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observation.state
sequence | observation.environment_state
sequence | action
sequence | timestamp
float32 0
22.3
| frame_index
int64 0
670
| episode_index
int64 0
41
| index
int64 0
17.2k
| task_index
int64 0
0
|
---|---|---|---|---|---|---|---|
[
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[
340,
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[
2042,
926,
3141,
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[
2042,
928,
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2865,
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[
340,
163,
373,
239
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[
2042,
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3141,
2866,
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2052
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[
2042,
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[
340,
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[
2042,
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[
2042,
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[
340,
163,
373,
239
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[
2042,
926,
3141,
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[
2042,
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[
340,
163,
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239
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[
2042,
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3141,
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[
2042,
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[
340,
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[
2042,
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[
2042,
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[
340,
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[
2042,
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3141,
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[
2042,
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[
340,
163,
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239
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[
2042,
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[
2042,
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[
340,
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[
2042,
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[
2042,
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[
340,
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[
2042,
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] | 0.3 | 9 | 0 | 9 | 0 |
[
2042,
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3041,
2865,
2200,
2050
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[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
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2052
] | 0.333333 | 10 | 0 | 10 | 0 |
[
2042,
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[
340,
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[
2042,
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3141,
2866,
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] | 0.366667 | 11 | 0 | 11 | 0 |
[
2042,
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[
340,
163,
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239
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[
2042,
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] | 0.4 | 12 | 0 | 12 | 0 |
[
2042,
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2865,
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2050
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[
340,
163,
373,
239
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[
2042,
926,
3141,
2866,
2200,
2052
] | 0.433333 | 13 | 0 | 13 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.466667 | 14 | 0 | 14 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.5 | 15 | 0 | 15 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.533333 | 16 | 0 | 16 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.566667 | 17 | 0 | 17 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.6 | 18 | 0 | 18 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.633333 | 19 | 0 | 19 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.666667 | 20 | 0 | 20 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.7 | 21 | 0 | 21 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.733333 | 22 | 0 | 22 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.766667 | 23 | 0 | 23 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.8 | 24 | 0 | 24 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.833333 | 25 | 0 | 25 