Hugging Face's logo

Datasets:
Rvosuke
/
LIBERO_LeRobot

Modalities:
Video
Size:
< 1K
Libraries:
Datasets
Dataset card Data Studio Files
xet
 Community
Rvosuke Yysrc commited on
Commit
735eefa
·
0 Parent(s):

Duplicate from SJTU-DENG-Lab/LIBERO_LeRobot

Browse files

Co-authored-by: Yi Yang (SII) <Yysrc@users.noreply.huggingface.co>

Files changed (47) hide show
  1. .gitattributes +60 -0
  2. libero_10_no_noops_lerobot/data/chunk-000/file-000.parquet +3 -0
  3. libero_10_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet +3 -0
  4. libero_10_no_noops_lerobot/meta/info.json +189 -0
  5. libero_10_no_noops_lerobot/meta/stats.json +418 -0
  6. libero_10_no_noops_lerobot/meta/tasks.parquet +3 -0
  7. libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  8. libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
  9. libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-002.mp4 +3 -0
  10. libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-003.mp4 +3 -0
  11. libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-004.mp4 +3 -0
  12. libero_10_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
  13. libero_10_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 +3 -0
  14. libero_10_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-002.mp4 +3 -0
  15. libero_goal_no_noops_lerobot/data/chunk-000/file-000.parquet +3 -0
  16. libero_goal_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet +3 -0
  17. libero_goal_no_noops_lerobot/meta/info.json +189 -0
  18. libero_goal_no_noops_lerobot/meta/stats.json +418 -0
  19. libero_goal_no_noops_lerobot/meta/tasks.parquet +3 -0
  20. libero_goal_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  21. libero_goal_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
  22. libero_goal_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
  23. libero_goal_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 +3 -0
  24. libero_object_no_noops_lerobot/data/chunk-000/file-000.parquet +3 -0
  25. libero_object_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet +3 -0
  26. libero_object_no_noops_lerobot/meta/info.json +189 -0
  27. libero_object_no_noops_lerobot/meta/stats.json +418 -0
  28. libero_object_no_noops_lerobot/meta/tasks.parquet +3 -0
  29. libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  30. libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
  31. libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-002.mp4 +3 -0
  32. libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-003.mp4 +3 -0
  33. libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-004.mp4 +3 -0
  34. libero_object_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
  35. libero_object_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 +3 -0
  36. libero_object_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-002.mp4 +3 -0
  37. libero_spatial_no_noops_lerobot/data/chunk-000/file-000.parquet +3 -0
  38. libero_spatial_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet +3 -0
  39. libero_spatial_no_noops_lerobot/meta/info.json +189 -0
  40. libero_spatial_no_noops_lerobot/meta/stats.json +418 -0
  41. libero_spatial_no_noops_lerobot/meta/tasks.parquet +3 -0
  42. libero_spatial_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  43. libero_spatial_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
  44. libero_spatial_no_noops_lerobot/videos/observation.images.image/chunk-000/file-002.mp4 +3 -0
  45. libero_spatial_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
  46. libero_spatial_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 +3 -0
  47. libero_spatial_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-002.mp4 +3 -0
.gitattributes ADDED
@@ -0,0 +1,60 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ *.7z filter=lfs diff=lfs merge=lfs -text
2
+ *.arrow filter=lfs diff=lfs merge=lfs -text
3
+ *.avro filter=lfs diff=lfs merge=lfs -text
4
