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list | observation.state
list | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
39.462890625,
77.16796875,
94.833984375,
75.673828125,
-45,
35.47840881347656
] |
[
41.30859375,
77.34375,
97.470703125,
76.11328125,
-45.087890625,
35.74380111694336
] | 0
| 0
| 0
| 0
| 0
|
[
39.0234375,
77.080078125,
94.833984375,
74.970703125,
-44.6484375,
35.47840881347656
] |
[
40.78125,
76.904296875,
97.470703125,
76.025390625,
-45.087890625,
35.74380111694336
] | 0.033333
| 1
| 0
| 1
| 0
|
[
38.935546875,
76.904296875,
94.921875,
74.267578125,
-44.47265625,
35.47840881347656
] |
[
40.25390625,
76.46484375,
97.470703125,
75.849609375,
-45.087890625,
35.74380111694336
] | 0.066667
| 2
| 0
| 2
| 0
|
[
38.49609375,
76.81640625,
94.833984375,
73.4765625,
-43.9453125,
35.47840881347656
] |
[
39.814453125,
76.201171875,
97.470703125,
75.322265625,
-44.82421875,
35.74380111694336
] | 0.1
| 3
| 0
| 3
| 0
|
[
37.96875,
76.728515625,
94.921875,
72.861328125,
-43.681640625,
35.47840881347656
] |
[
39.462890625,
76.11328125,
97.470703125,
74.794921875,
-44.560546875,
35.74380111694336
] | 0.133333
| 4
| 0
| 4
| 0
|
[
37.529296875,
76.728515625,
95.2734375,
72.333984375,
-43.505859375,
35.47840881347656
] |
[
39.19921875,
76.11328125,
97.470703125,
74.091796875,
-44.12109375,
35.74380111694336
] | 0.166667
| 5
| 0
| 5
| 0
|
[
37.265625,
76.728515625,
95.44921875,
72.24609375,
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35.393733978271484
] |
[
38.759765625,
76.025390625,
97.470703125,
73.4765625,
-43.76953125,
35.74380111694336
] | 0.2
| 6
| 0
| 6
| 0
|
[
36.9140625,
76.728515625,
95.537109375,
72.24609375,
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35.393733978271484
] |
[
38.3203125,
76.025390625,
97.470703125,
72.94921875,
-43.59375,
35.74380111694336
] | 0.233333
| 7
| 0
| 7
| 0
|
[
36.5625,
76.728515625,
95.625,
72.158203125,
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35.393733978271484
] |
[
37.880859375,
76.025390625,
97.470703125,
72.685546875,
-43.330078125,
35.74380111694336
] | 0.266667
| 8
| 0
| 8
| 0
|
[
36.298828125,
76.640625,
95.712890625,
72.0703125,
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35.393733978271484
] |
[
37.529296875,
76.025390625,
97.470703125,
72.59765625,
-43.154296875,
35.74380111694336
] | 0.3
| 9
| 0
| 9
| 0
|
[
36.123046875,
76.640625,
95.9765625,
71.455078125,
-41.396484375,
35.393733978271484
] |
[
37.265625,
76.025390625,
97.470703125,
72.421875,
-42.626953125,
35.74380111694336
] | 0.333333
| 10
| 0
| 10
| 0
|
[
36.03515625,
76.728515625,
96.767578125,
70.6640625,
-41.396484375,
35.393733978271484
] |
[
36.9140625,
76.025390625,
97.470703125,
72.24609375,
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35.74380111694336
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| 11
| 0
| 11
| 0
|
[
36.03515625,
76.9921875,
97.734375,
70.048828125,
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35.393733978271484
] |
[
36.650390625,
76.025390625,
97.470703125,
71.806640625,
-41.66015625,
35.74380111694336
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| 12
| 0
| 12
| 0
|
[
35.771484375,
77.34375,
98.7890625,
69.43359375,
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35.393733978271484
] |
[
36.5625,
76.025390625,
97.470703125,
71.279296875,
-41.66015625,
35.74380111694336
] | 0.433333
| 13
| 0
| 13
| 0
|
[
35.859375,
77.34375,
99.755859375,
68.5546875,
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35.393733978271484
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[
36.474609375,
76.025390625,
97.91015625,
70.576171875,
-41.484375,
35.74380111694336
] | 0.466667
| 14
| 0
| 14
| 0
|
[
36.03515625,
77.34375,
100.72265625,
67.67578125,
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35.393733978271484
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[
36.474609375,
76.025390625,
98.7890625,
70.048828125,
-41.572265625,
35.74380111694336
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| 15
| 0
| 15
| 0
|
[
36.2109375,
77.080078125,
101.77734375,
66.62109375,
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35.393733978271484
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[
36.474609375,
76.025390625,
99.755859375,
69.345703125,
-41.572265625,
35.74380111694336
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| 16
| 0
| 16
| 0
|
[
36.2109375,
76.81640625,
103.095703125,
65.56640625,
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35.393733978271484
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[
36.474609375,
76.025390625,
100.72265625,
68.466796875,
-41.572265625,
35.74380111694336
] | 0.566667
| 17
| 0
| 17
| 0
|
[
36.2109375,
76.728515625,
104.326171875,
64.3359375,
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35.393733978271484
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[
36.474609375,
76.025390625,
101.689453125,
67.5,
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35.74380111694336
] | 0.6
| 18
| 0
| 18
| 0
|
[
36.2109375,
76.728515625,
105.380859375,
63.28125,
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35.393733978271484
] |
[
36.474609375,
76.025390625,
102.83203125,
66.62109375,
-41.572265625,
35.74380111694336
] | 0.633333
| 19
| 0
| 19
| 0
|
[
36.2109375,
76.9921875,
106.083984375,
62.841796875,
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35.393733978271484
] |
[
36.474609375,
76.025390625,
104.0625,
65.56640625,
-41.572265625,
35.74380111694336
] | 0.666667
| 20
| 0
| 20
| 0
|
[
36.2109375,
77.34375,
106.435546875,
62.578125,
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35.309059143066406
] |
[
36.474609375,
76.025390625,
105.1171875,
64.423828125,
-41.572265625,
35.74380111694336
] | 0.7
| 21
| 0
| 21
| 0
|
[
36.2109375,
77.431640625,
106.259765625,
62.578125,
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35.309059143066406
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[
36.474609375,
76.025390625,
105.99609375,
63.80859375,
-41.572265625,
35.74380111694336
] | 0.733333
| 22
| 0
| 22
| 0
|
[
36.298828125,
77.431640625,
106.171875,
62.490234375,
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35.309059143066406
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[
36.474609375,
76.025390625,
106.435546875,
63.28125,
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35.674930572509766
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| 23
| 0
| 23
| 0
|
[
36.298828125,
77.16796875,
106.171875,
62.138671875,
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35.309059143066406