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.866667 | 26 | 0 | 26 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.9 | 27 | 0 | 27 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.933333 | 28 | 0 | 28 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 0.966667 | 29 | 0 | 29 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1 | 30 | 0 | 30 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.033333 | 31 | 0 | 31 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.066667 | 32 | 0 | 32 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.1 | 33 | 0 | 33 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.133333 | 34 | 0 | 34 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.166667 | 35 | 0 | 35 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.2 | 36 | 0 | 36 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.233333 | 37 | 0 | 37 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.266667 | 38 | 0 | 38 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.3 | 39 | 0 | 39 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.333333 | 40 | 0 | 40 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.366667 | 41 | 0 | 41 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.4 | 42 | 0 | 42 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.433333 | 43 | 0 | 43 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2052
] | 1.466667 | 44 | 0 | 44 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2048
] | 1.5 | 45 | 0 | 45 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2048
] | 1.533333 | 46 | 0 | 46 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2042,
926,
3141,
2866,
2200,
2048
] | 1.566667 | 47 | 0 | 47 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2041,
926,
3141,
2866,
2200,
2048
] | 1.6 | 48 | 0 | 48 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2039,
926,
3141,
2866,
2200,
2048
] | 1.633333 | 49 | 0 | 49 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2040,
926,
3141,
2866,
2200,
2052
] | 1.666667 | 50 | 0 | 50 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2040,
926,
3141,
2866,
2202,
2049
] | 1.7 | 51 | 0 | 51 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2033,
926,
3141,
2866,
2204,
2048
] | 1.733333 | 52 | 0 | 52 | 0 |
[
2042,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2031,
926,
3141,
2866,
2204,
2048
] | 1.766667 | 53 | 0 | 53 | 0 |
[
2040,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2043,
926,
3141,
2866,
2203,
2047
] | 1.8 | 54 | 0 | 54 | 0 |
[
2038,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2061,
926,
3141,
2866,
2204,
2048
] | 1.833333 | 55 | 0 | 55 | 0 |
[
2037,
928,
3041,
2865,
2200,
2050
] |
[
340,
163,
373,
239
] |
[
2076,
926,
3141,
2866,
2205,
2048
] | 1.866667 | 56 | 0 | 56 | 0 |
[
2045,
928,
3041,
2865,
2201,
2050
] |
[
340,
163,
373,
239
] |
[
2088,
927,
3141,
2866,
2200,
2048
] | 1.9 | 57 | 0 | 57 | 0 |
[
2059,
928,
3041,
2865,
2201,
2050
] |
[
340,
163,
373,
239
] |
[
2096,
927,
3141,
2866,
2191,
2048
] | 1.933333 | 58 | 0 | 58 | 0 |
[
2075,
928,
3041,
2865,
2201,
2050
] |
[
340,
163,
373,
239
] |
[
2103,
930,
3140,
2865,
2176,
2066
] | 1.966667 | 59 | 0 | 59 | 0 |
[
2087,
928,
3041,
2865,
2195,
2050
] |
[
340,
163,
373,
239
] |
[
2108,
950,
3135,
2862,
2146,
2110
] | 2 | 60 | 0 | 60 | 0 |
[
2093,
929,
3041,
2865,
2188,
2057
] |
[
340,
163,
373,
239
] |
[
2106,
968,
3125,
2858,
2124,
2111
] | 2.033333 | 61 | 0 | 61 | 0 |
[
2095,
939,
3041,
2865,
2172,
2071
] |
[
340,
163,
373,
239
] |
[
2097,
992,
3111,
2853,
2097,
2111
] | 2.066667 | 62 | 0 | 62 | 0 |
[
2095,
949,
3041,
2865,
2154,
2086
] |
[
340,
163,
373,
239
] |
[
2088,
1020,
3096,
2842,
2070,
2111
] | 2.1 | 63 | 0 | 63 | 0 |
[
2095,
964,
3041,
2865,
2135,
2095
] |
[
340,
163,
373,
239
] |
[
2082,
1052,
3078,
2826,
2053,
2111
] | 2.133333 | 64 | 0 | 64 | 0 |
[
2094,
988,
3041,
2857,
2108,
2101
] |
[
340,
163,
373,
239
] |
[
2073,
1092,
3052,
2808,
2033,
2112
] | 2.166667 | 65 | 0 | 65 | 0 |
[
2090,
1010,
3041,
2847,
2088,
2104
] |
[
340,
163,
373,
239
] |
[
2062,
1125,
3028,
2793,
2010,
2116
] | 2.2 | 66 | 0 | 66 | 0 |
[
2081,
1038,
3041,
2834,
2067,
2107
] |
[
340,
163,
373,
239
] |
[
2049,
1159,
3000,
2772,
1992,
2121
] | 2.233333 | 67 | 0 | 67 | 0 |
[
2073,
1067,
3041,
2820,
2046,
2112
] |
[
340,
163,
373,
239
] |
[
2038,
1195,
2968,
2750,
1989,
2121
] | 2.266667 | 68 | 0 | 68 | 0 |
[
2064,
1096,
3040,
2805,
2029,
2115
] |
[
340,
163,
373,
239
] |
[
2027,
1222,
2939,
2740,
1972,
2121
] | 2.3 | 69 | 0 | 69 | 0 |
[
2053,
1136,
3030,
2786,
2013,
2117
] |
[
340,
163,
373,
239
] |
[
2015,
1249,
2908,
2733,
1950,
2130
] | 2.333333 | 70 | 0 | 70 | 0 |
[
2044,
1167,
3016,
2774,
2000,
2118
] |
[
340,
