GR1_robot / meta /metadata.json
XuyaoWang's picture
Upload folder using huggingface_hub
f472496 verified
{
"dataset_name": "gr1_unified.RU0226RemoveStaticFreq20",
"dataset_statistics": {
"state": {
"left_arm": {
"max": [
1.0017889738082886,
1.5781080722808838,
1.294211983680725,
0.04977008327841759,
1.600113868713379,
0.8699901103973389,
0.7041063904762268
],
"min": [
-1.7112884521484375,
-0.05192652717232704,
-1.6571800708770752,
-2.2253382205963135,
-1.5812596082687378,
-0.8077027797698975,
-0.7319396138191223
],
"mean": [
-0.23510995507240295,
0.08278689533472061,
-0.17561662197113037,
-1.4633963108062744,
-0.16554002463817596,
0.21069100499153137,
-0.02172079309821129
],
"std": [
0.2661355435848236,
0.1482733190059662,
0.22947807610034943,
0.3178490996360779,
0.3928808271884918,
0.24495108425617218,
0.19404073059558868
],
"q01": [
-1.016190185546875,
-0.003958290908485651,
-0.7566976571083069,
-2.070347385406494,
-1.314446210861206,
-0.34268490076065067,
-0.4775732409954071
],
"q99": [
0.31806474924087524,
0.6572988629341125,
0.3398630094528201,
-0.6164662837982178,
0.527622640132904,
0.7657728838920593,
0.5402665424346924
]
},
"left_hand": {
"max": [
1.472766399383545,
1.4828513860702515,
1.4850744009017944,
1.4901424646377563,
0.9792539477348328,
1.4872463941574097
],
"min": [
-1.3877787807814457e-17,
-3.469446951953614e-18,
-3.469446951953614e-18,
-3.469446951953614e-18,
-1.734723475976807e-18,
-3.469446951953614e-18
],
"mean": [
0.1355459988117218,
0.16456203162670135,
0.20377254486083984,
0.19653105735778809,
0.07412750273942947,
0.4470580518245697
],
"std": [
0.21380938589572906,
0.22626058757305145,
0.2478671669960022,
0.3130143880844116,
0.16971081495285034,
0.4282726049423218
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.006660871673375368
],
"q99": [
0.9355562925338745,
0.908044159412384,
1.157825231552124,
1.3120378255844116,
0.6993866562843323,
1.4503222703933716
]
},
"left_leg": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.00005186659473110922,
-7.245188953675097e-6
],
"min": [
0.0,
0.0,
0.0,
0.0,
-2.446335656713927e-6,
-0.000016033794963732362
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.00004312567034503445,
-0.000014379480489878915
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.000018395794540992938,
3.1000986382423434e-6
],
"q01": [
0.0,
0.0,
0.0,
0.0,
-2.446335656713927e-6,
-0.000016033794963732362
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.00005186659473110922,
-7.245188953675097e-6
]
},
"neck": {
"max": [
0.01535311620682478,
0.05556071177124977,
0.008969387039542198
],
"min": [
-0.23586410284042358,
-0.03865945711731911,
-0.06754876673221588
],
"mean": [
-0.004255301784723997,
0.0002657795848790556,
-0.0006714874762110412
],
"std": [
0.026128508150577545,
0.007708252873271704,
0.006893624551594257
],
"q01": [
-0.23109517991542816,
-0.03681333363056183,
-0.06639820337295532
],
"q99": [
0.0005224163061939181,
0.047080863267183304,
0.0030557774007320404
]
},
"right_arm": {
"max": [
1.0682319402694702,
0.07876992970705032,
1.6531550884246826,
0.048908114433288574,
1.8550424575805664,
0.8390809297561646,
1.2081018686294556
],
"min": [
-2.0094008445739746,
-2.0107927322387695,
-1.5552369356155396,
-2.236074447631836,
-1.570620059967041,
-0.8967300057411194,
-1.0318788290023804
],
"mean": [
-0.2896609902381897,
-0.15300634503364563,
0.09979652613401413,
-1.3746153116226196,
0.35059410333633423,
-0.21661753952503204,
0.03269008919596672
],
"std": [
0.2860013246536255,
0.211726114153862,
0.2825471758842468,
0.33048564195632935,
0.39584851264953613,
0.28224697709083557,
0.22142010927200317
],
"q01": [
-1.1745043992996216,
-0.9230765104293823,
-0.491628680229187,
-2.0738524341583253,
-0.5280317568778992,
-0.7683572268486023,
-0.4838269460201263
],
"q99": [
0.25152697563171417,
0.008797253482043743,
0.9599324560165411,
-0.5514465570449829,
1.2458415031433105,
0.5079449486732486,
0.5920730876922607
]
},
"right_hand": {
"max": [
