Upload folder using huggingface_hub
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- README.md +1 -1
- close_jar/data/chunk-000/file-000.parquet +3 -0
- close_jar/meta/episodes/chunk-000/file-000.parquet +3 -0
- close_jar/meta/info.json +125 -0
- close_jar/meta/norm_stats.json +106 -0
- close_jar/meta/stats.json +668 -0
- close_jar/meta/tasks.parquet +3 -0
- close_jar/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +3 -0
- close_jar/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +3 -0
- close_jar/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4 +3 -0
- insert_onto_square_peg/data/chunk-000/file-000.parquet +3 -0
- insert_onto_square_peg/meta/episodes/chunk-000/file-000.parquet +3 -0
- insert_onto_square_peg/meta/info.json +125 -0
- insert_onto_square_peg/meta/norm_stats.json +106 -0
- insert_onto_square_peg/meta/stats.json +668 -0
- insert_onto_square_peg/meta/tasks.parquet +3 -0
- insert_onto_square_peg/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +3 -0
- insert_onto_square_peg/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +3 -0
- insert_onto_square_peg/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4 +3 -0
- light_bulb_in/data/chunk-000/file-000.parquet +3 -0
- light_bulb_in/meta/episodes/chunk-000/file-000.parquet +3 -0
- light_bulb_in/meta/info.json +125 -0
- light_bulb_in/meta/norm_stats.json +106 -0
- light_bulb_in/meta/stats.json +668 -0
- light_bulb_in/meta/tasks.parquet +3 -0
- light_bulb_in/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +3 -0
- light_bulb_in/videos/observation.images.front_rgb/chunk-000/file-001.mp4 +3 -0
- light_bulb_in/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +3 -0
- light_bulb_in/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4 +3 -0
- meat_off_grill/data/chunk-000/file-000.parquet +3 -0
- meat_off_grill/meta/episodes/chunk-000/file-000.parquet +3 -0
- meat_off_grill/meta/info.json +125 -0
- meat_off_grill/meta/norm_stats.json +106 -0
- meat_off_grill/meta/stats.json +668 -0
- meat_off_grill/meta/tasks.parquet +3 -0
- meat_off_grill/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +3 -0
- meat_off_grill/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +3 -0
- meat_off_grill/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4 +3 -0
- open_drawer/data/chunk-000/file-000.parquet +3 -0
- open_drawer/meta/episodes/chunk-000/file-000.parquet +3 -0
- open_drawer/meta/info.json +125 -0
- open_drawer/meta/norm_stats.json +106 -0
- open_drawer/meta/stats.json +668 -0
- open_drawer/meta/tasks.parquet +3 -0
- open_drawer/videos/observation.images.front_rgb/chunk-000/file-000.mp4 +3 -0
- open_drawer/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4 +3 -0
- place_cups/data/chunk-000/file-000.parquet +3 -0
- place_cups/meta/episodes/chunk-000/file-000.parquet +3 -0
- place_cups/meta/info.json +125 -0
- place_cups/meta/norm_stats.json +106 -0
README.md
CHANGED
|
@@ -4,7 +4,7 @@ license: other
|
|
| 4 |
|
| 5 |
# rlbench_v3_eef
|
| 6 |
|
| 7 |
-
RLBench 18 tasks (PerAct format) LeRobot v3.0. Dense EEF quaternion (xyzw)
|
| 8 |
|
| 9 |
## Format
|
| 10 |
- LeRobot v3.0 (parquet + MP4 video)
|
|
|
|
| 4 |
|
| 5 |
# rlbench_v3_eef
|
| 6 |
|
| 7 |
+
RLBench 18 tasks (PerAct format) LeRobot v3.0. Dense EEF quaternion (xyzw). Train split.
|
| 8 |
|
| 9 |
## Format
|
| 10 |
- LeRobot v3.0 (parquet + MP4 video)
|
close_jar/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9d757da4be40589d919dd219272d3ef6fe0b48cafd0966838b1be22a49826395
|
| 3 |
+
size 1675729
|
close_jar/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83c43698850c59b9da4d5cbc0bf27f0a0073d1e0ed677663524ab2e3b5dd540e
|
| 3 |
+
size 467755
|
close_jar/meta/info.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "franka_panda",
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 16522,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 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 |
+
8
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"x",
|
| 25 |
+
"y",
|
| 26 |
+
"z",
|
| 27 |
+
"qx",
|
| 28 |
+
"qy",
|
| 29 |
+
"qz",
|
| 30 |
+
"qw",
|
| 31 |
+
"gripper"
|
| 32 |
+
]
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"action": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
8
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
[
|
| 42 |
+
"dx",
|
| 43 |
+
"dy",
|
| 44 |
+
"dz",
|
| 45 |
+
"qx",
|
| 46 |
+
"qy",
|
| 47 |
+
"qz",
|
| 48 |
+
"qw",
|
| 49 |
+
"gripper"
|
| 50 |
+
]
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"observation.images.front_rgb": {
|
| 54 |
+
"dtype": "video",
|
| 55 |
+
"shape": [
|
| 56 |
+
128,
|
| 57 |
+
128,
|
| 58 |
+
3
|
| 59 |
+
],
|
| 60 |
+
"info": {
|
| 61 |
+
"video.height": 128,
|
| 62 |
+
"video.width": 128,
|
| 63 |
+
"video.codec": "h264",
|
| 64 |
+
"video.pix_fmt": "yuv444p",
|
| 65 |
+
"video.is_depth_map": false,
|
| 66 |
+
"video.fps": 20,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"has_audio": false
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"observation.images.wrist_rgb": {
|
| 72 |
+
"dtype": "video",
|
| 73 |
+
"shape": [
|
| 74 |
+
128,
|
| 75 |
+
128,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"info": {
|
| 79 |
+
"video.height": 128,
|
| 80 |
+
"video.width": 128,
|
| 81 |
+
"video.codec": "h264",
|
| 82 |
+
"video.pix_fmt": "yuv444p",
|
| 83 |
+
"video.is_depth_map": false,
|
| 84 |
+
"video.fps": 20,
|
| 85 |
+
"video.channels": 3,
|
| 86 |
+
"has_audio": false
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"timestamp": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"frame_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
},
|
| 103 |
+
"episode_index": {
|
| 104 |
+
"dtype": "int64",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": null
|
| 109 |
+
},
|
| 110 |
+
"index": {
|
| 111 |
+
"dtype": "int64",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": null
|
| 116 |
+
},
|
| 117 |
+
"task_index": {
|
| 118 |
+
"dtype": "int64",
|
| 119 |
+
"shape": [
|
| 120 |
+
1
|
| 121 |
+
],
|
| 122 |
+
"names": null
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
close_jar/meta/norm_stats.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"dim_labels": [
|
| 4 |
+
"x",
|
| 5 |
+
"y",
|
| 6 |
+
"z",
|
| 7 |
+
"qx",
|
| 8 |
+
"qy",
|
| 9 |
+
"qz",
|
| 10 |
+
"qw",
|
| 11 |
+
"gripper"
|
| 12 |
+
],
|
| 13 |
+
"mean": [
|
| 14 |
+
0.2664058456050145,
|
| 15 |
+
0.07434922790662427,
|
| 16 |
+
0.9904684199034021,
|
| 17 |
+
0.9087344899750148,
|
| 18 |
+
-0.00031323974085723725,
|
| 19 |
+
0.020635389173796835,
|
| 20 |
+
0.0005966340349889042,
|
| 21 |
+
0.41804866053523865
|
| 22 |
+
],
|
| 23 |
+
"std": [
|
| 24 |
+
0.10128093411951693,
|
| 25 |
+
0.15906357068327298,
|
| 26 |
+
0.20195367848084314,
|
| 27 |
+
0.2833407976805482,
|
| 28 |
+
0.009503589373889593,
|
| 29 |
+
0.0400888845427036,
|
| 30 |
+
0.302978437278608,
|
| 31 |
+
0.4932382580199619
|
| 32 |
+
],
|
| 33 |
+
"q01": [
|
| 34 |
+
0.18218341042218214,
|
| 35 |
+
-0.10544510848971161,
|
| 36 |
+
0.7589169219343913,
|
| 37 |
+
0.11606144307908632,
|
| 38 |
+
-0.005476001209959206,
|
| 39 |
+
-0.004350080040719315,
|
| 40 |
+
-0.5072705407984562,
|
| 41 |
+
-1.0000000000000003e-10
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
0.35341389427474174,
|
| 45 |
+
0.239588934190633,
|
| 46 |
+
1.4713200379624802,
|
| 47 |
+
0.9978854474465555,
|
| 48 |
+
0.00418520529177049,
|
| 49 |
+
0.12043141683287652,
|
| 50 |
+
0.5872593473075464,
|
| 51 |
+
0.9999951929392301
|
| 52 |
+
]
|
| 53 |
+
},
|
| 54 |
+
"action": {
|
| 55 |
+
"dim_labels": [
|
| 56 |
+
"dx",
|
| 57 |
+
"dy",
|
| 58 |
+
"dz",
|
| 59 |
+
"qx",
|
| 60 |
+
"qy",
|
| 61 |
+
"qz",
|
| 62 |
+
"qw",
|
| 63 |
+
"gripper"
|
| 64 |
+
],
|
| 65 |
+
"mean": [
|
| 66 |
+
-0.00010905723340679565,
|
| 67 |
+
-0.0004519800926754442,
|
| 68 |
+
-0.0036613334110609836,
|
| 69 |
+
0.9036879049903356,
|
| 70 |
+
-0.00031296307004786527,
|
| 71 |
+
0.019903064253467752,
|
| 72 |
+
-0.00013007788774946574,
|
| 73 |
+
0.41804866053523865
|
| 74 |
+
],
|
| 75 |
+
"std": [
|
| 76 |
+
0.002963672296725605,
|
| 77 |
+
0.006089489208654484,
|
| 78 |
+
0.007958657290294352,
|
| 79 |
+
0.29434559891381684,
|
| 80 |
+
0.009503658958323915,
|
| 81 |
+
0.039349027476820786,
|
| 82 |
+
0.30769130162243785,
|
| 83 |
+
0.4932382580199619
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-0.005475342313565064,
|
| 87 |
+
-0.015443665008637234,
|
| 88 |
+
-0.019102727685075767,
|
| 89 |
+
0.11576109995193708,
|
| 90 |
+
-0.005478730100876122,
|
| 91 |
+
-0.004349918075915249,
|
| 92 |
+
-0.5076136965447081,
|
| 93 |
+
-1.0000000000000003e-10
|
| 94 |
+
],
|
| 95 |
+
"q99": [
|
| 96 |
+
0.005121311354214272,
|
| 97 |
+
0.008137160472295351,
|
| 98 |
+
0.016908470459173368,
|
| 99 |
+
0.997889203843209,
|
| 100 |
+
0.004193274926928278,
|
| 101 |
+
0.12006479450275216,
|
| 102 |
+
0.587764407033361,
|
| 103 |
+
0.9999951929392301
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
}
|
close_jar/meta/stats.json
ADDED
|
@@ -0,0 +1,668 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
0
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
0.0
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
16522
|
| 17 |
+
],
|
| 18 |
+
"q01": [
|
| 19 |
+
3.999999999999417e-16
|
| 20 |
+
],
|
| 21 |
+
"q10": [
|
| 22 |
+
3.999999999999416e-15
|
| 23 |
+
],
|
| 24 |
+
"q50": [
|
| 25 |
+
1.999999999999709e-14
|
| 26 |
+
],
|
| 27 |
+
"q90": [
|
| 28 |
+
3.599999999999476e-14
|
| 29 |
+
],
|
| 30 |
+
"q99": [
|
| 31 |
+
3.9599999999994216e-14
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"action": {
|
| 35 |
+
"min": [
|
| 36 |
+
-0.014636654406785965,
|
| 37 |
+
-0.02482616901397705,
|
| 38 |
+
-0.022980570793151855,
|
| 39 |
+
-0.7066300511360168,
|
| 40 |
+
-0.12415489554405212,
|
| 41 |
+
-0.07324919104576111,
|
| 42 |
+
-0.8980310559272766,
|
| 43 |
+
0.0
|
| 44 |
+
],
|
| 45 |
+
"max": [
|
| 46 |
+
0.013965874910354614,
|
| 47 |
+
0.014424756169319153,
|
| 48 |
+
0.023930370807647705,
|
| 49 |
+
0.9999998807907104,
|
| 50 |
+
0.16036438941955566,
|
| 51 |
+
0.12066935002803802,
|
| 52 |
+
0.7422124147415161,
|
| 53 |
+
1.0
|
| 54 |
+
],
|
| 55 |
+
"mean": [
|
| 56 |
+
-0.00010905723340679565,
|
| 57 |
+
-0.0004519800926754442,
|
| 58 |
+
-0.0036613334110609836,
|
| 59 |
+
0.9036879049903356,
|
| 60 |
+
-0.00031296307004786527,
|
| 61 |
+
0.019903064253467752,
|
| 62 |
+
-0.00013007788774946574,
|
| 63 |
+
0.41804866053523865
|
| 64 |
+
],
|
| 65 |
+
"std": [
|
| 66 |
+
0.002963672296725605,
|
| 67 |
+
0.006089489208654484,
|
| 68 |
+
0.007958657290294352,
|
| 69 |
+
0.29434559891381684,
|
| 70 |
+
0.009503658958323915,
|
| 71 |
+
0.039349027476820786,
|
| 72 |
+
0.30769130162243785,
|
| 73 |
+
0.4932382580199619
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
16522
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-0.005475342313565064,
|
| 80 |
+
-0.015443665008637234,
|
| 81 |
+
-0.019102727685075767,
|
| 82 |
+
0.11576109995193708,
|
| 83 |
+
-0.005478730100876122,
|
| 84 |
+
-0.004349918075915249,
|
| 85 |
+
-0.5076136965447081,
|
| 86 |
+
-1.0000000000000003e-10
|
| 87 |
+
],
|
| 88 |
+
"q10": [
|
| 89 |
+
-0.004149386287094254,
|
| 90 |
+
-0.011031214652513112,
|
| 91 |
+
-0.015729906627190714,
|
| 92 |
+
0.7175627628684854,
|
| 93 |
+
-0.0022551763698867556,
|
| 94 |
+
-0.0017634748132139592,
|
| 95 |
+
-0.2088189487697217,
|
| 96 |
+
-1.0000000000000003e-10
|
| 97 |
+
],
|
| 98 |
+
"q50": [
|
| 99 |
+
4.894294764444921e-06,
|
| 100 |
+
1.9094930854599097e-05,
|
| 101 |
+
-0.000223938325796013,
|
| 102 |
+
0.9635087261127171,
|
| 103 |
+
-0.0003415070828543552,
|
| 104 |
+
-0.000772447351382199,
|
| 105 |
+
-0.03877995175694832,
|
| 106 |
+
-1.0000000000000003e-10
|
| 107 |
+
],
|
| 108 |
+
"q90": [
|
| 109 |
+
0.003814384795176675,
|
| 110 |
+
0.006707762184695279,
|
| 111 |
+
0.001269086647685795,
|
| 112 |
+
0.9949643835424203,
|
| 113 |
+
0.002780525445197094,
|
| 114 |
+
0.09900042922685251,
|
| 115 |
+
0.31387027463614325,
|
| 116 |
+
0.9999519284922986
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
0.005121311354214272,
|
| 120 |
+
0.008137160472295351,
|
| 121 |
+
0.016908470459173368,
|
| 122 |
+
0.997889203843209,
|
| 123 |
+
0.004193274926928278,
|
| 124 |
+
0.12006479450275216,
|
| 125 |
+
0.587764407033361,
|
| 126 |
+
0.9999951929392301
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"observation.state": {
|
| 130 |
+
"min": [
|
| 131 |
+
-0.06963653862476349,
|
| 132 |
+
-0.338807076215744,
|
| 133 |
+
0.7580317258834839,
|
| 134 |
+
-0.7066300511360168,
|
| 135 |
+
-0.12415489554405212,
|
| 136 |
+
-0.07324919104576111,
|
| 137 |
+
-0.898021936416626,
|
| 138 |
+
0.0
|
| 139 |
+
],
|
| 140 |
+
"max": [
|
| 141 |
+
0.4734537601470947,
|
| 142 |
+
0.40300890803337097,
|
| 143 |
+
1.47205650806427,
|
| 144 |
+
0.9999998807907104,
|
| 145 |
+
0.16036438941955566,
|
| 146 |
+
0.12098053097724915,
|
| 147 |
+
0.7422124147415161,
|
| 148 |
+
1.0
|
| 149 |
+
],
|
| 150 |
+
"mean": [
|
| 151 |
+
0.2664058456050145,
|
| 152 |
+
0.07434922790662427,
|
| 153 |
+
0.9904684199034021,
|
| 154 |
+
0.9087344899750148,
|
| 155 |
+
-0.00031323974085723725,
|
| 156 |
+
0.020635389173796835,
|
| 157 |
+
0.0005966340349889042,
|
| 158 |
+
0.41804866053523865
|
| 159 |
+
],
|
| 160 |
+
"std": [
|
| 161 |
+
0.10128093411951693,
|
| 162 |
+
0.15906357068327298,
|
| 163 |
+
0.20195367848084314,
|
| 164 |
+
0.2833407976805482,
|
| 165 |
+
0.009503589373889593,
|
| 166 |
+
0.0400888845427036,
|
| 167 |
+
0.302978437278608,
|
| 168 |
+
0.4932382580199619
|
| 169 |
+
],
|
| 170 |
+
"count": [
|
| 171 |
+
16522
|
| 172 |
+
],
|
| 173 |
+
"q01": [
|
| 174 |
+
0.18218341042218214,
|
| 175 |
+
-0.10544510848971161,
|
| 176 |
+
0.7589169219343913,
|
| 177 |
+
0.11606144307908632,
|
| 178 |
+
-0.005476001209959206,
|
| 179 |
+
-0.004350080040719315,
|
| 180 |
+
-0.5072705407984562,
|
| 181 |
+
-1.0000000000000003e-10
|
| 182 |
+
],
|
| 183 |
+
"q10": [
|
| 184 |
+
0.18446787200320247,
|
| 185 |
+
-0.09348771642991474,
|
| 186 |
+
0.8354363441529583,
|
| 187 |
+
0.760267780068871,
|
| 188 |
+
-0.002254055206040336,
|
| 189 |
+
-0.0017638344279303293,
|
| 190 |
+
-0.18694276551317351,
|
| 191 |
+
-1.0000000000000003e-10
