Hugging Face's logo

Datasets:
Cache-SCA
/
UR7e_phase1_Chocopie_10fps

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
ur7e
cap
lerobot
controller-desired
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
eunyoung927 commited on
Commit
4e01368
·
verified ·
1 Parent(s): 1730c1a

Add files using upload-large-folder tool

Browse files
Files changed (7) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/info.json +223 -0
  4. meta/stats.json +1063 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.realsense_topview/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.realsense_wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72bac6320a4c2eb6732f4cf8a7b5cb0f76215f75d9ff770cb6ec3c03bc97cdd4
3
+ size 1079968
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:192817b4a91b8afef032873e24e278204fd16bf3ef227e444e22d8b1420e6796
3
+ size 198373
meta/info.json ADDED
@@ -0,0 +1,223 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "ur7e",
4
+ "total_episodes": 20,
5
+ "total_frames": 8238,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:20"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 7
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow.pos",
26
+ "wrist_1.pos",
27
+ "wrist_2.pos",
28
+ "wrist_3.pos",
29
+ "gripper.pos"
30
+ ]
31
+ },
32
+ "action": {
33
+ "dtype": "float32",
34
+ "shape": [
35
+ 7
36
+ ],
37
+ "names": [
38
+ "shoulder_pan.pos",
39
+ "shoulder_lift.pos",
40
+ "elbow.pos",
41
+ "wrist_1.pos",
42
+ "wrist_2.pos",
43
+ "wrist_3.pos",
44
+ "gripper.pos"
45
+ ]
46
+ },
47
+ "observation.images.realsense_topview": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 480,
51
+ 640,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "info": {
60
+ "video.height": 480,
61
+ "video.width": 640,
62
+ "video.codec": "h264",
63
+ "video.pix_fmt": "yuv420p",
64
+ "video.is_depth_map": false,
65
+ "video.fps": 10,
66
+ "video.channels": 3,
67
+ "has_audio": false
68
+ }
69
+ },
70
+ "observation.images.realsense_wrist": {
71
+ "dtype": "video",
72
+ "shape": [
73
+ 480,
74
+ 640,
75
+ 3
76
+ ],
77
+ "names": [
78
+ "height",
79
+ "width",
80
+ "channels"
81
+ ],
82
+ "info": {
83
+ "video.height": 480,
84
+ "video.width": 640,
85
+ "video.codec": "h264",
86
+ "video.pix_fmt": "yuv420p",
87
+ "video.is_depth_map": false,
88
+ "video.fps": 10,
89
+ "video.channels": 3,
90
+ "has_audio": false
91
+ }
92
+ },
93
+ "skill.type": {
94
+ "dtype": "string",
95
+ "shape": [
96
+ 1
97
+ ],
98
+ "names": null
99
+ },
100
+ "skill.progress": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "skill.goal_position.joint": {
108
+ "dtype": "float32",
109
+ "shape": [
110
+ 7
111
+ ],
112
+ "names": [
113
+ "shoulder_pan.pos",
114
+ "shoulder_lift.pos",
115
+ "elbow.pos",
116
+ "wrist_1.pos",
117
+ "wrist_2.pos",
118
+ "wrist_3.pos",
119
+ "gripper.pos"
120
+ ]
121
+ },
122
+ "skill.goal_position.world_xyzrpy": {
123
+ "dtype": "float32",
124