1.4650918245315552,
1.4477157592773438,
1.4720423221588135,
1.475951910018921,
1.057526707649231,
1.504188060760498
],
"min": [
-3.469446951953614e-18,
-3.469446951953614e-18,
-3.469446951953614e-18,
-3.469446951953614e-18,
-3.469446951953614e-18,
-3.469446951953614e-18
],
"mean": [
0.19498227536678314,
0.23796965181827545,
0.22386550903320312,
0.31651315093040466,
0.18760941922664642,
0.7565912008285522
],
"std": [
0.22194541990756989,
0.21965058147907257,
0.2557011544704437,
0.3274213969707489,
0.23496432602405548,
0.5172516107559204
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.011294442228972912
],
"q99": [
0.8373816609382629,
0.8486759662628174,
0.9775484204292297,
1.379659652709961,
0.7247267365455627,
1.474503993988037
]
},
"right_leg": {
"max": [
0.0,
0.0,
0.0,
0.0,
5.369959126255708e-6,
-7.2451907726645e-6
],
"min": [
0.0,
0.0,
0.0,
0.0,
-2.446335656713927e-6,
-0.00005166131450096145
],
"mean": [
0.0,
0.0,
0.0,
0.0,
4.565625204122625e-6,
-0.00004384101339383051
],
"std": [
0.0,
0.0,
0.0,
0.0,
2.5809977159951814e-6,
0.000015732934116385877
],
"q01": [
0.0,
0.0,
0.0,
0.0,
-2.446335656713927e-6,
-0.00005166131450096145
],
"q99": [
0.0,
0.0,
0.0,
0.0,
5.369959126255708e-6,
-7.2451907726645e-6
]
},
"waist": {
"max": [
0.8042352199554443,
0.7102982997894287,
0.08468786627054214
],
"min": [
-0.8075597882270813,
-0.06663085520267487,
-0.10379424691200256
],
"mean": [
0.06358207762241364,
0.04289620369672775,
-0.00024804449640214443
],
"std": [
0.2535896599292755,
0.048764538019895554,
0.008719581179320812
],
"q01": [
-0.5984661936759949,
-0.01147479098290205,
-0.03608853369951248
],
"q99": [
0.7126809978485108,
0.24479174375534063,
0.023445775732398033
]
}
},
"action": {
"left_arm": {
"max": [
1.046176552772522,
1.8901419639587402,
1.2993468046188354,
-9.999999974752427e-7,
1.8093901872634888,
0.9499989748001099,
0.6499990224838257
],
"min": [
-2.291214942932129,
9.999999974752427e-7,
-2.4999990463256836,
-2.1999990940093994,
-1.990696668624878,
-0.9498744010925293,
-0.6499990224838257
],
"mean": [
-0.24744868278503418,
0.08267425000667572,
-0.1754065454006195,
-1.4767699241638184,
-0.16635814309120178,
0.21964849531650543,
-0.06830326467752457
],
"std": [
0.2709898054599762,
0.15140417218208313,
0.2301056832075119,
0.3221949636936188,
0.39620134234428406,
0.25563937425613403,
0.21300260722637177
],
"q01": [
-1.0422743320465089,
9.999999974752427e-7,
-0.7545523691177368,
-2.0909006786346436,
-1.3186144304275513,
-0.3446836817264557,
-0.5800869750976563
],
"q99": [
0.3107645666599274,
0.664623305797577,
0.34196971416473393,
-0.6170053839683532,
0.5315649127960206,
0.8077235031127931,
0.6305572366714483
]
},
"left_hand": {
"max": [
1.5707963705062866,
1.646651268005371,
1.709236979484558,
2.0620639324188232,
0.9479697346687317,
1.7448381185531616
],
"min": [
-1.9597030878067017,
-1.8635213375091553,
-1.9709523916244507,
-0.5345953702926636,
0.0,
5.7711950773864373e-8
],
"mean": [
0.13319742679595947,
0.1860152930021286,
0.22730904817581177,
0.197616845369339,
0.113908551633358,
0.4925936758518219
],
"std": [
0.29957684874534607,
0.3274744749069214,
0.31860610842704773,
0.39813318848609924,
0.2575400471687317,
0.5250641107559204
],
"q01": [
-0.2659994792938232,
-0.20474758684635164,
-0.12833859264850617,
-0.2879010224342346,
0.0,
0.005700555220246315
],
"q99": [
1.2514010667800903,
1.3794642686843872,
1.389293122291565,
1.5168532657623293,
0.9479697346687317,
1.7278759479522705
]
},
"left_leg": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"neck": {
"max": [
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0
]
},
"right_arm": {
"max": [
1.1345248222351074,
-9.999999974752427e-7,
2.236121654510498,
-9.999999974752427e-7,
1.9609193801879883,
0.9499989748001099,
0.6499990224838257
],
"min": [
-2.0708367824554443,
-2.2475438117980957,
-1.5707952976226807,
-2.1999990940093994,
-1.9999990463256836,
-0.9499989748001099,
-0.6499990224838257
],
"mean": [
-0.3014450669288635,
