Hugging Face's logo

Datasets:
Cache-SCA
/
table7_harmful_id_pnp

Modalities:
Video
Dataset card Data Studio Files
xet
 Community
HyeonseokE commited on
Commit
7c32ad2
·
verified ·
1 Parent(s): 357ae7b

Upload folder using huggingface_hub

Browse files
Files changed (20) 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. meta/episodes/chunk-000/file-000.parquet +3 -0
  7. meta/episodes/chunk-000/file-001.parquet +3 -0
  8. meta/info.json +238 -0
  9. meta/stats.json +1009 -0
  10. meta/tasks.parquet +3 -0
  11. videos/observation.images.left_wrist/chunk-000/file-000.mp4 +3 -0
  12. videos/observation.images.left_wrist/chunk-000/file-001.mp4 +3 -0
  13. videos/observation.images.left_wrist/chunk-000/file-002.mp4 +3 -0
  14. videos/observation.images.left_wrist/chunk-000/file-003.mp4 +3 -0
  15. videos/observation.images.left_wrist/chunk-000/file-004.mp4 +3 -0
  16. videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
  17. videos/observation.images.top/chunk-000/file-001.mp4 +3 -0
  18. videos/observation.images.top/chunk-000/file-002.mp4 +3 -0
  19. videos/observation.images.top/chunk-000/file-003.mp4 +3 -0
  20. videos/observation.images.top/chunk-000/file-004.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:be675011fe75183c38bdf5d6211771514cbc8877d9a3aa673f1b07ad2a392096
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 sha256:546c7b9c0dfaeb5e883950a3e52985794bd9332fc829af6813d66beadc0368db
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 sha256:5e5f69db0cc029c514a793f2adb12df8db8cffb7432eaa0c21da758d88782bd6
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 sha256:864b3847e4f4668ba4365f47b4265993342493998206a907ee92e55c03bf1812
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:bfda91f2a336f4a4ce1f708fa985e89cd796865dddfe3a7e59cd620de82155a6
3
+ size 1469060
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4676e77c66e75b0242903585a361413abd62eba2d06c2ff7fea539c01dc93a7e
3
+ size 475931
meta/episodes/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6b66f0bd16fbf475063444a70a74358a807847dc302b93378810f38778347f0c
3
+ size 331478
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": 33342,
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
+ "task_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 1
8
+ ],
9
+ "mean": [
10
+ 0.41110311319057047
11
+ ],
12
+ "std": [
13
+ 0.49203388451974694
14
+ ],
15
+ "count": [
16
+ 33342
17
+ ],
18
+ "q01": [
19
+ 0.4111031131905708
20
+ ],
21
+ "q10": [
22
+ 0.41110311319057474
23
+ ],
24
+ "q50": [
25
+ 0.4111031131905906
26
+ ],
27
+ "q90": [
28
+ 0.4111031131906065
29
+ ],
30
+ "q99": [
31
+ 0.41110311319060994
32
+ ]
33
+ },
34
+ "episode_index": {
35
+ "min": [
36
+ 0
37
+ ],
38
+ "max": [
39
+ 99
40
+ ],
41
+ "mean": [
42
+ 50.079869233999176
43
+ ],
44
+ "std": [
45
+ 28.84380311873807
46
+ ],
47
+ "count": [
48
+ 33342
49
+ ],
50
+ "q01": [
51
+ 50.079869233999176
52
+ ],
53
+ "q10": [
54
+ 50.079869233999176
55
+ ],
56
+ "q50": [
57
+ 50.079869233999176
58
+ ],
59
+ "q90": [
60
+ 50.079869233999176
61
+ ],
62
+ "q99": [
63
+ 50.079869233999176
64
+ ]
65
+ },
66
+ "index": {
67
+ "min": [
68
+ 0
69
+ ],
70
+ "max": [
71
+ 33341
72
+ ],
73
+ "mean": [
74
+ 16676.765460980143
75
+ ],
76
+ "std": [
77
+ 9614.883105550609
78