+ *.bin filter=lfs diff=lfs merge=lfs -text
5
+ *.bz2 filter=lfs diff=lfs merge=lfs -text
6
+ *.ckpt filter=lfs diff=lfs merge=lfs -text
7
+ *.ftz filter=lfs diff=lfs merge=lfs -text
8
+ *.gz filter=lfs diff=lfs merge=lfs -text
9
+ *.h5 filter=lfs diff=lfs merge=lfs -text
10
+ *.joblib filter=lfs diff=lfs merge=lfs -text
11
+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
12
+ *.lz4 filter=lfs diff=lfs merge=lfs -text
13
+ *.mds filter=lfs diff=lfs merge=lfs -text
14
+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
15
+ *.model filter=lfs diff=lfs merge=lfs -text
16
+ *.msgpack filter=lfs diff=lfs merge=lfs -text
17
+ *.npy filter=lfs diff=lfs merge=lfs -text
18
+ *.npz filter=lfs diff=lfs merge=lfs -text
19
+ *.onnx filter=lfs diff=lfs merge=lfs -text
20
+ *.ot filter=lfs diff=lfs merge=lfs -text
21
+ *.parquet filter=lfs diff=lfs merge=lfs -text
22
+ *.pb filter=lfs diff=lfs merge=lfs -text
23
+ *.pickle filter=lfs diff=lfs merge=lfs -text
24
+ *.pkl filter=lfs diff=lfs merge=lfs -text
25
+ *.pt filter=lfs diff=lfs merge=lfs -text
26
+ *.pth filter=lfs diff=lfs merge=lfs -text
27
+ *.rar filter=lfs diff=lfs merge=lfs -text
28
+ *.safetensors filter=lfs diff=lfs merge=lfs -text
29
+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
30
+ *.tar.* filter=lfs diff=lfs merge=lfs -text
31
+ *.tar filter=lfs diff=lfs merge=lfs -text
32
+ *.tflite filter=lfs diff=lfs merge=lfs -text
33
+ *.tgz filter=lfs diff=lfs merge=lfs -text
34
+ *.wasm filter=lfs diff=lfs merge=lfs -text
35
+ *.xz filter=lfs diff=lfs merge=lfs -text
36
+ *.zip filter=lfs diff=lfs merge=lfs -text
37
+ *.zst filter=lfs diff=lfs merge=lfs -text
38
+ *tfevents* filter=lfs diff=lfs merge=lfs -text
39
+ # Audio files - uncompressed
40
+ *.pcm filter=lfs diff=lfs merge=lfs -text
41
+ *.sam filter=lfs diff=lfs merge=lfs -text
42
+ *.raw filter=lfs diff=lfs merge=lfs -text
43
+ # Audio files - compressed
44
+ *.aac filter=lfs diff=lfs merge=lfs -text
45
+ *.flac filter=lfs diff=lfs merge=lfs -text
46
+ *.mp3 filter=lfs diff=lfs merge=lfs -text
47
+ *.ogg filter=lfs diff=lfs merge=lfs -text
48
+ *.wav filter=lfs diff=lfs merge=lfs -text
49
+ # Image files - uncompressed
50
+ *.bmp filter=lfs diff=lfs merge=lfs -text
51
+ *.gif filter=lfs diff=lfs merge=lfs -text
52
+ *.png filter=lfs diff=lfs merge=lfs -text
53
+ *.tiff filter=lfs diff=lfs merge=lfs -text
54
+ # Image files - compressed
55
+ *.jpg filter=lfs diff=lfs merge=lfs -text
56
+ *.jpeg filter=lfs diff=lfs merge=lfs -text
57
+ *.webp filter=lfs diff=lfs merge=lfs -text
58
+ # Video files - compressed
59
+ *.mp4 filter=lfs diff=lfs merge=lfs -text
60
+ *.webm filter=lfs diff=lfs merge=lfs -text
libero_10_no_noops_lerobot/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a3f0d383a8f52db1b12e17069a6bbed1e2f589d454ec7a9478b64e6ca0aceb77
3
+ size 13620142
libero_10_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a2c42918ff79e66674f232dd056858261a6391f0cc2476e1aea915da215f439
3
+ size 657756
libero_10_no_noops_lerobot/meta/info.json ADDED
@@ -0,0 +1,189 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 391,
5
+ "total_frames": 105093,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "fps": 20,
9
+ "splits": {
10
+ "train": "0:391"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.images.image": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 512,
19
+ 512,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "rgb"
26
+ ],
27
+ "info": {
28
+ "video.height": 512,
29
+ "video.width": 512,
30
+ "video.codec": "av1",
31
+ "video.pix_fmt": "yuv420p",
32
+ "video.is_depth_map": false,
33
+ "video.fps": 20,
34
+ "video.channels": 3,
35
+ "has_audio": false
36
+ }
37
+ },
38
+ "observation.images.wrist_image": {
39
+ "dtype": "video",
40
+ "shape": [
41
+ 512,
42
+ 512,
43
+ 3
44
+ ],
45
+ "names": [
46
+ "height",
47
+ "width",
48
+ "rgb"
49
+ ],
50
+ "info": {
51
+ "video.height": 512,
52
+ "video.width": 512,
53
+ "video.codec": "av1",
54
