{
  "action": {
    "min": [
      -0.34665653109550476,
      -0.34999996423721313,
      -0.2999999523162842,
      0.44999998807907104,
      -2.5461997985839844,
      -1.6968460083007812,
      0.0,
      -0.9114882946014404,
      -0.1745000034570694,
      -1.03041672706604,
      -1.608767032623291,
      -1.2479137182235718,
      -1.0471980571746826,
      -1.5707999467849731,
      -1.0,
      -1.6813857555389404,
      -0.7455049157142639,
      -1.3525906801223755,
      -1.6152818202972412,
      -2.3544836044311523,
      -1.0471980571746826,
      -1.208082675933838,
      -1.0
    ],
    "max": [
      0.34797900915145874,
      0.34838584065437317,
      0.2999999523162842,
      1.689099907875061,
      -0.4000000059604645,
      0.5539155602455139,
      0.0,
      0.5313548445701599,
      0.9687789082527161,
      2.0639233589172363,
      0.01207506563514471,
      1.038504958152771,
      1.003124713897705,
      1.0783555507659912,
      -1.0,
      0.13345631957054138,
      0.1745000034570694,
      1.6122040748596191,
      0.07209710031747818,
      2.2322635650634766,
      1.0471980571746826,
      1.5707999467849731,
      1.0
    ],
    "mean": [
      0.08983802986508116,
      -0.01053936837570858,
      0.02103729529499487,
      0.7327637573749227,
      -0.9152674665656845,
      -0.24024559363832784,
      0.0,
      -0.2400800673706046,
      0.0861691721424374,
      -0.029019049421597283,
      -0.73678857369609,
      0.14833401724944797,
      -0.04525599943828845,
      -0.22211988701344174,
      -1.0,
      -0.5865867770781162,
      -0.08771816334844768,
      0.04276269737290896,
      -0.6347221234922288,
      -0.2910053698725801,
      0.03677493626349276,
      0.11449663328090867,
      0.8911573236126757
    ],
    "std": [
      0.17337196277010536,
      0.09821443243441044,
      0.11796195850657074,
      0.3767232849452578,
      0.6853784397831577,
      0.3565276538079788,
      0.0,
      0.21662400658824107,
      0.1400640817597482,
      0.29067265783815127,
      0.5866429205541766,
      0.2059622830078013,
      0.5486851539234844,
      0.621107840583279,
      0.0,
      0.3045489508434653,
      0.1333844757707901,
      0.4199878057677623,
      0.47734309695937405,
      0.7514645374487996,
      0.3939862181879817,
      0.41689470728228795,
      0.45369441761111845
    ],
    "count": [
      711063
    ],
    "q01": [
      -0.3212520986795425,
      -0.3047523215413094,
      -0.2885151281952858,
      0.44999998807907104,
      -2.5135254859924316,
      -1.1705782949924468,
      0.0,
      -0.7194245368242264,
      -0.14266015514731406,
      -0.7071651220321655,
      -1.5631287753582002,
      -0.31881415396928786,
      -1.0471980571746826,
      -1.5707999467849731,
      -1.0,
      -1.3621749877929688,
      -0.4301352635025978,
      -1.011673253774643,
      -1.564660668373108,
      -1.725730150938034,
      -0.7271068692207336,
      -0.7230209648609162,
      -1.0
    ],
    "q10": [
      -0.07162122428417206,
      -0.1464589610695839,
      -0.014860016759485006,
      0.44999998807907104,
      -2.241009473800659,
      -0.8542236983776093,
      0.0,
      -0.5184854865074158,
      -0.08897088468074799,
      -0.34056003391742706,
      -1.5324468612670898,
      -0.07516505569219589,
      -0.8068643808364868,
      -1.4526799321174622,
      -1.0,
      -0.9963281154632568,
      -0.26767317950725555,
      -0.5139178335666656,
      -1.3466668128967285,
      -1.3023496270179749,
      -0.424912691116333,
      -0.33902697265148163,
      1.0
    ],
    "q50": [
      6.108859270170797e-05,
      -1.401298464324817e-45,
      1.401298464324817e-45,
      0.5266667008399963,
      -0.5400000810623169,
      -0.11034569144248962,
      0.0,
      -0.23009711503982544,
      0.0782545655965805,
      -0.04908738657832146,
      -0.6258641481399536,
      0.14121181517839432,
      0.02761165425181389,
      0.021997323259711266,
      -1.0,
      -0.5737088322639465,
      -0.07516450807452202,
      0.04143157787621021,
      -0.5322913527488708,
      -0.3325928747653961,
      -0.018407713621854782,
      0.03681553900241852,
      1.0
    ],
    "q90": [
      0.33670520782470703,
      0.0741519071161747,
      0.2518630474805832,
      1.4581719636917114,
      -0.4000000059604645,
      0.08685269951820374,
      0.0,
      0.025925807654857635,
      0.2776027321815491,
      0.2802627235651016,
      -0.042772326618433,
      0.3942330479621887,
      0.6385070383548737,
      0.30526217818260193,
      -1.0,
      -0.20247773826122284,
      0.0732366219162941,