+ ],
79
+ "count": [
80
+ 33342
81
+ ],
82
+ "q01": [
83
+ 16513.382090862244
84
+ ],
85
+ "q10": [
86
+ 16543.152683741744
87
+ ],
88
+ "q50": [
89
+ 16676.57825635535
90
+ ],
91
+ "q90": [
92
+ 16810.274613720925
93
+ ],
94
+ "q99": [
95
+ 16840.148831098046
96
+ ]
97
+ },
98
+ "subtask.target_position": {
99
+ "min": [
100
+ 0.0,
101
+ 0.0,
102
+ 0.0
103
+ ],
104
+ "max": [
105
+ 0.0,
106
+ 0.0,
107
+ 0.0
108
+ ],
109
+ "mean": [
110
+ 0.0,
111
+ 0.0,
112
+ 0.0
113
+ ],
114
+ "std": [
115
+ 0.0,
116
+ 0.0,
117
+ 0.0
118
+ ],
119
+ "count": [
120
+ 33342
121
+ ],
122
+ "q01": [
123
+ 3.9995784462121284e-16,
124
+ 3.9995784462121284e-16,
125
+ 3.9995784462121284e-16
126
+ ],
127
+ "q10": [
128
+ 3.999578446212128e-15,
129
+ 3.999578446212128e-15,
130
+ 3.999578446212128e-15
131
+ ],
132
+ "q50": [
133
+ 1.9997892231060632e-14,
134
+ 1.9997892231060632e-14,
135
+ 1.9997892231060632e-14
136
+ ],
137
+ "q90": [
138
+ 3.599620601590915e-14,
139
+ 3.599620601590915e-14,
140
+ 3.599620601590915e-14
141
+ ],
142
+ "q99": [
143
+ 3.9595826617500037e-14,
144
+ 3.9595826617500037e-14,
145
+ 3.9595826617500037e-14
146
+ ]
147
+ },
148
+ "observation.images.left_wrist": {
149
+ "min": [
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ],
160
+ [
161
+ [
162
+ 0.0
163
+ ]
164
+ ]
165
+ ],
166
+ "max": [
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ],
177
+ [
178
+ [
179
+ 1.0
180
+ ]
181
+ ]
182
+ ],
183
+ "mean": [
184
+ [
185
+ [
186
+ 0.5286651460988564
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.5146217668300653
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.5621146835580068
197
+ ]
198
+ ]
199
+ ],
200
+ "std": [
201
+ [
202
+ [
203
+ 0.014570885701269961
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.01321282782164444
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.018297858748910344
214
+ ]
215
+ ]
216
+ ],
217
+ "count": [
218
+ 10000
219
+ ],
220
+ "q01": [
221
+ [
222
+ [
223
+ 0.04289336482749859
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 0.05152205459458021
229
+ ]
230
+ ],
231
+ [
232
+ [
233
+ 0.08287140170008866
234
+ ]
235
+ ]
236
+ ],
237
+ "q10": [
238
+ [
239
+ [
240
+ 0.08036728605117587
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.1060807168679722
246
+ ]
247
+ ],
248
+ [
249
+ [
250
+ 0.31089776892905246
251
+ ]
252
+ ]
253
+ ],
254
+ "q50": [
255
+ [
256
+ [
257
+ 0.601748896679471
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.5985115389183405
263
+ ]
264
+ ],
265
+ [
266
+ [
267
+ 0.6087820632696688
268
+ ]
269
+ ]
270
+ ],
271
+ "q90": [
272
+ [
273
+ [
274
+ 0.747121324020552
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.7150500506118942
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.7054026809734969
285
+ ]
286
+ ]
287
+ ],
288
+ "q99": [
289
+ [
290
+ [
291
+ 0.8275977191015067
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.8117804034395716
297
+ ]
298
+ ],
299
+ [
300
+ [
301
+ 0.7880626250957047
302
+ ]
303
+ ]
304
+ ]
305
+ },
306
+ "observation.images.top": {
307
+ "min": [
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ],
318
+ [
319
+ [
320
+ 0.0
321
+ ]
322
+ ]
323
+ ],
324
+ "max": [
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 1.0
338
+ ]
339
+ ]
340
+ ],
341
+ "mean": [
342
+ [