+ "shape": [
125
+ 6
126
+ ],
127
+ "names": [
128
+ "x",
129
+ "y",
130
+ "z",
131
+ "roll",
132
+ "pitch",
133
+ "yaw"
134
+ ]
135
+ },
136
+ "skill.goal_position.robot_xyzrpy": {
137
+ "dtype": "float32",
138
+ "shape": [
139
+ 6
140
+ ],
141
+ "names": [
142
+ "x",
143
+ "y",
144
+ "z",
145
+ "roll",
146
+ "pitch",
147
+ "yaw"
148
+ ]
149
+ },
150
+ "skill.goal_position.gripper": {
151
+ "dtype": "float32",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": [
156
+ "gripper.pos"
157
+ ]
158
+ },
159
+ "skill.natural_language": {
160
+ "dtype": "string",
161
+ "shape": [
162
+ 1
163
+ ],
164
+ "names": null
165
+ },
166
+ "observation.ee_pos.robot_xyzrpy": {
167
+ "dtype": "float32",
168
+ "shape": [
169
+ 6
170
+ ],
171
+ "names": [
172
+ "x",
173
+ "y",
174
+ "z",
175
+ "roll",
176
+ "pitch",
177
+ "yaw"
178
+ ]
179
+ },
180
+ "observation.gripper_binary": {
181
+ "dtype": "float32",
182
+ "shape": [
183
+ 1
184
+ ],
185
+ "names": null
186
+ },
187
+ "timestamp": {
188
+ "dtype": "float32",
189
+ "shape": [
190
+ 1
191
+ ],
192
+ "names": null
193
+ },
194
+ "frame_index": {
195
+ "dtype": "int64",
196
+ "shape": [
197
+ 1
198
+ ],
199
+ "names": null
200
+ },
201
+ "episode_index": {
202
+ "dtype": "int64",
203
+ "shape": [
204
+ 1
205
+ ],
206
+ "names": null
207
+ },
208
+ "index": {
209
+ "dtype": "int64",
210
+ "shape": [
211
+ 1
212
+ ],
213
+ "names": null
214
+ },
215
+ "task_index": {
216
+ "dtype": "int64",
217
+ "shape": [
218
+ 1
219
+ ],
220
+ "names": null
221
+ }
222
+ }
223
+ }
meta/stats.json ADDED
@@ -0,0 +1,1063 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.gripper_binary": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 1.0
8
+ ],
9
+ "mean": [
10
+ 0.5795095930489617
11
+ ],
12
+ "std": [
13
+ 0.4936377464930958
14
+ ],
15
+ "count": [
16
+ 8238
17
+ ],
18
+ "q01": [
19
+ -1.000000013351432e-10
20
+ ],
21
+ "q10": [
22
+ -1.000000013351432e-10
23
+ ],
24
+ "q50": [
25
+ 0.9998269556549099
26
+ ],
27
+ "q90": [
28
+ 0.9999653911309818
29
+ ],
30
+ "q99": [
31
+ 0.999996539113098
32
+ ]
33
+ },
34
+ "observation.ee_pos.robot_xyzrpy": {
35
+ "min": [
36
+ -0.31458157300949097,
37
+ -0.7617731690406799,
38
+ 0.023855920881032944,
39
+ -3.141592264175415,
40
+ -0.0013341479934751987,
41
+ -3.1415913105010986
42
+ ],
43
+ "max": [
44
+ 0.31164777278900146,
45
+ -0.3846206068992615,
46
+ 0.3530406653881073,
47
+ 3.141592502593994,
48
+ 0.06161932274699211,
49
+ 3.1415913105010986
50
+ ],
51
+ "mean": [
52
+ 0.04282922889283467,
53
+ -0.61572866155905,
54
+ 0.11319574697970128,
55
+ 1.9469989081245511,
56
+ 0.049379720313021874,
57
+ 2.402795655225544
58
+ ],
59
+ "std": [
60
+ 0.15507620710431733,
61
+ 0.08227031062678787,
62
+ 0.10155484127655824,
63
+ 2.097469754437435,
64
+ 0.023576568338505587,
65
+ 1.9320099534801782
66
+ ],
67
+ "count": [
68
+ 8238
69
+ ],
70
+ "q01": [
71
+ -0.17840704335166066,
72
+ -0.7016304393426586,
73