|
| 192 |
+
],
|
| 193 |
+
"q50": [
|
| 194 |
+
0.27020668417503096,
|
| 195 |
+
0.06737683885320665,
|
| 196 |
+
0.92517573777792,
|
| 197 |
+
0.9635126167460932,
|
| 198 |
+
-0.0003398145162527882,
|
| 199 |
+
-0.000769168836030166,
|
| 200 |
+
-0.03877940896544129,
|
| 201 |
+
-1.0000000000000003e-10
|
| 202 |
+
],
|
| 203 |
+
"q90": [
|
| 204 |
+
0.3499351323844182,
|
| 205 |
+
0.23943213843418465,
|
| 206 |
+
1.3850100892929786,
|
| 207 |
+
0.9950005523205429,
|
| 208 |
+
0.0027737366045491427,
|
| 209 |
+
0.10123370266619233,
|
| 210 |
+
0.30201480605172754,
|
| 211 |
+
0.9999519284922986
|
| 212 |
+
],
|
| 213 |
+
"q99": [
|
| 214 |
+
0.35341389427474174,
|
| 215 |
+
0.239588934190633,
|
| 216 |
+
1.4713200379624802,
|
| 217 |
+
0.9978854474465555,
|
| 218 |
+
0.00418520529177049,
|
| 219 |
+
0.12043141683287652,
|
| 220 |
+
0.5872593473075464,
|
| 221 |
+
0.9999951929392301
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"episode_index": {
|
| 225 |
+
"min": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"max": [
|
| 229 |
+
99
|
| 230 |
+
],
|
| 231 |
+
"mean": [
|
| 232 |
+
49.554109671952546
|
| 233 |
+
],
|
| 234 |
+
"std": [
|
| 235 |
+
28.96719143716717
|
| 236 |
+
],
|
| 237 |
+
"count": [
|
| 238 |
+
16522
|
| 239 |
+
],
|
| 240 |
+
"q01": [
|
| 241 |
+
49.554109671952546
|
| 242 |
+
],
|
| 243 |
+
"q10": [
|
| 244 |
+
49.554109671952546
|
| 245 |
+
],
|
| 246 |
+
"q50": [
|
| 247 |
+
49.55410967195255
|
| 248 |
+
],
|
| 249 |
+
"q90": [
|
| 250 |
+
49.55410967195256
|
| 251 |
+
],
|
| 252 |
+
"q99": [
|
| 253 |
+
49.55410967195256
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"frame_index": {
|
| 257 |
+
"min": [
|
| 258 |
+
0
|
| 259 |
+
],
|
| 260 |
+
"max": [
|
| 261 |
+
246
|
| 262 |
+
],
|
| 263 |
+
"mean": [
|
| 264 |
+
83.15657910664568
|
| 265 |
+
],
|
| 266 |
+
"std": [
|
| 267 |
+
49.68433945750999
|
| 268 |
+
],
|
| 269 |
+
"count": [
|
| 270 |
+
16522
|
| 271 |
+
],
|
| 272 |
+
"q01": [
|
| 273 |
+
1.0707432469658025
|
| 274 |
+
],
|
| 275 |
+
"q10": [
|
| 276 |
+
16.188758314893438
|
| 277 |
+
],
|
| 278 |
+
"q50": [
|
| 279 |
+
82.91478201186266
|
| 280 |
+
],
|
| 281 |
+
"q90": [
|
| 282 |
+
150.07282587588242
|
| 283 |
+
],
|
| 284 |
+
"q99": [
|
| 285 |
+
165.24241496632558
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"index": {
|
| 289 |
+
"min": [
|
| 290 |
+
0
|
| 291 |
+
],
|
| 292 |
+
"max": [
|
| 293 |
+
16521
|
| 294 |
+
],
|
| 295 |
+
"mean": [
|
| 296 |
+
8260.5
|
| 297 |
+
],
|
| 298 |
+
"std": [
|
| 299 |
+
4769.490565039418
|
| 300 |
+
],
|
| 301 |
+
"count": [
|
| 302 |
+
16522
|
| 303 |
+
],
|
| 304 |
+
"q01": [
|
| 305 |
+
8178.414164140323
|
| 306 |
+
],
|
| 307 |
+
"q10": [
|
| 308 |
+
8193.532179208243
|
| 309 |
+
],
|
| 310 |
+
"q50": [
|
| 311 |
+
8260.258202905216
|
| 312 |
+
],
|
| 313 |
+
"q90": [
|
| 314 |
+
8327.41624676924
|
| 315 |
+
],
|
| 316 |
+
"q99": [
|
| 317 |
+
8342.58583585968
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"timestamp": {
|
| 321 |
+
"min": [
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
+
"max": [
|
| 325 |
+
12.3
|
| 326 |
+
],
|
| 327 |
+
"mean": [
|
| 328 |
+
4.157828955332288
|
| 329 |
+
],
|
| 330 |
+
"std": [
|
| 331 |
+
2.4842169728754975
|
| 332 |
+
],
|
| 333 |
+
"count": [
|
| 334 |
+
16522
|
| 335 |
+
],
|
| 336 |
+
"q01": [
|
| 337 |
+
0.0535371622545088
|
| 338 |
+
],
|
| 339 |
+
"q10": [
|
| 340 |
+
0.8094379156681627
|
| 341 |
+
],
|
| 342 |
+
"q50": [
|
| 343 |
+
4.145739100592852
|
| 344 |
+
],
|
| 345 |
+
"q90": [
|
| 346 |
+
7.503641293870577
|
| 347 |
+
],
|
| 348 |
+
"q99": [
|
| 349 |
+
8.262120748410055
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"observation.images.wrist_rgb": {
|
| 353 |
+
"min": [
|
| 354 |
+
[
|
| 355 |
+
[
|
| 356 |
+
0.0
|
| 357 |
+
]
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
[
|
| 361 |
+
0.0
|
| 362 |
+
]
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
[
|
| 366 |
+
0.0
|
| 367 |
+
]
|
| 368 |
+
]
|
| 369 |
+
],
|
| 370 |
+
"max": [
|
| 371 |
+
[
|
| 372 |
+
[
|
| 373 |
+
0.996078431372549
|
| 374 |
+
]
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
[
|
| 378 |
+
0.996078431372549
|
| 379 |
+
]
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
[
|
| 383 |
+
0.996078431372549
|
| 384 |
+
]
|
| 385 |
+
]
|
| 386 |
+
],
|
| 387 |
+
"mean": [
|
| 388 |
+
[
|
| 389 |
+
[
|
| 390 |
+
0.7128547391524971
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
[
|
| 394 |
+
[
|
| 395 |
+
0.6032543535060513
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
[
|
| 400 |
+
0.3909904260253909
|
| 401 |
+
]
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"std": [
|
| 405 |
+
[
|
| 406 |
+
[
|
| 407 |
+
0.00962659077480381
|
| 408 |
+
]
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
[
|
| 412 |
+
0.010065055737275076
|
| 413 |
+
]
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
[
|
| 417 |
+
0.00839281567202801
|
| 418 |
+
]
|
| 419 |
+
]
|
| 420 |
+
],
|
| 421 |
+
"count": [
|
| 422 |
+
10000
|
| 423 |
+
],
|
| 424 |
+
"q01": [
|
| 425 |
+
[
|
| 426 |
+
[
|
| 427 |
+
0.05304824301188298
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
[
|
| 432 |
+
0.05305264021352436
|
| 433 |
+
]
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
[
|
| 437 |
+
0.05117828843458413
|
| 438 |
+
]
|
| 439 |
+
]
|
| 440 |
+
],
|
| 441 |
+
"q10": [
|
| 442 |
+
[
|
| 443 |
+
[
|
| 444 |
+
0.536388338349389
|
| 445 |
+
]
|
| 446 |
+
],
|
| 447 |
+
[
|
| 448 |
+
[
|
| 449 |
+
0.5149872016706342
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
[
|
| 454 |
+
0.3015873054643407
|
| 455 |
+
]
|
| 456 |
+
]
|
| 457 |
+
],
|
| 458 |
+
"q50": [
|
| 459 |
+
[
|
| 460 |
+
[
|
| 461 |
+
0.7956743422953929
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
[
|
| 466 |
+
0.6416075375351485
|
| 467 |
+
]
|
| 468 |
+
],
|
| 469 |
+
[
|
| 470 |
+
[
|
| 471 |
+
0.37911716205783863
|
| 472 |
+
]
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"q90": [
|
| 476 |
+
[
|
| 477 |
+
[
|
| 478 |
+
0.8306954345191722
|
| 479 |
+
]
|
| 480 |
+
],
|
| 481 |
+
[
|
| 482 |
+
[
|
| 483 |
+
0.7012115918174937
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
[
|
| 488 |
+
0.5536566014349531
|
| 489 |
+
]
|
| 490 |
+
]
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
[
|
| 494 |
+
[
|
| 495 |
+
0.8585802577873924
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.7574289779870741
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.644802945460524
|
| 506 |
+
]
|
| 507 |
+
]
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"observation.images.front_rgb": {
|
| 511 |
+
"min": [
|
| 512 |
+
[
|
| 513 |
+
[
|
| 514 |
+
0.0
|
| 515 |
+
]
|
| 516 |
+
],
|
| 517 |
+
[
|
| 518 |
+
[
|
| 519 |
+
0.0
|
| 520 |
+
]
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
[
|
| 524 |
+
0.0
|
| 525 |
+
]
|
| 526 |
+
]
|
| 527 |
+
],
|
| 528 |
+
"max": [
|
| 529 |
+
[
|
| 530 |
+
[
|
| 531 |
+
1.0
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
[
|
| 535 |
+
[
|
| 536 |
+
1.0
|
| 537 |
+
]
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
[
|
| 541 |
+
1.0
|
| 542 |
+
]
|
| 543 |
+
]
|
| 544 |
+
],
|
| 545 |
+
"mean": [
|
| 546 |
+
[
|
| 547 |
+
[
|
| 548 |
+
0.47090992125268066
|
| 549 |
+
]
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
[
|
| 553 |
+
0.4563036408547794
|
| 554 |
+
]
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
[
|
| 558 |
+
0.3307695274921492
|
| 559 |
+
]
|
| 560 |
+
]
|
| 561 |
+
],
|
| 562 |
+
"std": [
|
| 563 |
+
[
|
| 564 |
+
[
|
| 565 |
+
0.004986398295202625
|
| 566 |
+
]
|
| 567 |
+
],
|
| 568 |
+
[
|
| 569 |
+
[
|
| 570 |
+
0.00413703258240873
|
| 571 |
+
]
|
| 572 |
+
],
|
| 573 |
+
[
|
| 574 |
+
[
|
| 575 |
+
0.003446009633727085
|
| 576 |
+
]
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
"count": [
|
| 580 |
+
10000
|
| 581 |
+
],
|
| 582 |
+
"q01": [
|
| 583 |
+
[
|
| 584 |
+
[
|
| 585 |
+
-3.921568627450984e-13
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
[
|
| 589 |
+
[
|
| 590 |
+
0.0855825996691642
|
| 591 |
+
]
|
| 592 |
+
],
|
| 593 |
+
[
|
| 594 |
+
[
|
| 595 |
+
0.09511052217903285
|
| 596 |
+
]
|
| 597 |
+
]
|
| 598 |
+
],
|
| 599 |
+
"q10": [
|
| 600 |
+
[
|
| 601 |
+
[
|
| 602 |
+
-3.921568627450984e-13
|
| 603 |
+
]
|
| 604 |
+
],
|
| 605 |
+
[
|
| 606 |
+
[
|
| 607 |
+
0.12908737919785243
|
| 608 |
+
]
|
| 609 |
+
],
|
| 610 |
+
[
|
| 611 |
+
[
|
| 612 |
+
0.1582419217324625
|
| 613 |
+
]
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"q50": [
|
| 617 |
+
[
|
| 618 |
+
[
|
| 619 |
+
0.7314336661733699
|
| 620 |
+
]
|
| 621 |
+
],
|
| 622 |
+
[
|
| 623 |
+
[
|
| 624 |
+
0.57803933400232
|
| 625 |
+
]
|
| 626 |
+
],
|
| 627 |
+
[
|
| 628 |
+
[
|
| 629 |
+
0.30983691196394697
|
| 630 |
+
]
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"q90": [
|
| 634 |
+
[
|
| 635 |
+
[
|
| 636 |
+
0.8199448280190181
|
| 637 |
+
]
|
| 638 |
+
],
|
| 639 |
+
[
|
| 640 |
+
[
|
| 641 |
+
0.6981385753640595
|
| 642 |
+
]
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
[
|
| 646 |
+
0.5994082509900911
|
| 647 |
+
]
|
| 648 |
+
]
|
| 649 |
+
],
|
| 650 |
+
"q99": [
|
| 651 |
+
[
|
| 652 |
+
[
|
| 653 |
+
0.9278751570006488
|
| 654 |
+
]
|
| 655 |
+
],
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.9235771083401055
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.9234140584944045
|
| 664 |
+
]
|
| 665 |
+
]
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
}
|
close_jar/meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0aba528fe8c05b8fde47b4fef61b473788c056d089fe9259bb6645384027f1c2
|
| 3 |
+
size 2141
|
close_jar/videos/observation.images.front_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:17e70bbd25ab1e2d1c09276f4627a068e82931a7dfe05e38013e97afe1c74f9e
|
| 3 |
+
size 174699410
|
close_jar/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:177d9dbb0807673759f8af02ec80e090ebe78995ecfb69c6a1f570b62c509133
|
| 3 |
+
size 209157754
|
close_jar/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:860bcc8b01453586e5d69b63fd864471dad701300bc968c360e43642f816314d
|
| 3 |
+
size 33933040
|
insert_onto_square_peg/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:68ee18192631d1149056e86d2505c8373e52bbba6a5d85d0a6dc2d87f495deee
|
| 3 |
+
size 1784258
|
insert_onto_square_peg/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c4ee562ec4a75a91281c64895ee03ff67bcef1571c6d95db329e405afbcdab18
|
| 3 |
+
size 468276
|
insert_onto_square_peg/meta/info.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "franka_panda",
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 17626,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 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 |
+
8
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"x",
|
| 25 |
+
"y",
|
| 26 |
+
"z",
|
| 27 |
+
"qx",
|
| 28 |
+
"qy",
|
| 29 |
+
"qz",
|
| 30 |
+
"qw",
|
| 31 |
+
"gripper"
|
| 32 |
+
]
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"action": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
8
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
[
|
| 42 |
+
"dx",
|
| 43 |
+
"dy",
|
| 44 |
+
"dz",
|
| 45 |
+
"qx",
|
| 46 |
+
"qy",
|
| 47 |
+
"qz",
|
| 48 |
+
"qw",
|
| 49 |
+
"gripper"
|
| 50 |
+
]
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"observation.images.front_rgb": {
|
| 54 |
+
"dtype": "video",
|
| 55 |
+
"shape": [
|
| 56 |
+
128,
|
| 57 |
+
128,
|
| 58 |
+
3
|
| 59 |
+
],
|
| 60 |
+
"info": {
|
| 61 |
+
"video.height": 128,
|
| 62 |
+
"video.width": 128,
|
| 63 |
+
"video.codec": "h264",
|
| 64 |
+
"video.pix_fmt": "yuv444p",
|
| 65 |
+
"video.is_depth_map": false,
|
| 66 |
+
"video.fps": 20,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"has_audio": false
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"observation.images.wrist_rgb": {
|
| 72 |
+
"dtype": "video",
|
| 73 |
+
"shape": [
|
| 74 |
+
128,
|
| 75 |
+
128,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"info": {
|
| 79 |
+
"video.height": 128,
|
| 80 |
+
"video.width": 128,
|
| 81 |
+
"video.codec": "h264",
|
| 82 |
+
"video.pix_fmt": "yuv444p",
|
| 83 |
+
"video.is_depth_map": false,
|
| 84 |
+
"video.fps": 20,
|
| 85 |
+
"video.channels": 3,
|
| 86 |
+
"has_audio": false
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"timestamp": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"frame_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
},
|
| 103 |
+
"episode_index": {
|
| 104 |
+
"dtype": "int64",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": null
|
| 109 |
+
},
|
| 110 |
+
"index": {
|
| 111 |
+
"dtype": "int64",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": null
|
| 116 |
+
},
|
| 117 |
+
"task_index": {
|
| 118 |
+
"dtype": "int64",
|
| 119 |
+
"shape": [
|
| 120 |
+
1
|
| 121 |
+
],
|
| 122 |
+
"names": null
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
insert_onto_square_peg/meta/norm_stats.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"dim_labels": [
|
| 4 |
+
"x",
|
| 5 |
+
"y",
|
| 6 |
+
"z",
|
| 7 |
+
"qx",
|
| 8 |
+
"qy",
|
| 9 |
+
"qz",
|
| 10 |
+
"qw",
|
| 11 |
+
"gripper"
|
| 12 |
+
],
|
| 13 |
+
"mean": [
|
| 14 |
+
0.24222557147983645,
|
| 15 |
+
-0.005426309119477946,
|
| 16 |
+
1.0232285785273316,
|
| 17 |
+
0.6100494029137992,
|
| 18 |
+
0.0029795612422883794,
|
| 19 |
+
0.023444153964350286,
|
| 20 |
+
-0.27882324135920084,
|
| 21 |
+
0.4782140022808424
|
| 22 |
+
],
|
| 23 |
+
"std": [
|
| 24 |
+
0.10739481718404127,
|
| 25 |
+
0.13460609058763545,
|
| 26 |
+
0.19812031905693497,
|
| 27 |
+
0.510467468422248,
|
| 28 |
+
0.045759757515678616,
|
| 29 |
+
0.05334004700669535,
|
| 30 |
+
0.5329378186882469,
|
| 31 |
+
0.49952514538199855
|
| 32 |
+
],
|
| 33 |
+
"q01": [
|
| 34 |
+
0.1478072593836155,
|
| 35 |
+
-0.10981472674753029,
|
| 36 |
+
0.7542758958090899,
|
| 37 |
+
-0.015657731117806568,
|
| 38 |
+
-0.02753989201668019,
|
| 39 |
+
-0.025647436397983482,
|
| 40 |
+
-0.8309681104641996,
|
| 41 |
+
-1e-10
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
0.353688414293745,
|
| 45 |
+
0.09891166978603477,
|
| 46 |
+
1.4709687317082893,
|
| 47 |
+
0.996634531617755,
|
| 48 |
+
0.039599550486607925,
|
| 49 |
+
0.12893498394490746,
|
| 50 |
+
0.391609135023967,
|
| 51 |
+
