Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
595
episode_index
int64
0
79
index
int64
0
44.4k
task_index
int64
0
0
[ 2.8125, 169.365234375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
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[ 2.8125, 169.365234375, 181.494140625, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
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0.05
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0
1
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[ 2.8125, 169.365234375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.1
2
0
2
0
[ 2.8125, 169.365234375, 181.494140625, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.15
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[ 2.8125, 169.365234375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.2
4
0
4
0
[ 2.8125, 169.453125, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.25
5
0
5
0
[ 2.8125, 169.892578125, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.3
6
0
6
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[ 2.724609375, 170.068359375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.35
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0
7
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[ 2.8125, 170.068359375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.4
8
0
8
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[ 2.8125, 170.771484375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.45
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0
9
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[ 2.8125, 171.2109375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.09999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.5
10
0
10
0
[ 2.8125, 171.2109375, 181.58203125, -3.076171875, 3.515625, 2.724609375, 31.376953125 ]
[ 1.8000000715255737, 169.6999969482422, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.55
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0
11
0
[ 2.8125, 171.298828125, 181.58203125, -3.076171875, 3.427734375, 2.8125, 31.376953125 ]
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0.6
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0
12
0
[ 2.8125, 171.2109375, 181.58203125, -3.076171875, 3.33984375, 2.8125, 31.376953125 ]
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0.65
13
0
13
0
[ 2.8125, 171.123046875, 181.494140625, -3.076171875, 3.076171875, 2.8125, 31.376953125 ]
[ 1.8000000715255737, 170.59999084472656, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.7
14
0
14
0
[ 3.33984375, 170.771484375, 181.494140625, -2.900390625, 1.845703125, 2.8125, 31.2890625 ]
[ 1.8000000715255737, 170.8000030517578, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.75
15
0
15
0
[ 3.955078125, 168.57421875, 181.494140625, -2.98828125, -1.669921875, 2.8125, 31.2890625 ]
[ 1.8000000715255737, 170.90000915527344, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.8
16
0
16
0
[ 5.009765625, 164.794921875, 181.494140625, -2.98828125, -7.119140625, 2.8125, 31.201171875 ]
[ 1.8000000715255737, 171, 181.29998779296875, -2.4000003337860107, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.85
17
0
17
0
[ 6.15234375, 161.015625, 181.494140625, -3.076171875, -12.216796875, 2.8125, 31.201171875 ]
[ 2.000000238418579, 171, 181.29998779296875, -2.3000001907348633, 3.299999952316284, 2.000000238418579, 39.69999694824219 ]
0.9
18
0
18
0
[ 6.85546875, 157.763671875, 181.23046875, -3.076171875, -16.171875, 2.724609375, 31.201171875 ]
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0.95
19
0
19
0
[ 7.294921875, 155.21484375, 181.0546875, -2.98828125, -19.248046875, 2.63671875, 31.201171875 ]
[ 2.9000000953674316, 169.60000610351562, 181.29998779296875, -2.000000238418579, 2.000000238418579, 2.000000238418579, 39.69999694824219 ]
1
20
0
20
0
[ 7.55859375, 152.40234375, 180.966796875, -2.98828125, -22.763671875, 2.548828125, 31.201171875 ]
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1.05
21
0
21
0
[ 7.734375, 149.677734375, 180.615234375, -2.98828125, -25.927734375, 2.548828125, 31.11328125 ]
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1.1
22
0
22
0
[ 8.173828125, 146.865234375, 180.52734375, -2.900390625, -29.53125, 2.548828125, 31.11328125 ]
