| { |
| "codebase_version": "v2.1", |
| "robot_type": "Airbot_MMK2", |
| "total_episodes": 198, |
| "total_frames": 28684, |
| "total_tasks": 1, |
| "total_videos": 792, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:197" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "observation.images.cam_head_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left_wrist_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_front_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 36 |
| ], |
| "names": [ |
| "left_arm_joint_1_rad", |
| "left_arm_joint_2_rad", |
| "left_arm_joint_3_rad", |
| "left_arm_joint_4_rad", |
| "left_arm_joint_5_rad", |
| "left_arm_joint_6_rad", |
| "right_arm_joint_1_rad", |
| "right_arm_joint_2_rad", |
| "right_arm_joint_3_rad", |
| "right_arm_joint_4_rad", |
| "right_arm_joint_5_rad", |
| "right_arm_joint_6_rad", |
| "left_hand_joint_1_rad", |
| "left_hand_joint_2_rad", |
| "left_hand_joint_3_rad", |
| "left_hand_joint_4_rad", |
| "left_hand_joint_5_rad", |
| "left_hand_joint_6_rad", |
| "left_hand_joint_7_rad", |
| "left_hand_joint_8_rad", |
| "left_hand_joint_9_rad", |
| "left_hand_joint_10_rad", |
| "left_hand_joint_11_rad", |
| "left_hand_joint_12_rad", |
| "right_hand_joint_1_rad", |
| "right_hand_joint_2_rad", |
| "right_hand_joint_3_rad", |
| "right_hand_joint_4_rad", |
| "right_hand_joint_5_rad", |
| "right_hand_joint_6_rad", |
| "right_hand_joint_7_rad", |
| "right_hand_joint_8_rad", |
| "right_hand_joint_9_rad", |
| "right_hand_joint_10_rad", |
| "right_hand_joint_11_rad", |
| "right_hand_joint_12_rad" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 36 |
| ], |
| "names": [ |
| "left_arm_joint_1_rad", |
| "left_arm_joint_2_rad", |
| "left_arm_joint_3_rad", |
| "left_arm_joint_4_rad", |
| "left_arm_joint_5_rad", |
| "left_arm_joint_6_rad", |
| "right_arm_joint_1_rad", |
| "right_arm_joint_2_rad", |
| "right_arm_joint_3_rad", |
| "right_arm_joint_4_rad", |
| "right_arm_joint_5_rad", |
| "right_arm_joint_6_rad", |
| "left_hand_joint_1_rad", |
| "left_hand_joint_2_rad", |
| "left_hand_joint_3_rad", |
| "left_hand_joint_4_rad", |
| "left_hand_joint_5_rad", |
| "left_hand_joint_6_rad", |
| "left_hand_joint_7_rad", |
| "left_hand_joint_8_rad", |
| "left_hand_joint_9_rad", |
| "left_hand_joint_10_rad", |
| "left_hand_joint_11_rad", |
| "left_hand_joint_12_rad", |
| "right_hand_joint_1_rad", |
| "right_hand_joint_2_rad", |
| "right_hand_joint_3_rad", |
| "right_hand_joint_4_rad", |
| "right_hand_joint_5_rad", |
| "right_hand_joint_6_rad", |
| "right_hand_joint_7_rad", |
| "right_hand_joint_8_rad", |
| "right_hand_joint_9_rad", |
| "right_hand_joint_10_rad", |
| "right_hand_joint_11_rad", |
| "right_hand_joint_12_rad" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "subtask_annotation": { |
| "names": null, |
| "shape": [ |
| 5 |
| ], |
| "dtype": "int32" |
| }, |
| "scene_annotation": { |
| "names": null, |
| "shape": [ |
| 1 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_sim_pose_state": { |
| "names": [ |
| "left_eef_pos_x", |
| "left_eef_pos_y", |
| "left_eef_pos_z", |
| "left_eef_rot_x", |
| "left_eef_rot_y", |
| "left_eef_rot_z", |
| "right_eef_pos_x", |
| "right_eef_pos_y", |
| "right_eef_pos_z", |
