Datasets:
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action sequence | observation.state sequence | timestamp float32 0 15.8 | frame_index int64 0 474 | episode_index int64 0 29 | index int64 0 10.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
[
11.07421875,
81.474609375,
71.103515625,
83.232421875,
3.251953125,
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10.72265625,
82.705078125,
75.5859375,
83.583984375,
3.076171875,
-0.06915629655122757
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[
11.07421875,
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70.576171875,
83.232421875,
3.251953125,
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10.72265625,
81.9140625,
75.05859375,
83.583984375,
3.076171875,
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[
11.07421875,
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10.72265625,
81.123046875,
74.53125,
83.583984375,
3.076171875,
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] | 0.066667 | 2 | 0 | 2 | 0 |
[
11.07421875,
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10.72265625,
80.5078125,
74.091796875,
83.583984375,
3.076171875,
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[
11.07421875,
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68.90625,
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10.72265625,
79.62890625,
73.564453125,
83.408203125,
3.076171875,
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[
11.07421875,
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10.72265625,
78.75,
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83.3203125,
3.076171875,
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[
11.07421875,
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10.72265625,
77.958984375,
72.333984375,
83.056640625,
3.076171875,
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[
11.07421875,
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[
11.162109375,
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10.72265625,
76.46484375,
70.83984375,
82.353515625,
3.076171875,
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] | 0.266667 | 8 | 0 | 8 | 0 |
[
11.337890625,
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65.478515625,
80.5078125,
3.33984375,
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10.72265625,
75.849609375,
70.224609375,
82.001953125,
3.076171875,
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] | 0.3 | 9 | 0 | 9 | 0 |
[
11.77734375,
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65.21484375,
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10.72265625,
75.234375,
69.697265625,
81.650390625,
3.076171875,
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] | 0.333333 | 10 | 0 | 10 | 0 |
[
12.041015625,
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10.72265625,
74.70703125,
69.169921875,
81.298828125,
3.076171875,
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] | 0.366667 | 11 | 0 | 11 | 0 |
[
12.3046875,
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80.068359375,
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10.986328125,
74.267578125,
69.08203125,
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3.076171875,
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[
12.392578125,
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11.25,
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[
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11.6015625,
73.125,
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[
13.447265625,
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11.865234375,
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69.08203125,
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[
13.798828125,
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12.216796875,
72.421875,
69.08203125,
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[
14.0625,
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12.65625,
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69.08203125,
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[
14.150390625,
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13.0078125,
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68.994140625,
80.947265625,
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[
14.23828125,
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13.447265625,
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68.994140625,
80.947265625,
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] | 0.633333 | 19 | 0 | 19 | 0 |
[
14.326171875,
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13.7109375,
70.751953125,
68.994140625,
80.947265625,
3.076171875,
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] | 0.666667 | 20 | 0 | 20 | 0 |
[
14.677734375,
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78.837890625,
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13.88671875,
70.48828125,
68.994140625,
80.771484375,
3.076171875,
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] | 0.7 | 21 | 0 | 21 | 0 |
[
15.1171875,
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65.126953125,
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0
] | [
13.88671875,
70.3125,
68.994140625,
80.244140625,
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] | 0.733333 | 22 | 0 | 22 | 0 |
[
15.380859375,
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77.51953125,
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14.150390625,
70.224609375,
68.994140625,
79.716796875,
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] | 0.766667 | 23 | 0 | 23 | 0 |
[
15.556640625,
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14.326171875,
70.224609375,
68.994140625,
79.013671875,
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[
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14.58984375,
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[
15.732421875,
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14.94140625,
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78.3984375,
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[
15.8203125,
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15.1171875,
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[
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15.29296875,
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78.310546875,
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[
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15.380859375,
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[
15.908203125,
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15.380859375,
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[
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15.380859375,
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78.310546875,
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] | 1.033333 | 31 | 0 | 31 | 0 |
[
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15.380859375,
70.224609375,
68.994140625,
78.310546875,
2.8125,
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] | 1.066667 | 32 | 0 | 32 | 0 |
[
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15.380859375,
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68.994140625,
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[
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15.46875,
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] | 1.133333 | 34 | 0 | 34 | 0 |
[
16.34765625,
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15.64453125,
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] | 1.166667 | 35 | 0 | 35 | 0 |
[
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15.732421875,
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[
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[
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[
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[
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[
16.34765625,
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15.908203125,
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[
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[
16.34765625,
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15.908203125,