      0.5543786883354187,
      -0.04601942375302315,
      0.6105243563652039,
      0.6091616153717041,
      0.7207533419132233,
      1.0
    ],
    "q99": [
      0.34385867416858673,
      0.28006976097822206,
      0.2901080071926117,
      1.6260846853256226,
      -0.4000000059604645,
      0.34535592794418335,
      0.0,
      0.26998060941696167,
      0.4478819563984871,
      0.9905039399862342,
      -0.01840776950120926,
      0.668815341591835,
      0.9793145567178727,
      0.6366020441055298,
      -1.0,
      0.00920388475060463,
      0.15484039857983625,
      1.1412817239761353,
      0.03680155165493489,
      1.8539136648178103,
      0.9817404478788376,
      1.202610069513321,
      1.0
    ]
  },
  "observation.state": {
    "min": [
      -0.2616240680217743,
      -0.2791574001312256,
      -1.0181570053100586,
      -0.9100551009178162,
      -0.17319270968437195,
      -1.0317184925079346,
      -1.606524109840393,
      -1.2486319541931152,
      -1.0471796989440918,
      -1.570811152458191,
      -4.267639636993408,
      -2.960542917251587,
      -4.232285976409912,
      -8.218392372131348,
      -10.485673904418945,
      -9.34064769744873,
      -9.314909934997559,
      0.016198396682739258,
      -0.07847833633422852,
      0.05434568226337433,
      -0.6344168782234192,
      -0.6662159562110901,
      -0.6642691493034363,
      -0.49991413950920105,
      0.021249357610940933,
      0.019824650138616562,
      -0.25034746527671814,
      -0.25076037645339966,
      -1.6781686544418335,
      -0.7438554763793945,
      -1.3528636693954468,
      -1.683065414428711,
      -2.356196165084839,
      -1.0427298545837402,
      -1.205288052558899,
      -5.897764682769775,
      -3.3747010231018066,
      -8.573637008666992,
      -7.772079944610596,
      -12.468175888061523,
      -11.448049545288086,
      -10.409468650817871,
      0.15177011489868164,
      -0.6718569993972778,
      0.08130121976137161,
      -0.582561194896698,
      -0.6367695331573486,
      -0.6366073489189148,
      -0.4631754457950592,
      4.213950160192326e-05,
      0.0,
      -0.5738140940666199,
      -0.3056434690952301,
      0.41629189252853394,
      -2.5458767414093018,
      -1.7055721282958984,
      -0.0024170761462301016,
      -2.612428903579712,
      -2.06811261177063,
      -2.5164616107940674,
      -2.1341288089752197
    ],
    "max": [
      0.2733437716960907,
      0.24347659945487976,
      0.5841677188873291,
      0.5281709432601929,
      0.9655318856239319,
      2.061917781829834,
      0.012012421153485775,
      1.0395430326461792,
      0.9977351427078247,
      1.0781582593917847,
      4.3166117668151855,
      2.4068684577941895,
      8.387216567993164,
      8.377603530883789,
      6.437344551086426,
      10.48314094543457,
      10.455765724182129,
      0.834394097328186,
      0.8240385055541992,
      1.3713788986206055,
      0.6383873820304871,
      0.9999263286590576,
      0.7178506255149841,
      0.8646820783615112,
      0.05000000074505806,
      0.05000000074505806,
      0.25388607382774353,
      0.2563178837299347,
      0.13035427033901215,
      0.1745002418756485,
      1.616828441619873,
      0.07113534212112427,
      2.2335805892944336,
      1.0460172891616821,
      1.569881796836853,
      6.822947025299072,
      3.224468469619751,
      8.385405540466309,
      8.322872161865234,
      11.355796813964844,
      10.472002029418945,
      9.938211441040039,
      0.9871368408203125,
      0.1428551822900772,
      1.4628500938415527,
      0.710404634475708,
      0.9992437958717346,
      0.711175799369812,
      0.8373123407363892,
      0.05000000074505806,
      0.05000000074505806,
      0.7430875897407532,
      0.35905784368515015,
      1.6890815496444702,
      -0.39724740386009216,
      0.5530939102172852,
      0.0022221417166292667,
      0.22045765817165375,
      2.5000226497650146,
      2.5003862380981445,
      2.0420982837677
    ],
    "mean": [
      0.034903478272904166,
      -0.021982909075361518,
      -0.11646240599143712,
      -0.24112174189458738,
      0.08761844076461711,
      -0.030126494417059495,
      -0.7345382841209961,
      0.15032221452627717,
      -0.045807294557200985,
      -0.22317069847399465,
      -0.3707888150016141,
      0.3925788339672942,
      0.5582992827937928,
      1.3249957322018573,
      -1.0973765678734022,
      0.11143502723714543,
      -0.36909074788318713,
      0.4876321488172638,
      0.25283233637240654,
      0.7887624534489986,
      0.03863722639285153,
      0.8034660927362626,
      -0.06140188357921288,