343
+ [
344
+ 0.4954211660334968
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.4778988624591502
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.47441964969362743
355
+ ]
356
+ ]
357
+ ],
358
+ "std": [
359
+ [
360
+ [
361
+ 0.008988773556815913
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.008172968837756008
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.009693820665409919
372
+ ]
373
+ ]
374
+ ],
375
+ "count": [
376
+ 10000
377
+ ],
378
+ "q01": [
379
+ [
380
+ [
381
+ 0.026514068673676464
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.05524485133800819
387
+ ]
388
+ ],
389
+ [
390
+ [
391
+ 0.06414397994722554
392
+ ]
393
+ ]
394
+ ],
395
+ "q10": [
396
+ [
397
+ [
398
+ 0.29361054557279576
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.23317826943084916
404
+ ]
405
+ ],
406
+ [
407
+ [
408
+ 0.2513344153063805
409
+ ]
410
+ ]
411
+ ],
412
+ "q50": [
413
+ [
414
+ [
415
+ 0.5243533610477209
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.5151114963471825
421
+ ]
422
+ ],
423
+ [
424
+ [
425
+ 0.49986746827308887
426
+ ]
427
+ ]
428
+ ],
429
+ "q90": [
430
+ [
431
+ [
432
+ 0.6476988764802845
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.6266151051093803
438
+ ]
439
+ ],
440
+ [
441
+ [
442
+ 0.6361052626249373
443
+ ]
444
+ ]
445
+ ],
446
+ "q99": [
447
+ [
448
+ [
449
+ 0.7296033534943196
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.7566623573599325
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.8477117101162592
460
+ ]
461
+ ]
462
+ ]
463
+ },
464
+ "skill.goal_position.joint": {
465
+ "min": [
466
+ -69.57554626464844,
467
+ -99.49281311035156,
468
+ -65.46385192871094,
469
+ -42.216819763183594,
470
+ -3.443223476409912,
471
+ -100.0
472
+ ],
473
+ "max": [
474
+ 38.3414421081543,
475
+ 59.424285888671875,
476
+ 99.81834411621094,
477
+ 97.59577178955078,
478
+ -0.3663003742694855,
479
+ 35.0
480
+ ],
481
+ "mean": [
482
+ -0.0661897192649219,
483
+ -21.081359542186306,
484
+ 37.529867337765566,
485
+ 39.65526099582145,
486
+ -1.8934533348991143,
487
+ 0.48018656757481404
488
+ ],
489
+ "std": [
490
+ 26.615959587588748,
491
+ 35.84521463501948,
492
+ 30.514957410580067,
493
+ 26.831483105291113,
494
+ 1.1770497485484288,
495
+ 38.357478589206686
496
+ ],
497
+ "count": [
498
+ 33342
499
+ ],
500
+ "q01": [
501
+ -32.64955010393243,
502
+ -99.13772363544304,
503
+ -3.565648772786458,
504
+ 5.808261264937232,
505
+ -2.083332365502423,
506
+ -41.11031131911594
507
+ ],
508
+ "q10": [
509
+ -31.66499739959671,
510
+ -53.84005588092807,
511
+ 0.5204389677634358,
512
+ 9.70221401953182,
513
+ -2.0535663192219364,
514
+ -41.11031131911594
515
+ ],
516
+ "q50": [
517
+ -1.3532437671344137,
518
+ -11.43262594151788,
519
+ 39.24928492347966,
520
+ 37.742069760978985,
521
+ -1.8660356937842681,
522
+ 0.30564825819764535
523
+ ],
524
+ "q90": [
525
+ 31.196145680402935,
526
+ 21.126323186763056,
527
+ 56.028185584793825,
528
+ 70.26342871199094,
529
+ -1.8058060619037417,
530
+ 34.99566049057569
531
+ ],
532
+ "q99": [
533
+ 32.36977285616866,
534
+ 23.673501167286005,
535
+ 99.71052072840789,
536
+ 73.5775228311613,
537
+ -1.7728445148725518,
538
+ 34.99956604905756
539
+ ]
540
+ },
541
+ "observation.ee_pos.robot_xyzrpy": {
542
+ "min": [
543