0.9999957195632908
|
| 52 |
+
]
|
| 53 |
+
},
|
| 54 |
+
"action": {
|
| 55 |
+
"dim_labels": [
|
| 56 |
+
"dx",
|
| 57 |
+
"dy",
|
| 58 |
+
"dz",
|
| 59 |
+
"qx",
|
| 60 |
+
"qy",
|
| 61 |
+
"qz",
|
| 62 |
+
"qw",
|
| 63 |
+
"gripper"
|
| 64 |
+
],
|
| 65 |
+
"mean": [
|
| 66 |
+
-0.00013390121125576764,
|
| 67 |
+
2.4520752549864773e-05,
|
| 68 |
+
-0.003355270653160903,
|
| 69 |
+
0.6071014849298504,
|
| 70 |
+
0.0029811394299754062,
|
| 71 |
+
0.02275659447704902,
|
| 72 |
+
-0.28146402779339935,
|
| 73 |
+
0.4782140022808424
|
| 74 |
+
],
|
| 75 |
+
"std": [
|
| 76 |
+
0.0028051568324646468,
|
| 77 |
+
0.0027738024886545328,
|
| 78 |
+
0.007337738776157551,
|
| 79 |
+
0.5111325177867341,
|
| 80 |
+
0.045759667077557534,
|
| 81 |
+
0.052858356300613155,
|
| 82 |
+
0.5343544595135524,
|
| 83 |
+
0.49952514538199855
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-0.005081715989053061,
|
| 87 |
+
-0.0047162363046181505,
|
| 88 |
+
-0.015028110595950744,
|
| 89 |
+
-0.015659591553407962,
|
| 90 |
+
-0.027539758518003752,
|
| 91 |
+
-0.02564771585786018,
|
| 92 |
+
-0.8309452135144756,
|
| 93 |
+
-1e-10
|
| 94 |
+
],
|
| 95 |
+
"q99": [
|
| 96 |
+
0.0042566299943021645,
|
| 97 |
+
0.0038281737968085174,
|
| 98 |
+
0.014110903597569774,
|
| 99 |
+
0.9966320558202382,
|
| 100 |
+
0.03959955379820446,
|
| 101 |
+
0.12850160055325124,
|
| 102 |
+
0.39110477221848744,
|
| 103 |
+
0.9999957195632908
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
}
|
insert_onto_square_peg/meta/stats.json
ADDED
|
@@ -0,0 +1,668 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
0
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
0.0
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
17626
|
| 17 |
+
],
|
| 18 |
+
"q01": [
|
| 19 |
+
3.9999999999994176e-16
|
| 20 |
+
],
|
| 21 |
+
"q10": [
|
| 22 |
+
3.9999999999994166e-15
|
| 23 |
+
],
|
| 24 |
+
"q50": [
|
| 25 |
+
1.9999999999997084e-14
|
| 26 |
+
],
|
| 27 |
+
"q90": [
|
| 28 |
+
3.599999999999475e-14
|
| 29 |
+
],
|
| 30 |
+
"q99": [
|
| 31 |
+
3.959999999999424e-14
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"action": {
|
| 35 |
+
"min": [
|
| 36 |
+
-0.01843501627445221,
|
| 37 |
+
-0.022652320563793182,
|
| 38 |
+
-0.022379159927368164,
|
| 39 |
+
-0.7295117974281311,
|
| 40 |
+
-0.39782804250717163,
|
| 41 |
+
-0.17046356201171875,
|
| 42 |
+
-0.9999997615814209,
|
| 43 |
+
0.0
|
| 44 |
+
],
|
| 45 |
+
"max": [
|
| 46 |
+
0.011050999164581299,
|
| 47 |
+
0.01396072655916214,
|
| 48 |
+
0.024024546146392822,
|
| 49 |
+
0.9999995231628418,
|
| 50 |
+
0.5838053226470947,
|
| 51 |
+
0.48474520444869995,
|
| 52 |
+
0.7609233260154724,
|
| 53 |
+
1.0
|
| 54 |
+
],
|
| 55 |
+
"mean": [
|
| 56 |
+
-0.00013390121125576764,
|
| 57 |
+
2.4520752549864773e-05,
|
| 58 |
+
-0.003355270653160903,
|
| 59 |
+
0.6071014849298504,
|
| 60 |
+
0.0029811394299754062,
|
| 61 |
+
0.02275659447704902,
|
| 62 |
+
-0.28146402779339935,
|
| 63 |
+
0.4782140022808424
|
| 64 |
+
],
|
| 65 |
+
"std": [
|
| 66 |
+
0.0028051568324646468,
|
| 67 |
+
0.0027738024886545328,
|
| 68 |
+
0.007337738776157551,
|
| 69 |
+
0.5111325177867341,
|
| 70 |
+
0.045759667077557534,
|
| 71 |
+
0.052858356300613155,
|
| 72 |
+
0.5343544595135524,
|
| 73 |
+
0.49952514538199855
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
17626
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-0.005081715989053061,
|
| 80 |
+
-0.0047162363046181505,
|
| 81 |
+
-0.015028110595950744,
|
| 82 |
+
-0.015659591553407962,
|
| 83 |
+
-0.027539758518003752,
|
| 84 |
+
-0.02564771585786018,
|
| 85 |
+
-0.8309452135144756,
|
| 86 |
+
-1e-10
|
| 87 |
+
],
|
| 88 |
+
"q10": [
|
| 89 |
+
-0.00365780690720448,
|
| 90 |
+
-0.003066346434107502,
|
| 91 |
+
-0.012855492404886214,
|
| 92 |
+
0.054969176143173266,
|
| 93 |
+
-0.01942860213580395,
|
| 94 |
+
-0.016831710064028577,
|
| 95 |
+
-0.8083027006308514,
|
| 96 |
+
-1e-10
|
| 97 |
+
],
|
| 98 |
+
"q50": [
|
| 99 |
+
1.2764219210755486e-05,
|
| 100 |
+
4.748134871730417e-05,
|
| 101 |
+
-0.0022796967064916936,
|
| 102 |
+
0.7060858569838094,
|
| 103 |
+
0.0010240700542114179,
|
| 104 |
+
0.0009092950558492356,
|
| 105 |
+
-0.3220484572805763,
|
| 106 |
+
0.4054071253346376
|
| 107 |
+
],
|
| 108 |
+
"q90": [
|
| 109 |
+
0.0031836153822282992,
|
| 110 |
+
0.0030047874670615948,
|
| 111 |
+
0.0049986688392303896,
|
| 112 |
+
0.9870637030153352,
|
| 113 |
+
0.032512570011596346,
|
| 114 |
+
0.10559435350534502,
|
| 115 |
+
0.29451786872369085,
|
| 116 |
+
0.999957194732908
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
0.0042566299943021645,
|
| 120 |
+
0.0038281737968085174,
|
| 121 |
+
0.014110903597569774,
|
| 122 |
+
0.9966320558202382,
|
| 123 |
+
0.03959955379820446,
|
| 124 |
+
0.12850160055325124,
|
| 125 |
+
0.39110477221848744,
|
| 126 |
+
0.9999957195632908
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"observation.state": {
|
| 130 |
+
"min": [
|
| 131 |
+
-0.04689260944724083,
|
| 132 |
+
-0.34302783012390137,
|
| 133 |
+
0.752899169921875,
|
| 134 |
+
-0.7295117974281311,
|
| 135 |
+
-0.39782804250717163,
|
| 136 |
+
-0.17046356201171875,
|
| 137 |
+
-0.9999997615814209,
|
| 138 |
+
0.0
|
| 139 |
+
],
|
| 140 |
+
"max": [
|
| 141 |
+
0.4969332218170166,
|
| 142 |
+
0.33611512184143066,
|
| 143 |
+
1.4759531021118164,
|
| 144 |
+
0.9999995231628418,
|
| 145 |
+
0.5838053226470947,
|
| 146 |
+
0.48474520444869995,
|
| 147 |
+
0.7609233260154724,
|
| 148 |
+
1.0
|
| 149 |
+
],
|
| 150 |
+
"mean": [
|
| 151 |
+
0.24222557147983645,
|
| 152 |
+
-0.005426309119477946,
|
| 153 |
+
1.0232285785273316,
|
| 154 |
+
0.6100494029137992,
|
| 155 |
+
0.0029795612422883794,
|
| 156 |
+
0.023444153964350286,
|
| 157 |
+
-0.27882324135920084,
|
| 158 |
+
0.4782140022808424
|
| 159 |
+
],
|
| 160 |
+
"std": [
|
| 161 |
+
0.10739481718404127,
|
| 162 |
+
0.13460609058763545,
|
| 163 |
+
0.19812031905693497,
|
| 164 |
+
0.510467468422248,
|
| 165 |
+
0.045759757515678616,
|
| 166 |
+
0.05334004700669535,
|
| 167 |
+
0.5329378186882469,
|
| 168 |
+
0.49952514538199855
|
| 169 |
+
],
|
| 170 |
+
"count": [
|
| 171 |
+
17626
|
| 172 |
+
],
|
| 173 |
+
"q01": [
|
| 174 |
+
0.1478072593836155,
|
| 175 |
+
-0.10981472674753029,
|
| 176 |
+
0.7542758958090899,
|
| 177 |
+
-0.015657731117806568,
|
| 178 |
+
-0.02753989201668019,
|
| 179 |
+
-0.025647436397983482,
|
| 180 |
+
-0.8309681104641996,
|
| 181 |
+
-1e-10
|
| 182 |
+
],
|
| 183 |
+
"q10": [
|
| 184 |
+
0.15021070495104435,
|
| 185 |
+
-0.09503452996538742,
|
| 186 |
+
0.818799352462554,
|
| 187 |
+
0.059554482291487125,
|
| 188 |
+
-0.019430859963637435,
|
| 189 |
+
-0.01683083868196192,
|
| 190 |
+
-0.8055048274980275,
|
| 191 |
+
-1e-10
|
| 192 |
+
],
|
| 193 |
+
"q50": [
|
| 194 |
+
0.2390543067887938,
|
| 195 |
+
-0.00932413707359183,
|
| 196 |
+
0.9685542275240978,
|
| 197 |
+
0.7084428357948418,
|
| 198 |
+
0.0010239696493490737,
|
| 199 |
+
0.0010303364811977305,
|
| 200 |
+
-0.3197480384826658,
|
| 201 |
+
0.4054071253346376
|
| 202 |
+
],
|
| 203 |
+
"q90": [
|
| 204 |
+
0.34127520068383316,
|
| 205 |
+
0.08849922149930499,
|
| 206 |
+
1.378421455263551,
|
| 207 |
+
0.9879457562774902,
|
| 208 |
+
0.03250753381420311,
|
| 209 |
+
0.1072514400693423,
|
| 210 |
+
0.29620796313117476,
|
| 211 |
+
0.999957194732908
|
| 212 |
+
],
|
| 213 |
+
"q99": [
|
| 214 |
+
0.353688414293745,
|
| 215 |
+
0.09891166978603477,
|
| 216 |
+
1.4709687317082893,
|
| 217 |
+
0.996634531617755,
|
| 218 |
+
0.039599550486607925,
|
| 219 |
+
0.12893498394490746,
|
| 220 |
+
0.391609135023967,
|
| 221 |
+
0.9999957195632908
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"episode_index": {
|
| 225 |
+
"min": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"max": [
|
| 229 |
+
99
|
| 230 |
+
],
|
| 231 |
+
"mean": [
|
| 232 |
+
50.166855781232265
|
| 233 |
+
],
|
| 234 |
+
"std": [
|
| 235 |
+
29.249408067502788
|
| 236 |
+
],
|
| 237 |
+
"count": [
|
| 238 |
+
17626
|
| 239 |
+
],
|
| 240 |
+
"q01": [
|
| 241 |
+
50.166855781232265
|
| 242 |
+
],
|
| 243 |
+
"q10": [
|
| 244 |
+
50.166855781232265
|
| 245 |
+
],
|
| 246 |
+
"q50": [
|
| 247 |
+
50.166855781232265
|
| 248 |
+
],
|
| 249 |
+
"q90": [
|
| 250 |
+
50.166855781232286
|
| 251 |
+
],
|
| 252 |
+
"q99": [
|
| 253 |
+
50.16685578123229
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"frame_index": {
|
| 257 |
+
"min": [
|
| 258 |
+
0
|
| 259 |
+
],
|
| 260 |
+
"max": [
|
| 261 |
+
289
|
| 262 |
+
],
|
| 263 |
+
"mean": [
|
| 264 |
+
91.59627822534891
|
| 265 |
+
],
|
| 266 |
+
"std": [
|
| 267 |
+
57.665741530613126
|
| 268 |
+
],
|
| 269 |
+
"count": [
|
| 270 |
+
17626
|
| 271 |
+
],
|
| 272 |
+
"q01": [
|
| 273 |
+
1.3579254355079542
|
| 274 |
+
],
|
| 275 |
+
"q10": [
|
| 276 |
+
17.840882791250447
|
| 277 |
+
],
|
| 278 |
+
"q50": [
|
| 279 |
+
91.3076803358671
|
| 280 |
+
],
|
| 281 |
+
"q90": [
|
| 282 |
+
165.26540723484737
|
| 283 |
+
],
|
| 284 |
+
"q99": [
|
| 285 |
+
181.8346310151898
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"index": {
|
| 289 |
+
"min": [
|
| 290 |
+
0
|
| 291 |
+
],
|
| 292 |
+
"max": [
|
| 293 |
+
17625
|
| 294 |
+
],
|
| 295 |
+
"mean": [
|
| 296 |
+
8812.5
|
| 297 |
+
],
|
| 298 |
+
"std": [
|
| 299 |
+
5088.187914179271
|
| 300 |
+
],
|
| 301 |
+
"count": [
|
| 302 |
+
17626
|
| 303 |
+
],
|
| 304 |
+
"q01": [
|
| 305 |
+
8722.26164721016
|
| 306 |
+
],
|
| 307 |
+
"q10": [
|
| 308 |
+
8738.744604565898
|
| 309 |
+
],
|
| 310 |
+
"q50": [
|
| 311 |
+
8812.211402110517
|
| 312 |
+
],
|
| 313 |
+
"q90": [
|
| 314 |
+
8886.1691290095
|
| 315 |
+
],
|
| 316 |
+
"q99": [
|
| 317 |
+
8902.73835278984
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"timestamp": {
|
| 321 |
+
"min": [
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
+
"max": [
|
| 325 |
+
14.45
|
| 326 |
+
],
|
| 327 |
+
"mean": [
|
| 328 |
+
4.579813911267447
|
| 329 |
+
],
|
| 330 |
+
"std": [
|
| 331 |
+
2.8832870765306566
|
| 332 |
+
],
|
| 333 |
+
"count": [
|
| 334 |
+
17626
|
| 335 |
+
],
|
| 336 |
+
"q01": [
|
| 337 |
+
0.06789627168178841
|
| 338 |
+
],
|
| 339 |
+
"q10": [
|
| 340 |
+
0.892044139486011
|
| 341 |
+
],
|
| 342 |
+
"q50": [
|
| 343 |
+
4.565372817428483
|
| 344 |
+
],
|
| 345 |
+
"q90": [
|
| 346 |
+
8.263270361818794
|
| 347 |
+
],
|
| 348 |
+
"q99": [
|
| 349 |
+
9.09173155085311
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"observation.images.wrist_rgb": {
|
| 353 |
+
"min": [
|
| 354 |
+
[
|
| 355 |
+
[
|
| 356 |
+
0.0
|
| 357 |
+
]
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
[
|
| 361 |
+
0.0
|
| 362 |
+
]
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
[
|
| 366 |
+
0.0
|
| 367 |
+
]
|
| 368 |
+
]
|
| 369 |
+
],
|
| 370 |
+
"max": [
|
| 371 |
+
[
|
| 372 |
+
[
|
| 373 |
+
1.0
|
| 374 |
+
]
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
[
|
| 378 |
+
1.0
|
| 379 |
+
]
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
[
|
| 383 |
+
1.0
|
| 384 |
+
]
|
| 385 |
+
]
|
| 386 |
+
],
|
| 387 |
+
"mean": [
|
| 388 |
+
[
|
| 389 |
+
[
|
| 390 |
+
0.6979782091327744
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
[
|
| 394 |
+
[
|
| 395 |
+
0.6068190326765472
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
[
|
| 400 |
+
0.396395476696538
|
| 401 |
+
]
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"std": [
|
| 405 |
+
[
|
| 406 |
+
[
|
| 407 |
+
0.015179091396316027
|
| 408 |
+
]
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
[
|
| 412 |
+
0.011225809289465722
|
| 413 |
+
]
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
[
|
| 417 |
+
0.009598163005555113
|
| 418 |
+
]
|
| 419 |
+
]
|
| 420 |
+
],
|
| 421 |
+
"count": [
|
| 422 |
+
10000
|
| 423 |
+
],
|
| 424 |
+
"q01": [
|
| 425 |
+
[
|
| 426 |
+
[
|
| 427 |
+
0.0410011816810794
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
[
|
| 432 |
+
0.037675218627620174
|
| 433 |
+
]
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
[
|
| 437 |
+
0.042531251881535705
|
| 438 |
+
]
|
| 439 |
+
]
|
| 440 |
+
],
|
| 441 |
+
"q10": [
|
| 442 |
+
[
|
| 443 |
+
[
|
| 444 |
+
0.3273890609454174
|
| 445 |
+
]
|
| 446 |
+
],
|
| 447 |
+
[
|
| 448 |
+
[
|
| 449 |
+
0.46228422017654064
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
[
|
| 454 |
+
0.30227636763477017
|
| 455 |
+
]
|
| 456 |
+
]
|
| 457 |
+
],
|
| 458 |
+
"q50": [
|
| 459 |
+
[
|
| 460 |
+
[
|
| 461 |
+
0.796921302383697
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
[
|
| 466 |
+
0.6476449434337688
|
| 467 |
+
]
|
| 468 |
+
],
|
| 469 |
+
[
|
| 470 |
+
[
|
| 471 |
+
0.37371397529488287
|
| 472 |
+
]
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"q90": [
|
| 476 |
+
[
|
| 477 |
+
[
|
| 478 |
+
0.8316167917742485
|
| 479 |
+
]
|
| 480 |
+
],
|
| 481 |
+
[
|
| 482 |
+
[
|
| 483 |
+
0.7196300769064436
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
[
|
| 488 |
+
0.46153458250214446
|
| 489 |
+
]
|
| 490 |
+
]
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
[
|
| 494 |
+
[
|
| 495 |
+
0.8584688656398559
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.8550852459596997
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.9999662159098783
|
| 506 |
+
]
|
| 507 |
+
]
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"observation.images.front_rgb": {
|
| 511 |
+
"min": [
|
| 512 |
+
[
|
| 513 |
+
[
|
| 514 |
+
0.0
|
| 515 |
+
]
|
| 516 |
+
],
|
| 517 |
+
[
|
| 518 |
+
[
|
| 519 |
+
0.0
|
| 520 |
+
]
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
[
|
| 524 |
+
0.0
|
| 525 |
+
]
|
| 526 |
+
]
|
| 527 |
+
],
|
| 528 |
+
"max": [
|
| 529 |
+
[
|
| 530 |
+
[
|
| 531 |
+
1.0
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
[
|
| 535 |
+
[
|
| 536 |
+
1.0
|
| 537 |
+
]
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
[
|
| 541 |
+
1.0
|
| 542 |
+
]
|
| 543 |
+
]
|
| 544 |
+
],
|
| 545 |
+
"mean": [
|
| 546 |
+
[
|
| 547 |
+
[
|
| 548 |
+
0.46668867764342065
|
| 549 |
+
]
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
[
|
| 553 |
+
0.4514131069766775
|
| 554 |
+
]
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
[
|
| 558 |
+
0.3275564216883043
|
| 559 |
+
]
|
| 560 |
+
]
|
| 561 |
+
],
|
| 562 |
+
"std": [
|
| 563 |
+
[
|
| 564 |
+
[
|
| 565 |
+
0.005480076748912177
|
| 566 |
+
]
|
| 567 |
+
],
|
| 568 |
+
[
|