| "right_eef_rot_x", |
| "right_eef_rot_y", |
| "right_eef_rot_z" |
| ], |
| "shape": [ |
| 12 |
| ], |
| "dtype": "float32" |
| }, |
| "eef_sim_pose_action": { |
| "names": [ |
| "left_eef_pos_x", |
| "left_eef_pos_y", |
| "left_eef_pos_z", |
| "left_eef_rot_x", |
| "left_eef_rot_y", |
| "left_eef_rot_z", |
| "right_eef_pos_x", |
| "right_eef_pos_y", |
| "right_eef_pos_z", |
| "right_eef_rot_x", |
| "right_eef_rot_y", |
| "right_eef_rot_z" |
| ], |
| "shape": [ |
| 12 |
| ], |
| "dtype": "float32" |
| }, |
| "eef_direction_state": { |
| "names": [ |
| "left_eef_direction", |
| "right_eef_direction" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_direction_action": { |
| "names": [ |
| "left_eef_direction", |
| "right_eef_direction" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_velocity_state": { |
| "names": [ |
| "left_eef_velocity", |
| "right_eef_velocity" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_velocity_action": { |
| "names": [ |
| "left_eef_velocity", |
| "right_eef_velocity" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_acc_mag_state": { |
| "names": [ |
| "left_eef_acc_mag", |
| "right_eef_acc_mag" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| }, |
| "eef_acc_mag_action": { |
| "names": [ |
| "left_eef_acc_mag", |
| "right_eef_acc_mag" |
| ], |
| "shape": [ |
| 2 |
| ], |
| "dtype": "int32" |
| } |
| }, |
| "stats": { |
| "eef_velocity_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 1.0085064844512621, |
| 1.0288314042671873 |
| ], |
| "std": [ |
| 0.5958510744483695, |
| 0.5242400729117748 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 392 |
| ], |
| "mean": [ |
| 81.1023218519035 |
| ], |
| "std": [ |
| 60.9027221576907 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "observation.images.cam_right_wrist_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.08627450980392157 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.5425722655685293 |
| ] |
| ], |
| [ |
| [ |
| 0.5605286445585335 |
| ] |
| ], |
| [ |
| [ |
| 0.5479247762002037 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.29677691949929697 |
| ] |
| ], |
| [ |
| [ |
| 0.30536620399578485 |
| ] |
| ], |
| [ |
| [ |
| 0.31668733283800005 |
| ] |
| ] |
| ], |
| "count": [ |
| 19667 |
| ] |
| }, |
| "observation.images.cam_head_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.43722972368406193 |
| ] |
| ], |
| [ |
| [ |
| 0.43468627319086656 |
| ] |
| ], |
| [ |
| [ |
| 0.4260323542206496 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.23664554041280325 |
| ] |
| ], |
| [ |
| [ |
| 0.23540055527594755 |
| ] |
| ], |
| [ |
| [ |
| 0.2303111749072136 |
| ] |
| ] |
| ], |
| "count": [ |
| 19667 |
| ] |
| }, |
| "eef_acc_mag_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 0.6948821642727653, |
| 0.6661902105703528 |
| ], |
| "std": [ |
| 0.8171142285200893, |
| 0.8047579208627248 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "eef_sim_pose_action": { |
| "min": [ |
| 0.5670115211727453, |
| 0.046687228099306144, |
| 1.03671050076691, |
| -2.3529464287445334, |
| 0.41887049196102777, |
| -3.1300519296910565, |
| 0.5552088671797246, |
| -0.23655731832956642, |
| 1.0224628268611307, |
| 0.6797462219374513, |
