Upload 31 files

data/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e3585a514e0ed43848bb6abb824fd70c619c11de1f6802ac71cd66568da67bf5
-size 4100579
+oid sha256:1ac010e0ad340dbd03bb8431cfc80ff890a530c4d626e9049dc914c1ede374c0
+size 493111

meta/episodes/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5f5b24bed9b4911ad03a9516c61b9c6a02308ef931696df61081e2998f2d4c13
-size 472760
+oid sha256:f9a4dd74a8c375775dd25ef0bc75285422e65020cdbd015b505637520850390d
+size 136792

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v3.0",
     "robot_type": null,
-    "total_episodes": 103,
-    "total_frames": 48432,
+    "total_episodes": 21,
+    "total_frames": 5796,
     "total_tasks": 1,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
     "fps": 20,
     "splits": {
-        "train": "0:103"
+        "train": "0:21"
     },
     "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
@@ -66,7 +66,12 @@
                 6
             ],
             "names": [
-                "motor_pos"
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6"
             ]
         },
         "action": {
@@ -75,7 +80,12 @@
                 6
             ],
             "names": [
-                "motor_pos"
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6"
             ]
         },
         "timestamp": {

meta/stats.json

@@ -1,9 +1,105 @@
 {
-    "observation.images.side_camera": {
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            5795
+        ],
+        "mean": [
+            2897.5
+        ],
+        "std": [
+            1673.1610552085733
+        ],
+        "count": [
+            5796
+        ],
+        "q01": [
+            2746.190345890861
+        ],
+        "q10": [
+            2773.8312350999886
+        ],
+        "q50": [
+            2897.2625487232576
+        ],
+        "q90": [
+            3021.0099067219576
+        ],
+        "q99": [
+            3048.760130299615
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            20
+        ],
+        "mean": [
+            10.88543823326432
+        ],
+        "std": [
+            6.040750890641777
+        ],
+        "count": [
+            5796
+        ],
+        "q01": [
+            10.88543823326432
+        ],
+        "q10": [
+            10.88543823326432
+        ],
+        "q50": [
+            10.885438233264344
+        ],
+        "q90": [
+            10.885438233264356
+        ],
+        "q99": [
+            10.88543823326436
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            519
+        ],
+        "mean": [
+            153.97187715665976
+        ],
+        "std": [
+            105.86128436754515
+        ],
+        "count": [
+            5796
+        ],
+        "q01": [
+            2.6622230475207456
+        ],
+        "q10": [
+            30.303112256648422
+        ],
+        "q50": [
+            153.73442587991698
+        ],
+        "q90": [
+            277.4817838786172
+        ],
+        "q99": [
+            305.2320074562751
+        ]
+    },
+    "observation.images.top_camera": {
         "min": [
             [
                 [
-                    0.0
+                    0.00392156862745098
                 ]
             ],
             [
@@ -37,374 +133,201 @@
         "mean": [
             [
                 [
-                    0.250784120660088
+                    0.2765467898319195
                 ]
             ],
             [
                 [
-                    0.3675956590607329
+                    0.44042587928049537
                 ]
             ],
             [
                 [
-                    0.49111981438502755
+                    0.6021206328104651
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.0013784858663163167
+                    0.0017799508564686622
                 ]
             ],
             [
                 [
-                    0.0010371572759781819
+                    0.0029811564736131587
                 ]
             ],
             [
                 [
-                    0.0016683771247767987
+                    0.00461111534846953
                 ]
             ]
         ],
         "count": [
-            11301
+            2108
         ],
         "q01": [
             [
                 [
-                    0.035456425140026046
+                    0.12862011162825335
                 ]
             ],
             [
                 [
-                    0.005698367264152089
+                    0.16698503485734953
                 ]
             ],
             [
                 [
-                    3.7793281736127235e-05
+                    0.20677788283389478
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.11200498896124293
+                    0.1541299175551019
                 ]
             ],
             [
                 [
-                    0.2199988481481402
+                    0.31394490160270383
                 ]
             ],
             [
                 [
-                    0.3131208586122585
+                    0.46180974490229365
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.2746433231119924
+                    0.2831281985915263
                 ]
             ],
             [
                 [
-                    0.4001512185927222
+                    0.4149695631182514
                 ]
             ],
             [
                 [
-                    0.5365523061668013