      0.42209922270605194,
      0.04390844703578534,
      0.02808445889722336,
      -0.02277277357446933,
      0.06275068137406467,
      -0.5869696452678222,
      -0.08636234538274244,
      0.04159251352621261,
      -0.6339741287381727,
      -0.2890500876393375,
      0.03544130404643964,
      0.11389146054739824,
      -0.34851277817802884,
      0.6189572935813316,
      1.2163748181674934,
      1.6738561628782038,
      -0.9049189457930313,
      -1.5099034254687091,
      -0.37480084834942984,
      0.6601195708980423,
      -0.2760417193802101,
      0.8742533951847897,
      0.052611217085808355,
      0.7930887741302504,
      0.10041610784996276,
      0.4608496292303858,
      0.04847476740534999,
      0.04786009816244242,
      -0.019665553475918512,
      -0.012884698697367738,
      0.7323805851621884,
      -0.9147677199451965,
      -0.2417849444726099,
      -0.0002517645876692048,
      -1.7893319681009785,
      0.1313943924588157,
      -0.6983047608435434,
      0.1326576214895897
    ],
    "std": [
      0.05598237774898619,
      0.056767080458864874,
      0.20448648648228795,
      0.21577369276022257,
      0.13950752565905641,
      0.2910765660597695,
      0.5854488998318538,
      0.20571170309428916,
      0.5454950069835927,
      0.6199081760083042,
      1.3172120984727889,
      0.5820467887769416,
      2.08598858759371,
      2.2229767042093362,
      2.591839180248463,
      3.392831909411219,
      1.936077890860558,
      0.15051635718373654,
      0.1024882270887153,
      0.21430808881595392,
      0.1524525109174899,
      0.22327427622934373,
      0.2241580887406798,
      0.21833800478517496,
      0.009593970380464228,
      0.009987941964138833,
      0.08530424474409995,
      0.10712596440603463,
      0.30378083444296217,
      0.13366360264900645,
      0.4203590908106532,
      0.47626738620718684,
      0.7516835611900637,
      0.3925453941352227,
      0.41565350336523504,
      1.0217092111434434,
      0.612814159715201,
      3.512292397648223,
      1.8348091275309315,
      3.8275199150307064,
      2.171429921625953,
      2.01474776234601,
      0.12342441194786646,
      0.10436395729464884,
      0.23425611038056982,
      0.19940963533317613,
      0.17154786993189902,
      0.23394989113512893,
      0.14782117719403054,
      0.007039221252737052,
      0.009312042685872764,
      0.04446042025382466,
      0.04377031734096062,
      0.376914041190412,
      0.6856320512881612,
      0.35608589467086144,
      0.00048457091148807824,
      0.3317148969009904,
      1.4655334170830356,
      2.251491475109069,
      0.36452732321717346
    ],
    "count": [
      711063
    ],
    "q01": [
      -0.10188860259950161,
      -0.17172245383262635,
      -0.6567294061183929,
      -0.7180088609457016,
      -0.1395242244005203,
      -0.7087932318449021,
      -1.5605223715305327,
      -0.3176693916320801,
      -1.043486738204956,
      -1.570718765258789,
      -2.4628534436225893,
      -0.8413329005241393,
      -2.106139671802521,
      -5.191762447357178,
      -8.12630820274353,
      -7.777240490913391,
      -4.726406478881836,
      0.12107718586921692,
      0.03943334072828293,
      0.36549921333789825,
      -0.4117357596755028,
      -0.5451906353235245,
      -0.5854153573513031,
      -0.4118815705180168,
      0.021730582974851132,
      0.019932229164987804,
      -0.24163581281900406,
      -0.22804824858903885,
      -1.360417753458023,
      -0.4311744451522827,
      -1.0070262253284454,
      -1.5649371147155762,
      -1.7209136307239532,
      -0.7241033464670181,
      -0.721259692311287,
      -2.1288628578186035,
      -0.4497752502560616,
      -5.349028539657593,
      -1.0912948846817017,
      -9.089997863769531,
      -6.2008811950683596,
      -4.6443654775619505,
      0.3509637713432312,
      -0.5423558831214905,
      0.39710970371961596,
      -0.4309598818421364,
      -0.480003310739994,
      -0.5749552190303803,
      -0.27100147008895864,
      0.0016395189333707095,
      1.5608536614308834e-07,
      -0.2453375466167927,
      -0.18264344707131386,
      0.44915119409561155,
      -2.512836015224457,
      -1.1724527418613433,
      -0.001212217507418245,
      -2.5123308658599854,
      -1.760603928565979,
      -2.500009059906006,
      -0.7114404141902924
    ],
    "q10": [
      -0.04387242533266544,
      -0.09483151882886887,
      -0.37300318479537964,
      -0.5195881426334381,
      -0.08667551726102829,
      -0.3430674374103546,
      -1.5282362699508667,
      -0.07412667572498322,
      -0.8032003045082092,
      -1.451995074748993,
      -1.925507664680481,
