eunyoung927 commited on
Commit
fc08918
·
verified ·
1 Parent(s): 72ebdcd

Upload folder using huggingface_hub

Browse files
Files changed (31) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. data/chunk-000/file-001.parquet +3 -0
  3. data/chunk-000/file-002.parquet +3 -0
  4. data/chunk-000/file-003.parquet +3 -0
  5. data/chunk-000/file-004.parquet +3 -0
  6. data/chunk-000/file-005.parquet +3 -0
  7. data/chunk-000/file-006.parquet +3 -0
  8. data/chunk-000/file-007.parquet +3 -0
  9. meta/episodes/chunk-000/file-000.parquet +3 -0
  10. meta/episodes/chunk-000/file-001.parquet +3 -0
  11. meta/episodes/chunk-000/file-002.parquet +3 -0
  12. meta/episodes/chunk-000/file-003.parquet +3 -0
  13. meta/info.json +238 -0
  14. meta/stats.json +1009 -0
  15. meta/tasks.parquet +3 -0
  16. videos/observation.images.left_wrist/chunk-000/file-000.mp4 +3 -0
  17. videos/observation.images.left_wrist/chunk-000/file-001.mp4 +3 -0
  18. videos/observation.images.left_wrist/chunk-000/file-002.mp4 +3 -0
  19. videos/observation.images.left_wrist/chunk-000/file-003.mp4 +3 -0
  20. videos/observation.images.left_wrist/chunk-000/file-004.mp4 +3 -0
  21. videos/observation.images.left_wrist/chunk-000/file-005.mp4 +3 -0
  22. videos/observation.images.left_wrist/chunk-000/file-006.mp4 +3 -0
  23. videos/observation.images.left_wrist/chunk-000/file-007.mp4 +3 -0
  24. videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
  25. videos/observation.images.top/chunk-000/file-001.mp4 +3 -0
  26. videos/observation.images.top/chunk-000/file-002.mp4 +3 -0
  27. videos/observation.images.top/chunk-000/file-003.mp4 +3 -0
  28. videos/observation.images.top/chunk-000/file-004.mp4 +3 -0
  29. videos/observation.images.top/chunk-000/file-005.mp4 +3 -0
  30. videos/observation.images.top/chunk-000/file-006.mp4 +3 -0
  31. videos/observation.images.top/chunk-000/file-007.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 sha256:008f80bfc211b0aa060359da92e153e2402d957c4085a36c68c969f1dffd33ae
3
+ size 68451
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e03fe805bf4b939ac9527706d3bba77b12af71cad879499ce16670013b805aa
3
+ size 68610
data/chunk-000/file-002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ab86ebcd9aca918ef5411b03e53e6f03447781c79aa9b3684a7bfcba6a49ef8
3
+ size 242035
data/chunk-000/file-003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8828805a737f1796bf83afdd27a9e520a1fe2a535bc38c2780451f60c5ad131
3
+ size 1306180
data/chunk-000/file-004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49356d2082aa5657bb2e4b1c0e93a208baebfdf90741bb52255226bdfcfcd083
3
+ size 72368
data/chunk-000/file-005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8b9d7e37bdf9bcd241350baae8f4dce6ac118fa1eb38bd0bb150d16e8511c27f
3
+ size 116570
data/chunk-000/file-006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a961aa6a1fcd972d85d8babb573ff23088f04b5c14af0a62c289edb387271e9
3
+ size 1251130
data/chunk-000/file-007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:63d6b889b7955d3aab00a27eeaa16650a5df655cda21dba6fbb328fabb94b1d9
3
+ size 43637
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c9c462743e6d8cfe55c98978fe9478fa6cf7f5209b6f380ace5173ed9f8e267
3
+ size 526213