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1.15
23
0
23
0
[ 8.701171875, 143.876953125, 180.3515625, -2.900390625, -33.046875, 2.548828125, 31.025390625 ]
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1.2
24
0
24
0
[ 9.052734375, 141.767578125, 180, -2.900390625, -35.244140625, 2.548828125, 31.025390625 ]
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1.25
25
0
25
0
[ 9.66796875, 139.658203125, 179.560546875, -2.98828125, -37.177734375, 2.548828125, 31.025390625 ]
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1.3
26
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26
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[ 10.546875, 137.197265625, 179.208984375, -2.98828125, -39.375, 2.548828125, 31.025390625 ]
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1.35
27
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27
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[ 11.6015625, 135, 178.9453125, -2.98828125, -41.396484375, 2.548828125, 31.025390625 ]
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28
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28
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[ 12.65625, 132.626953125, 178.681640625, -2.98828125, -43.681640625, 2.548828125, 31.025390625 ]
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1.45
29
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1.5
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0
30
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1.55
31
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31
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1.65
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1.7
34
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1.75
35
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35
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1.8
36
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36
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1.85
37
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37
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1.9
38
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38
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1.95
39
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39
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2
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40
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2.05
41
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41
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[ 19.51171875, 106.34765625, 174.638671875, -7.119140625, -65.302734375, 2.109375, 30.9375 ]
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2.1
42
0
42
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2.15
43
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43
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2.2
44
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44
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2.25
45
0
45
0
[ 19.51171875, 98.876953125, 173.14453125, -7.470703125, -71.806640625, 2.109375, 30.9375 ]
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2.3
46
0
46
0
[ 19.51171875, 97.03125, 172.529296875, -7.91015625, -72.94921875, 2.109375, 30.9375 ]
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2.35
47
0
47
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[ 19.51171875, 95.2734375, 171.5625, -8.349609375, -74.00390625, 2.109375, 30.9375 ]
[ 18.799999237060547, 107.79999542236328, 174.8000030517578, -6.500000476837158, -62.19999694824219, 2.000000238418579, 37.69999313354492 ]
2.4
48
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2.45
49
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49
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[ 19.51171875, 92.109375, 170.068359375, -8.7890625, -74.970703125, 2.109375, 30.9375 ]
[ 18.799999237060547, 100.9000015258789, 173.40000915527344, -6.800000190734863, -67.70000457763672, 2.000000238418579, 37.69999313354492 ]
2.5
50
0
50
0
[ 19.51171875, 90.87890625, 169.453125, -8.7890625, -75.322265625, 2.021484375, 30.9375 ]
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2.55
51
0
51
0