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] | 1.433333 | 43 | 0 | 43 | 0 |
[
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15.908203125,
68.90625,
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] | 1.466667 | 44 | 0 | 44 | 0 |
[
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15.908203125,
68.818359375,
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[
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15.908203125,
68.818359375,
69.43359375,
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] | 1.533333 | 46 | 0 | 46 | 0 |
[
16.259765625,
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69.78515625,
77.6953125,
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15.908203125,
68.818359375,
69.697265625,
78.22265625,
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] | 1.566667 | 47 | 0 | 47 | 0 |
[
16.171875,
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15.908203125,
68.818359375,
70.13671875,
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[
16.171875,
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15.99609375,
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[
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16.083984375,
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70.3125,
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[
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16.171875,
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70.400390625,
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[
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[
15.908203125,
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16.259765625,
68.73046875,
70.400390625,
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[
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16.34765625,
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[
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16.435546875,
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[
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[
15.8203125,
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16.34765625,
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70.400390625,
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[
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[
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[
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[
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] | 2.033333 | 61 | 0 | 61 | 0 |
[
15.732421875,
67.236328125,
69.78515625,
77.34375,
2.724609375,
12.724166870117188
] | [
15.908203125,
67.939453125,
70.400390625,
77.958984375,
2.900390625,
12.86307144165039
] | 2.066667 | 62 | 0 | 62 | 0 |
[
15.732421875,
66.796875,
69.697265625,
77.34375,
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15.908203125,
67.32421875,
70.400390625,
77.783203125,
2.900390625,
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[
15.732421875,
66.357421875,
69.697265625,
77.34375,
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15.99609375,
66.62109375,
70.400390625,
77.783203125,
2.900390625,
12.86307144165039
] | 2.133333 | 64 | 0 | 64 | 0 |
[
15.732421875,
66.005859375,
69.697265625,
77.255859375,
2.724609375,
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16.171875,
66.181640625,
70.400390625,
77.6953125,
2.900390625,
12.86307144165039
] | 2.166667 | 65 | 0 | 65 | 0 |
[
15.732421875,
65.56640625,
69.697265625,
77.255859375,
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16.171875,
65.830078125,
70.400390625,
77.6953125,
2.900390625,
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] | 2.2 | 66 | 0 | 66 | 0 |
[
15.732421875,
65.302734375,
69.697265625,
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16.171875,
65.478515625,
70.400390625,
77.6953125,
2.900390625,
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] | 2.233333 | 67 | 0 | 67 | 0 |
[
15.732421875,
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69.697265625,
76.46484375,
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16.171875,
64.951171875,
70.400390625,
77.607421875,
2.900390625,
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] | 2.266667 | 68 | 0 | 68 | 0 |
[
15.732421875,
64.6875,
69.697265625,
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16.171875,
64.775390625,
70.400390625,
77.51953125,
2.900390625,
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[
15.732421875,
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74.53125,
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16.171875,
64.3359375,
70.400390625,
76.81640625,
2.900390625,
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[
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64.423828125,
69.9609375,
73.65234375,
2.724609375,
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16.171875,
64.248046875,
70.400390625,
75.9375,
2.900390625,
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[
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64.3359375,
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16.171875,
64.072265625,
70.48828125,
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[
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63.896484375,
70.48828125,
74.619140625,
2.900390625,
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[
15.732421875,
64.248046875,
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15.908203125,
63.896484375,
70.48828125,
73.916015625,
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[
15.732421875,
64.248046875,
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15.8203125,
63.896484375,
70.48828125,
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[
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63.896484375,
70.48828125,
72.94921875,
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[
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70.048828125,
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63.896484375,
70.48828125,
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[
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63.896484375,
70.48828125,
72.24609375,
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[
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63.896484375,
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[
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63.896484375,
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[
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[
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63.544921875,
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[
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15.205078125,
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[
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15.205078125,
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[
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61.875,
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62.2265625,
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[
14.4140625,
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15.1171875,
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[
14.4140625,
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[
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[
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[
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14.501953125,
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[
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[
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[
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14.501953125,
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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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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so101",
"total_episodes": 10,
"total_frames": 3747,
"total_tasks": 1,
"total_videos": 20,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:10"
},
"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.wrist": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
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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
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