meta/episodes/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f025571773019b200de69a7b72ec607e4e1f5f239a759dc7fbbae99928cccca
3
+ size 95167
meta/episodes/chunk-000/file-002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:67429a0fb74184ccf3a9e4f601bdf4f5dec81e96386fce163fd5879a15b99944
3
+ size 314352
meta/episodes/chunk-000/file-003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1af3c78b56a557a540fe027b46b925005c0841fc160acf648f3e396af3269467
3
+ size 89024
meta/info.json ADDED
@@ -0,0 +1,238 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 100,
5
+ "total_frames": 33438,
6
+ "total_tasks": 2,
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": "0:100"
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
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "action": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.top": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "h264",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 10,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.left_wrist": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "h264",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 10,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "observation.ee_pos.robot_xyzrpy": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 6
95
+ ],
96
+ "names": [
97
+ "x",
98
+ "y",
99
+ "z",
100
+ "roll",
101
+ "pitch",
102
+ "yaw"
103
+ ]
104
+ },
105
+ "observation.gripper_binary": {
106
+ "dtype": "float32",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "skill.natural_language": {
113
+ "dtype": "string",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "skill.verification_question": {
120
+ "dtype": "string",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "skill.type": {
127
+ "dtype": "string",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "skill.progress": {
134
+ "dtype": "float32",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "skill.goal_position.joint": {
141
+ "dtype": "float32",
142
+ "shape": [
143
+ 6
144
+ ],
145
+ "names": [
146
+ "shoulder_pan.pos",
147
+ "shoulder_lift.pos",
148
+ "elbow_flex.pos",
149
+ "wrist_flex.pos",
150
+ "wrist_roll.pos",
151
+ "gripper.pos"
152
+ ]
153
+ },
154
+ "skill.goal_position.robot_xyzrpy": {
155
+ "dtype": "float32",
156
+ "shape": [
157
+ 6
158
+ ],
159
+ "names": [
160
+ "x",
161
+ "y",
162
+ "z",
163
+ "roll",
164
+ "pitch",
165
+ "yaw"
166
+ ]
167
+ },
168
+ "skill.goal_position.gripper": {
169
+ "dtype": "float32",
170
+ "shape": [
171
+ 1
172
+ ],
173
+ "names": [
174
+ "gripper.pos"
175
+ ]
176
+ },
177
+ "subtask.natural_language": {
178
+ "dtype": "string",
179
+ "shape": [
180
+ 1
181
+ ],
182
+ "names": null
183
+ },
184
+ "subtask.object_name": {
185
+ "dtype": "string",
186
+ "shape": [
187
+ 1
188
+ ],
189
+ "names": null
190
+ },
191
+ "subtask.target_position": {
192
+ "dtype": "float32",
193
+ "shape": [
194
+ 3
195
+ ],
196
+ "names": [
197
+ "x",
198
+ "y",
199
+ "z"
200
+ ]
201
+ },
202
+ "timestamp": {
203
+ "dtype": "float32",
204
+ "shape": [
205
+ 1
206
+ ],
207
+ "names": null
208
+ },
209
+ "frame_index": {
210
+ "dtype": "int64",
211
+ "shape": [
212
+ 1
213
+ ],
214
+ "names": null
215
+ },
216
+ "episode_index": {
217
+ "dtype": "int64",
218
+ "shape": [
219
+ 1
220
+ ],
221
+ "names": null
222
+ },
223
+ "index": {
224