+ 0.0262945638222435,
74
+ 1.6680853455499065,
75
+ 0.04872690628905169,
76
+ 1.8911665323403426
77
+ ],
78
+ "q10": [
79
+ -0.15887541868228827,
80
+ -0.6957013245456742,
81
+ 0.029284830948235058,
82
+ 1.668708662630488,
83
+ 0.04889661587191338,
84
+ 2.2274862927112062
85
+ ],
86
+ "q50": [
87
+ 0.04255859950557377,
88
+ -0.6467718753324286,
89
+ 0.07760553759158483,
90
+ 1.990392899095043,
91
+ 0.04903056992199476,
92
+ 2.448108927645611
93
+ ],
94
+ "q90": [
95
+ 0.23731487600412354,
96
+ -0.4637462978041157,
97
+ 0.32239987844062584,
98
+ 2.2262603896581474,
99
+ 0.04928718093133336,
100
+ 2.7640840870637207
101
+ ],
102
+ "q99": [
103
+ 0.25049011792967296,
104
+ -0.43512607369072664,
105
+ 0.3529561104784107,
106
+ 2.546360114542849,
107
+ 0.05464538141595701,
108
+ 2.7642060643820203
109
+ ]
110
+ },
111
+ "timestamp": {
112
+ "min": [
113
+ 0.0
114
+ ],
115
+ "max": [
116
+ 45.5
117
+ ],
118
+ "mean": [
119
+ 20.705632435057048
120
+ ],
121
+ "std": [
122
+ 12.132360477335174
123
+ ],
124
+ "count": [
125
+ 8238
126
+ ],
127
+ "q01": [
128
+ 0.3682756919629515
129
+ ],
130
+ "q10": [
131
+ 4.0924133128597955
132
+ ],
133
+ "q50": [
134
+ 20.68239082787073
135
+ ],
136
+ "q90": [
137
+ 37.30950538099789
138
+ ],
139
+ "q99": [
140
+ 41.04298917815115
141
+ ]
142
+ },
143
+ "skill.goal_position.gripper": {
144
+ "min": [
145
+ 0.0
146
+ ],
147
+ "max": [
148
+ 1.0
149
+ ],
150
+ "mean": [
151
+ 0.42546734601642705
152
+ ],
153
+ "std": [
154
+ 0.49441367535991526
155
+ ],
156
+ "count": [
157
+ 8238
158
+ ],
159
+ "q01": [
160
+ -1.000000013351432e-10
161
+ ],
162
+ "q10": [
163
+ -1.000000013351432e-10
164
+ ],
165
+ "q50": [
166
+ -1.000000013351432e-10
167
+ ],
168
+ "q90": [
169
+ 0.9999526681555536
170
+ ],
171
+ "q99": [
172
+ 0.9999952668155553
173
+ ]
174
+ },
175
+ "skill.goal_position.robot_xyzrpy": {
176
+ "min": [
177
+ -0.3145442008972168,
178
+ -0.7617624998092651,
179
+ 0.0,
180
+ -3.141448736190796,
181
+ -0.0008738621254451573,
182
+ -3.141589403152466
183
+ ],
184
+ "max": [
185
+ 0.31173503398895264,
186
+ -0.0,
187
+ 0.3529999852180481,
188
+ 3.141589403152466,
189
+ 0.061184655874967575,
190
+ 3.14158034324646
191
+ ],
192
+ "mean": [
193
+ 0.047176326838717454,
194
+ -0.6142931115673594,
195
+ 0.10779282942045282,
196
+ 0.4546519913454026,
197
+ 0.010583494506200749,
198
+ 0.49352281179046653
199
+ ],
200
+ "std": [
201
+ 0.16553410456206705,
202
+ 0.10609093116342885,
203
+ 0.10717565311579201,
204
+ 1.241201967927683,
205
+ 0.023024435496686656,
206
+ 1.3363652144778195
207
+ ],
208
+ "count": [
209
+ 8238
210
+ ],
211
+ "q01": [
212
+ -0.17852075932551684,
213
+ -0.7016963669544113,
214
+ 0.024184017042597636,
215
+ -0.5958462177303382,
216
+ -8.392600410591741e-05,
217
+ -0.48773412838520513
218
+ ],
219
+ "q10": [
220
+ -0.1682147291751546,
221
+ -0.6998955591172644,
222
+ 0.024358105599559404,
223
+ -0.31757032047930706,
224