+ 0.08833322674036026,
544
+ -0.216562420129776,
545
+ -0.014371386729180813,
546
+ 1.447013020515442,
547
+ 0.053564783185720444,
548
+ -3.141580820083618
549
+ ],
550
+ "max": [
551
+ 0.3942611515522003,
552
+ 0.28446564078330994,
553
+ 0.262329638004303,
554
+ 3.1378190517425537,
555
+ 1.4346774816513062,
556
+ 3.141590118408203
557
+ ],
558
+ "mean": [
559
+ 0.24705911978921039,
560
+ 0.00857672912629506,
561
+ 0.0731707975278643,
562
+ 3.05562971906952,
563
+ 0.6309713812250085,
564
+ 0.3903813123713698
565
+ ],
566
+ "std": [
567
+ 0.05336939865068397,
568
+ 0.1154630774938845,
569
+ 0.04727881915093365,
570
+ 0.054165711740284374,
571
+ 0.16324985483878177,
572
+ 2.710894550537469
573
+ ],
574
+ "count": [
575
+ 33342
576
+ ],
577
+ "q01": [
578
+ 0.1571005141935082,
579
+ -0.14187015071430822,
580
+ -0.0005860999187118874,
581
+ 2.978770160978119,
582
+ 0.4357849524979534,
583
+ -2.9894320115498956
584
+ ],
585
+ "q10": [
586
+ 0.17411052694193035,
587
+ -0.12595234406710332,
588
+ 0.009513684889337832,
589
+ 3.0272255391712974,
590
+ 0.49386071332231096,
591
+ -2.6733009570991175
592
+ ],
593
+ "q50": [
594
+ 0.24948778501473687,
595
+ 0.009700126694883975,
596
+ 0.07657403253978436,
597
+ 3.060483416060724,
598
+ 0.6167385396739601,
599
+ 0.8777066788123108
600
+ ],
601
+ "q90": [
602
+ 0.301204444150324,
603
+ 0.15281767112694988,
604
+ 0.13357766911487556,
605
+ 3.0790328837867653,
606
+ 0.7903283601522685,
607
+ 2.916226051576445
608
+ ],
609
+ "q99": [
610
+ 0.31856114325997925,
611
+ 0.16399847586005123,
612
+ 0.16068633366718954,
613
+ 3.086246482039269,
614
+ 0.9059216496301098,
615
+ 3.0957603458510663
616
+ ]
617
+ },
618
+ "skill.goal_position.gripper": {
619
+ "min": [
620
+ -100.0
621
+ ],
622
+ "max": [
623
+ 35.0
624
+ ],
625
+ "mean": [
626
+ 0.4801813001989079
627
+ ],
628
+ "std": [
629
+ 38.35747352479188
630
+ ],
631
+ "count": [
632
+ 33342
633
+ ],
634
+ "q01": [
635
+ -41.11031131911594
636
+ ],
637
+ "q10": [
638
+ -41.11031131911594
639
+ ],
640
+ "q50": [
641
+ 0.30564825819764535
642
+ ],
643
+ "q90": [
644
+ 34.99566049057569
645
+ ],
646
+ "q99": [
647
+ 34.99956604905756
648
+ ]
649
+ },
650
+ "observation.state": {
651
+ "min": [
652
+ -68.82703399658203,
653
+ -98.20665740966797,
654
+ -64.19097900390625,
655
+ -39.40950012207031,
656
+ -3.443223476409912,
657
+ -100.0
658
+ ],
659
+ "max": [
660
+ 42.43156051635742,
661
+ 59.506591796875,
662
+ 100.0,
663
+ 96.74797058105469,
664
+ -0.46398046612739563,
665
+ 35.0
666
+ ],
667
+ "mean": [
668
+ -0.16833991781109536,
669
+ -20.112894205077854,
670
+ 39.098594150476856,
671
+ 40.35770036273811,
672
+ -1.9279937013509096,
673
+ 1.534165446312495
674
+ ],
675
+ "std": [
676
+ 25.042129521567066,
677
+ 34.19001686319565,
678
+ 28.769725894952575,
679
+ 24.87778708386982,
680
+ 1.1956552315614946,
681
+ 33.02544114599693
682
+ ],
683
+ "count": [
684
+ 33342
685
+ ],
686
+ "q01": [
687
+ -32.601973489890426,
688
+ -97.04069303134163,
689
+ -4.118209628337752,
690
+ 8.224183157892602,
691
+ -2.125771543164239,
692
+ -41.11031131911594
693
+ ],
694
+ "q10": [
695
+ -29.74175336486717,
696
+ -71.67188561819187,
697
+ 8.242732470709619,
698
+ 11.93065278252196,
699
+ -2.0824774785388267,
700
+ -41.11031131911594
701
+ ],
702