| 569 |
+
[
|
| 570 |
+
0.003668733393881622
|
| 571 |
+
]
|
| 572 |
+
],
|
| 573 |
+
[
|
| 574 |
+
[
|
| 575 |
+
0.003348158137482583
|
| 576 |
+
]
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
"count": [
|
| 580 |
+
10000
|
| 581 |
+
],
|
| 582 |
+
"q01": [
|
| 583 |
+
[
|
| 584 |
+
[
|
| 585 |
+
-3.921568627450984e-13
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
[
|
| 589 |
+
[
|
| 590 |
+
0.07991255338629592
|
| 591 |
+
]
|
| 592 |
+
],
|
| 593 |
+
[
|
| 594 |
+
[
|
| 595 |
+
0.10310630107988289
|
| 596 |
+
]
|
| 597 |
+
]
|
| 598 |
+
],
|
| 599 |
+
"q10": [
|
| 600 |
+
[
|
| 601 |
+
[
|
| 602 |
+
-3.921568627450984e-13
|
| 603 |
+
]
|
| 604 |
+
],
|
| 605 |
+
[
|
| 606 |
+
[
|
| 607 |
+
0.12884302656961527
|
| 608 |
+
]
|
| 609 |
+
],
|
| 610 |
+
[
|
| 611 |
+
[
|
| 612 |
+
0.15878022810793083
|
| 613 |
+
]
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"q50": [
|
| 617 |
+
[
|
| 618 |
+
[
|
| 619 |
+
0.7171416541867873
|
| 620 |
+
]
|
| 621 |
+
],
|
| 622 |
+
[
|
| 623 |
+
[
|
| 624 |
+
0.5740983666742444
|
| 625 |
+
]
|
| 626 |
+
],
|
| 627 |
+
[
|
| 628 |
+
[
|
| 629 |
+
0.3050931535519159
|
| 630 |
+
]
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"q90": [
|
| 634 |
+
[
|
| 635 |
+
[
|
| 636 |
+
0.8197444435880072
|
| 637 |
+
]
|
| 638 |
+
],
|
| 639 |
+
[
|
| 640 |
+
[
|
| 641 |
+
0.6967672251138408
|
| 642 |
+
]
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
[
|
| 646 |
+
0.5913534719026741
|
| 647 |
+
]
|
| 648 |
+
]
|
| 649 |
+
],
|
| 650 |
+
"q99": [
|
| 651 |
+
[
|
| 652 |
+
[
|
| 653 |
+
0.9229832869406704
|
| 654 |
+
]
|
| 655 |
+
],
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.9189338825772111
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.928834201076669
|
| 664 |
+
]
|
| 665 |
+
]
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
}
|
insert_onto_square_peg/meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2d05bd87d7bf2fdb9d789185955ba43645e3c4261843daeddff6660ed68adc84
|
| 3 |
+
size 2206
|
insert_onto_square_peg/videos/observation.images.front_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dca07a549ee664bef226cc1b325ec51ac45cdd8a50c44452a8617264c27df20b
|
| 3 |
+
size 182599698
|
insert_onto_square_peg/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:45eb383fff2d5b3151fe93881287e7ec323b20cc7a07bdf84cfca1ae8ee44b5c
|
| 3 |
+
size 208768350
|
insert_onto_square_peg/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ee88b89b8af281f152ce5468c7f880d07050e3c8b9db692907393e9ec8d28c9b
|
| 3 |
+
size 51025051
|
light_bulb_in/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:90ba8559fb4111c5a7f81436700910bd9903a56c4f78b97d976608abc413e071
|
| 3 |
+
size 2344335
|
light_bulb_in/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:26a25616ecfcabf38a95fa138f4d7bb79b61797fff982e5ae01406c36de75942
|
| 3 |
+
size 466770
|
light_bulb_in/meta/info.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "franka_panda",
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 23595,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 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 |
+
8
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"x",
|
| 25 |
+
"y",
|
| 26 |
+
"z",
|
| 27 |
+
"qx",
|
| 28 |
+
"qy",
|
| 29 |
+
"qz",
|
| 30 |
+
"qw",
|
| 31 |
+
"gripper"
|
| 32 |
+
]
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"action": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
8
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
[
|
| 42 |
+
"dx",
|
| 43 |
+
"dy",
|
| 44 |
+
"dz",
|
| 45 |
+
"qx",
|
| 46 |
+
"qy",
|
| 47 |
+
"qz",
|
| 48 |
+
"qw",
|
| 49 |
+
"gripper"
|
| 50 |
+
]
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"observation.images.front_rgb": {
|
| 54 |
+
"dtype": "video",
|
| 55 |
+
"shape": [
|
| 56 |
+
128,
|
| 57 |
+
128,
|
| 58 |
+
3
|
| 59 |
+
],
|
| 60 |
+
"info": {
|
| 61 |
+
"video.height": 128,
|
| 62 |
+
"video.width": 128,
|
| 63 |
+
"video.codec": "h264",
|
| 64 |
+
"video.pix_fmt": "yuv444p",
|
| 65 |
+
"video.is_depth_map": false,
|
| 66 |
+
"video.fps": 20,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"has_audio": false
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"observation.images.wrist_rgb": {
|
| 72 |
+
"dtype": "video",
|
| 73 |
+
"shape": [
|
| 74 |
+
128,
|
| 75 |
+
128,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"info": {
|
| 79 |
+
"video.height": 128,
|
| 80 |
+
"video.width": 128,
|
| 81 |
+
"video.codec": "h264",
|
| 82 |
+
"video.pix_fmt": "yuv444p",
|
| 83 |
+
"video.is_depth_map": false,
|
| 84 |
+
"video.fps": 20,
|
| 85 |
+
"video.channels": 3,
|
| 86 |
+
"has_audio": false
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"timestamp": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"frame_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
},
|
| 103 |
+
"episode_index": {
|
| 104 |
+
"dtype": "int64",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": null
|
| 109 |
+
},
|
| 110 |
+
"index": {
|
| 111 |
+
"dtype": "int64",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": null
|
| 116 |
+
},
|
| 117 |
+
"task_index": {
|
| 118 |
+
"dtype": "int64",
|
| 119 |
+
"shape": [
|
| 120 |
+
1
|
| 121 |
+
],
|
| 122 |
+
"names": null
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
light_bulb_in/meta/norm_stats.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"dim_labels": [
|
| 4 |
+
"x",
|
| 5 |
+
"y",
|
| 6 |
+
"z",
|
| 7 |
+
"qx",
|
| 8 |
+
"qy",
|
| 9 |
+
"qz",
|
| 10 |
+
"qw",
|
| 11 |
+
"gripper"
|
| 12 |
+
],
|
| 13 |
+
"mean": [
|
| 14 |
+
0.25974225886773944,
|
| 15 |
+
-0.024383487622899932,
|
| 16 |
+
1.1292613800210096,
|
| 17 |
+
0.5778279180874333,
|
| 18 |
+
-0.0004310608204640768,
|
| 19 |
+
0.015567378538342377,
|
| 20 |
+
-0.4716610302085668,
|
| 21 |
+
0.4430599721351097
|
| 22 |
+
],
|
| 23 |
+
"std": [
|
| 24 |
+
0.0901259515893533,
|
| 25 |
+
0.16697495920553426,
|
| 26 |
+
0.14605140304272451,
|
| 27 |
+
0.467882079765394,
|
| 28 |
+
0.034219744326893675,
|
| 29 |
+
0.05136148377302425,
|
| 30 |
+
0.4697719357224444,
|
| 31 |
+
0.49674725146067156
|
| 32 |
+
],
|
| 33 |
+
"q01": [
|
| 34 |
+
0.18905177694694866,
|
| 35 |
+
-0.16359950086762123,
|
| 36 |
+
0.829980644248138,
|
| 37 |
+
-0.19387238035651586,
|
| 38 |
+
-0.03643514036857592,
|
| 39 |
+
-0.038633729353690714,
|
| 40 |
+
-0.9955783388568895,
|
| 41 |
+
-1.0000000000000006e-10
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
0.3427239527344391,
|
| 45 |
+
0.13582416580858384,
|
| 46 |
+
1.4723239006813003,
|
| 47 |
+
0.9983467179744795,
|
| 48 |
+
0.0261085030224032,
|
| 49 |
+
0.13173833265211102,
|
| 50 |
+
0.23690498218484604,
|
| 51 |
+
0.9999953511158651
|
| 52 |
+
]
|
| 53 |
+
},
|
| 54 |
+
"action": {
|
| 55 |
+
"dim_labels": [
|
| 56 |
+
"dx",
|
| 57 |
+
"dy",
|
| 58 |
+
"dz",
|
| 59 |
+
"qx",
|
| 60 |
+
"qy",
|
| 61 |
+
"qz",
|
| 62 |
+
"qw",
|
| 63 |
+
"gripper"
|
| 64 |
+
],
|
| 65 |
+
"mean": [
|
| 66 |
+
-0.00011511709050274762,
|
| 67 |
+
-5.4481525280490664e-06,
|
| 68 |
+
-0.0012876359470351236,
|
| 69 |
+
0.5757277116391033,
|
| 70 |
+
-0.00042899479062327744,
|
| 71 |
+
0.015052826701706658,
|
| 72 |
+
-0.47375327208507473,
|
| 73 |
+
0.4430599721351097
|
| 74 |
+
],
|
| 75 |
+
"std": [
|
| 76 |
+
0.0020953805950599006,
|
| 77 |
+
0.004674818118701941,
|
| 78 |
+
0.007258026137296492,
|
| 79 |
+
0.46827731671370965,
|
| 80 |
+
0.034219872618837965,
|
| 81 |
+
0.050909932181648854,
|
| 82 |
+
0.4699173005364313,
|
| 83 |
+
0.49674725146067156
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-0.00459556438895302,
|
| 87 |
+
-0.010902868066216277,
|
| 88 |
+
-0.016708644581092787,
|
| 89 |
+
-0.19387217326796058,
|
| 90 |
+
-0.036437354438866656,
|
| 91 |
+
-0.03866819539880284,
|
| 92 |
+
-0.9957855060187921,
|
| 93 |
+
-1.0000000000000006e-10
|
| 94 |
+
],
|
| 95 |
+
"q99": [
|
| 96 |
+
0.004862206585537092,
|
| 97 |
+
0.012742890039776463,
|
| 98 |
+
0.016048253456024716,
|
| 99 |
+
0.9984340747065046,
|
| 100 |
+
0.026117546968010715,
|
| 101 |
+
0.1312643468484815,
|
| 102 |
+
0.23803033191672282,
|
| 103 |
+
0.9999953511158651
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
}
|
light_bulb_in/meta/stats.json
ADDED
|
@@ -0,0 +1,668 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
0
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
0.0
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
23595
|
| 17 |
+
],
|
| 18 |
+
"q01": [
|
| 19 |
+
3.999999999999418e-16
|
| 20 |
+
],
|
| 21 |
+
"q10": [
|
| 22 |
+
3.999999999999417e-15
|
| 23 |
+
],
|
| 24 |
+
"q50": [
|
| 25 |
+
1.9999999999997084e-14
|
| 26 |
+
],
|
| 27 |
+
"q90": [
|
| 28 |
+
3.5999999999994766e-14
|
| 29 |
+
],
|
| 30 |
+
"q99": [
|
| 31 |
+
3.959999999999423e-14
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"action": {
|
| 35 |
+
"min": [
|
| 36 |
+
-0.018189631402492523,
|
| 37 |
+
-0.03363725543022156,
|
| 38 |
+
-0.04213607311248779,
|
| 39 |
+
-0.7591075897216797,
|
| 40 |
+
-0.5041319727897644,
|
| 41 |
+
-0.29611673951148987,
|
| 42 |
+
-0.9999996423721313,
|
| 43 |
+
0.0
|
| 44 |
+
],
|
| 45 |
+
"max": [
|
| 46 |
+
0.019932806491851807,
|
| 47 |
+
0.036160293966531754,
|
| 48 |
+
0.02295893430709839,
|
| 49 |
+
0.9999998807907104,
|
| 50 |
+
0.2506628930568695,
|
| 51 |
+
0.35339662432670593,
|
| 52 |
+
0.7559188604354858,
|
| 53 |
+
1.0
|
| 54 |
+
],
|
| 55 |
+
"mean": [
|
| 56 |
+
-0.00011511709050274762,
|
| 57 |
+
-5.4481525280490664e-06,
|
| 58 |
+
-0.0012876359470351236,
|
| 59 |
+
0.5757277116391033,
|
| 60 |
+
-0.00042899479062327744,
|
| 61 |
+
0.015052826701706658,
|
| 62 |
+
-0.47375327208507473,
|
| 63 |
+
0.4430599721351097
|
| 64 |
+
],
|
| 65 |
+
"std": [
|
| 66 |
+
0.0020953805950599006,
|
| 67 |
+
0.004674818118701941,
|
| 68 |
+
0.007258026137296492,
|
| 69 |
+
0.46827731671370965,
|
| 70 |
+
0.034219872618837965,
|
| 71 |
+
0.050909932181648854,
|
| 72 |
+
0.4699173005364313,
|
| 73 |
+
0.49674725146067156
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
23595
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-0.00459556438895302,
|
| 80 |
+
-0.010902868066216277,
|
| 81 |
+
-0.016708644581092787,
|
| 82 |
+
-0.19387217326796058,
|
| 83 |
+
-0.036437354438866656,
|
| 84 |
+
-0.03866819539880284,
|
| 85 |
+
-0.9957855060187921,
|
| 86 |
+
-1.0000000000000006e-10
|
| 87 |
+
],
|
| 88 |
+
"q10": [
|
| 89 |
+
-0.002408576435612121,
|
| 90 |
+
-0.0026701604543755857,
|
| 91 |
+
-0.010600144826576296,
|
| 92 |
+
-0.04459450739578597,
|
| 93 |
+
-0.021498576536389338,
|
| 94 |
+
-0.025641228309694297,
|
| 95 |
+
-0.9658010797983071,
|
| 96 |
+
-1.0000000000000006e-10
|
| 97 |
+
],
|
| 98 |
+
"q50": [
|
| 99 |
+
-1.4665489304475583e-05,
|
| 100 |
+
1.36566764860283e-06,
|
| 101 |
+
-0.00046661239088684653,
|
| 102 |
+
0.670336017157242,
|
| 103 |
+
0.0004338026619374456,
|
| 104 |
+
-0.00017533913590947787,
|
| 105 |
+
-0.48928655098790913,
|
| 106 |
+
0.15047118580633803
|
| 107 |
+
],
|
| 108 |
+
"q90": [
|
| 109 |
+
0.00204660838236962,
|
| 110 |
+
0.0024065057332950026,
|
| 111 |
+
0.008812141467913868,
|
| 112 |
+
0.9898479720778961,
|
| 113 |
+
0.017139716556877873,
|
| 114 |
+
0.09003683135843284,
|
| 115 |
+
0.04865153890352613,
|
| 116 |
+
0.9999535102586542
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
0.004862206585537092,
|
| 120 |
+
0.012742890039776463,
|
| 121 |
+
0.016048253456024716,
|
| 122 |
+
0.9984340747065046,
|
| 123 |
+
0.026117546968010715,
|
| 124 |
+
0.1312643468484815,
|
| 125 |
+
0.23803033191672282,
|
| 126 |
+
0.9999953511158651
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"observation.state": {
|
| 130 |
+
"min": [
|
| 131 |
+
0.01659664697945118,
|
| 132 |
+
-0.3613700270652771,
|
| 133 |
+
0.8298463225364685,
|
| 134 |
+
-0.7591075897216797,
|
| 135 |
+
-0.5041319727897644,
|
| 136 |
+
-0.29611673951148987,
|
| 137 |
+
-0.9999996423721313,
|
| 138 |
+
0.0
|
| 139 |
+
],
|
| 140 |
+
"max": [
|
| 141 |
+
0.5138577818870544,
|
| 142 |
+
0.38179123401641846,
|
| 143 |
+
1.6256088018417358,
|
| 144 |
+
0.9999998807907104,
|
| 145 |
+
0.2506628930568695,
|
| 146 |
+
0.35339662432670593,
|
| 147 |
+
0.7559188604354858,
|
| 148 |
+
1.0
|
| 149 |
+
],
|
| 150 |
+
"mean": [
|
| 151 |
+
0.25974225886773944,
|
| 152 |
+
-0.024383487622899932,
|
| 153 |
+
1.1292613800210096,
|
| 154 |
+
0.5778279180874333,
|
| 155 |
+
-0.0004310608204640768,
|
| 156 |
+
0.015567378538342377,
|
| 157 |
+
-0.4716610302085668,
|
| 158 |
+
0.4430599721351097
|
| 159 |
+
],
|
| 160 |
+
"std": [
|
| 161 |
+
0.0901259515893533,
|
| 162 |
+
0.16697495920553426,
|
| 163 |
+
0.14605140304272451,
|
| 164 |
+
0.467882079765394,
|
| 165 |
+
0.034219744326893675,
|
| 166 |
+
0.05136148377302425,
|
| 167 |
+
0.4697719357224444,
|
| 168 |
+
0.49674725146067156
|
| 169 |
+
],
|
| 170 |
+
"count": [
|
| 171 |
+
23595
|
| 172 |
+
],
|
| 173 |
+
"q01": [
|
| 174 |
+
0.18905177694694866,
|
| 175 |
+
-0.16359950086762123,
|
| 176 |
+
0.829980644248138,
|
| 177 |
+
-0.19387238035651586,
|
| 178 |
+
-0.03643514036857592,
|
| 179 |
+
-0.038633729353690714,
|
| 180 |
+
-0.9955783388568895,
|
| 181 |
+
-1.0000000000000006e-10
|
| 182 |
+
],
|
| 183 |
+
"q10": [
|
| 184 |
+
0.20329534291140575,
|
| 185 |
+
-0.15413605654273663,
|
| 186 |
+
0.935935412037687,
|
| 187 |
+
-0.041363654445426036,
|
| 188 |
+
-0.02149808236536762,
|
| 189 |
+
-0.02563654870117948,
|
| 190 |
+
-0.9647458155921147,
|
| 191 |
+
-1.0000000000000006e-10
|
| 192 |
+
],
|
| 193 |
+
"q50": [
|
| 194 |
+
0.25908379463617637,
|
| 195 |
+
-0.06188334268009187,
|
| 196 |
+
1.123207163805719,
|
| 197 |
+
0.6707044768119813,
|
| 198 |
+
0.00043234245674002487,
|
| 199 |
+
-0.00016882691723040658,
|
| 200 |
+
-0.48919474917396116,
|
| 201 |
+
0.15047118580633803
|
| 202 |
+
],
|
| 203 |
+
"q90": [
|
| 204 |
+
0.32550330874482,
|
| 205 |
+
0.12300979619979616,
|
| 206 |
+
1.3417777190960993,
|
| 207 |
+
0.9898695904052198,
|
| 208 |
+
0.01713426578043978,
|
| 209 |
+
0.0921297911127331,
|
| 210 |
+
0.04871741163562621,
|
| 211 |
+
0.9999535102586542
|
| 212 |
+
],
|
| 213 |
+
"q99": [
|
| 214 |
+
0.3427239527344391,
|
| 215 |
+
0.13582416580858384,
|
| 216 |
+
1.4723239006813003,
|
| 217 |
+
0.9983467179744795,
|
| 218 |
+
0.0261085030224032,
|
| 219 |
+