[ 19.51171875, 89.560546875, 168.92578125, -8.7890625, -75.673828125, 1.93359375, 30.9375 ]
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2.6
52
0
52
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[ 19.599609375, 88.2421875, 168.22265625, -9.052734375, -75.9375, 1.93359375, 30.9375 ]
[ 18.799999237060547, 95.39999389648438, 171.1999969482422, -7.699999809265137, -71.19999694824219, 2.000000238418579, 37.69999313354492 ]
2.65
53
0
53
0
[ 19.51171875, 87.275390625, 167.607421875, -9.4921875, -76.11328125, 1.93359375, 30.9375 ]
[ 18.799999237060547, 94.30000305175781, 171, -7.699999809265137, -71.70000457763672, 2.000000238418579, 37.69999313354492 ]
2.7
54
0
54
0
[ 19.51171875, 86.484375, 167.255859375, -9.580078125, -76.376953125, 1.93359375, 30.9375 ]
[ 18.799999237060547, 92.0999984741211, 170.1999969482422, -7.799999713897705, -72.5999984741211, 1.5000001192092896, 37.69999313354492 ]
2.75
55
0
55
0
[ 19.51171875, 85.4296875, 167.080078125, -9.580078125, -76.9921875, 1.93359375, 30.9375 ]
[ 18.799999237060547, 90.49999237060547, 169.5, -8.300000190734863, -73.20000457763672, 1.3000000715255737, 37.69999313354492 ]
2.8
56
0
56
0
[ 19.51171875, 84.90234375, 166.9921875, -9.580078125, -77.16796875, 1.845703125, 30.9375 ]
[ 18.799999237060547, 89.0999984741211, 168.6999969482422, -8.700000762939453, -73.70000457763672, 1.100000023841858, 37.69999313354492 ]
2.85
57
0
57
0
[ 19.51171875, 84.287109375, 166.728515625, -9.755859375, -77.255859375, 1.845703125, 30.9375 ]
[ 18.799999237060547, 87.60000610351562, 168.10000610351562, -8.800000190734863, -74.0999984741211, 1.0000001192092896, 37.69999313354492 ]
2.9
58
0
58
0
[ 19.51171875, 83.583984375, 166.46484375, -9.931640625, -77.6953125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 86.30000305175781, 167.59999084472656, -8.800000190734863, -74.4000015258789, 1.0000001192092896, 37.69999313354492 ]
2.95
59
0
59
0
[ 19.51171875, 82.96875, 166.201171875, -9.931640625, -77.958984375, 1.845703125, 30.9375 ]
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3
60
0
60
0
[ 19.51171875, 82.08984375, 165.9375, -9.931640625, -78.486328125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 84.20000457763672, 166.80001831054688, -8.700000762939453, -75, 1.0000001192092896, 37.69999313354492 ]
3.05
61
0
61
0
[ 19.51171875, 81.474609375, 165.673828125, -9.931640625, -78.662109375, 1.845703125, 30.9375 ]
[ 18.799999237060547, 83.19999694824219, 166.6999969482422, -8.700000762939453, -75.10000610351562, 1.0000001192092896, 37.69999313354492 ]
3.1
62
0
62
0
[ 19.599609375, 80.68359375, 165.146484375, -9.931640625, -78.92578125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 82.30000305175781, 166.5, -8.700000762939453, -75.19999694824219, 1.0000001192092896, 37.69999313354492 ]
3.15
63
0
63
0
[ 19.599609375, 80.068359375, 164.8828125, -9.931640625, -79.365234375, 1.845703125, 30.9375 ]
[ 18.799999237060547, 81.5999984741211, 166.10000610351562, -8.800000190734863, -75.70000457763672, 1.0000001192092896, 37.69999313354492 ]
3.2
64
0
64
0
[ 19.599609375, 79.541015625, 164.443359375, -9.931640625, -79.62890625, 1.845703125, 30.9375 ]
[ 18.799999237060547, 80.80000305175781, 165.8000030517578, -8.800000190734863, -76.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.25
65
0
65
0
[ 19.599609375, 78.92578125, 164.091796875, -9.931640625, -79.716796875, 1.845703125, 30.9375 ]
[ 18.799999237060547, 80.0999984741211, 165.40000915527344, -8.700000762939453, -76.30000305175781, 1.0000001192092896, 37.69999313354492 ]
3.3
66
0
66
0
[ 19.599609375, 78.3984375, 163.740234375, -9.931640625, -79.98046875, 1.845703125, 30.9375 ]
[ 18.799999237060547, 79.5, 165, -8.700000762939453, -76.9000015258789, 1.0000001192092896, 37.69999313354492 ]
3.35
67
0
67
0
[ 19.599609375, 77.6953125, 163.4765625, -9.931640625, -80.33203125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 79.19999694824219, 164.6999969482422, -8.700000762939453, -77, 1.0000001192092896, 37.69999313354492 ]
3.4
68
0
68
0
[ 19.51171875, 77.431640625, 163.388671875, -9.931640625, -80.33203125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 79.19999694824219, 164.6999969482422, -8.700000762939453, -77, 1.0000001192092896, 37.69999313354492 ]
3.45
69
0
69
0
