            },
            "dtype": "video"
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 276,
    "total_frames": 41014,
    "total_tasks": 16,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "gello",
    "splits": {
        "train": "0:276"
    }
}

Citation

BibTeX:

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