| 0.3988001236956926, |
| 1.3260627044286575 |
| ], |
| "max": [ |
| 0.7717551619117633, |
| 0.23113790929138603, |
| 1.301466082758566, |
| -0.7286013276730026, |
| 1.2873047356095846, |
| -1.4453450127361593, |
| 0.7659205404710154, |
| -0.040242643798043015, |
| 1.3105085496109168, |
| 2.1400813207898666, |
| 1.0445624769315396, |
| 2.9565900662259788 |
| ], |
| "mean": [ |
| 0.6176179757037864, |
| 0.14127315172942387, |
| 1.1311504985074017, |
| -1.6573686752900634, |
| 0.8477767383722944, |
| -2.4098706859814767, |
| 0.6213069552183355, |
| -0.152364260728953, |
| 1.1263393351379494, |
| 1.6500822796793484, |
| 0.7858502181121348, |
| 2.375634766092054 |
| ], |
| "std": [ |
| 0.03214670497046829, |
| 0.0352458487353151, |
| 0.04865762904223973, |
| 0.27149692190984076, |
| 0.2310812164599499, |
| 0.2993131320749383, |
| 0.03974414312889576, |
| 0.032030891783681424, |
| 0.05102926991303106, |
| 0.27029250647655484, |
| 0.11263423411310536, |
| 0.24703468036887663 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 28683 |
| ], |
| "mean": [ |
| 14341.5 |
| ], |
| "std": [ |
| 8280.357555685623 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "observation.images.cam_left_wrist_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.11764705882352941 |
| ] |
| ], |
| [ |
| [ |
| 0.03137254901960784 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.5523202727163814 |
| ] |
| ], |
| [ |
| [ |
| 0.5730774538218198 |
| ] |
| ], |
| [ |
| [ |
| 0.559332363644302 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2857630838894461 |
| ] |
| ], |
| [ |
| [ |
| 0.29229602581821157 |
| ] |
| ], |
| [ |
| [ |
| 0.3031367771914783 |
| ] |
| ] |
| ], |
| "count": [ |
| 19667 |
| ] |
| }, |
| "action": { |
| "min": [ |
| 0.39655575156211853, |
| -1.355346918106079, |
| 0.8100633025169373, |
| -0.3410749137401581, |
| -1.6092164516448975, |
| 0.04457303136587143, |
| -1.2787060737609863, |
| -1.2639000415802002, |
| 0.7116426229476929, |
| -0.9191891551017761, |
| 0.5492652058601379, |
| -1.2376973628997803, |
| 0.012544553726911545, |
| 1.0053414106369019, |
| -0.015402530319988728, |
| -0.045923974364995956, |
| -0.009222974069416523, |
| -0.029305169358849525, |
| -0.00939205288887024, |
| -0.01530980970710516, |
| -0.02327287383377552, |
| -0.05402339622378349, |
| 0.00890117883682251, |
| -0.02136937528848648, |
| 0.010788315907120705, |
| 1.058051347732544, |
| 0.011267950758337975, |
| -0.03670100122690201, |
| -0.005890486296266317, |
| -0.007832164876163006, |
| 0.007663086522370577, |
| -0.011977322399616241, |
| 0.010690141469240189, |
| -0.011759155429899693, |
| 0.009953830391168594, |
| -0.021434826776385307 |
| ], |
| "max": [ |
| 1.2265750169754028, |
| -0.6798847913742065, |
| 1.6592516899108887, |
| 0.6234264373779297, |
| -0.32414692640304565, |
| 1.2295434474945068, |
| -0.5122382044792175, |
| -0.677519679069519, |
| 1.6580119132995605, |
| 0.5209048986434937, |
| 1.64437997341156, |
| 0.029242485761642456, |
| 1.2381528615951538, |
| 1.5506268739700317, |
| 1.0010772943496704, |
| 0.13704131543636322, |
| 0.5298383235931396, |
| 1.2050297260284424, |
| 0.6541875600814819, |
| 0.823266327381134, |
| 0.9225919842720032, |