[ 19.248046875, 76.81640625, 163.212890625, -9.931640625, -80.5078125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 77.5, 164, -8.700000762939453, -77.0999984741211, 1.0000001192092896, 37.69999313354492 ]
3.5
70
0
70
0
[ 19.072265625, 76.640625, 163.037109375, -9.931640625, -80.5078125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 77, 163.6999969482422, -8.700000762939453, -77.5, 1.0000001192092896, 37.69999313354492 ]
3.55
71
0
71
0
[ 18.80859375, 76.11328125, 162.685546875, -9.931640625, -80.595703125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 76.30000305175781, 163.60000610351562, -8.700000762939453, -77.9000015258789, 1.0000001192092896, 37.69999313354492 ]
3.6
72
0
72
0
[ 18.6328125, 76.025390625, 162.421875, -9.931640625, -80.595703125, 1.845703125, 30.9375 ]
[ 18.799999237060547, 75.70000457763672, 163.5, -8.700000762939453, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.65
73
0
73
0
[ 18.544921875, 75.673828125, 162.0703125, -9.931640625, -80.5078125, 1.845703125, 30.9375 ]
[ 18.700000762939453, 75.5, 163.3000030517578, -8.800000190734863, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.7
74
0
74
0
[ 18.369140625, 75.234375, 161.630859375, -9.931640625, -80.5078125, 1.845703125, 30.9375 ]
[ 18.400001525878906, 75.30000305175781, 163.00001525878906, -8.899999618530273, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.75
75
0
75
0
[ 18.193359375, 74.619140625, 161.19140625, -9.931640625, -80.595703125, 1.845703125, 30.9375 ]
[ 18.100000381469727, 74.79999542236328, 162.59999084472656, -8.899999618530273, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.8
76
0
76
0
[ 18.193359375, 74.1796875, 160.576171875, -9.931640625, -80.595703125, 1.845703125, 30.9375 ]
[ 17.799999237060547, 74.5, 162.39999389648438, -8.700000762939453, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.85
77
0
77
0
[ 18.193359375, 73.65234375, 159.9609375, -9.931640625, -80.5078125, 1.845703125, 30.9375 ]
[ 17.700002670288086, 74.0999984741211, 161.90000915527344, -8.700000762939453, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.9
78
0
78
0
[ 18.369140625, 72.7734375, 159.08203125, -9.931640625, -80.5078125, 1.845703125, 30.849609375 ]
[ 17.700002670288086, 73.5, 161.50001525878906, -8.700000762939453, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
3.95
79
0
79
0
[ 18.544921875, 72.333984375, 158.5546875, -9.931640625, -80.5078125, 1.845703125, 30.849609375 ]
[ 17.700002670288086, 73.0999984741211, 160.89999389648438, -8.899999618530273, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
4
80
0
80
0
[ 18.896484375, 72.0703125, 157.939453125, -9.931640625, -80.595703125, 1.93359375, 30.849609375 ]
[ 17.700002670288086, 72.4000015258789, 160.1999969482422, -8.800000190734863, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
4.05
81
0
81
0
[ 19.072265625, 71.455078125, 157.32421875, -9.931640625, -80.5078125, 1.93359375, 30.849609375 ]
[ 17.700002670288086, 71.69999694824219, 159.59999084472656, -8.700000762939453, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
4.1
82
0
82
0
[ 19.3359375, 71.19140625, 156.796875, -10.01953125, -80.595703125, 2.021484375, 30.849609375 ]
[ 17.700002670288086, 71.29999542236328, 158.90000915527344, -8.700000762939453, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
4.15
83
0
83
0
[ 19.599609375, 71.103515625, 156.62109375, -10.01953125, -81.123046875, 2.28515625, 30.849609375 ]
[ 17.799999237060547, 71, 158.1999969482422, -8.700000762939453, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
4.2
84
0
84
0
[ 19.775390625, 70.83984375, 156.26953125, -10.01953125, -81.2109375, 2.63671875, 30.849609375 ]
[ 18.100000381469727, 70.5, 157.60000610351562, -8.800000190734863, -78.20000457763672, 1.0000001192092896, 37.69999313354492 ]
4.25
85
0
85
0
[ 19.951171875, 70.576171875, 155.91796875, -10.01953125, -81.2109375, 2.724609375, 30.849609375 ]
[ 18.30000114440918, 70.0999984741211, 157.10000610351562, -9.399999618530273, -78.30000305175781, 1.100000023841858, 37.69999313354492 ]
4.3
86
0
86
0
[ 20.126953125, 70.400390625, 155.56640625, -10.01953125, -81.2109375, 2.8125, 30.849609375 ]
[ 18.700000762939453, 69.80000305175781, 156.6999969482422, -9.600001335144043, -78.80000305175781, 1.4000000953674316, 37.69999313354492 ]