0.13173833265211102,
|
| 220 |
+
0.23690498218484604,
|
| 221 |
+
0.9999953511158651
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"episode_index": {
|
| 225 |
+
"min": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"max": [
|
| 229 |
+
99
|
| 230 |
+
],
|
| 231 |
+
"mean": [
|
| 232 |
+
49.89688493324857
|
| 233 |
+
],
|
| 234 |
+
"std": [
|
| 235 |
+
29.07245052577695
|
| 236 |
+
],
|
| 237 |
+
"count": [
|
| 238 |
+
23595
|
| 239 |
+
],
|
| 240 |
+
"q01": [
|
| 241 |
+
49.89688493324857
|
| 242 |
+
],
|
| 243 |
+
"q10": [
|
| 244 |
+
49.89688493324857
|
| 245 |
+
],
|
| 246 |
+
"q50": [
|
| 247 |
+
49.8968849332486
|
| 248 |
+
],
|
| 249 |
+
"q90": [
|
| 250 |
+
49.8968849332486
|
| 251 |
+
],
|
| 252 |
+
"q99": [
|
| 253 |
+
49.8968849332486
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"frame_index": {
|
| 257 |
+
"min": [
|
| 258 |
+
0
|
| 259 |
+
],
|
| 260 |
+
"max": [
|
| 261 |
+
357
|
| 262 |
+
],
|
| 263 |
+
"mean": [
|
| 264 |
+
120.26641237550328
|
| 265 |
+
],
|
| 266 |
+
"std": [
|
| 267 |
+
73.28643764324522
|
| 268 |
+
],
|
| 269 |
+
"count": [
|
| 270 |
+
23595
|
| 271 |
+
],
|
| 272 |
+
"q01": [
|
| 273 |
+
1.993950220202553
|
| 274 |
+
],
|
| 275 |
+
"q10": [
|
| 276 |
+
23.613085657050362
|
| 277 |
+
],
|
| 278 |
+
"q50": [
|
| 279 |
+
120.02227107437994
|
| 280 |
+
],
|
| 281 |
+
"q90": [
|
| 282 |
+
216.79800694731495
|
| 283 |
+
],
|
| 284 |
+
"q99": [
|
| 285 |
+
238.5226812695199
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"index": {
|
| 289 |
+
"min": [
|
| 290 |
+
0
|
| 291 |
+
],
|
| 292 |
+
"max": [
|
| 293 |
+
23594
|
| 294 |
+
],
|
| 295 |
+
"mean": [
|
| 296 |
+
11797.0
|
| 297 |
+
],
|
| 298 |
+
"std": [
|
| 299 |
+
6811.289794647314
|
| 300 |
+
],
|
| 301 |
+
"count": [
|
| 302 |
+
23595
|
| 303 |
+
],
|
| 304 |
+
"q01": [
|
| 305 |
+
11678.727537844696
|
| 306 |
+
],
|
| 307 |
+
"q10": [
|
| 308 |
+
11700.346673281549
|
| 309 |
+
],
|
| 310 |
+
"q50": [
|
| 311 |
+
11796.755858698876
|
| 312 |
+
],
|
| 313 |
+
"q90": [
|
| 314 |
+
11893.531594571808
|
| 315 |
+
],
|
| 316 |
+
"q99": [
|
| 317 |
+
11915.256268894016
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"timestamp": {
|
| 321 |
+
"min": [
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
+
"max": [
|
| 325 |
+
17.85
|
| 326 |
+
],
|
| 327 |
+
"mean": [
|
| 328 |
+
6.013320618775165
|
| 329 |
+
],
|
| 330 |
+
"std": [
|
| 331 |
+
3.664321882162262
|
| 332 |
+
],
|
| 333 |
+
"count": [
|
| 334 |
+
23595
|
| 335 |
+
],
|
| 336 |
+
"q01": [
|
| 337 |
+
0.0996975109166869
|
| 338 |
+
],
|
| 339 |
+
"q10": [
|
| 340 |
+
1.1806542827761626
|
| 341 |
+
],
|
| 342 |
+
"q50": [
|
| 343 |
+
6.001056820512613
|
| 344 |
+
],
|
| 345 |
+
"q90": [
|
| 346 |
+
10.839900347441995
|
| 347 |
+
],
|
| 348 |
+
"q99": [
|
| 349 |
+
11.926134063569412
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"observation.images.wrist_rgb": {
|
| 353 |
+
"min": [
|
| 354 |
+
[
|
| 355 |
+
[
|
| 356 |
+
0.0
|
| 357 |
+
]
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
[
|
| 361 |
+
0.0
|
| 362 |
+
]
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
[
|
| 366 |
+
0.0
|
| 367 |
+
]
|
| 368 |
+
]
|
| 369 |
+
],
|
| 370 |
+
"max": [
|
| 371 |
+
[
|
| 372 |
+
[
|
| 373 |
+
1.0
|
| 374 |
+
]
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
[
|
| 378 |
+
1.0
|
| 379 |
+
]
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
[
|
| 383 |
+
1.0
|
| 384 |
+
]
|
| 385 |
+
]
|
| 386 |
+
],
|
| 387 |
+
"mean": [
|
| 388 |
+
[
|
| 389 |
+
[
|
| 390 |
+
0.7486841044586781
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
[
|
| 394 |
+
[
|
| 395 |
+
0.6382719606167665
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
[
|
| 400 |
+
0.4349245753149893
|
| 401 |
+
]
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"std": [
|
| 405 |
+
[
|
| 406 |
+
[
|
| 407 |
+
0.012191213664939539
|
| 408 |
+
]
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
[
|
| 412 |
+
0.011213378512095588
|
| 413 |
+
]
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
[
|
| 417 |
+
0.013693847169864388
|
| 418 |
+
]
|
| 419 |
+
]
|
| 420 |
+
],
|
| 421 |
+
"count": [
|
| 422 |
+
10000
|
| 423 |
+
],
|
| 424 |
+
"q01": [
|
| 425 |
+
[
|
| 426 |
+
[
|
| 427 |
+
0.045780021620029754
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
[
|
| 432 |
+
0.04592727404244823
|
| 433 |
+
]
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
[
|
| 437 |
+
0.04762498501931283
|
| 438 |
+
]
|
| 439 |
+
]
|
| 440 |
+
],
|
| 441 |
+
"q10": [
|
| 442 |
+
[
|
| 443 |
+
[
|
| 444 |
+
0.5409357845350934
|
| 445 |
+
]
|
| 446 |
+
],
|
| 447 |
+
[
|
| 448 |
+
[
|
| 449 |
+
0.4961259697835931
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
[
|
| 454 |
+
0.2980243322625516
|
| 455 |
+
]
|
| 456 |
+
]
|
| 457 |
+
],
|
| 458 |
+
"q50": [
|
| 459 |
+
[
|
| 460 |
+
[
|
| 461 |
+
0.8060355352068798
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
[
|
| 466 |
+
0.6617272391217809
|
| 467 |
+
]
|
| 468 |
+
],
|
| 469 |
+
[
|
| 470 |
+
[
|
| 471 |
+
0.3761095425187852
|
| 472 |
+
]
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"q90": [
|
| 476 |
+
[
|
| 477 |
+
[
|
| 478 |
+
0.8482778475894509
|
| 479 |
+
]
|
| 480 |
+
],
|
| 481 |
+
[
|
| 482 |
+
[
|
| 483 |
+
0.7937141808335583
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
[
|
| 488 |
+
0.7911053022968308
|
| 489 |
+
]
|
| 490 |
+
]
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
[
|
| 494 |
+
[
|
| 495 |
+
0.9988836790454702
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.9978962841883844
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.9983365345731354
|
| 506 |
+
]
|
| 507 |
+
]
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"observation.images.front_rgb": {
|
| 511 |
+
"min": [
|
| 512 |
+
[
|
| 513 |
+
[
|
| 514 |
+
0.0
|
| 515 |
+
]
|
| 516 |
+
],
|
| 517 |
+
[
|
| 518 |
+
[
|
| 519 |
+
0.0
|
| 520 |
+
]
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
[
|
| 524 |
+
0.0
|
| 525 |
+
]
|
| 526 |
+
]
|
| 527 |
+
],
|
| 528 |
+
"max": [
|
| 529 |
+
[
|
| 530 |
+
[
|
| 531 |
+
1.0
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
[
|
| 535 |
+
[
|
| 536 |
+
1.0
|
| 537 |
+
]
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
[
|
| 541 |
+
1.0
|
| 542 |
+
]
|
| 543 |
+
]
|
| 544 |
+
],
|
| 545 |
+
"mean": [
|
| 546 |
+
[
|
| 547 |
+
[
|
| 548 |
+
0.4743628685805379
|
| 549 |
+
]
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
[
|
| 553 |
+
0.45480465983072926
|
| 554 |
+
]
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
[
|
| 558 |
+
0.3310186887015548
|
| 559 |
+
]
|
| 560 |
+
]
|
| 561 |
+
],
|
| 562 |
+
"std": [
|
| 563 |
+
[
|
| 564 |
+
[
|
| 565 |
+
0.0039457927887551515
|
| 566 |
+
]
|
| 567 |
+
],
|
| 568 |
+
[
|
| 569 |
+
[
|
| 570 |
+
0.0035224026578183558
|
| 571 |
+
]
|
| 572 |
+
],
|
| 573 |
+
[
|
| 574 |
+
[
|
| 575 |
+
0.0037576348996072955
|
| 576 |
+
]
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
"count": [
|
| 580 |
+
10000
|
| 581 |
+
],
|
| 582 |
+
"q01": [
|
| 583 |
+
[
|
| 584 |
+
[
|
| 585 |
+
-3.921568627450984e-13
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
[
|
| 589 |
+
[
|
| 590 |
+
0.04925070426591217
|
| 591 |
+
]
|
| 592 |
+
],
|
| 593 |
+
[
|
| 594 |
+
[
|
| 595 |
+
0.07368002114092029
|
| 596 |
+
]
|
| 597 |
+
]
|
| 598 |
+
],
|
| 599 |
+
"q10": [
|
| 600 |
+
[
|
| 601 |
+
[
|
| 602 |
+
-3.921568627450984e-13
|
| 603 |
+
]
|
| 604 |
+
],
|
| 605 |
+
[
|
| 606 |
+
[
|
| 607 |
+
0.1271367951464597
|
| 608 |
+
]
|
| 609 |
+
],
|
| 610 |
+
[
|
| 611 |
+
[
|
| 612 |
+
0.1583987212255565
|
| 613 |
+
]
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"q50": [
|
| 617 |
+
[
|
| 618 |
+
[
|
| 619 |
+
0.7309382124759052
|
| 620 |
+
]
|
| 621 |
+
],
|
| 622 |
+
[
|
| 623 |
+
[
|
| 624 |
+
0.5771151885571911
|
| 625 |
+
]
|
| 626 |
+
],
|
| 627 |
+
[
|
| 628 |
+
[
|
| 629 |
+
0.31064622092682953
|
| 630 |
+
]
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"q90": [
|
| 634 |
+
[
|
| 635 |
+
[
|
| 636 |
+
0.8198584140899249
|
| 637 |
+
]
|
| 638 |
+
],
|
| 639 |
+
[
|
| 640 |
+
[
|
| 641 |
+
0.6969617892711769
|
| 642 |
+
]
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
[
|
| 646 |
+
0.5970485373924145
|
| 647 |
+
]
|
| 648 |
+
]
|
| 649 |
+
],
|
| 650 |
+
"q99": [
|
| 651 |
+
[
|
| 652 |
+
[
|
| 653 |
+
0.9361496869083258
|
| 654 |
+
]
|
| 655 |
+
],
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.927727194863886
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.9348290252384746
|
| 664 |
+
]
|
| 665 |
+
]
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
}
|
light_bulb_in/meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8863c0c55fc682a260954cd6b1522038dce706696f93610bcd9f637a85600986
|
| 3 |
+
size 2161
|
light_bulb_in/videos/observation.images.front_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca3861b92d5d1f8953bf750d8a36f9957b9fdbc2787bfa38ebe1b3c8e28c538d
|
| 3 |
+
size 207376314
|
light_bulb_in/videos/observation.images.front_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe171d1a56f6e8b9641eaeb8e68bdcc26d56297bf0adaf0873858696f676a1e0
|
| 3 |
+
size 41015375
|
light_bulb_in/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8e398e15b2c02ea4cec0ff3c67187f47a7a317d28d47a953ecf3bdaef1a23d77
|
| 3 |
+
size 208937635
|
light_bulb_in/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2256f5ea8c7673902b8cf54351aa6c69c625152cc5c5c8475116991cf3ea8a4b
|
| 3 |
+
size 162555511
|
meat_off_grill/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:216672d2bde0eac72a558bd9063c00af520b63d5ab214b6bd56d9af93a7856ac
|
| 3 |
+
size 1276951
|
meat_off_grill/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6799a9d9a013cc368049461bbd12f21923216840b166f8f8a09a3c96b498a332
|
| 3 |
+
size 469974
|
meat_off_grill/meta/info.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "franka_panda",
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 12403,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 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 |
+
8
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"x",
|
| 25 |
+
"y",
|
| 26 |
+
"z",
|
| 27 |
+
"qx",
|
| 28 |
+
"qy",
|
| 29 |
+
"qz",
|
| 30 |
+
"qw",
|
| 31 |
+
"gripper"
|
| 32 |
+
]
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"action": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
8
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
[
|
| 42 |
+
"dx",
|
| 43 |
+
"dy",
|
| 44 |
+
"dz",
|
| 45 |
+
"qx",
|
| 46 |
+
"qy",
|
| 47 |
+
"qz",
|
| 48 |
+
"qw",
|
| 49 |
+
"gripper"
|
| 50 |
+
]
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"observation.images.front_rgb": {
|
| 54 |
+
"dtype": "video",
|
| 55 |
+
"shape": [
|
| 56 |
+
128,
|
| 57 |
+
128,
|
| 58 |
+
3
|
| 59 |
+
],
|
| 60 |
+
"info": {
|
| 61 |
+
"video.height": 128,
|
| 62 |
+
"video.width": 128,
|
| 63 |
+
"video.codec": "h264",
|
| 64 |
+
"video.pix_fmt": "yuv444p",
|
| 65 |
+
"video.is_depth_map": false,
|
| 66 |
+
"video.fps": 20,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"has_audio": false
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"observation.images.wrist_rgb": {
|
| 72 |
+
"dtype": "video",
|
| 73 |
+
"shape": [
|
| 74 |
+
128,
|
| 75 |
+
128,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"info": {
|
| 79 |
+
"video.height": 128,
|
| 80 |
+
"video.width": 128,
|
| 81 |
+
"video.codec": "h264",
|
| 82 |
+
"video.pix_fmt": "yuv444p",
|
| 83 |
+
"video.is_depth_map": false,
|
| 84 |
+
"video.fps": 20,
|
| 85 |
+
"video.channels": 3,
|
| 86 |
+
"has_audio": false
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"timestamp": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"frame_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
},
|
| 103 |
+
"episode_index": {
|
| 104 |
+
"dtype": "int64",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": null
|
| 109 |
+
},
|
| 110 |
+
"index": {
|
| 111 |
+
"dtype": "int64",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": null
|
| 116 |
+
},
|
| 117 |
+
"task_index": {
|
| 118 |
+
"dtype": "int64",
|
| 119 |
+
"shape": [
|
| 120 |
+
1
|
| 121 |
+
],
|
| 122 |
+
"names": null
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
meat_off_grill/meta/norm_stats.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"dim_labels": [
|
| 4 |
+
"x",
|
| 5 |
+
"y",
|
| 6 |
+
"z",
|
| 7 |
+
"qx",
|
| 8 |
+
"qy",
|
| 9 |
+
"qz",
|
| 10 |
+
"qw",
|
| 11 |
+
"gripper"
|
| 12 |
+
],
|
| 13 |
+
"mean": [
|
| 14 |
+
0.2622796271206879,
|
| 15 |
+
-0.005211767830210357,
|
| 16 |
+
1.2268404206335377,
|
| 17 |
+
0.6121326847001759,
|
| 18 |
+
-0.00373957206322227,
|
| 19 |
+
0.029947079301672175,
|
| 20 |
+
-0.3645051199012331,
|
| 21 |
+
0.5543820034887658
|
| 22 |
+
],
|
| 23 |
+
"std": [
|
| 24 |
+
0.08602066006744329,
|
| 25 |
+
0.12988900002902973,
|
| 26 |
+
0.12644193911243418,
|
| 27 |
+
0.4660806810630435,
|
| 28 |
+
0.029383682043097853,
|
| 29 |
+
0.04560676126241284,
|
| 30 |
+
0.520907149913109,
|
| 31 |
+
0.49703379932470015
|
| 32 |
+
],
|
| 33 |
+
"q01": [
|
| 34 |
+
0.18594956289139863,
|
| 35 |
+
-0.14435487137692182,
|
| 36 |
+
1.0521384208262383,
|
| 37 |
+
0.40632046997904897,
|
| 38 |
+
-0.02173267526220452,
|
| 39 |
+
-0.004714245794916422,
|
| 40 |
+
-0.5609529263823261,
|
| 41 |
+
-9.999999999999998e-11
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
0.3324311795506511,
|
| 45 |
+
0.11965171161964,
|
| 46 |
+
1.4738973883102209,
|
| 47 |
+
0.9938625018709264,
|
| 48 |
+
0.008105799933084893,
|
| 49 |
+
0.1230064043019661,
|
| 50 |
+
0.13242524442291784,
|
| 51 |
+
0.9999963464671826
|
| 52 |
+
]
|
| 53 |
+
},
|
| 54 |
+
"action": {
|
| 55 |
+
"dim_labels": [
|
| 56 |
+
"dx",
|
| 57 |
+
"dy",
|
| 58 |
+
"dz",
|
| 59 |
+
"qx",
|
| 60 |
+
"qy",
|
| 61 |
+
"qz",
|
| 62 |
+
"qw",
|
| 63 |
+
"gripper"
|
| 64 |
+
],
|
| 65 |
+
"mean": [
|
| 66 |
+
-0.00013332923093610282,
|
| 67 |
+
2.3597571079117905e-05,
|
| 68 |
+
-0.003147173152279055,
|
| 69 |
+
0.6081295700217125,
|
| 70 |
+
-0.0037378825622350663,
|
| 71 |
+
0.028970241120578753,
|
| 72 |
+
-0.3679537647713516,
|
| 73 |
+
0.5543820034887658
|
| 74 |
+
],
|
| 75 |
+
"std": [
|
| 76 |
+
0.0031686521010909534,
|
| 77 |
+
0.005695114194847984,
|
| 78 |
+
0.006390496966487052,