+ -6.624389315100314e-05,
225
+ -0.31771789366502323
226
+ ],
227
+ "q50": [
228
+ 0.05681805525037574,
229
+ -0.6533450963188815,
230
+ 0.06937809816113374,
231
+ -7.8438025493374e-05,
232
+ -1.0541439978747794e-08,
233
+ -7.155347546516932e-05
234
+ ],
235
+ "q90": [
236
+ 0.24772160384363148,
237
+ -0.4010543797927962,
238
+ 0.3529549948969723,
239
+ 2.5431231017104095,
240
+ 0.04910206243217395,
241
+ 2.765708260331169
242
+ ],
243
+ "q99": [
244
+ 0.250596366854679,
245
+ -0.40101439450060217,
246
+ 0.3529954861859405,
247
+ 2.5434633510748643,
248
+ 0.04917628355811365,
249
+ 2.7660058425361784
250
+ ]
251
+ },
252
+ "frame_index": {
253
+ "min": [
254
+ 0
255
+ ],
256
+ "max": [
257
+ 455
258
+ ],
259
+ "mean": [
260
+ 207.05632435057052
261
+ ],
262
+ "std": [
263
+ 121.32360477335172
264
+ ],
265
+ "count": [
266
+ 8238
267
+ ],
268
+ "q01": [
269
+ 3.6827569205135693
270
+ ],
271
+ "q10": [
272
+ 40.92413312932009
273
+ ],
274
+ "q50": [
275
+ 206.85105753823734
276
+ ],
277
+ "q90": [
278
+ 373.0950538092571
279
+ ],
280
+ "q99": [
281
+ 410.4298917806275
282
+ ]
283
+ },
284
+ "index": {
285
+ "min": [
286
+ 0
287
+ ],
288
+ "max": [
289
+ 8237
290
+ ],
291
+ "mean": [
292
+ 4118.5
293
+ ],
294
+ "std": [
295
+ 2378.1057412711216
296
+ ],
297
+ "count": [
298
+ 8238
299
+ ],
300
+ "q01": [
301
+ 3915.1264325699435
302
+ ],
303
+ "q10": [
304
+ 3952.36780877875
305
+ ],
306
+ "q50": [
307
+ 4118.298138140325
308
+ ],
309
+ "q90": [
310
+ 4284.538729458687
311
+ ],
312
+ "q99": [
313
+ 4321.873567430056
314
+ ]
315
+ },
316
+ "task_index": {
317
+ "min": [
318
+ 0
319
+ ],
320
+ "max": [
321
+ 0
322
+ ],
323
+ "mean": [
324
+ 0.0
325
+ ],
326
+ "std": [
327
+ 0.0
328
+ ],
329
+ "count": [
330
+ 8238
331
+ ],
332
+ "q01": [
333
+ 3.999999999999418e-16
334
+ ],
335
+ "q10": [
336
+ 3.999999999999416e-15
337
+ ],
338
+ "q50": [
339
+ 1.9999999999997088e-14
340
+ ],
341
+ "q90": [
342
+ 3.599999999999476e-14
343
+ ],
344
+ "q99": [
345
+ 3.959999999999425e-14
346
+ ]
347
+ },
348
+ "action": {
349
+ "min": [
350
+ -2.290990114212036,
351
+ -1.9583848714828491,
352
+ 1.1588777303695679,
353
+ -2.82382869720459,
354
+ -1.764327883720398,
355
+ 2.5115554332733154,
356
+ 0.0
357
+ ],
358
+ "max": [
359
+ -1.209648847579956,
360
+ -0.7769595384597778,
361
+ 2.1621594429016113,
362
+ -1.4683518409729004,
363
+ -1.4103766679763794,
364
+ 3.5392603874206543,
365
+ 1.0
366
+ ],
367
+ "mean": [
368
+ -1.710338845722419,
369
+ -1.2312715384212907,
370
+ 1.8044191727536372,
371
+ -2.418209228708953,
372
+ -1.5982691437244763,
373
+ 3.051373862589294,
374
+ 0.42546734601642705
375
+ ],
376
+ "std": [
377
+ 0.2658247904630845,
378
+ 0.30490592662104843,
379
+ 0.17977742142578185,
380
+ 0.321330328549536,
381
+ 0.08390874275991804,
382
+ 0.2550733098268781,
383
+ 0.49441367535991526
384
+ ],
385
+ "count": [
386
+ 8238
387
+ ],
388
+ "q01": [
389
+ -2.0558831580563868,
390