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[
36.474609375,
76.025390625,
106.5234375,
63.10546875,
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35.674930572509766
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| 24
| 0
| 24
| 0
|
[
36.298828125,
76.81640625,
106.171875,
62.05078125,
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35.309059143066406
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[
36.474609375,
76.025390625,
106.5234375,
62.841796875,
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35.60606002807617
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| 25
| 0
| 25
| 0
|
[
36.298828125,
76.640625,
106.171875,
61.962890625,
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35.309059143066406
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[
36.474609375,
76.025390625,
106.5234375,
62.578125,
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35.53718948364258
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| 26
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[
36.38671875,
76.640625,
106.171875,
61.962890625,
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35.309059143066406
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[
36.474609375,
76.025390625,
106.5234375,
62.40234375,
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35.468318939208984
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| 27
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| 27
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[
36.38671875,
76.640625,
106.171875,
61.875,
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35.309059143066406
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[
36.474609375,
76.025390625,
106.5234375,
62.314453125,
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35.468318939208984
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| 28
| 0
| 28
| 0
|
[
36.38671875,
76.640625,
106.171875,
61.875,
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35.22438430786133
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[
36.474609375,
76.025390625,
106.5234375,
62.2265625,
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35.468318939208984
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| 29
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| 29
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|
[
36.38671875,
76.640625,
106.083984375,
61.787109375,
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35.22438430786133
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[
36.474609375,
76.025390625,
106.5234375,
62.2265625,
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35.468318939208984
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| 30
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| 30
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|
[
36.38671875,
76.640625,
106.083984375,
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[
36.474609375,
76.025390625,
106.5234375,
62.2265625,
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[
36.474609375,
76.640625,
106.083984375,
60.46875,
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[
36.474609375,
76.025390625,
106.5234375,
62.2265625,
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35.468318939208984
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| 32
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| 32
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[
36.474609375,
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35.139713287353516
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[
36.474609375,
76.025390625,
106.5234375,
61.69921875,
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35.468318939208984
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[
36.5625,
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35.139713287353516
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[
36.474609375,
76.025390625,
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[
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[
36.474609375,
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[
36.9140625,
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[
36.474609375,
76.025390625,
106.5234375,
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35.468318939208984
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| 36
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| 36
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[
37.001953125,
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[
36.474609375,
76.025390625,
106.5234375,
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| 37
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| 37
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[
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[
36.5625,
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[
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[
36.650390625,
76.025390625,
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[
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[
36.73828125,
76.025390625,
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[
37.001953125,
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[
36.73828125,
76.025390625,
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| 41
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[
37.001953125,
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[
36.73828125,
76.025390625,
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[
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[
36.826171875,
76.025390625,
106.5234375,
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[
37.001953125,
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[
36.826171875,
76.025390625,
106.611328125,
60.64453125,
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28.030303955078125
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| 44
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[
37.08984375,
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[
36.826171875,
76.025390625,
106.69921875,
60.64453125,
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27.617080688476562
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[
37.08984375,
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[
36.826171875,
75.41015625,
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[
37.08984375,
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[
36.826171875,
74.53125,
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[
37.08984375,