+ "q50": [
703
+ -1.365750717041216,
704
+ -10.872221782855066,
705
+ 40.21467051054489,
706
+ 39.93537825079963,
707
+ -1.8967611274712057,
708
+ 0.30746130243108233
709
+ ],
710
+ "q90": [
711
+ 28.398224170305017,
712
+ 18.53931050712188,
713
+ 72.01652819030598,
714
+ 68.58124306436149,
715
+ -1.822915450309092,
716
+ 34.99291722569491
717
+ ],
718
+ "q99": [
719
+ 31.930014462906943,
720
+ 22.503857313991137,
721
+ 99.28927249256854,
722
+ 76.73202127551843,
723
+ -1.809978722058428,
724
+ 34.99929172256948
725
+ ]
726
+ },
727
+ "observation.gripper_binary": {
728
+ "min": [
729
+ 0.0
730
+ ],
731
+ "max": [
732
+ 1.0
733
+ ],
734
+ "mean": [
735
+ 0.39538719827255286
736
+ ],
737
+ "std": [
738
+ 0.4889337012042678
739
+ ],
740
+ "count": [
741
+ 33342
742
+ ],
743
+ "q01": [
744
+ -1.000000013351432e-10
745
+ ],
746
+ "q10": [
747
+ -1.000000013351432e-10
748
+ ],
749
+ "q50": [
750
+ 0.41103192372912284
751
+ ],
752
+ "q90": [
753
+ 0.9999415087452318
754
+ ],
755
+ "q99": [
756
+ 0.9999941508745235
757
+ ]
758
+ },
759
+ "skill.progress": {
760
+ "min": [
761
+ 0.0
762
+ ],
763
+ "max": [
764
+ 0.9960271120071411
765
+ ],
766
+ "mean": [
767
+ 0.40467842226337064
768
+ ],
769
+ "std": [
770
+ 0.3383922566549615
771
+ ],
772
+ "count": [
773
+ 33342
774
+ ],
775
+ "q01": [
776
+ -1.000000013351432e-10
777
+ ],
778
+ "q10": [
779
+ 0.0007634133225283922
780
+ ],
781
+ "q50": [
782
+ 0.37408635345210595
783
+ ],
784
+ "q90": [
785
+ 0.8851292355134665
786
+ ],
787
+ "q99": [
788
+ 0.9643533639319833
789
+ ]
790
+ },
791
+ "action": {
792
+ "min": [
793
+ -69.57554626464844,
794
+ -99.0,
795
+ -68.05986022949219,
796
+ -41.678497314453125,
797
+ -3.443223476409912,
798
+ -100.0
799
+ ],
800
+ "max": [
801
+ 43.223628997802734,
802
+ 58.99510192871094,
803
+ 99.0,
804
+ 97.59577178955078,
805
+ -0.36645612120628357,
806
+ 35.0
807
+ ],
808
+ "mean": [
809
+ -0.12601795508864522,
810
+ -21.712373223110816,
811
+ 37.21782111512342,
812
+ 39.92967671066411,
813
+ -1.9221910888184,
814
+ 1.534165446312495
815
+ ],
816
+ "std": [
817
+ 25.059373107165957,
818
+ 33.53663230787297,
819
+ 28.97807670281712,
820
+ 24.88845779630297,
821
+ 1.1935421175401533,
822
+ 33.02544114599693
823
+ ],
824
+ "count": [
825
+ 33342
826
+ ],
827
+ "q01": [
828
+ -33.103497034229676,
829
+ -97.28361832654582,
830
+ -7.7380192653541515,
831
+ 7.7385732639286955,
832
+ -2.106618876966201,
833
+ -41.11031131911594
834
+ ],
835
+ "q10": [
836
+ -29.84368079238323,
837
+ -71.88784379566097,
838
+ 5.7062063926885065,
839
+ 11.58642085288225,
840
+ -2.077224832446872,
841
+ -41.11031131911594
842
+ ],
843
+ "q50": [
844
+ -1.278652430050251,
845
+ -13.142074696557941,
846
+ 38.39078989245479,
847
+ 39.204786061541704,
848
+ -1.8868296812518837,
849
+ 0.30746130243108233
850
+ ],
851
+ "q90": [
852
+ 28.619076484612727,
853
+ 16.00542562844641,
854
+ 69.75017937751234,
855
+ 68.18206172770014,
856
+ -1.8213511797522348,
857
+ 34.99291722569491
858
+ ],
859
+ "q99": [
860
+ 32.69935532064036,
861
+ 21.784394434006483,
862
+ 98.92973403459898,
863
+ 76.9697789971821,
864
+ -1.778590229192926,
865
+ 34.99929172256948
866
+ ]
867
+ },
868
+ "skill.goal_position.robot_xyzrpy": {
869
+ "min": [
870
+ 0.08705726265907288,
871
+ -0.17397968471050262,