      -0.1750440075993538,
      -1.2480849623680115,
      -1.6032400727272034,
      -4.855403423309326,
      -5.1234729290008545,
      -2.604374647140503,
      0.2805171012878418,
      0.11527429893612862,
      0.5335342288017273,
      -0.11180596798658371,
      0.6101522445678711,
      -0.46988193690776825,
      0.04738593101501465,
      0.024591391906142235,
      0.020918007008731365,
      -0.14096495509147644,
      -0.05399627983570099,
      -0.9968555867671967,
      -0.26682503521442413,
      -0.5161500573158264,
      -1.3428036570549011,
      -1.3002288341522217,
      -0.42409826815128326,
      -0.33987095952033997,
      -1.5007190108299255,
      -0.06211209483444691,
      -1.7564144730567932,
      -0.28105324506759644,
      -7.600413084030151,
      -4.581826448440552,
      -3.003762722015381,
      0.5066878795623779,
      -0.40396320819854736,
      0.5898362994194031,
      -0.1755697876214981,
      0.6321569681167603,
      -0.0821394994854927,
      0.3050907105207443,
      0.04990874044597149,
      0.049894340336322784,
      -0.06125471740961075,
      -0.05710825324058533,
      0.4492934048175812,
      -2.2399200201034546,
      -0.8553178310394287,
      -0.0008948882459662855,
      -2.330410957336426,
      -1.3794285655021667,
      -2.4999988079071045,
      -0.3410717248916626
    ],
    "q50": [
      0.039709387347102165,
      -0.02481747791171074,
      -0.13436265289783478,
      -0.2306026816368103,
      0.07985011860728264,
      -0.04984615370631218,
      -0.6224862933158875,
      0.14375896751880646,
      0.024287675507366657,
      0.021030250005424023,
      -0.6781997978687286,
      0.28393177688121796,
      -0.0751805230975151,
      1.519042730331421,
      -0.5688622295856476,
      0.3225777745246887,
      -0.6133143305778503,
      0.49941182136535645,
      0.2626400738954544,
      0.7494602203369141,
      0.0199482049793005,
      0.853948563337326,
      0.01425426872447133,
      0.47506003081798553,
      0.04999952018260956,
      0.022101002745330334,
      -0.0021127648651599884,
      0.04192025028169155,
      -0.5733388960361481,
      -0.07325776293873787,
      0.04058434069156647,
      -0.5320017635822296,
      -0.3317687511444092,
      -0.02085135504603386,
      0.03714627958834171,
      -0.5513158142566681,
      0.5310420989990234,
      -0.29217274487018585,
      1.1766105890274048,
      0.6783968210220337,
      -1.3561550378799438,
      -0.38152749836444855,
      0.6620075404644012,
      -0.277671217918396,
      0.8429481983184814,
      0.0261322483420372,
      0.8233158886432648,
      0.03846332989633083,
      0.47432926297187805,
      0.0499841682612896,
      0.049999695271253586,
      -0.0050110891461372375,
      -1.3511443626157416e-06,
      0.5261506140232086,
      -0.5397645533084869,
      -0.11266569420695305,
      -0.0002522539289202541,
      -1.7258486151695251,
      -0.6712596118450165,
      -2.4443451166152954,
      0.14347659051418304
    ],
    "q90": [
      0.09928037598729134,
      0.04959544539451599,
      0.14357611536979675,
      0.02283299621194601,
      0.27793754637241364,
      0.27970682084560394,
      -0.04208824597299099,
      0.39756156504154205,
      0.6348164975643158,
      0.3039378374814987,
      1.6191426515579224,
      1.3121481537818909,
      3.7409768104553223,
      4.0850725173950195,
      1.7258460521697998,
      4.147085428237915,
      2.1531004905700684,
      0.6769949793815613,
      0.365113765001297,
      1.111190140247345,
      0.28365518152713776,
      0.9813626408576965,
      0.09391995519399643,
      0.6207011640071869,
      0.05000000074505806,
      0.048424337059259415,
      0.06276600435376167,
      0.20805243402719498,
      -0.20385012030601501,
      0.0746283270418644,
      0.5532799959182739,
      -0.047218624502420425,
      0.6122434735298157,
      0.6070220470428467,
      0.7170522809028625,
      1.1781716346740723,
      1.5441692471504211,
      7.800644636154175,
      4.770337343215942,
      2.6032127141952515,
      1.2550263404846191,
      2.2563189268112183,
      0.8159935474395752,
      -0.14403390139341354,
      1.2538250088691711,
      0.3593151867389679,
      0.9220091998577118,
      0.4597037434577942,
      0.6208407878875732,
      0.05000000074505806,
      0.05000000074505806,
      0.004573172191157937,
      0.0032794064609333873,
      1.457324504852295,
      -0.39909088611602783,
      0.085143331438303,
      0.00039600691525265574,
      -1.393698811531067,
      2.1210269927978516,
      2.4993127584457397,
      0.5979819297790527