+ "dtype": "int64",
225
+ "shape": [
226
+ 1
227
+ ],
228
+ "names": null
229
+ },
230
+ "task_index": {
231
+ "dtype": "int64",
232
+ "shape": [
233
+ 1
234
+ ],
235
+ "names": null
236
+ }
237
+ }
238
+ }
meta/stats.json ADDED
@@ -0,0 +1,1009 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -72.024169921875,
5
+ -98.82086181640625,
6
+ -70.93640899658203,
7
+ -41.678497314453125,
8
+ -3.443223476409912,
9
+ 0.0
10
+ ],
11
+ "max": [
12
+ 37.96246337890625,
13
+ 58.068626403808594,
14
+ 99.0,
15
+ 99.0,
16
+ -2.661782741546631,
17
+ 35.0
18
+ ],
19
+ "mean": [
20
+ -0.7027750584797717,
21
+ -21.650843658460957,
22
+ 36.141474669284385,
23
+ 39.40159219603803,
24
+ -2.905634701519365,
25
+ 10.188904057579235
26
+ ],
27
+ "std": [
28
+ 25.67827511321164,
29
+ 33.75825309092181,
30
+ 29.210140569358025,
31
+ 24.734614655515134,
32
+ 0.1530111537629742,
33
+ 14.359080746498032
34
+ ],
35
+ "count": [
36
+ 33438
37
+ ],
38
+ "q01": [
39
+ -34.94295496078008,
40
+ -97.02725617147337,
41
+ -7.896465543864008,
42
+ 7.217059361148175,
43
+ -3.0999836227796003,
44
+ -1.000000013351432e-10
45
+ ],
46
+ "q10": [
47
+ -31.798850660922813,
48
+ -72.05346747744672,
49
+ 5.026565747491478,
50
+ 10.838314798879054,
51
+ -3.084232490675251,
52
+ -1.000000013351432e-10
53
+ ],
54
+ "q50": [
55
+ 0.37168451481573545,
56
+ -12.977189505216515,
57
+ 36.70001530798574,
58
+ 38.351905726794065,
59
+ -2.8698719602199247,
60
+ 0.5234450291852797
61
+ ],
62
+ "q90": [
63
+ 28.027778263687367,
64
+ 16.678954094638218,
65
+ 68.6457870988842,
66
+ 67.20177860585333,
67
+ -2.761339028839283,
68
+ 34.99623136856478
69
+ ],
70
+ "q99": [
71
+ 31.691468564078356,
72
+ 22.356469558175466,
73
+ 98.97380891627442,
74
+ 74.82732347219435,
75
+ -2.734513770607941,
76
+ 34.999623136856464
77
+ ]
78
+ },
79
+ "timestamp": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 36.9
85
+ ],
86
+ "mean": [
87
+ 16.694449428793586
88
+ ],
89
+ "std": [
90
+ 9.697468889325748
91
+ ],
92
+ "count": [
93
+ 33438
94
+ ],
95
+ "q01": [
96
+ 0.29931562611149687
97
+ ],
98
+ "q10": [
99
+ 3.290944300775026
100
+ ],
101
+ "q50": [
102
+ 16.671900442011946
103
+ ],
104
+ "q90": [
105
+ 30.088435434855043
106
+ ],
107
+ "q99": [
108
+ 33.08958323147568
109
+ ]
110
+ },
111
+ "observation.images.top": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.5033763300653594
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.4851354398080064
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.4830481532271242
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.00457528470407613
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.004239586504518938
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.00470668536847753
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 10000
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.007617520625276235
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.032327583284224304
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.03184541308677627
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.26553160974069767
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.21490356107681682
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.23344474735610243
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.539800659942311