+                    0.5908704434462132
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.3141931516779521
+                    0.3926699017377605
                 ]
             ],
             [
                 [
-                    0.45723108691109277
+                    0.580145559252137
                 ]
             ],
             [
                 [
-                    0.615265628542043
+                    0.7721559600986101
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.8271708995477406
+                    0.9950230906274594
                 ]
             ],
             [
                 [
-                    0.926239464482308
+                    0.999651642557044
                 ]
             ],
             [
                 [
-                    0.9133182425705645
+                    0.9841911637965779
                 ]
             ]
         ]
     },
-    "frame_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            1106
-        ],
-        "mean": [
-            263.7754170796168
-        ],
-        "std": [
-            187.6040582416132
-        ],
-        "count": [
-            48432
-        ],
-        "q01": [
-            4.809292704642468
-        ],
-        "q10": [
-            52.350810388918816
-        ],
-        "q50": [
-            263.53138130574825
-        ],
-        "q90": [
-            475.09290211521073
-        ],
-        "q99": [
-            522.7322686597453
-        ]
-    },
-    "task_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            0
-        ],
-        "mean": [
-            0.0
-        ],
-        "std": [
-            0.0
-        ],
-        "count": [
-            48432
-        ],
-        "q01": [
-            3.9999999999994186e-16
-        ],
-        "q10": [
-            3.9999999999994205e-15
-        ],
-        "q50": [
-            1.999999999999709e-14
-        ],
-        "q90": [
-            3.599999999999474e-14
-        ],
-        "q99": [
-            3.9599999999994235e-14
-        ]
-    },
-    "observation.state": {
-        "min": [
-            -6.380341529846191,
-            -3.4142894744873047,
-            -0.05505027249455452,
-            -2.6927132606506348,
-            -2.5355780124664307,
-            -3.7302942276000977
-        ],
-        "max": [
-            0.9786805510520935,
-            -0.3092353045940399,
-            2.9144208431243896,
-            4.923690319061279,
-            -1.0980185270309448,
-            0.9760197401046753
-        ],
-        "mean": [
-            -0.252747408813327,
-            -1.1588598888565562,
-            1.777608442065796,
-            -2.1864764893241047,
-            -1.5701491367484148,
-            -0.23643846347035982
-        ],
-        "std": [
-            0.35772244138384973,
-            0.39343938863130073,
-            0.32519147857319325,
-            0.42006928167546587,
-            0.021259058120640363,
-            0.3266280204771471
-        ],
-        "count": [
-            48432
-        ],
-        "q01": [
-            -1.2078017247502444,
-            -2.015160895086231,
-            1.0814893535579928,
-            -2.5747538299339965,
-            -1.581979391969419,
-            -0.7049059458485294
-        ],
-        "q10": [
-            -0.49387237657367067,
-            -1.602906491022358,
-            1.4087655207290943,
-            -2.5012429864154635,
-            -1.5726819936241865,
-            -0.4736409073976854
-        ],
-        "q50": [
-            -0.23947130331977912,
-            -1.094565294360201,
-            1.7771739474866577,
-            -2.270647325864033,
-            -1.5698726971398003,
-            -0.2371470927872221
-        ],
-        "q90": [
-            0.012259281425273381,
-            -0.838382569647962,
-            2.1484414230531113,
-            -1.7595590628442765,
-            -1.5685041772444712,
-            0.013498334869370732
-        ],
-        "q99": [
-            0.18199809970055209,
-            -0.7122907568449939,
-            2.338370271002144,
-            -1.504479926036216,
-            -1.5613099837133075,
-            0.18188383021354088
-        ]
-    },
-    "index": {
-        "min": [
-            0
-        ],
-        "max": [
-            48431
-        ],
-        "mean": [
-            24215.5
-        ],
-        "std": [
-            13981.114115715767
-        ],
-        "count": [
-            48432
-        ],
-        "q01": [
-            23956.53387562504
-        ],
-        "q10": [
-            24004.075393309304
-        ],
-        "q50": [
-            24215.27735071441
-        ],
-        "q90": [
-            24426.81748503559
-        ],
-        "q99": [
-            24474.45685158012
-        ]
-    },
     "action": {
         "min": [
-            -9.550565719604492,
-            -8.030165672302246,
-            -0.19372986257076263,
-            -2.6966888904571533,
-            -2.7104504108428955,
-            -3.789907217025757
+            -2.3812642097473145,
+            -3.33080792427063,
+            0.2648211121559143,
+            -2.7590346336364746,
+            -1.7167922258377075,
+            -2.373879909515381
         ],
         "max": [
-            0.9821276664733887,
-            -0.3111555278301239,
-            3.377495050430298,
-            3.8022592067718506,
-            -1.0341097116470337,
-            0.9796229600906372