    ],
    "q99": [
      0.1379518449306489,
      0.1033910799771548,
      0.3129280418157579,
      0.2683172568678856,
      0.447878883779049,
      0.989427983760842,
      -0.018581981584429735,
      0.6673900187015535,
      0.9747886836528779,
      0.6360670804977417,
      2.49115641117096,
      1.9863989531993866,
      7.640985941886904,
      6.1169489383697515,
      3.842933464050295,
      9.090507125854502,
      4.485056543350221,
      0.754225081205368,
      0.5097346246242523,
      1.2351287126541137,
      0.42661965340375907,
      0.9983450263738632,
      0.5937831073999406,
      0.7813720762729647,
      0.05000000074505806,
      0.05000000074505806,
      0.2115800514817239,
      0.2514102652668953,
      0.005951434047892691,
      0.15675636231899281,
      1.1421619594097137,
      0.03556967712938788,
      1.8587615072727204,
      0.9795504957437515,
      1.1967471063137056,
      2.4337685465812684,
      2.316900062561036,
      8.12071714401245,
      6.332870054244995,
      5.3649866580963135,
      2.754141306877137,
      4.1543920040130695,
      0.909354043006897,
      -0.006909755989909137,
      1.3362239539623262,
      0.5313135832548141,
      0.9735041707754135,
      0.6116986900568009,
      0.6987534582614898,
      0.05000000074505806,
      0.05000000074505806,
      0.0730553802102813,
      0.14348201975226413,
      1.6256732642650609,
      -0.3987757176160812,
      0.34420383870601656,
      0.0008283144154120241,
      -1.2134206533432006,
      2.3253946900367737,
      2.5000197887420654,
      0.9654347598552709
    ]
  },
  "timestamp": {
    "min": [
      0.0
    ],
    "max": [
      221.86666870117188
    ],
    "mean": [
      63.51227720571893
    ],
    "std": [
      41.38604416354513
    ],
    "count": [
      711063
    ],
    "q01": [
      1.1666666269302368
    ],
    "q10": [
      11.899999618530273
    ],
    "q50": [
      59.56666564941406
    ],
    "q90": [
      120.63333129882812
    ],
    "q99": [
      172.22166824340826
    ]
  },
  "frame_index": {
    "min": [
      0.0
    ],
    "max": [
      6656.0
    ],
    "mean": [
      1905.3683161688903
    ],
    "std": [
      1241.5813248443148
    ],
    "count": [
      711063
    ],
    "q01": [
      35.0
    ],
    "q10": [
      357.0
    ],
    "q50": [
      1787.0
    ],
    "q90": [
      3619.0
    ],
    "q99": [
      5166.6500000000015
    ]
  },
  "episode_index": {
    "min": [
      0.0
    ],
    "max": [
      199.0
    ],
    "mean": [
      97.38850425349086
    ],
    "std": [
      59.5269755333357
    ],
    "count": [
      711063
    ],
    "q01": [
      2.0
    ],
    "q10": [
      17.0
    ],
    "q50": [
      96.0
    ],
    "q90": [
      181.0
    ],
    "q99": [
      197.0
    ]
  },
  "index": {
    "min": [
      0.0
    ],
    "max": [
      711062.0
    ],
    "mean": [
      355531.0
    ],
    "std": [
      205266.2072301885
    ],
    "count": [
      711063
    ],
    "q01": [
      6748.1
    ],
    "q10": [
      70759.0
    ],
    "q50": [
      358068.0
    ],
    "q90": [
      639731.0
    ],
    "q99": [
      704128.3
    ]
  },
  "task_index": {
    "min": [
      15.0
    ],
    "max": [
      15.0
    ],
    "mean": [
      15.0
    ],
    "std": [
      0.0
    ],
    "count": [
      711063
    ],
    "q01": [
      15.0
    ],
    "q10": [
      15.0
    ],
    "q50": [
      15.0
    ],
    "q90": [
      15.0
    ],
    "q99": [
      15.0
    ]
  },
  "__raw_stats_source__": {
    "schema_version": 1,
    "dependency_keys": [
      "action",
      "episode_index",
      "frame_index",
      "index",
      "observation.state",
      "task_index",
      "timestamp"
    ],
    "dependency_source_fingerprint": "9faa41dce51aa2f4650c51e93c034aaceb999265a720cbc0b0388093412f4b9c",
    "view_fingerprint": "1d6ab49d02a3a95bb581fa8691dd6b95ff975f41aec6eb166f544a452ea3780a",
    "fps": 30.0,
    "num_frames": 711063,
    "raw_stats_content_fingerprint": "af6db021a055f6cf74c8df4f9f2b21cd2ef9bf4ea89879d8f24e551e1687f29f"
  },
  "__policy_stats__": {
    "schema_version": 1,
    "entries": {
      "9d465f457dc1da585ad17bea33c0167a4eff28915826b119199c715a91171e56": {
        "schema_version": 1,
        "contract_fingerprint": "9d465f457dc1da585ad17bea33c0167a4eff28915826b119199c715a91171e56",
        "contract": {
          "schema_version": 1,
          "action_representation": "current_state_delta",
          "relative_action_components": [
            "trunk_qpos",
            "arm_left_qpos",
            "arm_right_qpos"
          ],
          "action_layout": {