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.5300840029217376
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.5143388115672598
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.6568334151749148
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.6472031028987636
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.668263292096792
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.7192599982722356
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.769718468735214
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.8902949260714271
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "skill.goal_position.joint": {
270
+ "min": [
271
+ -69.57554626464844,
272
+ -98.88983917236328,
273
+ -64.74638366699219,
274
+ -42.216819763183594,
275
+ -3.443223476409912,
276
+ 0.0
277
+ ],
278
+ "max": [
279
+ 37.28984451293945,
280
+ 59.424285888671875,
281
+ 99.63915252685547,
282
+ 97.59577178955078,
283
+ -2.661782741546631,
284
+ 35.0
285
+ ],
286
+ "mean": [
287
+ -0.5922329384084476,
288
+ -20.711440161801935,
289
+ 35.73033887143982,
290
+ 39.024537906990986,
291
+ -2.8754943274904057,
292
+ 10.026037271516635
293
+ ],
294
+ "std": [
295
+ 27.106337811395598,
296
+ 35.96256253322408,
297
+ 30.739578985915244,
298
+ 26.501754850578394,
299
+ 0.1454872678698098,
300
+ 15.670636148734568
301
+ ],
302
+ "count": [
303
+ 33438
304
+ ],
305
+ "q01": [
306
+ -34.22963300452319,
307
+ -98.88983917236328,
308
+ -5.4149973935145885,
309
+ 5.143465801598431,
310
+ -3.086408366055514,
311
+ -1.000000013351432e-10
312
+ ],
313
+ "q10": [
314
+ -33.59543954281813,
315
+ -54.64708026519767,
316
+ -2.27854224714907,
317
+ 7.996598836400963,
318
+ -3.066334687443975,
319
+ -1.000000013351432e-10
320
+ ],
321
+ "q50": [
322
+ 0.1586245914402182,
323
+ -10.522478605932642,
324
+ 36.63639416444452,
325
+ 37.47465729310077,
326
+ -2.8393389747916435,
327
+ 0.5193503329464959
328
+ ],
329
+ "q90": [
330
+ 30.537558610459865,
331
+ 21.795352588213234,
332
+ 54.93860035055995,
333
+ 69.01199337531338,
334
+ -2.7508690421297173,
335
+ 34.997502508068244
336
+ ],
337
+ "q99": [
338
+ 31.765809484790168,
339
+ 24.177783681567764,
340
+ 99.63680799550784,
341
+ 71.30918364355547,
342
+ -2.7300487169704573,
343
+ 34.99975025080682
344
+ ]
345
+ },
346
+ "frame_index": {
347
+ "min": [
348
+ 0
349
+ ],
350
+ "max": [
351
+ 369
352
+ ],
353
+ "mean": [
354
+ 166.9444942879358
355
+ ],
356
+ "std": [
357
+ 96.97468889325758
358
+ ],
359
+ "count": [
360
+ 33438
361
+ ],
362
+ "q01": [
363
+ 2.993156261998811
364
+ ],
365
+ "q10": [
366
+ 32.90944300847287
367
+ ],
368
+ "q50": [
369
+ 166.742316855075
370
+ ],
371
+ "q90": [
372
+ 300.8843543478282
373
+ ],
374
+ "q99": [
375
+ 330.895832313873
376
+ ]
377
+ },
378
+ "task_index": {
379
+ "min": [
380
+ 0
381
+ ],
382
+ "max": [
383
+ 1
384
+ ],
385
+ "mean": [
386
+ 0.020515581075423173
387
+ ],
388
+ "std": [
389
+ 0.14175574770908214
390
+ ],
391
+ "count": [
392
+ 33438
393
+ ],
394
+ "q01": [
395
+ 0.020515581075423544
396
+ ],
397
+ "q10": [
398
+ 0.020515581075427173
399
+ ],
400
+ "q50": [
401
+ 0.020515581075443164
402
+ ],
403
+ "q90": [
404
+ 0.020515581075459168
405
+ ],
406
+ "q99": [
407
+ 0.020515581075462763
408
+ ]
409
+ },
410
+ "observation.state": {
411
