| { |
| "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 |
| } |
|
|