+ -1.9348471069579045,
391
+ 1.5734374439058647,
392
+ -2.655661687517548,
393
+ -1.7000103768258796,
394
+ 2.7216784154665534,
395
+ -1.000000013351432e-10
396
+ ],
397
+ "q10": [
398
+ -2.0220609443767112,
399
+ -1.8560184124062205,
400
+ 1.6033066240743914,
401
+ -2.635433620513979,
402
+ -1.694126110078654,
403
+ 2.75399167567945,
404
+ -1.000000013351432e-10
405
+ ],
406
+ "q50": [
407
+ -1.7570291542447953,
408
+ -1.1347019046426678,
409
+ 1.8159572411049438,
410
+ -2.4957863014497987,
411
+ -1.587258402856228,
412
+ 3.0075329484075413,
413
+ -1.000000013351432e-10
414
+ ],
415
+ "q90": [
416
+ -1.3654506740840047,
417
+ -0.9381860277947862,
418
+ 1.9695773388021276,
419
+ -1.9197268755249564,
420
+ -1.5109545862257485,
421
+ 3.3810644438502298,
422
+ 0.9999526681555536
423
+ ],
424
+ "q99": [
425
+ -1.341091835484759,
426
+ -0.9177487799310534,
427
+ 2.0130364452977973,
428
+ -1.8132172847533747,
429
+ -1.4984634000906192,
430
+ 3.404733635192895,
431
+ 0.9999952668155553
432
+ ]
433
+ },
434
+ "skill.progress": {
435
+ "min": [
436
+ 0.0
437
+ ],
438
+ "max": [
439
+ 1.0
440
+ ],
441
+ "mean": [
442
+ 0.5118567499070528
443
+ ],
444
+ "std": [
445
+ 0.37446088869231153
446
+ ],
447
+ "count": [
448
+ 8238
449
+ ],
450
+ "q01": [
451
+ -1.000000013351432e-10
452
+ ],
453
+ "q10": [
454
+ 0.003010867812266073
455
+ ],
456
+ "q50": [
457
+ 0.5483239021230942
458
+ ],
459
+ "q90": [
460
+ 0.9884219528390161
461
+ ],
462
+ "q99": [
463
+ 0.9999013677911927
464
+ ]
465
+ },
466
+ "skill.goal_position.world_xyzrpy": {
467
+ "min": [
468
+ -0.31173503398895264,
469
+ 0.0,
470
+ 0.0,
471
+ -3.141448736190796,
472
+ -0.0008738621254451573,
473
+ -3.141589403152466
474
+ ],
475
+ "max": [
476
+ 0.3145442008972168,
477
+ 0.7617624998092651,
478
+ 0.3529999852180481,
479
+ 3.141589403152466,
480
+ 0.061184655874967575,
481
+ 3.14158034324646
482
+ ],
483
+ "mean": [
484
+ -0.047176326838717454,
485
+ 0.6142931115673594,
486
+ 0.10779282942045282,
487
+ 0.4546519913454026,
488
+ 0.010583494506200749,
489
+ 0.49352281179046653
490
+ ],
491
+ "std": [
492
+ 0.16553410456206705,
493
+ 0.10609093116342885,
494
+ 0.10717565311579201,
495
+ 1.241201967927683,
496
+ 0.023024435496686656,
497
+ 1.3363652144778195
498
+ ],
499
+ "count": [
500
+ 8238
501
+ ],
502
+ "q01": [
503
+ -0.25061407940867864,
504
+ 0.4010099516905236,
505
+ 0.024184017042597636,
506
+ -0.5958462177303382,
507
+ -8.392600410591741e-05,
508
+ -0.48773412838520513
509
+ ],
510
+ "q10": [
511
+ -0.2477418709681436,
512
+ 0.4010099516905236,
513
+ 0.024358105599559404,
514
+ -0.31757032047930706,
515
+ -6.624389315100314e-05,
516
+ -0.31771789366502323
517
+ ],
518
+ "q50": [
519
+ -0.056818058325163116,
520
+ 0.6531608738632851,
521
+ 0.06937809816113374,
522
+ -7.8438025493374e-05,
523
+ -1.0541439978747794e-08,
524
+ -7.155347546516932e-05
525
+ ],
526
+ "q90": [
527
+ 0.16818391557242654,
528
+ 0.6998859568552008,