872
+ -0.012308317236602306,
873
+ 0.9969646334648132,
874
+ 0.14105598628520966,
875
+ -3.141178846359253
876
+ ],
877
+ "max": [
878
+ 0.3744996190071106,
879
+ 0.28218874335289,
880
+ 0.17750605940818787,
881
+ 3.121858596801758,
882
+ 1.4091317653656006,
883
+ 3.1403181552886963
884
+ ],
885
+ "mean": [
886
+ 0.24700875685738927,
887
+ 0.008044686767141733,
888
+ 0.08262475732443328,
889
+ 3.0422131068189797,
890
+ 0.6867355859620721,
891
+ 0.44537459658952117
892
+ ],
893
+ "std": [
894
+ 0.05317335983854602,
895
+ 0.12274503516526294,
896
+ 0.05653025473243141,
897
+ 0.08938643803888786,
898
+ 0.17206185322644138,
899
+ 2.6721669228377007
900
+ ],
901
+ "count": [
902
+ 33342
903
+ ],
904
+ "q01": [
905
+ 0.16230215917606605,
906
+ -0.14143419859322054,
907
+ 0.0007107017667475622,
908
+ 2.958967777380352,
909
+ 0.5356925420007673,
910
+ -2.7314125639254914
911
+ ],
912
+ "q10": [
913
+ 0.19531019667303967,
914
+ -0.13725770801101358,
915
+ 0.0032659057226038075,
916
+ 2.9683163017012486,
917
+ 0.5639120006753179,
918
+ -2.642687963361636
919
+ ],
920
+ "q50": [
921
+ 0.2510427183723096,
922
+ 0.010640967361846445,
923
+ 0.09721226431750335,
924
+ 3.05400119306346,
925
+ 0.6450593489198027,
926
+ 0.911610388410174
927
+ ],
928
+ "q90": [
929
+ 0.30274084525506817,
930
+ 0.15872737594245548,
931
+ 0.15171970726416176,
932
+ 3.0697663762264233,
933
+ 0.8819576263892024,
934
+ 2.875999981297613
935
+ ],
936
+ "q99": [
937
+ 0.3074693051395724,
938
+ 0.16359514054661434,
939
+ 0.15689399059736298,
940
+ 3.0764036263786707,
941
+ 0.9278832917618134,
942
+ 2.93292501445591
943
+ ]
944
+ },
945
+ "timestamp": {
946
+ "min": [
947
+ 0.0
948
+ ],
949
+ "max": [
950
+ 35.6
951
+ ],
952
+ "mean": [
953
+ 16.63766120808589
954
+ ],
955
+ "std": [
956
+ 9.65379465647059
957
+ ],
958
+ "count": [
959
+ 33342
960
+ ],
961
+ "q01": [
962
+ 0.29932419620676143
963
+ ],
964
+ "q10": [
965
+ 3.2763834841737856
966
+ ],
967
+ "q50": [
968
+ 16.615943790414374
969
+ ],
970
+ "q90": [
971
+ 29.9885764822349
972
+ ],
973
+ "q99": [
974
+ 32.97599821996504
975
+ ]
976
+ },
977
+ "frame_index": {
978
+ "min": [
979
+ 0
980
+ ],
981
+ "max": [
982
+ 356
983
+ ],
984
+ "mean": [
985
+ 166.376612080859
986
+ ],
987
+ "std": [
988
+ 96.53794656470586
989
+ ],
990
+ "count": [
991
+ 33342
992
+ ],
993
+ "q01": [
994
+ 2.993241962951407
995
+ ],
996
+ "q10": [
997
+ 32.76383484246064
998
+ ],
999
+ "q50": [
1000
+ 166.18492275808285
1001
+ ],
1002
+ "q90": [
1003
+ 299.8857648216265
1004
+ ],
1005
+ "q99": [
1006
+ 329.7599821987664
1007
+ ]
1008
+ }
1009
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0f9b94b3165ebdc48b184fed0932977f616f13bb49e257b017166c3eb8eebfd6
3
+ size 2267
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:afb6430f5a24fec696d5420cf7713d80c357b88bb45423c17594eaf9cc855de1
3
+ size 87454901
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 sha256:35cf527566e715aa8cd5a7d6cbb0b2f4420a7800539ccb14f6334d1394852856
3
+ size 93506926
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 sha256:61efd850b3bef21d5d987e63a4b538a66635f2a745d211eca548ceb85b0bc6c6
3
+ size 90862111
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:a2647167adfb367d0b1d500251973d602252caac821b82f93e6468ff7673b239
3
+ size 111667239