+ "min": [
412
+ -71.37177276611328,
413
+ -98.20665740966797,
414
+ -66.26071166992188,
415
+ -39.40950012207031,
416
+ -3.443223476409912,
417
+ 0.0
418
+ ],
419
+ "max": [
420
+ 37.01789093017578,
421
+ 58.41161346435547,
422
+ 100.0,
423
+ 98.45956420898438,
424
+ -2.661782741546631,
425
+ 35.0
426
+ ],
427
+ "mean": [
428
+ -0.7321489172318012,
429
+ -19.974112187171134,
430
+ 38.329210411084105,
431
+ 39.73385883154101,
432
+ -2.9147513031824066,
433
+ 10.188904057579235
434
+ ],
435
+ "std": [
436
+ 25.655222978467933,
437
+ 34.452741791158665,
438
+ 29.00924677666191,
439
+ 24.688447965265834,
440
+ 0.1576920424804611,
441
+ 14.359080746498032
442
+ ],
443
+ "count": [
444
+ 33438
445
+ ],
446
+ "q01": [
447
+ -34.425465314613675,
448
+ -96.29516120991315,
449
+ -3.6578322670839984,
450
+ 7.488996447939143,
451
+ -3.1134824006203212,
452
+ -1.000000013351432e-10
453
+ ],
454
+ "q10": [
455
+ -31.70404208762635,
456
+ -71.9051532660712,
457
+ 7.830598911584602,
458
+ 11.186470699198285,
459
+ -3.0902128878420143,
460
+ -1.000000013351432e-10
461
+ ],
462
+ "q50": [
463
+ 0.3429972521014476,
464
+ -10.519391512757544,
465
+ 38.70175148107914,
466
+ 38.9280212232925,
467
+ -2.8864790287488815,
468
+ 0.5234450291852797
469
+ ],
470
+ "q90": [
471
+ 27.79673808208391,
472
+ 19.21428279202622,
473
+ 71.1817344530984,
474
+ 67.57538974965863,
475
+ -2.7614885398619338,
476
+ 34.99623136856478
477
+ ],
478
+ "q99": [
479
+ 30.872027746822898,
480
+ 22.961618109386535,
481
+ 99.5203887322101,
482
+ 74.67604009972727,
483
+ -2.7440046357590493,
484
+ 34.999623136856464
485
+ ]
486
+ },
487
+ "observation.ee_pos.robot_xyzrpy": {
488
+ "min": [
489
+ 0.07789571583271027,
490
+ -0.1695335954427719,
491
+ -0.012783126905560493,
492
+ -3.1402108669281006,
493
+ -0.0272859875112772,
494
+ -3.141537666320801
495
+ ],
496
+ "max": [
497
+ 0.3732944428920746,
498
+ 0.2784547805786133,
499
+ 0.22208276391029358,
500
+ 3.1415855884552,
501
+ 1.4346774816513062,
502
+ 3.141590118408203
503
+ ],
504
+ "mean": [
505
+ 0.24147188000243291,
506
+ 0.0058274696218060685,
507
+ 0.07323367817447593,
508
+ 3.0321631038208188,
509
+ 0.6300480355886803,
510
+ 0.8894152324066271
511
+ ],
512
+ "std": [
513
+ 0.051542288301118115,
514
+ 0.11596509274279193,
515
+ 0.046211175256277236,
516
+ 0.07761294432842114,
517
+ 0.16164535241292935,
518
+ 2.5678601936848007
519
+ ],
520
+ "count": [
521
+ 33438
522
+ ],
523
+ "q01": [
524
+ 0.15503587042951755,
525
+ -0.13884755166173318,
526
+ -0.0016098092896578353,
527
+ 2.9322480094629007,
528
+ 0.4348606055052591,
529
+ -2.9284179699967994
530
+ ],
531
+ "q10": [
532
+ 0.1735284537674503,
533
+ -0.12714684625979575,
534
+ 0.012107823728935251,
535
+ 2.9975012349270713,
536
+ 0.4962202770615794,
537
+ -2.3465317756454835
538
+ ],
539
+ "q50": [
540
+ 0.24269938325846382,
541
+ 0.0005053067002715964,
542
+ 0.07542320430918045,
543
+ 3.039237998324339,
544
+ 0.6152424804578889,
545
+ 2.4833199192773154
546
+ ],
547
+ "q90": [
548
+ 0.29401894255265015,
549
+ 0.15244836030613124,
550
+ 0.13266815586404285,
551
+ 3.0624541913318586,
552
+ 0.7837280428140666,
553
+ 3.0036827191981486
554
+ ],
555
+ "q99": [
556
+ 0.30860493259063726,
557
+ 0.16260677476213842,
558
+ 0.1559844715810393,
559
+ 3.073174365472462,
