File size: 1,783 Bytes
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"action": "native normalized LIBERO [delta_xyz3, delta_rot6d6, gripper_open_command1]",
"action_gripper_formula": "open_command = -source_native_close_command",
"action_position_formula": "output_xyz = source_action_xyz (copied unchanged)",
"action_rotation_formula": "output_rot6d = rot6d(Exp(source_action_rotvec))",
"action_rotation_scale_applied": 1.0,
"rot6d_normalization": "identity",
"created_at": "2026-08-29T06:30:55.684238+00:00",
"independent_copied_files": true,
"normalization_stats_file": "meta/normalization_stats.npy",
"normalization_stats_keys": {
"action": "libero",
"state": "libero_state"
},
"output_representation": "native_delta_eef10",
"preserved": {
"episode_metadata_and_offsets": true,
"episodes": 1693,
"fps": 10.0,
"frames": 273465,
"parquet_file_count": 377,
"parquet_row_order_and_nonconverted_columns": true,
"tasks": 40,
"video_bytes_and_timestamps": true,
"video_file_count": 74
},
"roundtrip_max_abs_error": {
"gripper": 0.0,
"position": 0.0,
"rotation": 2.4177677138137454e-08
},
"source_gripper_is_continuous": true,
"source_gripper_observed_range": [
-1.0,
1.0
],
"source_repo_id": "lerobot/libero",
"source_revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
"source_root": "/mnt/data/wangyuran/libero-lerobot",
"state": "achieved [xyz3, rot6d6, gripper_open_scale1]",
"state_gripper_formula": "clip(2 * (source_qpos0 - source_qpos1) / 0.08 - 1, -1, 1)",
"state_gripper_projection": {
"max_abs_finger_joint_sum": 0.04134345974307507,
"max_width_clip_error_m": 0.002002341747283934,
"rows_outside_nominal_width": 2972,
"source_joint_pair_is_not_bijectively_recoverable": true
},
"video_reencoded": false
}
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