            "dim": 23,
            "source_width": 23,
            "structure_fingerprint": "0532608c98ae4762a1713f49ea46eb1771ce36361320eb2b5d087166128ac8eb",
            "components": [
              {
                "name": "base_qvel",
                "dim": 3,
                "source_range": [
                  0,
                  3
                ],
                "policy_order": 0
              },
              {
                "name": "trunk_qpos",
                "dim": 4,
                "source_range": [
                  3,
                  7
                ],
                "policy_order": 1
              },
              {
                "name": "arm_left_qpos",
                "dim": 7,
                "source_range": [
                  7,
                  14
                ],
                "policy_order": 2
              },
              {
                "name": "gripper_left_qpos",
                "dim": 1,
                "source_range": [
                  14,
                  15
                ],
                "policy_order": 3
              },
              {
                "name": "arm_right_qpos",
                "dim": 7,
                "source_range": [
                  15,
                  22
                ],
                "policy_order": 4
              },
              {
                "name": "gripper_right_qpos",
                "dim": 1,
                "source_range": [
                  22,
                  23
                ],
                "policy_order": 5
              }
            ]
          },
          "state_layout": {
            "dim": 23,
            "source_width": 57,
            "structure_fingerprint": "216bd42f824307cf17982db691f846e25d3e6b636e833e01b0a24bf423126fae",
            "components": [
              {
                "name": "base_qvel",
                "dim": 3,
                "source_range": [
                  0,
                  3
                ],
                "policy_order": 0
              },
              {
                "name": "trunk_qpos",
                "dim": 4,
                "source_range": [
                  53,
                  57
                ],
                "policy_order": 1
              },
              {
                "name": "arm_left_qpos",
                "dim": 7,
                "source_range": [
                  3,
                  10
                ],
                "policy_order": 2
              },
              {
                "name": "arm_right_qpos",
                "dim": 7,
                "source_range": [
                  28,
                  35
                ],
                "policy_order": 3
              },
              {
                "name": "gripper_left_qpos",
                "dim": 1,
                "source_range": [
                  24,
                  25
                ],
                "policy_order": 4
              },
              {
                "name": "gripper_right_qpos",
                "dim": 1,
                "source_range": [
                  49,
                  50
                ],
                "policy_order": 5
              }
            ]
          },
          "action_layout_structure_fingerprint": "0532608c98ae4762a1713f49ea46eb1771ce36361320eb2b5d087166128ac8eb",
          "state_layout_structure_fingerprint": "216bd42f824307cf17982db691f846e25d3e6b636e833e01b0a24bf423126fae",
          "action_horizon": 32,
          "action_interval_s": 0.03333333333333333,
          "action_feature": "action",
          "state_feature": "observation.state",
          "boundary_mode": "clamp",
          "quantile_method": {
            "name": "openpi_running_histogram",
            "bins": 5000,
            "degenerate_range_epsilon": 1e-10
          }
        },
        "source": {
          "repo_id": "local/dataset",
          "dependency_keys": [
            "action",
            "observation.state"
          ],
          "dependency_source_fingerprint": "9faa41dce51aa2f4650c51e93c034aaceb999265a720cbc0b0388093412f4b9c",
          "view_fingerprint": "2bee879ab884bd6229079760a3ca7098c1e11fe9fe6fe550944bda3a5e21a1fa",
          "fps": 30.0,
          "num_frames": 711063,
          "processed_frames": 711063
        },
        "statistics_batch_size": 256,
        "action": {
          "min": [
            -0.34665653109550476,
            -0.34999996423721313,
            -0.2999999523162842,
            -0.12658023834228516,
            -0.2336975336074829,
            -0.1554935872554779,
            -0.0022221417166292667,
            -0.7138439416885376,