+ "video.pix_fmt": "yuv420p",
55
+ "video.is_depth_map": false,
56
+ "video.fps": 20,
57
+ "video.channels": 3,
58
+ "has_audio": false
59
+ }
60
+ },
61
+ "observation.state": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 8
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "x",
69
+ "y",
70
+ "z",
71
+ "roll",
72
+ "pitch",
73
+ "yaw",
74
+ "gripper",
75
+ "gripper"
76
+ ]
77
+ },
78
+ "fps": 20
79
+ },
80
+ "observation.states.ee_state": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 6
84
+ ],
85
+ "names": {
86
+ "motors": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "roll",
91
+ "pitch",
92
+ "yaw"
93
+ ]
94
+ },
95
+ "fps": 20
96
+ },
97
+ "observation.states.joint_state": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 7
101
+ ],
102
+ "names": {
103
+ "motors": [
104
+ "joint_0",
105
+ "joint_1",
106
+ "joint_2",
107
+ "joint_3",
108
+ "joint_4",
109
+ "joint_5",
110
+ "joint_6"
111
+ ]
112
+ },
113
+ "fps": 20
114
+ },
115
+ "observation.states.gripper_state": {
116
+ "dtype": "float32",
117
+ "shape": [
118
+ 2
119
+ ],
120
+ "names": {
121
+ "motors": [
122
+ "gripper",
123
+ "gripper"
124
+ ]
125
+ },
126
+ "fps": 20
127
+ },
128
+ "action": {
129
+ "dtype": "float32",
130
+ "shape": [
131
+ 7
132
+ ],
133
+ "names": {
134
+ "motors": [
135
+ "x",
136
+ "y",
137
+ "z",
138
+ "roll",
139
+ "pitch",
140
+ "yaw",
141
+ "gripper"
142
+ ]
143
+ },
144
+ "fps": 20
145
+ },
146
+ "timestamp": {
147
+ "dtype": "float32",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null,
152
+ "fps": 20
153
+ },
154
+ "frame_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null,
160
+ "fps": 20
161
+ },
162
+ "episode_index": {
163
+ "dtype": "int64",
164
+ "shape": [
165
+ 1
166
+ ],
167
+ "names": null,
168
+ "fps": 20
169
+ },
170
+ "index": {
171
+ "dtype": "int64",
172
+ "shape": [
173
+ 1
174
+ ],
175
+ "names": null,
176
+ "fps": 20
177
+ },
178
+ "task_index": {
179
+ "dtype": "int64",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": null,
184
+ "fps": 20
185
+ }
186
+ },
187
+ "data_files_size_in_mb": 100,
188
+ "video_files_size_in_mb": 200
189
+ }
libero_10_no_noops_lerobot/meta/stats.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist_image": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.42985010925015227
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.3701729638726296
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.3255837986014902
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.24387191806124559
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.2342269568624046
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.2234342045631907
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 39106
73
+ ]
74
+ },
75
+ "observation.images.image": {
76
+ "min": [
77
+ [
78
+ [
79
+ 0.0
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.0
85
+ ]
86
+ ],
87
+ [
88
+ [
89
+ 0.0
90
+ ]
91
+ ]
92
+ ],
93
+ "max": [
94
+ [
95
+ [
96
+ 1.0
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 1.0
102
+ ]
103
+ ],
104
+ [
105
+ [
106
+ 1.0
107
+ ]
108
+ ]
109
+ ],
110
+ "mean": [
111
+ [
112
+ [
113
+ 0.4108895240670071
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 0.3636655190626114
119
+ ]
120
+ ],
121
+ [
122
+ [
123
+ 0.32518078920507637
124
+ ]
125
+ ]
126
+ ],
127
+ "std": [
128
+ [
129
+ [
130
+ 0.24664221429640598
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.24325939212296357
136
+ ]
137
+ ],
138
+ [
139
+ [
140
+ 0.2375638607352757
141
+ ]
142
+ ]
143
+ ],
144
+ "count": [
145
+ 39106
146
+ ]
147
+ },
148
+ "action": {
149
+ "min": [
150
+ -0.9375,
151
+ -0.9375,
152
+ -0.9375,
153
+ -0.23642857372760773,
154
+ -0.3053571283817291,
155
+ -0.3642857074737549,
156
+ 0.0
157
+ ],
158
+ "max": [
159
+ 0.9375,
160
+ 0.9375,
161
+ 0.9375,
162
+ 0.32892856001853943,
163
+ 0.36964285373687744,
164
+ 0.375,
165
+ 1.0
166
+ ],
167
+ "mean": [
168
+ 0.01920974566366277,
169
+ 0.05699734738093653,