560
+ 0.8983587469337958,
561
+ 3.0939250968419016
562
+ ]
563
+ },
564
+ "observation.gripper_binary": {
565
+ "min": [
566
+ 0.0
567
+ ],
568
+ "max": [
569
+ 1.0
570
+ ],
571
+ "mean": [
572
+ 0.287846162406314
573
+ ],
574
+ "std": [
575
+ 0.45275904201254663
576
+ ],
577
+ "count": [
578
+ 33438
579
+ ],
580
+ "q01": [
581
+ -1.000000013351432e-10
582
+ ],
583
+ "q10": [
584
+ -1.000000013351432e-10
585
+ ],
586
+ "q50": [
587
+ -1.000000013351432e-10
588
+ ],
589
+ "q90": [
590
+ 0.9999295900094457
591
+ ],
592
+ "q99": [
593
+ 0.9999929590009449
594
+ ]
595
+ },
596
+ "skill.progress": {
597
+ "min": [
598
+ 0.0
599
+ ],
600
+ "max": [
601
+ 0.9893584847450256
602
+ ],
603
+ "mean": [
604
+ 0.40268215282256825
605
+ ],
606
+ "std": [
607
+ 0.33871464684449776
608
+ ],
609
+ "count": [
610
+ 33438
611
+ ],
612
+ "q01": [
613
+ -1.000000013351432e-10
614
+ ],
615
+ "q10": [
616
+ 0.001039500160858168
617
+ ],
618
+ "q50": [
619
+ 0.3602978595928852
620
+ ],
621
+ "q90": [
622
+ 0.8817408999824461
623
+ ],
624
+ "q99": [
625
+ 0.9598075242793215
626
+ ]
627
+ },
628
+ "skill.goal_position.robot_xyzrpy": {
629
+ "min": [
630
+ 0.08698499202728271,
631
+ -0.17397968471050262,
632
+ -0.012308317236602306,
633
+ 0.9969646334648132,
634
+ 0.1319366842508316,
635
+ -3.1383652687072754
636
+ ],
637
+ "max": [
638
+ 0.37295249104499817,
639
+ 0.28218874335289,
640
+ 0.19086112082004547,
641
+ 3.122127056121826,
642
+ 1.4091317653656006,
643
+ 3.138695001602173
644
+ ],
645
+ "mean": [
646
+ 0.2435649739705038,
647
+ 0.004971639349452029,
648
+ 0.0855891211162797,
649
+ 3.013509635249638,
650
+ 0.6987935976695769,
651
+ 0.9439911780208999
652
+ ],
653
+ "std": [
654
+ 0.05242065812214863,
655
+ 0.12383203400259751,
656
+ 0.056827282339115326,
657
+ 0.08671119528708297,
658
+ 0.16931434669584997,
659
+ 2.5191272732509806
660
+ ],
661
+ "count": [
662
+ 33438
663
+ ],
664
+ "q01": [
665
+ 0.1597892576327816,
666
+ -0.14453128821904085,
667
+ -0.0001492333459194709,
668
+ 2.9083797075498317,
669
+ 0.5475030067606909,
670
+ -2.5891572378833825
671
+ ],
672
+ "q10": [
673
+ 0.19607135654106234,
674
+ -0.14092652325984062,
675
+ 0.0028805139352369967,
676
+ 2.9296501866644604,
677
+ 0.5924592831223526,
678
+ -2.3873293952531265
679
+ ],
680
+ "q50": [
681
+ 0.2467256233476908,
682
+ 0.0013475269880310918,
683
+ 0.09984222078581878,
684
+ 3.0295484304581235,
685
+ 0.6527020841808846,
686
+ 2.423615043662552
687
+ ],
688
+ "q90": [
689
+ 0.2979112108353811,
690
+ 0.15878476707552996,
691
+ 0.15362854911037016,
692
+ 3.045974478280427,
693
+ 0.8876728988571534,
694
+ 2.9797920288600004
695
+ ],
696
+ "q99": [
697
+ 0.302172624314217,
698
+ 0.16322461548721545,
699
+ 0.15976075209590376,
700
+ 3.056221300340931,
701
+ 0.9320948002060219,
702
+ 3.0188493731771877
703
+ ]
704
+ },
705
+ "subtask.target_position": {
706
+ "min": [
707
+ 0.0,
708
+ 0.0,
709
+ 0.0
710
+ ],
711
+ "max": [
712
+ 0.0,
713
+ 0.0,
714
+ 0.0
715
+ ],
716
+ "mean": [
717
+ 0.0,
718
+ 0.0,
719
+ 0.0
720
+ ],
721
+ "std": [
722
+ 0.0,
723
+ 0.0,
724
+ 0.0
725
+ ],
726
+ "count": [
727
+ 33438
728
+ ],
729
+ "q01": [
730
+ 3.9995784462121275e-16,
731
+ 3.9995784462121275e-16,
732
+ 3.9995784462121275e-16
733
+ ],
734
+ "q10": [
735
+ 3.9995784462121255e-15,
736