            -0.5321338772773743,
            -0.8930562138557434,
            -1.5342395305633545,
            -0.812872052192688,
            -0.8741753101348877,
            -1.5950286388397217,
            -1.0,
            -1.1827601194381714,
            -0.6410312056541443,
            -1.254307508468628,
            -1.550459384918213,
            -1.986877202987671,
            -1.5092796087265015,
            -1.4937270879745483,
            -1.0
          ],
          "max": [
            0.34797900915145874,
            0.34838584065437317,
            0.2999999523162842,
            0.127566397190094,
            0.23142552375793457,
            0.1821821928024292,
            0.0024170761462301016,
            0.6408503651618958,
            0.5998807549476624,
            1.190881609916687,
            1.3272678852081299,
            0.6346555948257446,
            1.0739902257919312,
            2.004926919937134,
            -1.0,
            0.8697336912155151,
            0.5229703187942505,
            0.9395421743392944,
            1.5419038534164429,
            2.0527687072753906,
            1.205782413482666,
            1.3198987245559692,
            1.0
          ],
          "mean": [
            0.09005599468946457,
            -0.010573898442089558,
            0.021137496456503868,
            -0.0018282618839293718,
            0.003438349347561598,
            0.0043854862451553345,
            0.0002517642278689891,
            0.0013460671762004495,
            -0.0019018399761989713,
            0.00047992600593715906,
            -0.0015239266213029623,
            -0.002324843080714345,
            -0.0006521811010316014,
            0.00204224931076169,
            -1.0,
            -0.0007264495361596346,
            -0.001387011376209557,
            0.0014533363282680511,
            0.002285533584654331,
            -0.0017814825987443328,
            -0.0006856965483166277,
            -0.0005623517208732665,
            0.8911566734313965
          ],
          "std": [
            0.17325812578201294,
            0.09813979268074036,
            0.11765994131565094,
            0.019544001668691635,
            0.03561673313379288,
            0.01906942017376423,
            0.0004845712101086974,
            0.02793424390256405,
            0.015652596950531006,
            0.023983033373951912,
            0.055383555591106415,
            0.021234937012195587,
            0.04161904379725456,
            0.050872400403022766,
            0.0,
            0.05077117308974266,
            0.02578902430832386,
            0.042725782841444016,
            0.07794413715600967,
            0.08572877943515778,
            0.07097062468528748,
            0.0687037780880928,
            0.45369571447372437
          ],
          "q01": [
            -0.3208160889983177,
            -0.305023918402195,
            -0.2885999541282654,
            -0.09933571901321411,
            -0.10681196355819703,
            -0.04899064622521401,
            -0.0008201700784731655,
            -0.04679246499538425,
            -0.04514118249416349,
            -0.062398597300052705,
            -0.0977628078460695,
            -0.04365586056709281,
            -0.13698947134017936,
            -0.06936747303009017,
            -1.0,
            -0.18278513488769532,
            -0.08882888245582576,
            -0.12974016106128694,
            -0.19538581387996667,
            -0.24013431138992303,
            -0.23428648309707634,
            -0.2607962569236755,
            -1.0
          ],
          "q99": [
            0.343811195909977,
            0.2798043546140194,
            0.2902799538612365,
            0.05823519501686095,
            0.18082013511657713,
            0.09060452125072477,
            0.0012127351890318097,
            0.0691693676710129,
            0.029571783232688942,
            0.04096471875905994,
            0.11685024833679192,
            0.03566865448951728,
            0.09406296122074131,
            0.10487037601470961,
            -1.0,
            0.12426793918609613,
            0.08088253980875015,
            0.13088918125629423,
            0.25733616421222694,
            0.21149810137748748,
            0.22130092422962178,
            0.20120110149383552,
            0.9996
          ],
          "count": [
            22754016
          ]
        },
        "state": {
          "min": [
            -0.2616240680217743,
            -0.2791574001312256,
            -1.0181570053100586,
            0.41629189252853394,
            -2.5458767414093018,
            -1.7055721282958984,
            -0.0024170761462301016,