163,
373,
239
] |
[
2004,
1275,
2882,
2722,
1938,
2131
] | 2.366667 | 71 | 0 | 71 | 0 |
[
2032,
1199,
2999,
2762,
1982,
2120
] |
[
340,
163,
373,
239
] |
[
1989,
1307,
2855,
2702,
1928,
2135
] | 2.4 | 72 | 0 | 72 | 0 |
[
2022,
1227,
2977,
2750,
1967,
2125
] |
[
340,
163,
373,
239
] |
[
1977,
1335,
2831,
2686,
1915,
2147
] | 2.433333 | 73 | 0 | 73 | 0 |
[
2010,
1256,
2953,
2735,
1953,
2130
] |
[
340,
163,
373,
239
] |
[
1970,
1357,
2805,
2681,
1914,
2150
] | 2.466667 | 74 | 0 | 74 | 0 |
[
1998,
1287,
2926,
2719,
1940,
2137
] |
[
340,
163,
373,
239
] |
[
1962,
1382,
2773,
2680,
1914,
2153
] | 2.5 | 75 | 0 | 75 | 0 |
[
1988,
1316,
2901,
2708,
1932,
2142
] |
[
340,
163,
373,
239
] |
[
1951,
1410,
2741,
2680,
1914,
2153
] | 2.533333 | 76 | 0 | 76 | 0 |
[
1978,
1343,
2874,
2701,
1927,
2146
] |
[
340,
163,
373,
239
] |
[
1945,
1436,
2713,
2680,
1913,
2153
] | 2.566667 | 77 | 0 | 77 | 0 |
[
1968,
1371,
2844,
2697,
1923,
2148
] |
[
340,
163,
373,
239
] |
[
1940,
1463,
2686,
2680,
1914,
2169
] | 2.6 | 78 | 0 | 78 | 0 |
[
1960,
1398,
2816,
2694,
1921,
2151
] |
[
340,
163,
373,
239
] |
[
1934,
1492,
2663,
2680,
1911,
2187
] | 2.633333 | 79 | 0 | 79 | 0 |
[
1952,
1426,
2789,
2692,
1919,
2160
] |
[
340,
163,
373,
239
] |
[
1930,
1516,
2643,
2679,
1908,
2199
] | 2.666667 | 80 | 0 | 80 | 0 |
[
1947,
1453,
2763,
2690,
1916,
2172
] |
[
340,
163,
373,
239
] |
[
1930,
1534,
2627,
2677,
1912,
2201
] | 2.7 | 81 | 0 | 81 | 0 |
[
1942,
1481,
2739,
2688,
1914,
2183
] |
[
340,
163,
373,
239
] |
[
1929,
1553,
2612,
2676,
1915,
2207
] | 2.733333 | 82 | 0 | 82 | 0 |
[
1939,
1505,
2719,
2686,
1913,
2190
] |
[
340,
163,
373,
239
] |
[
1927,
1569,
2600,
2673,
1915,
2210
] | 2.766667 | 83 | 0 | 83 | 0 |
[
1937,
1528,
2702,
2683,
1909,
2196
] |
[
340,
163,
373,
239
] |
[
1925,
1582,
2590,
2672,
1909,
2237
] | 2.8 | 84 | 0 | 84 | 0 |
[
1934,
1549,
2686,
2681,
1907,
2203
] |
[
340,
163,
373,
239
] |
[
1925,
1592,
2584,
2671,
1908,
2254
] | 2.833333 | 85 | 0 | 85 | 0 |
[
1933,
1568,
2673,
2679,
1906,
2218
] |
[
340,
163,
373,
239
] |
[
1925,
1601,
2582,
2668,
1899,
2275
] | 2.866667 | 86 | 0 | 86 | 0 |
[
1933,
1583,
2664,
2677,
1905,
2235
] |
[
340,
163,
373,
239
] |
[
1925,
1613,
2578,
2667,
1886,
2293
] | 2.9 | 87 | 0 | 87 | 0 |
[
1933,
1593,
2659,
2675,
1902,
2248
] |
[
340,
163,
373,
239
] |
[
1925,
1626,
2572,
2666,
1874,
2315
] | 2.933333 | 88 | 0 | 88 | 0 |
[
1933,
1606,
2654,
2673,
1893,
2266
] |
[
340,
163,
373,
239
] |
[
1928,
1638,
2568,
2662,
1866,
2329
] | 2.966667 | 89 | 0 | 89 | 0 |
[
1933,
1621,
2648,
2672,
1884,
2287
] |
[
340,
163,
373,
239
] |
[
1932,
1655,
2556,
2659,
1866,
2342
] | 3 | 90 | 0 | 90 | 0 |
[
1933,
1633,
2644,
2670,
1878,
2301
] |
[
340,
163,
373,
239
] |
[
1936,
1670,
2544,
2659,
1866,
2352
] | 3.033333 | 91 | 0 | 91 | 0 |
[
1933,
1650,
2635,
2667,
1873,
2319
] |
[
340,
163,
373,
239
] |
[
1937,
1682,
2534,
2657,
1861,
2363
] | 3.066667 | 92 | 0 | 92 | 0 |
[
1933,
1662,
2628,
2666,
1870,
2329
] |
[
340,
163,
373,
239
] |
[
1937,
1692,
2527,
2653,
1859,
2368
] | 3.1 | 93 | 0 | 93 | 0 |
[
1933,
1677,
2618,
2664,
1866,
2342
] |
[
340,
163,
373,
239
] |
[
1938,
1709,
2512,
2653,
1865,
2375
] | 3.133333 | 94 | 0 | 94 | 0 |
[
1933,
1691,
2608,
2661,
1864,
2352
] |
[
340,
163,
373,
239
] |
[
1941,
1721,
2501,
2653,
1876,
2380
] | 3.166667 | 95 | 0 | 95 | 0 |
[
1933,
1705,
2597,
2659,
1865,
2360
] |
[
340,
163,
373,
239
] |
[
1945,
1731,
2493,
2653,
1885,
2380
] | 3.2 | 96 | 0 | 96 | 0 |
[
1936,
1719,
2585,
2659,
1870,
2367
] |
[
340,
163,
373,
239
] |
[
1948,
1745,
2484,
2653,
1894,
2380
] | 3.233333 | 97 | 0 | 97 | 0 |
[
1939,
1731,
2575,
2659,
1876,
2371
] |
[
340,
163,
373,
239
] |
[
1953,
1761,
2476,
2653,
1900,
2380
] | 3.266667 | 98 | 0 | 98 | 0 |
[
1944,
1745,
2564,
2659,
1883,
2374
] |
[
340,
163,
373,
239
] |
[
1959,
1778,
2467,
2653,
1906,
2380
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 42,
"total_frames": 17228,
"total_tasks": 1,
"total_videos": 84,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:42"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper"
]
}
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
4
],
"names": [
"x1",
"y1",
"x2",
"y2"
]
},
"observation.images.hand": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"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.head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"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
}
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": {
"motors": [
"shoulder_pan",
"shoulder_lift",
"elbow_flex",
"wrist_flex",
"wrist_roll",
"gripper"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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