529
+ 0.3529549948969723,
530
+ 2.5431231017104095,
531
+ 0.04910206243217395,
532
+ 2.765708260331169
533
+ ],
534
+ "q99": [
535
+ 0.17850702282404882,
536
+ 0.7016848221443127,
537
+ 0.3529954861859405,
538
+ 2.5434633510748643,
539
+ 0.04917628355811365,
540
+ 2.7660058425361784
541
+ ]
542
+ },
543
+ "skill.goal_position.joint": {
544
+ "min": [
545
+ -2.290990114212036,
546
+ -1.9583848714828491,
547
+ 1.1588777303695679,
548
+ -2.82382869720459,
549
+ -1.764327883720398,
550
+ 2.5115554332733154,
551
+ 0.0
552
+ ],
553
+ "max": [
554
+ -1.209648847579956,
555
+ -0.7769595384597778,
556
+ 2.1429173946380615,
557
+ -1.468421220779419,
558
+ -1.4103766679763794,
559
+ 3.5392603874206543,
560
+ 1.0
561
+ ],
562
+ "mean": [
563
+ -1.704320954130413,
564
+ -1.2124556189719031,
565
+ 1.7797432477452797,
566
+ -2.4102762629465446,
567
+ -1.599505262124246,
568
+ 3.0571422040911083,
569
+ 0.42546734601642705
570
+ ],
571
+ "std": [
572
+ 0.28294489257266087,
573
+ 0.32232742651424734,
574
+ 0.1866407302097083,
575
+ 0.3398834339781985,
576
+ 0.0890158395166059,
577
+ 0.27132265484438667,
578
+ 0.49441367535991526
579
+ ],
580
+ "count": [
581
+ 8238
582
+ ],
583
+ "q01": [
584
+ -2.0561971208458245,
585
+ -1.934920691089394,
586
+ 1.573001694190152,
587
+ -2.655629993353286,
588
+ -1.7000580290244256,
589
+ 2.7214054209307923,
590
+ -1.000000013351432e-10
591
+ ],
592
+ "q10": [
593
+ -2.038558243809282,
594
+ -1.9200264097723216,
595
+ 1.586583354413379,
596
+ -2.6522417793185515,
597
+ -1.6979989909146644,
598
+ 2.738224071006934,
599
+ -1.000000013351432e-10
600
+ ],
601
+ "q50": [
602
+ -1.732962324734799,
603
+ -1.1122015954489282,
604
+ 1.7960099834917933,
605
+ -2.4898896858047337,
606
+ -1.5930649249909188,
607
+ 3.03120514665934,
608
+ -1.000000013351432e-10
609
+ ],
610
+ "q90": [
611
+ -1.347938972502876,
612
+ -0.9192615020228065,
613
+ 1.9616786221798574,
614
+ -1.8134753124610508,
615
+ -1.505930430737981,
616
+ 3.39814466576192,
617
+ 0.9999526681555536
618
+ ],
619
+ "q99": [
620
+ -1.3408517548499548,
621
+ -0.9177486714843112,
622
+ 1.977356565890145,
623
+ -1.8123309042463183,
624
+ -1.4983782049298122,
625
+ 3.4049553598625546,
626
+ 0.9999952668155553
627
+ ]
628
+ },
629
+ "episode_index": {
630
+ "min": [
631
+ 0
632
+ ],
633
+ "max": [
634
+ 19
635
+ ],
636
+ "mean": [
637
+ 9.272396212672978
638
+ ],
639
+ "std": [
640
+ 5.706492970058727
641
+ ],
642
+ "count": [
643
+ 8238
644
+ ],
645
+ "q01": [
646
+ 9.272396212672978
647
+ ],
648
+ "q10": [
649
+ 9.272396212672982
650
+ ],
651
+ "q50": [
652
+ 9.272396212672996
653
+ ],
654
+ "q90": [
655
+ 9.272396212673016
656
+ ],
657
+ "q99": [
658
+ 9.27239621267302
659
+ ]
660
+ },
661
+ "observation.images.realsense_topview": {
662
+ "min": [
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ],
668
+ [
669
+ [
670
+ 0.0
671
+ ]
672
+ ],
673
+ [
674
+ [
675
+ 0.0
676
+ ]
677
+ ]
678
+ ],
679