|
| 79 |
+
0.4671232063683453,
|
| 80 |
+
0.029383928316473545,
|
| 81 |
+
0.04494091623463679,
|
| 82 |
+
0.5223486108172312,
|
| 83 |
+
0.49703379932470015
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-0.0058452518979229704,
|
| 87 |
+
-0.010638606882195516,
|
| 88 |
+
-0.015068582568816612,
|
| 89 |
+
0.40632801445159533,
|
| 90 |
+
-0.02173131536002885,
|
| 91 |
+
-0.004714395303179112,
|
| 92 |
+
-0.5608009909192448,
|
| 93 |
+
-9.999999999999998e-11
|
| 94 |
+
],
|
| 95 |
+
"q99": [
|
| 96 |
+
0.004299919931798611,
|
| 97 |
+
0.00785646586453313,
|
| 98 |
+
0.01445141767001014,
|
| 99 |
+
0.9938538367213233,
|
| 100 |
+
0.008105662342189552,
|
| 101 |
+
0.12262452703968893,
|
| 102 |
+
0.13056703782449158,
|
| 103 |
+
0.9999963464671826
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
}
|
meat_off_grill/meta/stats.json
ADDED
|
@@ -0,0 +1,668 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
0
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
0.0
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
12403
|
| 17 |
+
],
|
| 18 |
+
"q01": [
|
| 19 |
+
3.999999999999416e-16
|
| 20 |
+
],
|
| 21 |
+
"q10": [
|
| 22 |
+
3.999999999999417e-15
|
| 23 |
+
],
|
| 24 |
+
"q50": [
|
| 25 |
+
1.999999999999709e-14
|
| 26 |
+
],
|
| 27 |
+
"q90": [
|
| 28 |
+
3.5999999999994754e-14
|
| 29 |
+
],
|
| 30 |
+
"q99": [
|
| 31 |
+
3.959999999999422e-14
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"action": {
|
| 35 |
+
"min": [
|
| 36 |
+
-0.01303166151046753,
|
| 37 |
+
-0.02323339879512787,
|
| 38 |
+
-0.023841023445129395,
|
| 39 |
+
-0.7056740522384644,
|
| 40 |
+
-0.3909900188446045,
|
| 41 |
+
-0.08323921263217926,
|
| 42 |
+
-0.9999953508377075,
|
| 43 |
+
0.0
|
| 44 |
+
],
|
| 45 |
+
"max": [
|
| 46 |
+
0.012445151805877686,
|
| 47 |
+
0.022686641663312912,
|
| 48 |
+
0.018036484718322754,
|
| 49 |
+
0.9998134970664978,
|
| 50 |
+
0.13974526524543762,
|
| 51 |
+
0.2523288130760193,
|
| 52 |
+
0.726693868637085,
|
| 53 |
+
1.0
|
| 54 |
+
],
|
| 55 |
+
"mean": [
|
| 56 |
+
-0.00013332923093610282,
|
| 57 |
+
2.3597571079117905e-05,
|
| 58 |
+
-0.003147173152279055,
|
| 59 |
+
0.6081295700217125,
|
| 60 |
+
-0.0037378825622350663,
|
| 61 |
+
0.028970241120578753,
|
| 62 |
+
-0.3679537647713516,
|
| 63 |
+
0.5543820034887658
|
| 64 |
+
],
|
| 65 |
+
"std": [
|
| 66 |
+
0.0031686521010909534,
|
| 67 |
+
0.005695114194847984,
|
| 68 |
+
0.006390496966487052,
|
| 69 |
+
0.4671232063683453,
|
| 70 |
+
0.029383928316473545,
|
| 71 |
+
0.04494091623463679,
|
| 72 |
+
0.5223486108172312,
|
| 73 |
+
0.49703379932470015
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
12403
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-0.0058452518979229704,
|
| 80 |
+
-0.010638606882195516,
|
| 81 |
+
-0.015068582568816612,
|
| 82 |
+
0.40632801445159533,
|
| 83 |
+
-0.02173131536002885,
|
| 84 |
+
-0.004714395303179112,
|
| 85 |
+
-0.5608009909192448,
|
| 86 |
+
-9.999999999999998e-11
|
| 87 |
+
],
|
| 88 |
+
"q10": [
|
| 89 |
+
-0.004206623870245427,
|
| 90 |
+
-0.006611029326229184,
|
| 91 |
+
-0.01040829192775239,
|
| 92 |
+
0.42272792294186695,
|
| 93 |
+
-0.017655043834662022,
|
| 94 |
+
-0.0017354727210684593,
|
| 95 |
+
-0.5491756719236485,
|
| 96 |
+
-9.999999999999998e-11
|
| 97 |
+
],
|
| 98 |
+
"q50": [
|
| 99 |
+
-8.155476903464e-06,
|
| 100 |
+
4.8261413115723654e-05,
|
| 101 |
+
-0.003697471189318755,
|
| 102 |
+
0.4429248387680695,
|
| 103 |
+
-0.0013475726394761994,
|
| 104 |
+
0.0016086045287287852,
|
| 105 |
+
-0.4754404784131372,
|
| 106 |
+
0.7435617154718992
|
| 107 |
+
],
|
| 108 |
+
"q90": [
|
| 109 |
+
0.0034890879207000007,
|
| 110 |
+
0.006581962870760736,
|
| 111 |
+
0.0037118526661654274,
|
| 112 |
+
0.9790682263188922,
|
| 113 |
+
0.007434063676910432,
|
| 114 |
+
0.10807927000421684,
|
| 115 |
+
0.0028360742962122236,
|
| 116 |
+
0.9999634637718259
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
0.004299919931798611,
|
| 120 |
+
0.00785646586453313,
|
| 121 |
+
0.01445141767001014,
|
| 122 |
+
0.9938538367213233,
|
| 123 |
+
0.008105662342189552,
|
| 124 |
+
0.12262452703968893,
|
| 125 |
+
0.13056703782449158,
|
| 126 |
+
0.9999963464671826
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"observation.state": {
|
| 130 |
+
"min": [
|
| 131 |
+
-0.03324807435274124,
|
| 132 |
+
-0.34213146567344666,
|
| 133 |
+
1.051095724105835,
|
| 134 |
+
-0.7056740522384644,
|
| 135 |
+
-0.3909900188446045,
|
| 136 |
+
-0.08323921263217926,
|
| 137 |
+
-0.9999953508377075,
|
| 138 |
+
0.0
|
| 139 |
+
],
|
| 140 |
+
"max": [
|
| 141 |
+
0.4484805166721344,
|
| 142 |
+
0.35191774368286133,
|
| 143 |
+
1.5450952053070068,
|
| 144 |
+
0.9998134970664978,
|
| 145 |
+
0.13974526524543762,
|
| 146 |
+
0.2523288130760193,
|
| 147 |
+
0.726693868637085,
|
| 148 |
+
1.0
|
| 149 |
+
],
|
| 150 |
+
"mean": [
|
| 151 |
+
0.2622796271206879,
|
| 152 |
+
-0.005211767830210357,
|
| 153 |
+
1.2268404206335377,
|
| 154 |
+
0.6121326847001759,
|
| 155 |
+
-0.00373957206322227,
|
| 156 |
+
0.029947079301672175,
|
| 157 |
+
-0.3645051199012331,
|
| 158 |
+
0.5543820034887658
|
| 159 |
+
],
|
| 160 |
+
"std": [
|
| 161 |
+
0.08602066006744329,
|
| 162 |
+
0.12988900002902973,
|
| 163 |
+
0.12644193911243418,
|
| 164 |
+
0.4660806810630435,
|
| 165 |
+
0.029383682043097853,
|
| 166 |
+
0.04560676126241284,
|
| 167 |
+
0.520907149913109,
|
| 168 |
+
0.49703379932470015
|
| 169 |
+
],
|
| 170 |
+
"count": [
|
| 171 |
+
12403
|
| 172 |
+
],
|
| 173 |
+
"q01": [
|
| 174 |
+
0.18594956289139863,
|
| 175 |
+
-0.14435487137692182,
|
| 176 |
+
1.0521384208262383,
|
| 177 |
+
0.40632046997904897,
|
| 178 |
+
-0.02173267526220452,
|
| 179 |
+
-0.004714245794916422,
|
| 180 |
+
-0.5609529263823261,
|
| 181 |
+
-9.999999999999998e-11
|
| 182 |
+
],
|
| 183 |
+
"q10": [
|
| 184 |
+
0.1899783680034442,
|
| 185 |
+
-0.14281846898747605,
|
| 186 |
+
1.0844280283735626,
|
| 187 |
+
0.42270130163152686,
|
| 188 |
+
-0.01766090518977465,
|
| 189 |
+
-0.0017359760309799254,
|
| 190 |
+
-0.5504946433110789,
|
| 191 |
+
-9.999999999999998e-11
|
| 192 |
+
],
|
| 193 |
+
"q50": [
|
| 194 |
+
0.2663639621884319,
|
| 195 |
+
-0.004584336389609389,
|
| 196 |
+
1.188384448460751,
|
| 197 |
+
0.4472261923098612,
|
| 198 |
+
-0.0013600459615885933,
|
| 199 |
+
0.0019802602120592427,
|
| 200 |
+
-0.4750724357685269,
|
| 201 |
+
0.7435617154718992
|
| 202 |
+
],
|
| 203 |
+
"q90": [
|
| 204 |
+
0.3294194823759453,
|
| 205 |
+
0.11745997672991465,
|
| 206 |
+
1.4378139229937608,
|
| 207 |
+
0.9816503968268963,
|
| 208 |
+
0.0074348273076538475,
|
| 209 |
+
0.10992144684041899,
|
| 210 |
+
0.013965276069028858,
|
| 211 |
+
0.9999634637718259
|
| 212 |
+
],
|
| 213 |
+
"q99": [
|
| 214 |
+
0.3324311795506511,
|
| 215 |
+
0.11965171161964,
|
| 216 |
+
1.4738973883102209,
|
| 217 |
+
0.9938625018709264,
|
| 218 |
+
0.008105799933084893,
|
| 219 |
+
0.1230064043019661,
|
| 220 |
+
0.13242524442291784,
|
| 221 |
+
0.9999963464671826
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"episode_index": {
|
| 225 |
+
"min": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"max": [
|
| 229 |
+
99
|
| 230 |
+
],
|
| 231 |
+
"mean": [
|
| 232 |
+
48.643795855841326
|
| 233 |
+
],
|
| 234 |
+
"std": [
|
| 235 |
+
29.106429753761482
|
| 236 |
+
],
|
| 237 |
+
"count": [
|
| 238 |
+
12403
|
| 239 |
+
],
|
| 240 |
+
"q01": [
|
| 241 |
+
48.643795855841326
|
| 242 |
+
],
|
| 243 |
+
"q10": [
|
| 244 |
+
48.643795855841326
|
| 245 |
+
],
|
| 246 |
+
"q50": [
|
| 247 |
+
48.643795855841326
|
| 248 |
+
],
|
| 249 |
+
"q90": [
|
| 250 |
+
48.643795855841326
|
| 251 |
+
],
|
| 252 |
+
"q99": [
|
| 253 |
+
48.643795855841326
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"frame_index": {
|
| 257 |
+
"min": [
|
| 258 |
+
0
|
| 259 |
+
],
|
| 260 |
+
"max": [
|
| 261 |
+
208
|
| 262 |
+
],
|
| 263 |
+
"mean": [
|
| 264 |
+
63.151011851971276
|
| 265 |
+
],
|
| 266 |
+
"std": [
|
| 267 |
+
38.75325866592628
|
| 268 |
+
],
|
| 269 |
+
"count": [
|
| 270 |
+
12403
|
| 271 |
+
],
|
| 272 |
+
"q01": [
|
| 273 |
+
0.9437114593870969
|
| 274 |
+
],
|
| 275 |
+
"q10": [
|
| 276 |
+
12.206252974199725
|
| 277 |
+
],
|
| 278 |
+
"q50": [
|
| 279 |
+
62.925392259936736
|
| 280 |
+
],
|
| 281 |
+
"q90": [
|
| 282 |
+
114.05995552374422
|
| 283 |
+
],
|
| 284 |
+
"q99": [
|
| 285 |
+
125.35706015296465
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"index": {
|
| 289 |
+
"min": [
|
| 290 |
+
0
|
| 291 |
+
],
|
| 292 |
+
"max": [
|
| 293 |
+
12402
|
| 294 |
+
],
|
| 295 |
+
"mean": [
|
| 296 |
+
6201.0
|
| 297 |
+
],
|
| 298 |
+
"std": [
|
| 299 |
+
3580.4376827421534
|
| 300 |
+
],
|
| 301 |
+
"count": [
|
| 302 |
+
12403
|
| 303 |
+
],
|
| 304 |
+
"q01": [
|
| 305 |
+
6138.792699607416
|
| 306 |
+
],
|
| 307 |
+
"q10": [
|
| 308 |
+
6150.055241122227
|
| 309 |
+
],
|
| 310 |
+
"q50": [
|
| 311 |
+
6200.774380407966
|
| 312 |
+
],
|
| 313 |
+
"q90": [
|
| 314 |
+
6251.908943671773
|
| 315 |
+
],
|
| 316 |
+
"q99": [
|
| 317 |
+
6263.206048300992
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"timestamp": {
|
| 321 |
+
"min": [
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
+
"max": [
|
| 325 |
+
10.4
|
| 326 |
+
],
|
| 327 |
+
"mean": [
|
| 328 |
+
3.157550592598566
|
| 329 |
+
],
|
| 330 |
+
"std": [
|
| 331 |
+
1.9376629332963147
|
| 332 |
+
],
|
| 333 |
+
"count": [
|
| 334 |
+
12403
|
| 335 |
+
],
|
| 336 |
+
"q01": [
|
| 337 |
+
0.04718557287576927
|
| 338 |
+
],
|
| 339 |
+
"q10": [
|
| 340 |
+
0.6103126486333362
|
| 341 |
+
],
|
| 342 |
+
"q50": [
|
| 343 |
+
3.1462434935092554
|
| 344 |
+
],
|
| 345 |
+
"q90": [
|
| 346 |
+
5.702997776263804
|
| 347 |
+
],
|
| 348 |
+
"q99": [
|
| 349 |
+
6.267853007741823
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"observation.images.wrist_rgb": {
|
| 353 |
+
"min": [
|
| 354 |
+
[
|
| 355 |
+
[
|
| 356 |
+
0.0
|
| 357 |
+
]
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
[
|
| 361 |
+
0.0
|
| 362 |
+
]
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
[
|
| 366 |
+
0.0
|
| 367 |
+
]
|
| 368 |
+
]
|
| 369 |
+
],
|
| 370 |
+
"max": [
|
| 371 |
+
[
|
| 372 |
+
[
|
| 373 |
+
1.0
|
| 374 |
+
]
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
[
|
| 378 |
+
1.0
|
| 379 |
+
]
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
[
|
| 383 |
+
1.0
|
| 384 |
+
]
|
| 385 |
+
]
|
| 386 |
+
],
|
| 387 |
+
"mean": [
|
| 388 |
+
[
|
| 389 |
+
[
|
| 390 |
+
0.4538572909864111
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
[
|
| 394 |
+
[
|
| 395 |
+
0.34862135285076273
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
[
|
| 400 |
+
0.2503551585906705
|
| 401 |
+
]
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"std": [
|
| 405 |
+
[
|
| 406 |
+
[
|
| 407 |
+
0.025845699247053378
|
| 408 |
+
]
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
[
|
| 412 |
+
0.02204652612060407
|
| 413 |
+
]
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
[
|
| 417 |
+
0.012713328454830485
|
| 418 |
+
]
|
| 419 |
+
]
|
| 420 |
+
],
|
| 421 |
+
"count": [
|
| 422 |
+
9959
|
| 423 |
+
],
|
| 424 |
+
"q01": [
|
| 425 |
+
[
|
| 426 |
+
[
|
| 427 |
+
0.04940904171015629
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
[
|
| 432 |
+
0.03627795839238121
|
| 433 |
+
]
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
[
|
| 437 |
+
0.022232864471352407
|
| 438 |
+
]
|
| 439 |
+
]
|
| 440 |
+
],
|
| 441 |
+
"q10": [
|
| 442 |
+
[
|
| 443 |
+
[
|
| 444 |
+
0.10715752504435866
|
| 445 |
+
]
|
| 446 |
+
],
|
| 447 |
+
[
|
| 448 |
+
[
|
| 449 |
+
0.08436805108712903
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
[
|
| 454 |
+
0.07335994228481425
|
| 455 |
+
]
|
| 456 |
+
]
|
| 457 |
+
],
|
| 458 |
+
"q50": [
|
| 459 |
+
[
|
| 460 |
+
[
|
| 461 |
+
0.468520769059333
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
[
|
| 466 |
+
0.22622125461009068
|
| 467 |
+
]
|
| 468 |
+
],
|
| 469 |
+
[
|
| 470 |
+
[
|
| 471 |
+
0.18035209357928517
|
| 472 |
+
]
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"q90": [
|
| 476 |
+
[
|
| 477 |
+
[
|
| 478 |
+
0.8217858745223228
|
| 479 |
+
]
|
| 480 |
+
],
|
| 481 |
+
[
|
| 482 |
+
[
|
| 483 |
+
0.6745642760540356
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
[
|
| 488 |
+
0.4955063865786234
|
| 489 |
+
]
|
| 490 |
+
]
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
[
|
| 494 |
+
[
|
| 495 |
+
0.8893055102251589
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.7536631476967843
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.6540941733982542
|
| 506 |
+
]
|
| 507 |
+
]
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"observation.images.front_rgb": {
|
| 511 |
+
"min": [
|
| 512 |
+
[
|
| 513 |
+
[
|
| 514 |
+
0.0
|
| 515 |
+
]
|
| 516 |
+
],
|
| 517 |
+
[
|
| 518 |
+
[
|
| 519 |
+
0.0
|
| 520 |
+
]
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
[
|
| 524 |
+
0.0
|
| 525 |
+
]
|
| 526 |
+
]
|
| 527 |
+
],
|
| 528 |
+
"max": [
|
| 529 |
+
[
|
| 530 |
+
[
|
| 531 |
+
1.0
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
[
|
| 535 |
+
[
|
| 536 |
+
1.0
|
| 537 |
+
]
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
[
|
| 541 |
+
1.0
|
| 542 |
+
]
|
| 543 |
+
]
|
| 544 |
+
],
|
| 545 |
+
"mean": [
|
| 546 |
+
[
|
| 547 |
+
[
|
| 548 |
+
0.3705048354215057
|
| 549 |
+
]
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
[
|
| 553 |
+
0.37021459701804066
|
| 554 |
+
]
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
[
|
| 558 |
+
0.2816787613827216
|
| 559 |
+
]
|
| 560 |
+
]
|
| 561 |
+
],
|
| 562 |
+
"std": [
|
| 563 |
+
[
|
| 564 |
+
[
|
| 565 |
+
0.02345228320316256
|
| 566 |
+
]
|
| 567 |
+
],
|
| 568 |
+
[
|
| 569 |
+
[
|
| 570 |
+
0.01771756618996753
|
| 571 |
+
]
|
| 572 |
+
],
|
| 573 |
+
[
|
| 574 |
+
[
|
| 575 |
+
0.00651180921298103
|
| 576 |
+
]
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
"count": [
|
| 580 |
+
9959
|
| 581 |
+
],
|
| 582 |
+
"q01": [
|
| 583 |
+
[
|
| 584 |
+
[
|
| 585 |
+
-3.921568627450983e-13
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
[
|
| 589 |
+
[
|
| 590 |
+
0.07247955410418577
|
| 591 |
+
]
|
| 592 |
+
],
|
| 593 |
+
[
|
| 594 |
+
[
|
| 595 |
+
0.07196273421365464
|
| 596 |
+
]
|
| 597 |
+
]
|
| 598 |
+
],
|
| 599 |
+
"q10": [
|
| 600 |