+ 3.9995784462121255e-15,
737
+ 3.9995784462121255e-15
738
+ ],
739
+ "q50": [
740
+ 1.9997892231060632e-14,
741
+ 1.9997892231060632e-14,
742
+ 1.9997892231060632e-14
743
+ ],
744
+ "q90": [
745
+ 3.5996206015909147e-14,
746
+ 3.5996206015909147e-14,
747
+ 3.5996206015909147e-14
748
+ ],
749
+ "q99": [
750
+ 3.9595826617500037e-14,
751
+ 3.9595826617500037e-14,
752
+ 3.9595826617500037e-14
753
+ ]
754
+ },
755
+ "observation.images.left_wrist": {
756
+ "min": [
757
+ [
758
+ [
759
+ 0.0
760
+ ]
761
+ ],
762
+ [
763
+ [
764
+ 0.0
765
+ ]
766
+ ],
767
+ [
768
+ [
769
+ 0.0
770
+ ]
771
+ ]
772
+ ],
773
+ "max": [
774
+ [
775
+ [
776
+ 1.0
777
+ ]
778
+ ],
779
+ [
780
+ [
781
+ 1.0
782
+ ]
783
+ ],
784
+ [
785
+ [
786
+ 1.0
787
+ ]
788
+ ]
789
+ ],
790
+ "mean": [
791
+ [
792
+ [
793
+ 0.5340154152369281
794
+ ]
795
+ ],
796
+ [
797
+ [
798
+ 0.5203767103758166
799
+ ]
800
+ ],
801
+ [
802
+ [
803
+ 0.5747512363357846
804
+ ]
805
+ ]
806
+ ],
807
+ "std": [
808
+ [
809
+ [
810
+ 0.015244047640787373
811
+ ]
812
+ ],
813
+ [
814
+ [
815
+ 0.012464866402991161
816
+ ]
817
+ ],
818
+ [
819
+ [
820
+ 0.011802218144787418
821
+ ]
822
+ ]
823
+ ],
824
+ "count": [
825
+ 10000
826
+ ],
827
+ "q01": [
828
+ [
829
+ [
830
+ 0.03936918043956133
831
+ ]
832
+ ],
833
+ [
834
+ [
835
+ 0.04669103850148956
836
+ ]
837
+ ],
838
+ [
839
+ [
840
+ 0.07648003851264387
841
+ ]
842
+ ]
843
+ ],
844
+ "q10": [
845
+ [
846
+ [
847
+ 0.07123389290051912
848
+ ]
849
+ ],
850
+ [
851
+ [
852
+ 0.1014673250693807
853
+ ]
854
+ ],
855
+ [
856
+ [
857
+ 0.3432538575566865
858
+ ]
859
+ ]
860
+ ],
861
+ "q50": [
862
+ [
863
+ [
864
+ 0.6103535493256407
865
+ ]
866
+ ],
867
+ [
868
+ [
869
+ 0.6118596239004083
870
+ ]
871
+ ],
872
+ [
873
+ [
874
+ 0.6238536475032772
875
+ ]
876
+ ]
877
+ ],
878
+ "q90": [
879
+ [
880
+ [
881
+ 0.7609554765695645
882
+ ]
883
+ ],
884
+ [
885
+ [
886
+ 0.7311258819203462
887
+ ]
888
+ ],
889
+ [
890
+ [
891
+ 0.7160816530091234
892
+ ]
893
+ ]
894
+ ],
895
+ "q99": [
896
+ [
897
+ [
898
+ 0.8498745776189024
899
+ ]
900
+ ],
901
+ [
902
+ [
903
+ 0.8196403807902681
904
+ ]
905
+ ],
906
+ [
907
+ [
908
+ 0.7939087443442344
909
+ ]
910
+ ]
911
+ ]
912
+ },
913
+ "skill.goal_position.gripper": {
914
+ "min": [
915
+ 0.0
916
+ ],
917
+ "max": [
918
+ 35.0
919
+ ],
920
+ "mean": [
921
+ 10.02602850006873
922
+ ],
923
+ "std": [
924
+ 15.670629606181173
925
+ ],
926
+ "count": [
927
+ 33438
928
+ ],
929
+ "q01": [
930
+ -1.000000013351432e-10
931
+ ],
932
+ "q10": [
933
+ -1.000000013351432e-10
934
+ ],
935
+ "q50": [
936
+ 0.5193503329464964
937
+ ],
938
+ "q90": [
939
+ 34.997502508068244
940
+ ],
941
+ "q99": [
942
+ 34.99975025080682
943
+ ]
944
+ },
945
+ "episode_index": {
946
+ "min": [
947
+ 0
948
+ ],
949
+ "max": [
950
+ 99
951
+ ],
952
+ "mean": [
953
+ 50.23984688079429
954
+ ],
955
+ "std": [
956
+ 28.920618768691565
957
+ ],
958
+ "count": [
959
+ 33438
960
+ ],
961
+ "q01": [
962
+ 50.23984688079429
963
+ ],
964
+ "q10": [
965
+ 50.23984688079429
966
+ ],
967
+ "q50": [
968
+ 50.23984688079431
969
+ ],
970
+ "q90": [
971
+ 50.23984688079432
972
+ ],
973
+ "q99": [
974
+ 50.23984688079432
975
+ ]
976
+ },
977
+ "index": {
978
+ "min": [
979
+ 0
980
+ ],
981
+ "max": [
982
+ 33437
983
+ ],
984
+ "mean": [
985
