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next.reward
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[ 61.34765625, 132.890625, 96.591796875, 90.703125, 0.439453125, 16.230365753173828 ]
2.4
72
0
72
0
0
[ 62.578125, 122.431640625, 93.515625, 91.58203125, -1.93359375, 20.247295379638672 ]
[ 61.435546875, 131.044921875, 96.50390625, 90.703125, 0.263671875, 16.903514862060547 ]
2.433333
73
0
73
0
0
[ 62.75390625, 120.234375, 92.900390625, 90.87890625, -2.197265625, 21.09737205505371 ]
[ 61.5234375, 128.759765625, 96.15234375, 90.87890625, -0.087890625, 17.576663970947266 ]
2.466667
74
0
74
0
0
[ 63.193359375, 117.7734375, 92.109375, 90.087890625, -2.4609375, 22.024728775024414 ]
[ 61.69921875, 125.244140625, 95.44921875, 90.87890625, -0.615234375, 18.698579788208008 ]
2.5
75
0
75
0
0
[ 63.193359375, 115.751953125, 91.669921875, 89.384765625, -3.1640625, 22.56568717956543 ]
[ 61.787109375, 122.783203125, 95.09765625, 90.791015625, -1.23046875, 19.596111297607422 ]
2.533333
76
0
76
0
0
[ 63.193359375, 113.5546875, 91.142578125, 89.296875, -3.515625, 23.02936553955078 ]
[ 62.138671875, 120.41015625, 94.921875, 90.791015625, -1.40625, 20.493642807006836 ]
2.566667
77
0
77
0
0
[ 63.017578125, 111.97265625, 91.23046875, 88.41796875, -3.779296875, 23.4157657623291 ]
[ 62.138671875, 118.125, 94.5703125, 90.615234375, -1.93359375, 21.017202377319336 ]
2.6
78
0
78
0
0
[ 62.9296875, 110.7421875, 92.109375, 86.30859375, -3.955078125, 23.64760398864746 ]
[ 62.490234375, 115.927734375, 94.21875, 90.17578125, -2.4609375, 21.690351486206055 ]
2.633333
79
0
79
0
0
[ 62.841796875, 109.423828125, 92.63671875, 84.375, -3.955078125, 23.64760398864746 ]
[ 62.490234375, 113.818359375, 94.130859375, 89.6484375, -2.63671875, 22.139118194580078 ]
2.666667
80
0
80
0
0
[ 62.666015625, 108.193359375, 92.98828125, 82.880859375, -3.779296875, 23.724884033203125 ]
[ 62.75390625, 112.060546875, 94.130859375, 88.681640625, -2.63671875, 22.438295364379883 ]
2.7
81
0
81
0
0
[ 62.314453125, 104.0625, 92.98828125, 79.98046875, -3.603515625, 23.493043899536133 ]
[ 62.2265625, 108.017578125, 94.130859375, 84.462890625, -2.63671875, 22.737472534179688 ]
2.733333
82
0
82
0
0
[ 62.2265625, 103.0078125, 92.724609375, 79.892578125, -3.515625, 23.493043899536133 ]
[ 62.2265625, 107.841796875, 94.130859375, 84.111328125, -2.63671875, 22.737472534179688 ]
2.766667
83
0
83
0
0
[ 62.05078125, 101.6015625, 92.548828125, 79.8046875, -3.69140625, 23.4157657623291 ]
[ 62.138671875, 107.314453125, 94.130859375, 83.3203125, -2.63671875, 22.737472534179688 ]
2.8
84
0
84
0
0
[ 62.138671875, 100.1953125, 92.63671875, 78.92578125, -3.69140625, 23.338485717773438 ]
[ 61.962890625, 105.908203125, 94.130859375, 82.177734375, -2.63671875, 22.737472534179688 ]
2.833333
85
0
85
0
0
[ 62.314453125, 98.96484375, 93.1640625, 77.783203125, -3.515625, 23.261205673217773 ]
[ 61.69921875, 103.88671875, 94.04296875, 81.123046875, -2.63671875, 22.737472534179688 ]