+
[
|
| 601 |
+
[
|
| 602 |
+
-3.921568627450983e-13
|
| 603 |
+
]
|
| 604 |
+
],
|
| 605 |
+
[
|
| 606 |
+
[
|
| 607 |
+
0.11225576133305827
|
| 608 |
+
]
|
| 609 |
+
],
|
| 610 |
+
[
|
| 611 |
+
[
|
| 612 |
+
0.1221245288670374
|
| 613 |
+
]
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"q50": [
|
| 617 |
+
[
|
| 618 |
+
[
|
| 619 |
+
0.22720097032514855
|
| 620 |
+
]
|
| 621 |
+
],
|
| 622 |
+
[
|
| 623 |
+
[
|
| 624 |
+
0.2418439434861608
|
| 625 |
+
]
|
| 626 |
+
],
|
| 627 |
+
[
|
| 628 |
+
[
|
| 629 |
+
0.23382854940317288
|
| 630 |
+
]
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"q90": [
|
| 634 |
+
[
|
| 635 |
+
[
|
| 636 |
+
0.8150973223517407
|
| 637 |
+
]
|
| 638 |
+
],
|
| 639 |
+
[
|
| 640 |
+
[
|
| 641 |
+
0.6791312754836856
|
| 642 |
+
]
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
[
|
| 646 |
+
0.48555776931472167
|
| 647 |
+
]
|
| 648 |
+
]
|
| 649 |
+
],
|
| 650 |
+
"q99": [
|
| 651 |
+
[
|
| 652 |
+
[
|
| 653 |
+
0.8934940665440689
|
| 654 |
+
]
|
| 655 |
+
],
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.8717196231266263
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.8454559749319427
|
| 664 |
+
]
|
| 665 |
+
]
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
}
|
meat_off_grill/meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fe4f675e4b4003dad059cccab95a0be7bb3eaa5dd40d3411ed40d4c834d22e1d
|
| 3 |
+
size 2166
|
meat_off_grill/videos/observation.images.front_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06f6d9380a2a3d00c1f10cf8b02dd37db0c071598d8b583be490c3e4c96c72a7
|
| 3 |
+
size 117367864
|
meat_off_grill/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:39833b6ea3e86eb94140f0f8f5740a7ad28271f02905a8a428e0459579c8be60
|
| 3 |
+
size 208927767
|
meat_off_grill/videos/observation.images.wrist_rgb/chunk-000/file-001.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a4353ac68d310c826edc66bda332fda361dd69940183631b4dd021de0af7bfdf
|
| 3 |
+
size 36518517
|
open_drawer/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8aa1b6c4c22c87d1990cb61ac5d3dd6cabd9edba5a27d88ac328d5e8cc35b6be
|
| 3 |
+
size 1128785
|
open_drawer/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4752ad8d5420e6712e9ae2a28f2d320af30170e39914528cfeda120059aa36fe
|
| 3 |
+
size 465325
|
open_drawer/meta/info.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "franka_panda",
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 10772,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 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 |
+
8
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"x",
|
| 25 |
+
"y",
|
| 26 |
+
"z",
|
| 27 |
+
"qx",
|
| 28 |
+
"qy",
|
| 29 |
+
"qz",
|
| 30 |
+
"qw",
|
| 31 |
+
"gripper"
|
| 32 |
+
]
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"action": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
8
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
[
|
| 42 |
+
"dx",
|
| 43 |
+
"dy",
|
| 44 |
+
"dz",
|
| 45 |
+
"qx",
|
| 46 |
+
"qy",
|
| 47 |
+
"qz",
|
| 48 |
+
"qw",
|
| 49 |
+
"gripper"
|
| 50 |
+
]
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"observation.images.front_rgb": {
|
| 54 |
+
"dtype": "video",
|
| 55 |
+
"shape": [
|
| 56 |
+
128,
|
| 57 |
+
128,
|
| 58 |
+
3
|
| 59 |
+
],
|
| 60 |
+
"info": {
|
| 61 |
+
"video.height": 128,
|
| 62 |
+
"video.width": 128,
|
| 63 |
+
"video.codec": "h264",
|
| 64 |
+
"video.pix_fmt": "yuv444p",
|
| 65 |
+
"video.is_depth_map": false,
|
| 66 |
+
"video.fps": 20,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"has_audio": false
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"observation.images.wrist_rgb": {
|
| 72 |
+
"dtype": "video",
|
| 73 |
+
"shape": [
|
| 74 |
+
128,
|
| 75 |
+
128,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"info": {
|
| 79 |
+
"video.height": 128,
|
| 80 |
+
"video.width": 128,
|
| 81 |
+
"video.codec": "h264",
|
| 82 |
+
"video.pix_fmt": "yuv444p",
|
| 83 |
+
"video.is_depth_map": false,
|
| 84 |
+
"video.fps": 20,
|
| 85 |
+
"video.channels": 3,
|
| 86 |
+
"has_audio": false
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"timestamp": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"frame_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
},
|
| 103 |
+
"episode_index": {
|
| 104 |
+
"dtype": "int64",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": null
|
| 109 |
+
},
|
| 110 |
+
"index": {
|
| 111 |
+
"dtype": "int64",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": null
|
| 116 |
+
},
|
| 117 |
+
"task_index": {
|
| 118 |
+
"dtype": "int64",
|
| 119 |
+
"shape": [
|
| 120 |
+
1
|
| 121 |
+
],
|
| 122 |
+
"names": null
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
open_drawer/meta/norm_stats.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"dim_labels": [
|
| 4 |
+
"x",
|
| 5 |
+
"y",
|
| 6 |
+
"z",
|
| 7 |
+
"qx",
|
| 8 |
+
"qy",
|
| 9 |
+
"qz",
|
| 10 |
+
"qw",
|
| 11 |
+
"gripper"
|
| 12 |
+
],
|
| 13 |
+
"mean": [
|
| 14 |
+
0.26089239530362157,
|
| 15 |
+
0.08974532499899715,
|
| 16 |
+
1.1597089070924984,
|
| 17 |
+
0.38325658131278767,
|
| 18 |
+
-0.05609470965419237,
|
| 19 |
+
-0.4526625416378881,
|
| 20 |
+
-0.5798594481797631,
|
| 21 |
+
0.7339398457830915
|
| 22 |
+
],
|
| 23 |
+
"std": [
|
| 24 |
+
0.06534518259598286,
|
| 25 |
+
0.09592405144710862,
|
| 26 |
+
0.15926784464048602,
|
| 27 |
+
0.40600440654699277,
|
| 28 |
+
0.06658775631383863,
|
| 29 |
+
0.29499663841639645,
|
| 30 |
+
0.22919636806903862,
|
| 31 |
+
0.44189608099972916
|
| 32 |
+
],
|
| 33 |
+
"q01": [
|
| 34 |
+
0.21086208160955713,
|
| 35 |
+
-0.019203448417699706,
|
| 36 |
+
1.047661689472054,
|
| 37 |
+
-0.00962253038072402,
|
| 38 |
+
-0.15746189687359827,
|
| 39 |
+
-0.7071938763988384,
|
| 40 |
+
-0.7636698387541605,
|
| 41 |
+
-9.999999999999998e-11
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
0.31540343174316143,
|
| 45 |
+
0.25894433758839625,
|
| 46 |
+
1.4745518039219694,
|
| 47 |
+
0.9940474678513261,
|
| 48 |
+
0.013644490821011233,
|
| 49 |
+
0.12608171653634434,
|
| 50 |
+
-0.0011048773319167976,
|
| 51 |
+
0.9999972712956205
|
| 52 |
+
]
|
| 53 |
+
},
|
| 54 |
+
"action": {
|
| 55 |
+
"dim_labels": [
|
| 56 |
+
"dx",
|
| 57 |
+
"dy",
|
| 58 |
+
"dz",
|
| 59 |
+
"qx",
|
| 60 |
+
"qy",
|
| 61 |
+
"qz",
|
| 62 |
+
"qw",
|
| 63 |
+
"gripper"
|
| 64 |
+
],
|
| 65 |
+
"mean": [
|
| 66 |
+
-0.00042885765880365425,
|
| 67 |
+
0.0024441971159342127,
|
| 68 |
+
-0.003908641160000376,
|
| 69 |
+
0.3740361044885411,
|
| 70 |
+
-0.05612427539228798,
|
| 71 |
+
-0.46032823126443556,
|
| 72 |
+
-0.5864373943341341,
|
| 73 |
+
0.7246565193026384
|
| 74 |
+
],
|
| 75 |
+
"std": [
|
| 76 |
+
0.0021648711822096194,
|
| 77 |
+
0.005782241934534754,
|
| 78 |
+
0.00448367258255914,
|
| 79 |
+
0.4033341796409388,
|
| 80 |
+
0.06659419155620666,
|
| 81 |
+
0.29069223906248326,
|
| 82 |
+
0.22253317574386314,
|
| 83 |
+
0.4466871891786502
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-0.003191551779005344,
|
| 87 |
+
-0.013070711166512252,
|
| 88 |
+
-0.010796720967654199,
|
| 89 |
+
-0.009632204071756354,
|
| 90 |
+
-0.1574614348126224,
|
| 91 |
+
-0.7071938763988384,
|
| 92 |
+
-0.763670100069578,
|
| 93 |
+
-9.999999999999998e-11
|
| 94 |
+
],
|
| 95 |
+
"q99": [
|
| 96 |
+
0.0037835252174293886,
|
| 97 |
+
0.014738480942262266,
|
| 98 |
+
0.0016563821257796474,
|
| 99 |
+
0.9940281011726599,
|
| 100 |
+
0.013015114396570923,
|
| 101 |
+
0.12401709672478112,
|
| 102 |
+
-0.005101550977191098,
|
| 103 |
+
0.9999972363721507
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
}
|
open_drawer/meta/stats.json
ADDED
|
@@ -0,0 +1,668 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_index": {
|
| 3 |
+
"min": [
|
| 4 |
+
0
|
| 5 |
+
],
|
| 6 |
+
"max": [
|
| 7 |
+
0
|
| 8 |
+
],
|
| 9 |
+
"mean": [
|
| 10 |
+
0.0
|
| 11 |
+
],
|
| 12 |
+
"std": [
|
| 13 |
+
0.0
|
| 14 |
+
],
|
| 15 |
+
"count": [
|
| 16 |
+
10772
|
| 17 |
+
],
|
| 18 |
+
"q01": [
|
| 19 |
+
3.999999999999416e-16
|
| 20 |
+
],
|
| 21 |
+
"q10": [
|
| 22 |
+
3.999999999999419e-15
|
| 23 |
+
],
|
| 24 |
+
"q50": [
|
| 25 |
+
1.999999999999708e-14
|
| 26 |
+
],
|
| 27 |
+
"q90": [
|
| 28 |
+
3.5999999999994754e-14
|
| 29 |
+
],
|
| 30 |
+
"q99": [
|
| 31 |
+
3.959999999999423e-14
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"action": {
|
| 35 |
+
"min": [
|
| 36 |
+
-0.014874741435050964,
|
| 37 |
+
-0.01844540238380432,
|
| 38 |
+
-0.03540909290313721,
|
| 39 |
+
-0.188925102353096,
|
| 40 |
+
-0.3708125352859497,
|
| 41 |
+
-0.7102535367012024,
|
| 42 |
+
-0.8940609097480774,
|
| 43 |
+
0.0
|
| 44 |
+
],
|
| 45 |
+
"max": [
|
| 46 |
+
0.021230094134807587,
|
| 47 |
+
0.0344536155462265,
|
| 48 |
+
0.025410771369934082,
|
| 49 |
+
0.9957543611526489,
|
| 50 |
+
0.09844087809324265,
|
| 51 |
+
0.4085737466812134,
|
| 52 |
+
0.003669031895697117,
|
| 53 |
+
1.0
|
| 54 |
+
],
|
| 55 |
+
"mean": [
|
| 56 |
+
-0.00042885765880365425,
|
| 57 |
+
0.0024441971159342127,
|
| 58 |
+
-0.003908641160000376,
|
| 59 |
+
0.3740361044885411,
|
| 60 |
+
-0.05612427539228798,
|
| 61 |
+
-0.46032823126443556,
|
| 62 |
+
-0.5864373943341341,
|
| 63 |
+
0.7246565193026384
|
| 64 |
+
],
|
| 65 |
+
"std": [
|
| 66 |
+
0.0021648711822096194,
|
| 67 |
+
0.005782241934534754,
|
| 68 |
+
0.00448367258255914,
|
| 69 |
+
0.4033341796409388,
|
| 70 |
+
0.06659419155620666,
|
| 71 |
+
0.29069223906248326,
|
| 72 |
+
0.22253317574386314,
|
| 73 |
+
0.4466871891786502
|
| 74 |
+
],
|
| 75 |
+
"count": [
|
| 76 |
+
10772
|
| 77 |
+
],
|
| 78 |
+
"q01": [
|
| 79 |
+
-0.003191551779005344,
|
| 80 |
+
-0.013070711166512252,
|
| 81 |
+
-0.010796720967654199,
|
| 82 |
+
-0.009632204071756354,
|
| 83 |
+
-0.1574614348126224,
|
| 84 |
+
-0.7071938763988384,
|
| 85 |
+
-0.763670100069578,
|
| 86 |
+
-9.999999999999998e-11
|
| 87 |
+
],
|
| 88 |
+
"q10": [
|
| 89 |
+
-0.0026529050218532016,
|
| 90 |
+
-0.002326420053935066,
|
| 91 |
+
-0.009967482388157803,
|
| 92 |
+
-0.004182925657572815,
|
| 93 |
+
-0.15110716796460497,
|
| 94 |
+
-0.707164617794255,
|
| 95 |
+
-0.750382328961194,
|
| 96 |
+
-9.999999999999998e-11
|
| 97 |
+
],
|
| 98 |
+
"q50": [
|
| 99 |
+
-0.00025790678348549303,
|
| 100 |
+
0.0018761962919675089,
|
| 101 |
+
-0.0035681808841631054,
|
| 102 |
+
0.1970953676317019,
|
| 103 |
+
-0.027437113094904562,
|
| 104 |
+
-0.6149774785205847,
|
| 105 |
+
-0.7065711849418849,
|
| 106 |
+
0.9998618137075178
|
| 107 |
+
],
|
| 108 |
+
"q90": [
|
| 109 |
+
0.001767044724242955,
|
| 110 |
+
0.011118136476598206,
|
| 111 |
+
0.0001960078308752632,
|
| 112 |
+
0.9786842626802589,
|
| 113 |
+
0.0011613395070882674,
|
| 114 |
+
0.02439981678631808,
|
| 115 |
+
-0.1803889754983379,
|
| 116 |
+
0.9999723628215038
|
| 117 |
+
],
|
| 118 |
+
"q99": [
|
| 119 |
+
0.0037835252174293886,
|
| 120 |
+
0.014738480942262266,
|
| 121 |
+
0.0016563821257796474,
|
| 122 |
+
0.9940281011726599,
|
| 123 |
+
0.013015114396570923,
|
| 124 |
+
0.12401709672478112,
|
| 125 |
+
-0.005101550977191098,
|
| 126 |
+
0.9999972363721507
|
| 127 |
+
]
|
| 128 |
+
},
|
| 129 |
+
"observation.state": {
|
| 130 |
+
"min": [
|
| 131 |
+
0.002751091495156288,
|
| 132 |
+
-0.06153178960084915,
|
| 133 |
+
0.9095032811164856,
|
| 134 |
+
-0.188925102353096,
|
| 135 |
+
-0.3708125352859497,
|
| 136 |
+
-0.7102535367012024,
|
| 137 |
+
-0.8940609097480774,
|
| 138 |
+
0.0
|
| 139 |
+
],
|
| 140 |
+
"max": [
|
| 141 |
+
0.3940841853618622,
|
| 142 |
+
0.46140164136886597,
|
| 143 |
+
1.6872954368591309,
|
| 144 |
+
0.9957543611526489,
|
| 145 |
+
0.09844087809324265,
|
| 146 |
+
0.4085737466812134,
|
| 147 |
+
0.003669031895697117,
|
| 148 |
+
1.0
|
| 149 |
+
],
|
| 150 |
+
"mean": [
|
| 151 |
+
0.26089239530362157,
|
| 152 |
+
0.08974532499899715,
|
| 153 |
+
1.1597089070924984,
|
| 154 |
+
0.38325658131278767,
|
| 155 |
+
-0.05609470965419237,
|
| 156 |
+
-0.4526625416378881,
|
| 157 |
+
-0.5798594481797631,
|
| 158 |
+
0.7339398457830915
|
| 159 |
+
],
|
| 160 |
+
"std": [
|
| 161 |
+
0.06534518259598286,
|
| 162 |
+
0.09592405144710862,
|
| 163 |
+
0.15926784464048602,
|
| 164 |
+
0.40600440654699277,
|
| 165 |
+
0.06658775631383863,
|
| 166 |
+
0.29499663841639645,
|
| 167 |
+
0.22919636806903862,
|
| 168 |
+
0.44189608099972916
|
| 169 |
+
],
|
| 170 |
+
"count": [
|
| 171 |
+
10772
|
| 172 |
+
],
|
| 173 |
+
"q01": [
|
| 174 |
+
0.21086208160955713,
|
| 175 |
+
-0.019203448417699706,
|
| 176 |
+
1.047661689472054,
|
| 177 |
+
-0.00962253038072402,
|
| 178 |
+
-0.15746189687359827,
|
| 179 |
+
-0.7071938763988384,
|
| 180 |
+
-0.7636698387541605,
|
| 181 |
+
-9.999999999999998e-11
|
| 182 |
+
],
|
| 183 |
+
"q10": [
|
| 184 |
+
0.22157863429871358,
|
| 185 |
+
0.013191733905068321,
|
| 186 |
+
1.0491080180769465,
|
| 187 |
+
-0.0041822499940148816,
|
| 188 |
+
-0.1511049674788503,
|
| 189 |
+
-0.7071658450145178,
|
| 190 |
+
-0.7503813267787666,
|
| 191 |
+
-9.999999999999998e-11
|
| 192 |
+
],
|
| 193 |
+
"q50": [
|
| 194 |
+
0.24993973091713165,
|
| 195 |
+
0.08161421848950601,
|
| 196 |
+
1.0815677198380445,
|
| 197 |
+
0.22124316874121663,
|
| 198 |
+
-0.027440191792514872,
|
| 199 |
+
-0.6030940583612695,
|
| 200 |
+
-0.706568834779867,
|
| 201 |
+
0.9998635598810087
|
| 202 |
+
],
|
| 203 |
+
"q90": [
|
| 204 |
+
0.312206418323474,
|
| 205 |
+
0.19599208701206325,
|
| 206 |
+
1.4042611323426752,
|
| 207 |
+
0.9827885091514941,
|
| 208 |
+
0.00127333484848277,
|
| 209 |
+
0.037791529163035624,
|
| 210 |
+
-0.15854933304278762,
|
| 211 |
+
0.9999727120562015
|
| 212 |
+
],
|
| 213 |
+
"q99": [
|
| 214 |
+
0.31540343174316143,
|
| 215 |
+
0.25894433758839625,
|
| 216 |
+
1.4745518039219694,
|
| 217 |
+
0.9940474678513261,
|
| 218 |
+
0.013644490821011233,
|
| 219 |
+
0.12608171653634434,
|
| 220 |
+
-0.0011048773319167976,
|
| 221 |
+
0.9999972712956205
|
| 222 |
+
]
|
| 223 |
+
},
|
| 224 |
+
"episode_index": {
|
| 225 |
+
"min": [
|
| 226 |
+
0
|
| 227 |
+
],
|
| 228 |
+
"max": [
|
| 229 |
+
99
|
| 230 |
+
],
|
| 231 |
+
"mean": [
|
| 232 |
+
49.49285183809877
|
| 233 |
+
],
|
| 234 |
+
"std": [
|
| 235 |
+
28.761588422485204
|
| 236 |
+
],
|
| 237 |
+
"count": [
|
| 238 |
+
10772
|
| 239 |
+
],
|
| 240 |
+
"q01": [
|
| 241 |
+
49.49285183809877
|
| 242 |
+
],
|
| 243 |
+
"q10": [