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[
36.826171875,
73.65234375,
106.69921875,
60.64453125,
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27.272727966308594
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| 48
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[
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[
36.826171875,
72.861328125,
106.69921875,
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27.272727966308594
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[
37.79296875,
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[
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27.272727966308594
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[
36.9140625,
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[
38.14453125,
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[
37.265625,
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[
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[
37.44140625,
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104.150390625,
60.556640625,
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[
37.6171875,
69.521484375,
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[
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[
37.6171875,
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102.216796875,
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[
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[
37.6171875,
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[
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37.6171875,
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[
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[
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37.705078125,
66.97265625,
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[
37.880859375,
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[
37.705078125,
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99.140625,
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[
37.79296875,
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[
37.705078125,
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[
37.705078125,
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[
37.705078125,
66.796875,
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[
37.6171875,
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37.6171875,
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[
37.6171875,
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37.6171875,
66.708984375,
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[
37.529296875,
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[
37.6171875,
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[
37.44140625,
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37.6171875,
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[
37.44140625,
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37.6171875,
66.708984375,
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[
37.353515625,
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61.171875,
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[
37.6171875,
66.708984375,
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[
37.353515625,
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[
37.6171875,
66.708984375,
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[
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[
37.6171875,
66.708984375,
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[
37.265625,
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37.6171875,
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[
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37.6171875,
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[
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[
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[
37.529296875,
66.708984375,
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[
36.5625,
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37.353515625,
66.708984375,
98.7890625,
60.732421875,
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| 76
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[
36.474609375,
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61.171875,
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[
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66.708984375,
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[
36.474609375,
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[
37.08984375,
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[
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37.08984375,
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37.001953125,
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37.001953125,
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[
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37.001953125,
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[
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37.001953125,
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37.001953125,
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[
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[
36.73828125,
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[
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36.474609375,
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[
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35.947265625,
67.5,
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[
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[
35.419921875,
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[
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34.8046875,
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[
29.619140625,
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[
34.189453125,
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[
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[
33.486328125,
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[
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[
32.6953125,
73.125,
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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": 2,
"total_frames": 708,
"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.side": {
"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.top": {
"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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"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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