            -0.9100551009178162,
            -0.17319270968437195,
            -1.0317184925079346,
            -1.606524109840393,
            -1.2486319541931152,
            -1.0471796989440918,
            -1.570811152458191,
            -1.6781686544418335,
            -0.7438554763793945,
            -1.3528636693954468,
            -1.683065414428711,
            -2.356196165084839,
            -1.0427298545837402,
            -1.205288052558899,
            0.021249357610940933,
            4.213950160192326e-05
          ],
          "max": [
            0.2733437716960907,
            0.24347659945487976,
            0.5841677188873291,
            1.6890815496444702,
            -0.39724740386009216,
            0.5530939102172852,
            0.0022221417166292667,
            0.5281709432601929,
            0.9655318856239319,
            2.061917781829834,
            0.012012421153485775,
            1.0395430326461792,
            0.9977351427078247,
            1.0781582593917847,
            0.13035427033901215,
            0.1745002418756485,
            1.616828441619873,
            0.07113534212112427,
            2.2335805892944336,
            1.0460172891616821,
            1.569881796836853,
            0.05000000074505806,
            0.05000000074505806
          ],
          "mean": [
            0.03490346297621727,
            -0.021982906386256218,
            -0.11646240949630737,
            0.7323806881904602,
            -0.9147676229476929,
            -0.24178506433963776,
            -0.0002517644898034632,
            -0.2411215901374817,
            0.08761845529079437,
            -0.03012647107243538,
            -0.7345389127731323,
            0.1503223478794098,
            -0.045807451009750366,
            -0.22317063808441162,
            -0.5869696736335754,
            -0.08636234700679779,
            0.0415925532579422,
            -0.6339733004570007,
            -0.2890501320362091,
            0.03544129803776741,
            0.11389140784740448,
            0.043908391147851944,
            0.048474766314029694
          ],
          "std": [
            0.05598239600658417,
            0.0567670576274395,
            0.20448628067970276,
            0.37691375613212585,
            0.6856322288513184,
            0.3560856878757477,
            0.0004845710063818842,
            0.21577413380146027,
            0.13950753211975098,
            0.2910764515399933,
            0.5854476690292358,
            0.2057112753391266,
            0.545494794845581,
            0.6199085712432861,
            0.3037807047367096,
            0.13366368412971497,
            0.42035922408103943,
            0.47626903653144836,
            0.7516835927963257,
            0.39254525303840637,
            0.41565343737602234,
            0.009594229981303215,
            0.007039363961666822
          ],
          "q01": [
            -0.10156169037818907,
            -0.17274911781549454,
            -0.6573134774208069,
            0.4478570760250091,
            -2.5136473013460634,
            -1.1761408088684082,
            -0.0012136630326043815,
            -0.7181957466244697,
            -0.13971420658230782,
            -0.6710005029201507,
            -1.5605576723601668,
            -0.3196329095363617,
            -1.0439078351974487,
            -1.570811152458191,
            -1.362400551775098,
            -0.433818585896492,
            -1.0042218155622482,
            -1.5693932054042816,
            -1.731986526489258,
            -0.7248225393056869,
            -0.7229635327339172,
            0.021703617772459983,
            0.0016407910613925197
          ],
          "q99": [
            0.13692697256803515,
            0.10299258036613462,
            0.3133748404979706,
            1.6256966247200966,
            -0.3989663073301317,
            0.3439414350509642,
            0.0008192422349005937,
            0.2678520292639732,
            0.4506006236255169,
            0.989044721889496,
            -0.019063480241596764,
            0.6670281447887421,
            0.9744231135129926,
            0.6294228410243985,
            0.00556618852913382,
            0.1572351543724536,
            1.1410837654352188,
            0.03534964668750762,
            1.8627266275405878,
            0.980012879419327,
            1.195788901138306,
            0.04999425061643123,
            0.04999000917280937
          ],
          "count": [
            711063
          ]
        },
        "fingerprint": "d0677b83e840c3cfcd99cfa693566c9a145fccc7139fb2fc01dc5f4445260bad"
      }
    }
  }
}