+ "max": [
680
+ [
681
+ [
682
+ 1.0
683
+ ]
684
+ ],
685
+ [
686
+ [
687
+ 1.0
688
+ ]
689
+ ],
690
+ [
691
+ [
692
+ 1.0
693
+ ]
694
+ ]
695
+ ],
696
+ "mean": [
697
+ [
698
+ [
699
+ 0.4459248854166666
700
+ ]
701
+ ],
702
+ [
703
+ [
704
+ 0.47000112050653586
705
+ ]
706
+ ],
707
+ [
708
+ [
709
+ 0.47331531566584967
710
+ ]
711
+ ]
712
+ ],
713
+ "std": [
714
+ [
715
+ [
716
+ 0.004802091229121729
717
+ ]
718
+ ],
719
+ [
720
+ [
721
+ 0.0018414836900253477
722
+ ]
723
+ ],
724
+ [
725
+ [
726
+ 0.0016714987901415691
727
+ ]
728
+ ]
729
+ ],
730
+ "count": [
731
+ 2000
732
+ ],
733
+ "q01": [
734
+ [
735
+ [
736
+ 0.09351938726916195
737
+ ]
738
+ ],
739
+ [
740
+ [
741
+ 0.11938789725777904
742
+ ]
743
+ ],
744
+ [
745
+ [
746
+ 0.1441365869009048
747
+ ]
748
+ ]
749
+ ],
750
+ "q10": [
751
+ [
752
+ [
753
+ 0.2952986458960851
754
+ ]
755
+ ],
756
+ [
757
+ [
758
+ 0.37960310701469413
759
+ ]
760
+ ],
761
+ [
762
+ [
763
+ 0.3731733432456876
764
+ ]
765
+ ]
766
+ ],
767
+ "q50": [
768
+ [
769
+ [
770
+ 0.4641234759935169
771
+ ]
772
+ ],
773
+ [
774
+ [
775
+ 0.46626904741491715
776
+ ]
777
+ ],
778
+ [
779
+ [
780
+ 0.4506147713637672
781
+ ]
782
+ ]
783
+ ],
784
+ "q90": [
785
+ [
786
+ [
787
+ 0.5317788039211833
788
+ ]
789
+ ],
790
+ [
791
+ [
792
+ 0.5931285701214958
793
+ ]
794
+ ],
795
+ [
796
+ [
797
+ 0.6368456816174407
798
+ ]
799
+ ]
800
+ ],
801
+ "q99": [
802
+ [
803
+ [
804
+ 0.648436701338761
805
+ ]
806
+ ],
807
+ [
808
+ [
809
+ 0.7825225200763041
810
+ ]
811
+ ],
812
+ [
813
+ [
814
+ 0.9268225360717102
815
+ ]
816
+ ]
817
+ ]
818
+ },
819
+ "observation.images.realsense_wrist": {
820
+ "min": [
821
+ [
822
+ [
823
+ 0.0
824
+ ]
825
+ ],
826
+ [
827
+ [
828
+ 0.0
829
+ ]
830
+ ],
831
+ [
832
+ [
833
+ 0.0
834
+ ]
835
+ ]
836
+ ],
837
+ "max": [
838
+ [
839
+ [
840
+ 1.0
841
+ ]
842
+ ],
843
+ [
844
+ [
845
+ 1.0
846
+ ]
847
+ ],
848
+ [
849
+ [
850
+ 1.0
851
+ ]
852
+ ]
853
+ ],
854
+ "mean": [
855
+ [
856
+ [
857
+ 0.4846299207516341
858
+ ]
859
+ ],
860
+ [
861
+ [
862
+ 0.4524661957720588
863
+ ]
864
+ ],
865
+ [
866
+ [
867
+ 0.45017122365196083
868
+ ]
869
+ ]
870
+ ],
871
+ "std": [
872
+ [
873
+ [
874
+ 0.006113967378291005
875
+ ]
876
+ ],
877
+ [
878
+ [
879
+ 0.007112407599021233
880
+ ]
881
+ ],
882
+ [
883
+ [
884
+ 0.006035417646909467
885
+ ]
886
+ ]
887
+ ],
888
+ "count": [
889
+ 2000
890
+ ],
891
+ "q01": [
892
+ [
893
+ [
894
+ 0.004122704136716084
895
+ ]
896
+ ],
897
+ [
898
+ [
899
+ 0.015696559073449964
900
+ ]
901
+ ],
902
+ [
903
+ [
904
+ 0.0074835120520252455
905
+ ]
906
+ ]
907
+ ],
908
+ "q10": [
909
+ [
910
+ [
911
+ 0.21741408946977508
912
+ ]
913
+ ],
914
+ [
915
+ [
916
+ 0.09174001114464399
917
+ ]
918
+ ],
919
+ [
920
+ [
921
+ 0.09116623179256604
922
+ ]
923
+ ]
924
+ ],
925
+ "q50": [
926
+ [
927
+ [
928
+ 0.5380306600179576
929
+ ]
930
+ ],
931
+ [
932
+ [
933
+ 0.52920716828876
934
+ ]
935
+ ],
936
+ [
937