2.866667
86
0
86
0
0
[ 62.490234375, 97.734375, 93.69140625, 76.9921875, -3.427734375, 23.261205673217773 ]
[ 61.611328125, 102.041015625, 94.130859375, 80.15625, -2.63671875, 22.737472534179688 ]
2.9
87
0
87
0
0
[ 62.666015625, 96.416015625, 94.306640625, 76.025390625, -3.427734375, 23.261205673217773 ]
[ 61.787109375, 100.107421875, 94.306640625, 79.365234375, -2.63671875, 22.737472534179688 ]
2.933333
88
0
88
0
0
[ 62.75390625, 95.185546875, 95.009765625, 74.8828125, -3.33984375, 23.261205673217773 ]
[ 61.69921875, 98.0859375, 94.306640625, 78.3984375, -2.63671875, 22.737472534179688 ]
2.966667
89
0
89
0
0
[ 62.75390625, 94.04296875, 95.9765625, 73.4765625, -3.251953125, 23.338485717773438 ]
[ 61.69921875, 96.50390625, 94.921875, 77.783203125, -2.63671875, 22.737472534179688 ]
3
90
0
90
0
0
[ 62.75390625, 92.98828125, 96.6796875, 72.158203125, -3.251953125, 23.338485717773438 ]
[ 61.69921875, 95.185546875, 95.44921875, 76.81640625, -2.63671875, 22.737472534179688 ]
3.033333
91
0
91
0
0
[ 62.75390625, 92.197265625, 97.294921875, 70.927734375, -2.98828125, 23.338485717773438 ]
[ 61.787109375, 94.04296875, 95.712890625, 75.673828125, -2.63671875, 22.737472534179688 ]
3.066667
92
0
92
0
0
[ 62.841796875, 91.58203125, 97.646484375, 69.609375, -2.98828125, 23.338485717773438 ]
[ 61.787109375, 92.8125, 96.50390625, 74.53125, -2.724609375, 22.737472534179688 ]
3.1
93
0
93
0
0
[ 63.10546875, 90.703125, 97.55859375, 68.90625, -2.8125, 23.261205673217773 ]
[ 61.787109375, 91.7578125, 97.20703125, 73.30078125, -2.4609375, 22.737472534179688 ]
3.133333
94
0
94
0
0
[ 63.369140625, 89.47265625, 96.943359375, 68.5546875, -2.63671875, 23.261205673217773 ]
[ 61.787109375, 90.615234375, 97.470703125, 71.982421875, -2.28515625, 22.737472534179688 ]
3.166667
95
0
95
0
0
[ 63.720703125, 88.06640625, 96.15234375, 68.5546875, -2.63671875, 23.570323944091797 ]
[ 61.787109375, 89.6484375, 97.55859375, 70.83984375, -2.109375, 22.737472534179688 ]
3.2
96
0
96
0
0
[ 63.896484375, 86.66015625, 95.888671875, 67.939453125, -2.8125, 24.03400230407715 ]
[ 62.05078125, 88.681640625, 97.55859375, 70.13671875, -2.109375, 22.737472534179688 ]
3.233333
97
0
97
0
0
[ 64.16015625, 85.4296875, 95.9765625, 66.796875, -2.900390625, 24.729520797729492 ]
[ 62.314453125, 87.71484375, 97.55859375, 69.609375, -2.109375, 22.737472534179688 ]
3.266667
98
0
98
0
0
[ 64.599609375, 84.287109375, 95.9765625, 65.478515625, -2.900390625, 25.038639068603516 ]
[ 62.578125, 86.484375, 97.3828125, 68.90625, -2.109375, 22.961854934692383 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 1,
    "total_frames": 440,
    "total_tasks": 1,
    "total_videos": 2,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "next.reward": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "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",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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