+            1.0284454822540283,
+            -0.3632690906524658,
+            2.864809513092041,
+            0.08705572783946991,
+            -1.5355089902877808,
+            0.9995096921920776
         ],
         "mean": [
-            -0.2513071454982288,
-            -1.1751362798574894,
-            1.7775590360277866,
-            -2.1878626311095113,
-            -1.5703102768447126,
-            -0.2369220855792417
+            -0.33232285295856706,
+            -1.2334312903235252,
+            1.842027797667712,
+            -2.180989353162326,
+            -1.5699121075675273,
+            -0.3110224598334342
         ],
         "std": [
-            0.4133699245485274,
-            0.49591702535783116,
-            0.3290646522111322,
-            0.42187088820662383,
-            0.024281697714984587,
-            0.3287779249354378
+            0.4330950103795739,
+            0.42111663626411416,
+            0.3975023441644592,
+            0.3578230952527291,
+            0.0043569385375701,
+            0.40523985129923545
         ],
         "count": [
-            48432
+            5796
         ],
         "q01": [
-            -1.0781378611313257,
-            -2.0859609027266717,
-            1.0707446942463554,
-            -2.5780331199477624,
-            -1.583605013454156,
-            -0.7257648704442751
+            -1.4179123627524521,
+            -2.2519258029107974,
+            1.0507840072814558,
+            -2.6122407463618678,
+            -1.577920198060876,
+            -0.9524249080794278
         ],
         "q10": [
-            -0.5110749681493215,
-            -1.637778407665229,
-            1.4064281898351005,
-            -2.5048985535408748,
-            -1.5729181233615037,
-            -0.47642067019169265
+            -0.7450698007502335,
+            -1.837601408185508,
+            1.3873726662333214,
+            -2.5310730329951885,
+            -1.5711704804536963,
+            -0.7141162122870276
         ],
         "q50": [
-            -0.2381073077442289,
-            -1.1093448527089305,
-            1.77693858500791,
-            -2.274116583834414,
-            -1.5698644502355363,
-            -0.23733693272585693
+            -0.3160588788436111,
+            -1.1404555345544163,
+            1.8691723920029555,
+            -2.2433769511530692,
+            -1.5699135666787731,
+            -0.30985068226027884
         ],
         "q90": [
-            0.017221266125289774,
-            -0.8403243970052361,
-            2.150759846393744,
-            -1.7552695969725436,
-            -1.5684851567709812,
-            0.01512336486607154
+            0.025414551785273593,
+            -0.8477082499173484,
+            2.2980114166781025,
+            -1.7514893623962333,
+            -1.5684166920758924,
+            0.02494776172317909
         ],
         "q99": [
-            0.18754349747083485,
-            -0.7162803709208129,
-            2.352039611542413,
-            -1.5195996595546608,
-            -1.5608399168172067,
-            0.18691108138502
+            0.28145952219527864,
+            -0.6735260369497011,
+            2.483177802099122,
+            -1.4049665035658085,
+            -1.5632096194754064,
+            0.2812031461711872
         ]
     },
     "timestamp": {
@@ -412,70 +335,115 @@
             0.0
         ],
         "max": [
-            55.3
+            25.95
         ],
         "mean": [
-            13.18877085398085
+            7.698593857832988
         ],
         "std": [
-            9.380202912080662
+            5.293064218377258
         ],
         "count": [
-            48432
+            5796
         ],
         "q01": [
-            0.2404646351388331
+            0.13311115228265002
         ],
         "q10": [
-            2.617540519369778
+            1.515155612756079
         ],
         "q50": [
-            13.176635836843314
+            7.686721293995685
         ],
         "q90": [
-            23.75464510583665
+            13.874089194007107
         ],
         "q99": [
-            26.136613433080527
+            15.261600372907102
         ]
     },
-    "episode_index": {
+    "observation.state": {
         "min": [
-            0
+            -2.328687906265259,
+            -3.325352907180786,
+            0.2844616174697876,
+            -2.732900381088257,
+            -1.6851842403411865,
+            -2.321852684020996
         ],
         "max": [
-            102
+            0.985457181930542,
+            -0.3739665448665619,
+            2.853607177734375,
+            0.07703474909067154,
+            -1.5409382581710815,
+            0.9520134925842285
         ],
         "mean": [
-            48.97588371324746
+            -0.3435593523538888,
+            -1.2319204225529465,
+            1.8413682990727382,
+            -2.177722833603312,
+            -1.5699285911723941,
+            -0.31092509404473967
         ],
         "std": [
-            29.85094835640953
+            0.4410010010516022,
+            0.41786728229616515,
+            0.3935296314158865,
+            0.35558842776235117,
+            0.003819245627583142,
+            0.4015222202052289
         ],
         "count": [
-            48432
+            5796
         ],
         "q01": [
-            48.97588371324746
+            -1.5264288918699704,
+            -2.2223837557155313,
+            1.063214730207697,