| 1.133602261543274, |
| 0.8225463628768921, |
| 1.5984488725662231, |
| 1.0803533792495728, |
| 1.5008305311203003, |
| 0.22500020265579224, |
| 0.12349294871091843, |
| 0.5475282073020935, |
| 1.5480198860168457, |
| 0.6546675562858582, |
| 1.3390165567398071, |
| 0.7275404334068298, |
| 1.6544848680496216, |
| 0.779000461101532, |
| 1.9139608144760132 |
| ], |
| "mean": [ |
| 0.8963246744886101, |
| -0.9385240018708555, |
| 1.0863169132520292, |
| 0.11058531298307901, |
| -0.86870143142077, |
| 0.6814987851069647, |
| -0.9253617340721956, |
| -0.9539844149381043, |
| 1.1134177158877467, |
| -0.0938534266878402, |
| 0.9176128056529442, |
| -0.6052259482719183, |
| 0.17380899901726127, |
| 1.432374592485529, |
| 0.02476259120167445, |
| 0.0025101403651678115, |
| 0.08879288989495215, |
| 0.014053405998134644, |
| 0.06330552880673418, |
| 0.0055348996002651685, |
| 0.059524462295806144, |
| 0.009820026594388308, |
| 0.03505300325612309, |
| 0.09838994896784281, |
| 0.2558052655542042, |
| 1.3696139741560651, |
| 0.019907486577157366, |
| 0.00025375211143550274, |
| 0.06503148891435388, |
| 0.02208679186922964, |
| 0.051547251829190205, |
| 0.01736437020863182, |
| 0.048870928419193896, |
| 0.015822916153750817, |
| 0.03747756963805753, |
| 0.10639118836235616 |
| ], |
| "std": [ |
| 0.1449485106340032, |
| 0.11247776159313219, |
| 0.13772460973884817, |
| 0.18460083777614358, |
| 0.20264267936675795, |
| 0.31953892877447165, |
| 0.16528057750259129, |
| 0.11014219536801599, |
| 0.20965349160470115, |
| 0.3180911069829389, |
| 0.1554062026740851, |
| 0.31177036626473054, |
| 0.17937680756969115, |
| 0.0588608834528618, |
| 0.049186337599146805, |
| 0.01783539136840144, |
| 0.07454759083040284, |
| 0.02991292755282242, |
| 0.06752171417280269, |
| 0.01991537823836624, |
| 0.0690904829937928, |
| 0.03957324098787652, |
| 0.037112004366854544, |
| 0.18260596505010335, |
| 0.23081026445034988, |
| 0.06436205522631423, |
| 0.00878663019178932, |
| 0.014428106139233546, |
| 0.06276048947848405, |
| 0.032891044440757994, |
| 0.062186575788707746, |
| 0.027892337198327323, |
| 0.05973661397967516, |
| 0.047880832505440014, |
| 0.04294675973442636, |
| 0.1936481637011447 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "eef_direction_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 6, |
| 6 |
| ], |
| "mean": [ |
| 3.768721238321015, |
| 3.4354343885092735 |
| ], |
| "std": [ |
| 1.70647761335942, |
| 1.8506635383737484 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| 0.39655575156211853, |
| -1.355346918106079, |
| 0.8100633025169373, |
| -0.3410749137401581, |
| -1.6092164516448975, |
| 0.04457303136587143, |
| -1.2787060737609863, |
| -1.2639000415802002, |
| 0.7116426229476929, |
| -0.9191891551017761, |
| 0.5492652058601379, |
| -1.2376973628997803, |
| 0.012544553726911545, |
| 1.0053414106369019, |
| -0.015402530319988728, |
| -0.045923974364995956, |
| -0.009222974069416523, |
| -0.029305169358849525, |
| -0.00939205288887024, |
| -0.01530980970710516, |
| -0.02327287383377552, |
| -0.05402339622378349, |
| 0.00890117883682251, |
| -0.02136937528848648, |
| 0.010788315907120705, |
| 1.058051347732544, |
| 0.011267950758337975, |
| -0.03670100122690201, |