-0.1579192876815796,
0.09958097338676453,
-1.3883757591247559,
0.352129191160202,
-0.23438511788845062,
0.0006256559863686562
],
"std": [
0.29163026809692383,
0.22140254080295563,
0.28323912620544434,
0.3331756293773651,
0.40029069781303406,
0.29285070300102234,
0.2422877699136734
],
"q01": [
-1.2001051330566406,
-0.9352500557899475,
-0.4998704469203949,
-2.0934654235839845,
-0.5339313459396362,
-0.8344359683990479,
-0.5573393201828003
],
"q99": [
0.248556867837906,
-9.999999974752427e-7,
0.9488541436195381,
-0.5593473839759826,
1.2561311101913453,
0.5063780140876774,
0.6497609615325928
]
},
"right_hand": {
"max": [
1.5707963705062866,
1.7183797359466553,
3.979951858520508,
3.9879753589630127,
0.9479697346687317,
1.7448405027389526
],
"min": [
-0.5808770656585693,
-0.5084361433982849,
-0.5363699197769165,
-1.1787790060043335,
0.0,
3.1221401286529726e-7
],
"mean": [
0.2393745332956314,
0.3282097578048706,
0.30211740732192993,
0.4001200497150421,
0.23731589317321777,
0.8128092885017395
],
"std": [
0.3598819077014923,
0.3920982778072357,
0.43554502725601196,
0.48388442397117615,
0.3249962329864502,
0.6257563829421997
],
"q01": [
-0.24076387345790864,
-0.18542873084545136,
-0.23163767993450166,
-0.24792537033557893,
0.0,
0.010369242057204246
],
"q99": [
1.3917825412750244,
1.5097358465194703,
1.5707963705062866,
1.5707963705062866,
0.9479697346687317,
1.7360411167144776
]
},
"right_leg": {
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"min": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"mean": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"std": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"waist": {
"max": [
0.7853971719741821,
0.523597776889801,
0.0
],
"min": [
-0.7853971719741821,
0.0,
-9.999999974752427e-7
],
"mean": [
0.06465699523687363,
0.017514539882540703,
-8.442207217740361e-7
],
"std": [
0.25716954469680786,
0.05227348208427429,
3.2210661515819083e-7
],
"q01": [
-0.6020408487319946,
0.0,
-9.999999974752427e-7
],
"q99": [
0.7275692248344422,
0.2765102529525758,
0.0
]
}
},
"total_trajectory_length": 6362293,
"num_trajectories": 22209
},
"modalities": {
"video": {
"ego_view_freq20": {
"resolution": [
1280,
800
],
"channels": 3,
"fps": 20.0
}
},
"state": {
"left_arm": {
"absolute": true,
"rotation_type": null,
"shape": [
7
],
"continuous": true
},
"left_hand": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"left_leg": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"neck": {
"absolute": true,
"rotation_type": null,
"shape": [
3
],
"continuous": true
},
"right_arm": {
"absolute": true,
"rotation_type": null,
"shape": [
7
],
"continuous": true
},
"right_hand": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"right_leg": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"waist": {
"absolute": true,
"rotation_type": null,
"shape": [
3
],
"continuous": true
}
},
"action": {
"left_arm": {
"absolute": true,
"rotation_type": null,
"shape": [
7
],
"continuous": true
},
"left_hand": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"left_leg": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"neck": {
"absolute": true,
"rotation_type": null,
"shape": [
3
],
"continuous": true
},
"right_arm": {
"absolute": true,
"rotation_type": null,
"shape": [
7
],
"continuous": true
},
"right_hand": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"right_leg": {
"absolute": true,
"rotation_type": null,
"shape": [
6
],
"continuous": true
},
"waist": {
"absolute": true,
"rotation_type": null,
"shape": [
3
],
"continuous": true
}
},
"annotation": {
"human": [
"validity",
"action.verb",
"action.object",
"action.start_location",
"action.end_location",
"action.hand",
"action.rating",
"action.failure_code",
"fine_action",
"coarse_action"
]
}
},
"embodiment": {
"robot_name": "gr00t001",
"robot_type": "GR1T1",
"record_frequency": 20.0,
"body_controller_frequency": 120.0,
"hand_controller_frequency": 40.0,
"embodiment_tag": "gr1_unified"
},
"processing": null,
"version": null
}