+            -2.6031037767464906,
+            -1.5785929562578203,
+            -0.9250841775464552
         ],
         "q10": [
-            48.97588371324746
+            -0.7568428803017783,
+            -1.8326352858117647,
+            1.3882316462772726,
+            -2.5267085621404686,
+            -1.5711589662164056,
+            -0.709755127600878
         ],
         "q50": [
-            48.97588371324746
+            -0.32074030676044935,
+            -1.1409195881000136,
+            1.8685742135065189,
+            -2.2379823493815607,
+            -1.5699283731773526,
+            -0.31018157431824633
         ],
         "q90": [
-            48.97588371324747
+            0.019596890371943274,
+            -0.8467568944715743,
+            2.291285177473984,
+            -1.7466284874207072,
+            -1.5684617166131674,
+            0.021608075204390835
         ],
         "q99": [
-            48.97588371324747
+            0.26527560012660567,
+            -0.6765796723055862,
+            2.468734103117095,
+            -1.405449171247278,
+            -1.5639175058840638,
+            0.2693127746605478
         ]
     },
-    "observation.images.top_camera": {
+    "observation.images.side_camera": {
         "min": [
             [
                 [
-                    0.00392156862745098
+                    0.0
                 ]
             ],
             [
@@ -509,124 +477,156 @@
         "mean": [
             [
                 [
-                    0.2773025361146029
+                    0.24986485308070105
                 ]
             ],
             [
                 [
-                    0.44103294484936234
+                    0.3669841521241442
                 ]
             ],
             [
                 [
-                    0.6037526318190868
+                    0.48970115014696586
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.0010320126077085208
+                    0.0035922090976261366
                 ]
             ],
             [
                 [
-                    0.0012106922265089526
+                    0.003608702375764447
                 ]
             ],
             [
                 [
-                    0.0016902539749093235
+                    0.004614551149705138
                 ]
             ]
         ],
         "count": [
-            11301
+            2108
         ],
         "q01": [
             [
                 [
-                    0.13085214123404518
+                    0.03532246395585889
                 ]
             ],
             [
                 [
-                    0.16946973995854206
+                    0.004315509050333408
                 ]
             ],
             [
                 [
-                    0.2089754264268631
+                    -3.9215686274509787e-13
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.15432331191174897
+                    0.11135549036530572
                 ]
             ],
             [
                 [
-                    0.3148496548026192
+                    0.2187606370991352
                 ]
             ],
             [
                 [
-                    0.46361032280661135
+                    0.31266640822551417
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.2875356195956623
+                    0.27376401088879415
                 ]
             ],
             [
                 [
-                    0.41801495901811836
+                    0.39783139763695785
                 ]
             ],
             [
                 [
-                    0.5933848676384064
+                    0.5315253971389186
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.39228280242845626
+                    0.31522981401683425
                 ]
             ],
             [
                 [
-                    0.5792961195288032
+                    0.45905139989533184
                 ]
             ],
             [
                 [
-                    0.7716352385933019
+                    0.6176032536476076
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9988550243405669
+                    0.8308997253713127
                 ]
             ],
             [
                 [
-                    0.998392862442523
+                    0.9363689870185352
                 ]
             ],
             [
                 [
-                    0.9935522208440267
+                    0.9043044689750126
                 ]
             ]
         ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            5796
+        ],
+        "q01": [
+            3.999999999999418e-16
+        ],
+        "q10": [
+            3.999999999999418e-15
+        ],
+        "q50": [
+            1.9999999999997088e-14
+        ],
+        "q90": [
+            3.599999999999475e-14
+        ],
+        "q99": [
+            3.959999999999424e-14
+        ]
     }
 }

videos/observation.images.side_camera/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:be9190a4738cff410d16a2cb8f83ccb6f1d94f0de98ba535dcfdc38e94ab0c0d
-size 207200355
+oid sha256:45413e1e2d85c6d9f891893e694a0c76d22de4351948848ef2fc2920a98ae54d
+size 32233217

videos/observation.images.top_camera/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a6b27b9df6847541e8733b1fccb0e4e8fb532efa78612ff992782adc4e529ee3
-size 196177705
+oid sha256:6bec08e133daa645d200d59bc04656f334e8cb1481def577a7039f6eec4ef435
+size 24692626