| -0.005890486296266317, |
| -0.007832164876163006, |
| 0.007663086522370577, |
| -0.011977322399616241, |
| 0.010690141469240189, |
| -0.011759155429899693, |
| 0.009953830391168594, |
| -0.021434826776385307 |
| ], |
| "max": [ |
| 1.2265750169754028, |
| -0.6798847913742065, |
| 1.6592516899108887, |
| 0.6234264373779297, |
| -0.32414692640304565, |
| 1.2295434474945068, |
| -0.5122382044792175, |
| -0.677519679069519, |
| 1.6580119132995605, |
| 0.5209048986434937, |
| 1.64437997341156, |
| 0.029242485761642456, |
| 1.2381528615951538, |
| 1.5506268739700317, |
| 1.0010772943496704, |
| 0.13704131543636322, |
| 0.5298383235931396, |
| 1.2050297260284424, |
| 0.6541875600814819, |
| 0.823266327381134, |
| 0.9225919842720032, |
| 1.133602261543274, |
| 0.8225463628768921, |
| 1.5984488725662231, |
| 1.0803533792495728, |
| 1.5008305311203003, |
| 0.22500020265579224, |
| 0.12349294871091843, |
| 0.5475282073020935, |
| 1.5480198860168457, |
| 0.6546675562858582, |
| 1.3390165567398071, |
| 0.7275404334068298, |
| 1.6544848680496216, |
| 0.779000461101532, |
| 1.9139608144760132 |
| ], |
| "mean": [ |
| 0.8963246744886101, |
| -0.9385240018708555, |
| 1.0863169132520292, |
| 0.11058531298307901, |
| -0.86870143142077, |
| 0.6814987851069647, |
| -0.9253617340721956, |
| -0.9539844149381043, |
| 1.1134177158877467, |
| -0.0938534266878402, |
| 0.9176128056529442, |
| -0.6052259482719183, |
| 0.17380899901726127, |
| 1.432374592485529, |
| 0.02476259120167445, |
| 0.0025101403651678115, |
| 0.08879288989495215, |
| 0.014053405998134644, |
| 0.06330552880673418, |
| 0.0055348996002651685, |
| 0.059524462295806144, |
| 0.009820026594388308, |
| 0.03505300325612309, |
| 0.09838994896784281, |
| 0.2558052655542042, |
| 1.3696139741560651, |
| 0.019907486577157366, |
| 0.00025375211143550274, |
| 0.06503148891435388, |
| 0.02208679186922964, |
| 0.051547251829190205, |
| 0.01736437020863182, |
| 0.048870928419193896, |
| 0.015822916153750817, |
| 0.03747756963805753, |
| 0.10639118836235616 |
| ], |
| "std": [ |
| 0.1449485106340032, |
| 0.11247776159313219, |
| 0.13772460973884817, |
| 0.18460083777614358, |
| 0.20264267936675795, |
| 0.31953892877447165, |
| 0.16528057750259129, |
| 0.11014219536801599, |
| 0.20965349160470115, |
| 0.3180911069829389, |
| 0.1554062026740851, |
| 0.31177036626473054, |
| 0.17937680756969115, |
| 0.0588608834528618, |
| 0.049186337599146805, |
| 0.01783539136840144, |
| 0.07454759083040284, |
| 0.02991292755282242, |
| 0.06752171417280269, |
| 0.01991537823836624, |
| 0.0690904829937928, |
| 0.03957324098787652, |
| 0.037112004366854544, |
| 0.18260596505010335, |
| 0.23081026445034988, |
| 0.06436205522631423, |
| 0.00878663019178932, |
| 0.014428106139233546, |
| 0.06276048947848405, |
| 0.032891044440757994, |
| 0.062186575788707746, |
| 0.027892337198327323, |
| 0.05973661397967516, |
| 0.047880832505440014, |
| 0.04294675973442636, |
| 0.1936481637011447 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "eef_velocity_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 1.0085064844512621, |
| 1.0288314042671873 |
| ], |
| "std": [ |
| 0.5958510744483695, |