|
| 244 |
+
49.49285183809877
|
| 245 |
+
],
|
| 246 |
+
"q50": [
|
| 247 |
+
49.49285183809879
|
| 248 |
+
],
|
| 249 |
+
"q90": [
|
| 250 |
+
49.492851838098815
|
| 251 |
+
],
|
| 252 |
+
"q99": [
|
| 253 |
+
49.492851838098815
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"frame_index": {
|
| 257 |
+
"min": [
|
| 258 |
+
0
|
| 259 |
+
],
|
| 260 |
+
"max": [
|
| 261 |
+
125
|
| 262 |
+
],
|
| 263 |
+
"mean": [
|
| 264 |
+
53.66245822502785
|
| 265 |
+
],
|
| 266 |
+
"std": [
|
| 267 |
+
31.62539611394201
|
| 268 |
+
],
|
| 269 |
+
"count": [
|
| 270 |
+
10772
|
| 271 |
+
],
|
| 272 |
+
"q01": [
|
| 273 |
+
0.8417539193222671
|
| 274 |
+
],
|
| 275 |
+
"q10": [
|
| 276 |
+
10.321657890747302
|
| 277 |
+
],
|
| 278 |
+
"q50": [
|
| 279 |
+
53.43105662829517
|
| 280 |
+
],
|
| 281 |
+
"q90": [
|
| 282 |
+
96.92304058678695
|
| 283 |
+
],
|
| 284 |
+
"q99": [
|
| 285 |
+
106.45325174907722
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"index": {
|
| 289 |
+
"min": [
|
| 290 |
+
0
|
| 291 |
+
],
|
| 292 |
+
"max": [
|
| 293 |
+
10771
|
| 294 |
+
],
|
| 295 |
+
"mean": [
|
| 296 |
+
5385.5
|
| 297 |
+
],
|
| 298 |
+
"std": [
|
| 299 |
+
3109.608536455997
|
| 300 |
+
],
|
| 301 |
+
"count": [
|
| 302 |
+
10772
|
| 303 |
+
],
|
| 304 |
+
"q01": [
|
| 305 |
+
5332.679295694293
|
| 306 |
+
],
|
| 307 |
+
"q10": [
|
| 308 |
+
5342.159199665723
|
| 309 |
+
],
|
| 310 |
+
"q50": [
|
| 311 |
+
5385.269380542147
|
| 312 |
+
],
|
| 313 |
+
"q90": [
|
| 314 |
+
5428.760582361757
|
| 315 |
+
],
|
| 316 |
+
"q99": [
|
| 317 |
+
5438.29079352405
|
| 318 |
+
]
|
| 319 |
+
},
|
| 320 |
+
"timestamp": {
|
| 321 |
+
"min": [
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
+
"max": [
|
| 325 |
+
6.25
|
| 326 |
+
],
|
| 327 |
+
"mean": [
|
| 328 |
+
2.6831229112513912
|
| 329 |
+
],
|
| 330 |
+
"std": [
|
| 331 |
+
1.581269805697102
|
| 332 |
+
],
|
| 333 |
+
"count": [
|
| 334 |
+
10772
|
| 335 |
+
],
|
| 336 |
+
"q01": [
|
| 337 |
+
0.042087695872583014
|
| 338 |
+
],
|
| 339 |
+
"q10": [
|
| 340 |
+
0.5160828944606368
|
| 341 |
+
],
|
| 342 |
+
"q50": [
|
| 343 |
+
2.671517584477846
|
| 344 |
+
],
|
| 345 |
+
"q90": [
|
| 346 |
+
4.8461520294159355
|
| 347 |
+
],
|
| 348 |
+
"q99": [
|
| 349 |
+
5.322662587547337
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"observation.images.wrist_rgb": {
|
| 353 |
+
"min": [
|
| 354 |
+
[
|
| 355 |
+
[
|
| 356 |
+
0.0
|
| 357 |
+
]
|
| 358 |
+
],
|
| 359 |
+
[
|
| 360 |
+
[
|
| 361 |
+
0.0
|
| 362 |
+
]
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
[
|
| 366 |
+
0.0
|
| 367 |
+
]
|
| 368 |
+
]
|
| 369 |
+
],
|
| 370 |
+
"max": [
|
| 371 |
+
[
|
| 372 |
+
[
|
| 373 |
+
1.0
|
| 374 |
+
]
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
[
|
| 378 |
+
1.0
|
| 379 |
+
]
|
| 380 |
+
],
|
| 381 |
+
[
|
| 382 |
+
[
|
| 383 |
+
1.0
|
| 384 |
+
]
|
| 385 |
+
]
|
| 386 |
+
],
|
| 387 |
+
"mean": [
|
| 388 |
+
[
|
| 389 |
+
[
|
| 390 |
+
0.544327539498318
|
| 391 |
+
]
|
| 392 |
+
],
|
| 393 |
+
[
|
| 394 |
+
[
|
| 395 |
+
0.4993014463884275
|
| 396 |
+
]
|
| 397 |
+
],
|
| 398 |
+
[
|
| 399 |
+
[
|
| 400 |
+
0.41490330152964083
|
| 401 |
+
]
|
| 402 |
+
]
|
| 403 |
+
],
|
| 404 |
+
"std": [
|
| 405 |
+
[
|
| 406 |
+
[
|
| 407 |
+
0.014770449801702602
|
| 408 |
+
]
|
| 409 |
+
],
|
| 410 |
+
[
|
| 411 |
+
[
|
| 412 |
+
0.006041654345209592
|
| 413 |
+
]
|
| 414 |
+
],
|
| 415 |
+
[
|
| 416 |
+
[
|
| 417 |
+
0.006818091171375393
|
| 418 |
+
]
|
| 419 |
+
]
|
| 420 |
+
],
|
| 421 |
+
"count": [
|
| 422 |
+
9956
|
| 423 |
+
],
|
| 424 |
+
"q01": [
|
| 425 |
+
[
|
| 426 |
+
[
|
| 427 |
+
0.02300507185458405
|
| 428 |
+
]
|
| 429 |
+
],
|
| 430 |
+
[
|
| 431 |
+
[
|
| 432 |
+
0.040700426111924766
|
| 433 |
+
]
|
| 434 |
+
],
|
| 435 |
+
[
|
| 436 |
+
[
|
| 437 |
+
0.0406995364788263
|
| 438 |
+
]
|
| 439 |
+
]
|
| 440 |
+
],
|
| 441 |
+
"q10": [
|
| 442 |
+
[
|
| 443 |
+
[
|
| 444 |
+
0.4052233367043476
|
| 445 |
+
]
|
| 446 |
+
],
|
| 447 |
+
[
|
| 448 |
+
[
|
| 449 |
+
0.41679450994324574
|
| 450 |
+
]
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
[
|
| 454 |
+
0.30078297639492196
|
| 455 |
+
]
|
| 456 |
+
]
|
| 457 |
+
],
|
| 458 |
+
"q50": [
|
| 459 |
+
[
|
| 460 |
+
[
|
| 461 |
+
0.5013238757870685
|
| 462 |
+
]
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
[
|
| 466 |
+
0.4724505507553669
|
| 467 |
+
]
|
| 468 |
+
],
|
| 469 |
+
[
|
| 470 |
+
[
|
| 471 |
+
0.4337628950899852
|
| 472 |
+
]
|
| 473 |
+
]
|
| 474 |
+
],
|
| 475 |
+
"q90": [
|
| 476 |
+
[
|
| 477 |
+
[
|
| 478 |
+
0.8051264889691371
|
| 479 |
+
]
|
| 480 |
+
],
|
| 481 |
+
[
|
| 482 |
+
[
|
| 483 |
+
0.6827272659122984
|
| 484 |
+
]
|
| 485 |
+
],
|
| 486 |
+
[
|
| 487 |
+
[
|
| 488 |
+
0.49618640186282653
|
| 489 |
+
]
|
| 490 |
+
]
|
| 491 |
+
],
|
| 492 |
+
"q99": [
|
| 493 |
+
[
|
| 494 |
+
[
|
| 495 |
+
0.8461675130717394
|
| 496 |
+
]
|
| 497 |
+
],
|
| 498 |
+
[
|
| 499 |
+
[
|
| 500 |
+
0.7734658328188723
|
| 501 |
+
]
|
| 502 |
+
],
|
| 503 |
+
[
|
| 504 |
+
[
|
| 505 |
+
0.7384494289508082
|
| 506 |
+
]
|
| 507 |
+
]
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"observation.images.front_rgb": {
|
| 511 |
+
"min": [
|
| 512 |
+
[
|
| 513 |
+
[
|
| 514 |
+
0.0
|
| 515 |
+
]
|
| 516 |
+
],
|
| 517 |
+
[
|
| 518 |
+
[
|
| 519 |
+
0.0392156862745098
|
| 520 |
+
]
|
| 521 |
+
],
|
| 522 |
+
[
|
| 523 |
+
[
|
| 524 |
+
0.0392156862745098
|
| 525 |
+
]
|
| 526 |
+
]
|
| 527 |
+
],
|
| 528 |
+
"max": [
|
| 529 |
+
[
|
| 530 |
+
[
|
| 531 |
+
1.0
|
| 532 |
+
]
|
| 533 |
+
],
|
| 534 |
+
[
|
| 535 |
+
[
|
| 536 |
+
1.0
|
| 537 |
+
]
|
| 538 |
+
],
|
| 539 |
+
[
|
| 540 |
+
[
|
| 541 |
+
1.0
|
| 542 |
+
]
|
| 543 |
+
]
|
| 544 |
+
],
|
| 545 |
+
"mean": [
|
| 546 |
+
[
|
| 547 |
+
[
|
| 548 |
+
0.4498703204274204
|
| 549 |
+
]
|
| 550 |
+
],
|
| 551 |
+
[
|
| 552 |
+
[
|
| 553 |
+
0.43263629775123597
|
| 554 |
+
]
|
| 555 |
+
],
|
| 556 |
+
[
|
| 557 |
+
[
|
| 558 |
+
0.3222213324277094
|
| 559 |
+
]
|
| 560 |
+
]
|
| 561 |
+
],
|
| 562 |
+
"std": [
|
| 563 |
+
[
|
| 564 |
+
[
|
| 565 |
+
0.017003712112611834
|
| 566 |
+
]
|
| 567 |
+
],
|
| 568 |
+
[
|
| 569 |
+
[
|
| 570 |
+
0.010688341882656867
|
| 571 |
+
]
|
| 572 |
+
],
|
| 573 |
+
[
|
| 574 |
+
[
|
| 575 |
+
0.0036293768768202884
|
| 576 |
+
]
|
| 577 |
+
]
|
| 578 |
+
],
|
| 579 |
+
"count": [
|
| 580 |
+
9956
|
| 581 |
+
],
|
| 582 |
+
"q01": [
|
| 583 |
+
[
|
| 584 |
+
[
|
| 585 |
+
-3.9215686274509843e-13
|
| 586 |
+
]
|
| 587 |
+
],
|
| 588 |
+
[
|
| 589 |
+
[
|
| 590 |
+
0.10299486545808656
|
| 591 |
+
]
|
| 592 |
+
],
|
| 593 |
+
[
|
| 594 |
+
[
|
| 595 |
+
0.12658933275168327
|
| 596 |
+
]
|
| 597 |
+
]
|
| 598 |
+
],
|
| 599 |
+
"q10": [
|
| 600 |
+
[
|
| 601 |
+
[
|
| 602 |
+
-3.9215686274509843e-13
|
| 603 |
+
]
|
| 604 |
+
],
|
| 605 |
+
[
|
| 606 |
+
[
|
| 607 |
+
0.15080262176419262
|
| 608 |
+
]
|
| 609 |
+
],
|
| 610 |
+
[
|
| 611 |
+
[
|
| 612 |
+
0.17722329120397615
|
| 613 |
+
]
|
| 614 |
+
]
|
| 615 |
+
],
|
| 616 |
+
"q50": [
|
| 617 |
+
[
|
| 618 |
+
[
|
| 619 |
+
0.41083061113430963
|
| 620 |
+
]
|
| 621 |
+
],
|
| 622 |
+
[
|
| 623 |
+
[
|
| 624 |
+
0.3883316077827906
|
| 625 |
+
]
|
| 626 |
+
],
|
| 627 |
+
[
|
| 628 |
+
[
|
| 629 |
+
0.2694801340185635
|
| 630 |
+
]
|
| 631 |
+
]
|
| 632 |
+
],
|
| 633 |
+
"q90": [
|
| 634 |
+
[
|
| 635 |
+
[
|
| 636 |
+
0.809934292125693
|
| 637 |
+
]
|
| 638 |
+
],
|
| 639 |
+
[
|
| 640 |
+
[
|
| 641 |
+
0.676390768077136
|
| 642 |
+
]
|
| 643 |
+
],
|
| 644 |
+
[
|
| 645 |
+
[
|
| 646 |
+
0.48159596125721765
|
| 647 |
+
]
|
| 648 |
+
]
|
| 649 |
+
],
|
| 650 |
+
"q99": [
|
| 651 |
+
[
|
| 652 |
+
[
|
| 653 |
+
0.9114724733969914
|
| 654 |
+
]
|
| 655 |
+
],
|
| 656 |
+
[
|
| 657 |
+
[
|
| 658 |
+
0.9033520484125851
|
| 659 |
+
]
|
| 660 |
+
],
|
| 661 |
+
[
|
| 662 |
+
[
|
| 663 |
+
0.8969962679431432
|
| 664 |
+
]
|
| 665 |
+
]
|
| 666 |
+
]
|
| 667 |
+
}
|
| 668 |
+
}
|
open_drawer/meta/tasks.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:28fa73d67f7144521782567da0c5e506d4825fcee5d97c1e27cf3f4277540b26
|
| 3 |
+
size 2151
|
open_drawer/videos/observation.images.front_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9926e84694113de3f9fbcd6c03786a69f240ce45ddae1386d47d7a1e29c498e7
|
| 3 |
+
size 87273853
|
open_drawer/videos/observation.images.wrist_rgb/chunk-000/file-000.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1fe8e9676a3a064917aab663d133ea53b4b160858df3222862b138939e02ce94
|
| 3 |
+
size 56309030
|
place_cups/data/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:27dd1da3bb3c9600b13fc33392a8524235d5c0277e7b29569f3a437e459a7228
|
| 3 |
+
size 4199054
|
place_cups/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d66cbe943072f6c917f2e82acaca0545fb9d47b30ca19b271d7039d01802f706
|
| 3 |
+
size 466602
|
place_cups/meta/info.json
ADDED
|
@@ -0,0 +1,125 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "franka_panda",
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 42371,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 20,
|
| 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 |
+
8
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"x",
|
| 25 |
+
"y",
|
| 26 |
+
"z",
|
| 27 |
+
"qx",
|
| 28 |
+
"qy",
|
| 29 |
+
"qz",
|
| 30 |
+
"qw",
|
| 31 |
+
"gripper"
|
| 32 |
+
]
|
| 33 |
+
]
|
| 34 |
+
},
|
| 35 |
+
"action": {
|
| 36 |
+
"dtype": "float32",
|
| 37 |
+
"shape": [
|
| 38 |
+
8
|
| 39 |
+
],
|
| 40 |
+
"names": [
|
| 41 |
+
[
|
| 42 |
+
"dx",
|
| 43 |
+
"dy",
|
| 44 |
+
"dz",
|
| 45 |
+
"qx",
|
| 46 |
+
"qy",
|
| 47 |
+
"qz",
|
| 48 |
+
"qw",
|
| 49 |
+
"gripper"
|
| 50 |
+
]
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"observation.images.front_rgb": {
|
| 54 |
+
"dtype": "video",
|
| 55 |
+
"shape": [
|
| 56 |
+
128,
|
| 57 |
+
128,
|
| 58 |
+
3
|
| 59 |
+
],
|
| 60 |
+
"info": {
|
| 61 |
+
"video.height": 128,
|
| 62 |
+
"video.width": 128,
|
| 63 |
+
"video.codec": "h264",
|
| 64 |
+
"video.pix_fmt": "yuv444p",
|
| 65 |
+
"video.is_depth_map": false,
|
| 66 |
+
"video.fps": 20,
|
| 67 |
+
"video.channels": 3,
|
| 68 |
+
"has_audio": false
|
| 69 |
+
}
|
| 70 |
+
},
|
| 71 |
+
"observation.images.wrist_rgb": {
|
| 72 |
+
"dtype": "video",
|
| 73 |
+
"shape": [
|
| 74 |
+
128,
|
| 75 |
+
128,
|
| 76 |
+
3
|
| 77 |
+
],
|
| 78 |
+
"info": {
|
| 79 |
+
"video.height": 128,
|
| 80 |
+
"video.width": 128,
|
| 81 |
+
"video.codec": "h264",
|
| 82 |
+
"video.pix_fmt": "yuv444p",
|
| 83 |
+
"video.is_depth_map": false,
|
| 84 |
+
"video.fps": 20,
|
| 85 |
+
"video.channels": 3,
|
| 86 |
+
"has_audio": false
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"timestamp": {
|
| 90 |
+
"dtype": "float32",
|
| 91 |
+
"shape": [
|
| 92 |
+
1
|
| 93 |
+
],
|
| 94 |
+
"names": null
|
| 95 |
+
},
|
| 96 |
+
"frame_index": {
|
| 97 |
+
"dtype": "int64",
|
| 98 |
+
"shape": [
|
| 99 |
+
1
|
| 100 |
+
],
|
| 101 |
+
"names": null
|
| 102 |
+
},
|
| 103 |
+
"episode_index": {
|
| 104 |
+
"dtype": "int64",
|
| 105 |
+
"shape": [
|
| 106 |
+
1
|
| 107 |
+
],
|
| 108 |
+
"names": null
|
| 109 |
+
},
|
| 110 |
+
"index": {
|
| 111 |
+
"dtype": "int64",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": null
|
| 116 |
+
},
|
| 117 |
+
"task_index": {
|
| 118 |
+
"dtype": "int64",
|
| 119 |
+
"shape": [
|
| 120 |
+
1
|
| 121 |
+
],
|
| 122 |
+
"names": null
|
| 123 |
+
}
|
| 124 |
+
}
|
| 125 |
+
}
|
place_cups/meta/norm_stats.json
ADDED
|
@@ -0,0 +1,106 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"observation.state": {
|
| 3 |
+
"dim_labels": [
|
| 4 |
+
"x",
|
| 5 |
+
"y",
|
| 6 |
+
"z",
|
| 7 |
+
"qx",
|
| 8 |
+
"qy",
|
| 9 |
+
"qz",
|
| 10 |
+
"qw",
|
| 11 |
+
"gripper"
|
| 12 |
+
],
|
| 13 |
+
"mean": [
|
| 14 |
+
0.24620896726104652,
|
| 15 |
+
-0.008283338820371763,
|
| 16 |
+
1.0023174400157513,
|
| 17 |
+
0.6406131377641273,
|
| 18 |
+
0.11545625901337792,
|
| 19 |
+
0.042528763575269385,
|
| 20 |
+
-0.22765933598808083,
|
| 21 |
+
0.4224115549598033
|
| 22 |
+
],
|
| 23 |
+
"std": [
|
| 24 |
+
0.1047384633148165,
|
| 25 |
+
0.1746456973771881,
|
| 26 |
+
0.1548185242284498,
|
| 27 |
+
0.4697550192445526,
|
| 28 |
+
0.16893951137358043,
|
| 29 |
+
0.16786354707184495,
|
| 30 |
+
0.49523597390151636,
|
| 31 |
+
0.4939433479560391
|
| 32 |
+
],
|
| 33 |
+
"q01": [
|
| 34 |
+
0.09784253078007321,
|
| 35 |
+
-0.3357191647523128,
|
| 36 |
+
0.8106184538804924,
|
| 37 |
+
-0.28817991588453795,
|
| 38 |
+
-0.1274472475844394,
|
| 39 |
+
-0.3093818678486696,
|
| 40 |
+
-0.871734248001743,
|
| 41 |
+
-9.999999999999995e-11
|
| 42 |
+
],
|
| 43 |
+
"q99": [
|
| 44 |
+
0.42265605859545685,
|
| 45 |
+
0.2171556443558037,
|
| 46 |
+
1.4654481618423243,
|
| 47 |
+
0.9941759978971992,
|
| 48 |
+
0.44516453009486834,
|
| 49 |
+
0.33569593693185157,
|
| 50 |
+
0.5307543623569806,
|
| 51 |
+
0.9999952263573982
|
| 52 |
+
]
|
| 53 |
+
},
|
| 54 |
+
"action": {
|
| 55 |
+
"dim_labels": [
|
| 56 |
+
"dx",
|
| 57 |
+
"dy",
|
| 58 |
+
"dz",
|
| 59 |
+
"qx",
|
| 60 |
+
"qy",
|
| 61 |
+
"qz",
|
| 62 |
+
"qw",
|
| 63 |
+
"gripper"
|
| 64 |
+
],
|
| 65 |
+
"mean": [
|
| 66 |
+
3.9849414094020396e-05,
|
| 67 |
+
-0.00043540257500871826,
|
| 68 |
+
-0.0013229701199661958,
|
| 69 |
+
0.639144527555815,
|
| 70 |
+
0.11600087121252477,
|
| 71 |
+
0.04203721739325198,
|
| 72 |
+
-0.22847141049282824,
|
| 73 |
+
0.42238795382188593
|
| 74 |
+
],
|
| 75 |
+
"std": [
|
| 76 |
+
0.003589481074182656,
|
| 77 |
+
0.005726073930772952,
|
| 78 |
+
0.007112317184426339,
|
| 79 |
+
0.47034667078769,
|
| 80 |
+
0.16914287873277964,
|
| 81 |
+
0.1686600599372408,
|
| 82 |
+
0.4957723455167571,
|
| 83 |
+
0.49393964032608617
|
| 84 |
+
],
|
| 85 |
+
"q01": [
|
| 86 |
+
-0.009669499932804635,
|
| 87 |
+
-0.013601653330495579,
|
| 88 |
+
-0.01709514498077145,
|
| 89 |
+
-0.28818216040043954,
|
| 90 |
+
-0.1274471291847273,
|
| 91 |
+
-0.3093885906841344,
|
| 92 |
+
-0.871734256285454,
|
| 93 |
+
-9.999999999999995e-11
|
| 94 |
+
],
|
| 95 |
+
"q99": [
|
| 96 |
+
0.010833676493802447,
|
| 97 |
+
0.014671066575315356,
|
| 98 |
+
0.01777357977081463,
|
| 99 |
+
0.9940889929026218,
|
| 100 |
+
0.44516453669429157,
|
| 101 |
+
0.3356752372887319,
|
| 102 |
+
0.5306270926436835,
|
| 103 |
+
0.999995225995674
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
}
|