+ [
938
+ 0.5094550783364877
939
+ ]
940
+ ]
941
+ ],
942
+ "q90": [
943
+ [
944
+ [
945
+ 0.6163207225714032
946
+ ]
947
+ ],
948
+ [
949
+ [
950
+ 0.6539424649503291
951
+ ]
952
+ ],
953
+ [
954
+ [
955
+ 0.6782406939542909
956
+ ]
957
+ ]
958
+ ],
959
+ "q99": [
960
+ [
961
+ [
962
+ 0.7201572757024641
963
+ ]
964
+ ],
965
+ [
966
+ [
967
+ 0.7956564510236055
968
+ ]
969
+ ],
970
+ [
971
+ [
972
+ 0.8729394613729348
973
+ ]
974
+ ]
975
+ ]
976
+ },
977
+ "observation.state": {
978
+ "min": [
979
+ -2.290825843811035,
980
+ -1.9582830667495728,
981
+ 1.1588672399520874,
982
+ -2.823988676071167,
983
+ -1.7643307447433472,
984
+ 2.5115461349487305,
985
+ 0.0
986
+ ],
987
+ "max": [
988
+ -1.20980966091156,
989
+ -0.7764366269111633,
990
+ 2.161963701248169,
991
+ -1.4683820009231567,
992
+ -1.4103721380233765,
993
+ 3.539292573928833,
994
+ 1.0
995
+ ],
996
+ "mean": [
997
+ -1.7103246595275492,
998
+ -1.23128220072126,
999
+ 1.8044671018339529,
1000
+ -2.4182918697024007,
1001
+ -1.5982704664874232,
1002
+ 3.0513929111571474,
1003
+ 0.4031247914806967
1004
+ ],
1005
+ "std": [
1006
+ 0.2658060444078729,
1007
+ 0.3048728790435294,
1008
+ 0.17978946434081217,
1009
+ 0.32116469887968735,
1010
+ 0.083906797760032,
1011
+ 0.2550537992672211,
1012
+ 0.4624756458772782
1013
+ ],
1014
+ "count": [
1015
+ 8238
1016
+ ],
1017
+ "q01": [
1018
+ -2.055917202299256,
1019
+ -1.9348543725670122,
1020
+ 1.5733470110349357,
1021
+ -2.655723497365814,
1022
+ -1.7000306368264613,
1023
+ 2.721682391476649,
1024
+ -1.000000013351432e-10
1025
+ ],
1026
+ "q10": [
1027
+ -2.021906519856096,
1028
+ -1.8567781923103168,
1029
+ 1.6033407459649838,
1030
+ -2.6344879235830443,
1031
+ -1.6940599919493224,
1032
+ 2.7541152243855893,
1033
+ -1.000000013351432e-10
1034
+ ],
1035
+ "q50": [
1036
+ -1.7567050565135605,
1037
+ -1.1352622683611686,
1038
+ 1.8156913970432487,
1039
+ -2.4953146962528385,
1040
+ -1.58735354515913,
1041
+ 3.007931487933808,
1042
+ 0.004851325369517261
1043
+ ],
1044
+ "q90": [
1045
+ -1.365538473678292,
1046
+ -0.9383949178908642,
1047
+ 1.9700217395649744,
1048
+ -1.9211507727434751,
1049
+ -1.510996686730022,
1050
+ 3.380995271228405,
1051
+ 0.9999297572963174
1052
+ ],
1053
+ "q99": [
1054
+ -1.3410267680280052,
1055
+ -0.9176600804338524,
1056
+ 2.013181875065967,
1057
+ -1.8131904384093136,
1058
+ -1.4984452692000032,
1059
+ 3.404768511243183,
1060
+ 0.9999929757296318
1061
+ ]
1062
+ }
1063
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ac4beace5dee66476d05e251411acaa55a60a22200dd66a5b1ed6ec0f3c4d853
3
+ size 2277
videos/observation.images.realsense_topview/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aed39123c62da19b5d8b72d5b21fea1d4f3b6570bbbc6acd4fc2ccddcf37e94e
3
+ size 29295131
videos/observation.images.realsense_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ab317e0e0c1643dd5e49734dd4a0458e3a9da3da626f3e603d969e5cc009e11
3
+ size 33114906