| 0.5242400729117748 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "eef_acc_mag_action": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 2, |
| 2 |
| ], |
| "mean": [ |
| 0.6948821642727653, |
| 0.6661902105703528 |
| ], |
| "std": [ |
| 0.8171142285200893, |
| 0.8047579208627248 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "observation.images.cam_front_rgb": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.45766277793023424 |
| ] |
| ], |
| [ |
| [ |
| 0.47761447039282506 |
| ] |
| ], |
| [ |
| [ |
| 0.4738219356783916 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.331275467577954 |
| ] |
| ], |
| [ |
| [ |
| 0.3371080229952744 |
| ] |
| ], |
| [ |
| [ |
| 0.35500990273602817 |
| ] |
| ] |
| ], |
| "count": [ |
| 19667 |
| ] |
| }, |
| "eef_sim_pose_state": { |
| "min": [ |
| 0.5670115211727453, |
| 0.046687228099306144, |
| 1.03671050076691, |
| -2.3529464287445334, |
| 0.41887049196102777, |
| -3.1300519296910565, |
| 0.5552088671797246, |
| -0.23655731832956642, |
| 1.0224628268611307, |
| 0.6797462219374513, |
| 0.3988001236956926, |
| 1.3260627044286575 |
| ], |
| "max": [ |
| 0.7717551619117633, |
| 0.23113790929138603, |
| 1.301466082758566, |
| -0.7286013276730026, |
| 1.2873047356095846, |
| -1.4453450127361593, |
| 0.7659205404710154, |
| -0.040242643798043015, |
| 1.3105085496109168, |
| 2.1400813207898666, |
| 1.0445624769315396, |
| 2.9565900662259788 |
| ], |
| "mean": [ |
| 0.6176179757037864, |
| 0.14127315172942387, |
| 1.1311504985074017, |
| -1.6573686752900634, |
| 0.8477767383722944, |
| -2.4098706859814767, |
| 0.6213069552183355, |
| -0.152364260728953, |
| 1.1263393351379494, |
| 1.6500822796793484, |
| 0.7858502181121348, |
| 2.375634766092054 |
| ], |
| "std": [ |
| 0.03214670497046829, |
| 0.0352458487353151, |
| 0.04865762904223973, |
| 0.27149692190984076, |
| 0.2310812164599499, |
| 0.2993131320749383, |
| 0.03974414312889576, |
| 0.032030891783681424, |
| 0.05102926991303106, |
| 0.27029250647655484, |
| 0.11263423411310536, |
| 0.24703468036887663 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "subtask_annotation": { |
| "min": [ |
| 0, |
| 0, |
| 7, |
| 7, |
| 7 |
| ], |
| "max": [ |
| 6, |
| 7, |
| 7, |
| 7, |
| 7 |
| ], |
| "mean": [ |
| 2.5912355320039047, |
| 3.5059266490029284, |
| 7.0, |
| 7.0, |
| 7.0 |
| ], |
| "std": [ |
| 1.6948805733807584, |
| 2.925026489347183, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "scene_annotation": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 197 |
| ], |
| "mean": [ |
| 101.56268302886626 |
| ], |
| "std": [ |
| 56.165047501690744 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 197 |
| ], |
| "mean": [ |
| 101.56268302886626 |
| ], |
| "std": [ |
| 56.165047501690744 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "eef_direction_state": { |
| "min": [ |
| 0, |
| 0 |
| ], |
| "max": [ |
| 6, |
| 6 |
| ], |
| "mean": [ |
| 3.768721238321015, |
| 3.4354343885092735 |
| ], |
| "std": [ |
| 1.70647761335942, |
| 1.8506635383737484 |
| ], |
| "count": [ |
| 28684 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 13.066666666666666 |
| ], |
| "mean": [ |
| 2.703410728396783 |
| ], |
| "std": [ |
| 2.03009073858969 |
| ], |
| "count": [ |
| 28684 |
| ] |
| } |
| } |
| } |