+ 16731.989473054608
986
+ ],
987
+ "std": [
988
+ 9645.195359213008
989
+ ],
990
+ "count": [
991
+ 33438
992
+ ],
993
+ "q01": [
994
+ 16568.038135028677
995
+ ],
996
+ "q10": [
997
+ 16597.954421775146
998
+ ],
999
+ "q50": [
1000
+ 16731.79176744423
1001
+ ],
1002
+ "q90": [
1003
+ 16865.929333114498
1004
+ ],
1005
+ "q99": [
1006
+ 16895.940811080534
1007
+ ]
1008
+ }
1009
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e1b36ba9b726d8f615f3f3594de1c7df82d4388395996eacba985ed6c265037
3
+ size 2268
videos/observation.images.left_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b1abd7aba980e2a2a77725d80ff184cfe86a2c6be0c2e3a119db419d8728328
3
+ size 3566094
videos/observation.images.left_wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9114e1cc0274a8ee4889e49271e3a1d0cfe2181b35840365d7da9c6ce4cd20f7
3
+ size 3454715
videos/observation.images.left_wrist/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f63c0c4fac9d5c371a0fce83bcde05f552ec03471e95b615b2b2bd2693835563
3
+ size 22119830
videos/observation.images.left_wrist/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b20d3b70f59fad70e92e1266bc5c4b878a4063cf9a971ca36ce8b847d02eb88a
3
+ size 91764226
videos/observation.images.left_wrist/chunk-000/file-004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dd8505ba9593bb46c6dac8bad5eb59f3a3899ed69b61305905d67e6d21268479
3
+ size 3750249
videos/observation.images.left_wrist/chunk-000/file-005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fbbf2605c2b32719d3f9b36fdc89d1f2e7e1ff06a5c6cebb345a9624f5909f73
3
+ size 9061131
videos/observation.images.left_wrist/chunk-000/file-006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a30809cebfecbec1ce39b3592c274c68699b27065ebaa8af8d956d36f5d06866
3
+ size 103502992
videos/observation.images.left_wrist/chunk-000/file-007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a89a58c250ca833e945f552a0cef259e4271a7c039e0cef66d2ae1481e382d61
3
+ size 3035287
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:77bd2782954512ea1f0ccdb8ba71871b71b41947423eaa3f81f062935f9969c8
3
+ size 3562962
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:494ca00e537838a6a5f39d5879fbada61bbe51c0974640fb04be32a0b48b08c8
3
+ size 3854099
videos/observation.images.top/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7547506b58e8da1e2c7f56ab3961cc696dfafaa18fc98ee106fbe977144b0456
3
+ size 21160335
videos/observation.images.top/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:acd4b72f2b05f21c4c4e2827f67323f83f8f1da9ae378a0f2262f02dcbd1d211
3
+ size 91684750
videos/observation.images.top/chunk-000/file-004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb3dd1338f7dbfed7a41ec1be9edf59697391d09b26107a28d358b840c5d750e
3
+ size 4188901
videos/observation.images.top/chunk-000/file-005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d95fb36db0b1d64c45c550068c63cc0b189454267355b5ff0a399eed40102440
3
+ size 8928598
videos/observation.images.top/chunk-000/file-006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81e22fa3685cc9650e8f9aa39cad7229ef96adc675f8556e826914fabf255ba0
3
+ size 99877253
videos/observation.images.top/chunk-000/file-007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:33767a6cc4a01be63525068139d2447b9d3c20a443fd1390a888f44f61585c35
3
+ size 3116283