4.35
87
0
87
0
[ 20.390625, 69.873046875, 155.126953125, -10.01953125, -81.2109375, 2.98828125, 30.849609375 ]
[ 18.799999237060547, 69.4000015258789, 156.39999389648438, -9.699999809265137, -79.20000457763672, 1.5000001192092896, 37.69999313354492 ]
4.4
88
0
88
0
[ 20.56640625, 69.521484375, 154.599609375, -10.01953125, -81.2109375, 2.98828125, 30.849609375 ]
[ 18.799999237060547, 69.0999984741211, 156, -9.800000190734863, -79.20000457763672, 1.5000001192092896, 37.69999313354492 ]
4.45
89
0
89
0
[ 20.830078125, 69.08203125, 153.984375, -10.01953125, -81.2109375, 3.076171875, 30.849609375 ]
[ 19.100000381469727, 69, 155.6999969482422, -9.699999809265137, -79.20000457763672, 1.5000001192092896, 37.69999313354492 ]
4.5
90
0
90
0
[ 20.91796875, 68.642578125, 153.369140625, -10.01953125, -81.2109375, 3.1640625, 30.849609375 ]
[ 19.399999618530273, 68.4000015258789, 155.3000030517578, -9.699999809265137, -79.20000457763672, 1.5000001192092896, 37.69999313354492 ]
4.55
91
0
91
0
[ 21.005859375, 68.02734375, 152.490234375, -10.01953125, -81.2109375, 3.251953125, 30.849609375 ]
[ 19.5, 68.20000457763672, 154.89999389648438, -9.90000057220459, -79.20000457763672, 1.7000000476837158, 37.69999313354492 ]
4.6
92
0
92
0
[ 21.09375, 67.412109375, 151.787109375, -10.01953125, -81.2109375, 3.33984375, 30.849609375 ]
[ 19.600000381469727, 67.80000305175781, 154.3000030517578, -9.90000057220459, -79.20000457763672, 2.1000001430511475, 37.69999313354492 ]
4.65
93
0
93
0
[ 21.181640625, 67.060546875, 151.259765625, -10.01953125, -81.2109375, 3.515625, 30.76171875 ]
[ 19.80000114440918, 67.39999389648438, 153.6999969482422, -9.800000190734863, -79.20000457763672, 2.3000001907348633, 37.69999313354492 ]
4.7
94
0
94
0
[ 21.26953125, 66.708984375, 150.732421875, -10.01953125, -81.2109375, 3.515625, 30.673828125 ]
[ 20.100000381469727, 66.79999542236328, 153, -9.699999809265137, -79.20000457763672, 2.500000238418579, 37.69999313354492 ]
4.75
95
0
95
0
[ 21.26953125, 66.357421875, 150.29296875, -10.01953125, -81.2109375, 3.515625, 30.673828125 ]
[ 20.299999237060547, 66.30000305175781, 152.30001831054688, -9.699999809265137, -79.20000457763672, 2.500000238418579, 37.69999313354492 ]
4.8
96
0
96
0
[ 21.26953125, 66.005859375, 149.765625, -10.01953125, -81.2109375, 3.515625, 30.673828125 ]
[ 20.5, 66, 151.60000610351562, -9.90000057220459, -79.20000457763672, 2.500000238418579, 37.69999313354492 ]
4.85
97
0
97
0
[ 21.357421875, 65.7421875, 149.150390625, -10.01953125, -81.2109375, 3.515625, 30.673828125 ]
[ 20.700000762939453, 65.39999389648438, 151, -9.90000057220459, -79.20000457763672, 2.500000238418579, 37.69999313354492 ]
4.9
98
0
98
0
[ 21.357421875, 65.390625, 148.623046875, -10.01953125, -81.2109375, 3.515625, 30.76171875 ]
[ 20.700000762939453, 65, 150.60000610351562, -9.90000057220459, -79.20000457763672, 2.500000238418579, 37.69999313354492 ]
4.95
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch_k1",
    "total_episodes": 80,
    "total_frames": 44363,
    "total_tasks": 1,
    "total_videos": 240,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:80"
    },
    "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": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_roll",
                "main_wrist_flex",
                "main_gripper_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_roll",
                "main_wrist_flex",
                "main_gripper_roll",
                "main_gripper"
            ]
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "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.top": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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            ],
            "info": {
                "video.fps": 20.0,
                "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.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "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": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "episode_index": {
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            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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