170
+ -0.05643822678430576,
171
+ 0.0047715493134625935,
172
+ 0.0028498160185938507,
173
+ -0.007259863119903069,
174
+ 0.546696736487285
175
+ ],
176
+ "std": [
177
+ 0.280377314366515,
178
+ 0.358152493108094,
179
+ 0.3669430645509444,
180
+ 0.03804500611656528,
181
+ 0.05413308864677941,
182
+ 0.08832040151182789,
183
+ 0.49781465285429327
184
+ ],
185
+ "count": [
186
+ 105093
187
+ ]
188
+ },
189
+ "timestamp": {
190
+ "min": [
191
+ 0.0
192
+ ],
193
+ "max": [
194
+ 25.2
195
+ ],
196
+ "mean": [
197
+ 7.006124099607013
198
+ ],
199
+ "std": [
200
+ 4.454134860164266
201
+ ],
202
+ "count": [
203
+ 105093
204
+ ]
205
+ },
206
+ "task_index": {
207
+ "min": [
208
+ 0
209
+ ],
210
+ "max": [
211
+ 9
212
+ ],
213
+ "mean": [
214
+ 4.486864015681349
215
+ ],
216
+ "std": [
217
+ 2.8710219491947653
218
+ ],
219
+ "count": [
220
+ 105093
221
+ ]
222
+ },
223
+ "frame_index": {
224
+ "min": [
225
+ 0
226
+ ],
227
+ "max": [
228
+ 504
229
+ ],
230
+ "mean": [
231
+ 140.1224819921403
232
+ ],
233
+ "std": [
234
+ 89.08269720328532
235
+ ],
236
+ "count": [
237
+ 105093
238
+ ]
239
+ },
240
+ "index": {
241
+ "min": [
242
+ 0
243
+ ],
244
+ "max": [
245
+ 105092
246
+ ],
247
+ "mean": [
248
+ 52546.0
249
+ ],
250
+ "std": [
251
+ 30337.735918599243
252
+ ],
253
+ "count": [
254
+ 105093
255
+ ]
256
+ },
257
+ "observation.states.ee_state": {
258
+ "min": [
259
+ -0.48278069496154785,
260
+ -0.3309336006641388,
261
+ 0.44550687074661255,
262
+ 1.1323540210723877,
263
+ -3.615385055541992,
264
+ -1.842738389968872
265
+ ],
266
+ "max": [
267
+ 0.2103137969970703,
268
+ 0.38887521624565125,
269
+ 1.333192229270935,
270
+ 3.7248642444610596,
271
+ 3.5618896484375,
272
+ 1.3863215446472168
273
+ ],
274
+ "mean": [
275
+ -0.04176901779767089,
276
+ 0.0346441165965383,
277
+ 0.8271337177877702,
278
+ 2.902098587886384,
279
+ -0.5618985113780154,
280
+ -0.1658366668380154
281
+ ],
282
+ "std": [
283
+ 0.10617475983188242,
284
+ 0.14378752319099938,
285
+ 0.2576474328257318,
286
+ 0.34832864461949,
287
+ 1.249773709771879,
288
+ 0.35324319066482823
289
+ ],
290
+ "count": [
291
+ 105093
292
+ ]
293
+ },
294
+ "observation.states.joint_state": {
295
+ "min": [
296
+ -0.6705873608589172,
297
+ -0.7537775039672852,
298
+ -0.42082011699676514,
299
+ -3.0737764835357666,
300
+ -1.2143117189407349,
301
+ 0.9665934443473816,
302
+ -2.127868175506592
303
+ ],
304
+ "max": [
305
+ 0.6021216511726379,
306
+ 1.6960207223892212,
307
+ 1.0242923498153687,
308
+ -0.06409658491611481,
309
+ 2.3302643299102783,
310
+ 3.768667221069336,
311
+ 2.900041103363037
312
+ ],
313
+ "mean": [
314
+ -0.0032985785368593837,
315
+ 0.35496258896422495,
316
+ 0.03924666608552662,
317
+ -2.0376845329046245,
318
+ 0.16091177138288928,
319
+ 2.3143910839531943,
320
+ 1.0748350189596825
321
+ ],
322
+ "std": [
323
+ 0.12042583921005269,
324
+ 0.3170014136131743,
325
+ 0.18048264010410764,
326
+ 0.4158973407642883,
327
+ 0.3605253725459098,
328
+ 0.335625702686142,
329
+ 0.7660737943682717
330
+ ],
331
+ "count": [
332
+ 105093
333
+ ]
334
+ },
335
+ "observation.states.gripper_state": {
336
+ "min": [
337
+ -0.0027855720836669207,
338
+ -0.04112039878964424
339
+ ],
340
+ "max": [
341
+ 0.041575800627470016,
342
+ 0.0013126095291227102
343
+ ],
344
+ "mean": [
345
+ 0.028456923845850662,
346
+ -0.028789628791973897
347
+ ],
348
+ "std": [
349
+ 0.013199844705517712,
350
+ 0.013050843618557307
351
+ ],
352
+ "count": [
353
+ 105093
354
+ ]
355
+ },
356
+ "observation.state": {
357
+ "min": [
358
+ -0.48278069496154785,
359
+ -0.3309336006641388,
360
+ 0.44550687074661255,
361
+ 1.1323540210723877,
362
+ -3.615385055541992,
363
+ -1.842738389968872,
364
+ -0.0027855720836669207,
365
+ -0.04112039878964424
366
+ ],
367
+ "max": [
368
+ 0.2103137969970703,
369
+ 0.38887521624565125,
370
+ 1.333192229270935,
371
+ 3.7248642444610596,
372
+ 3.5618896484375,
373
+ 1.3863215446472168,
374
+ 0.041575800627470016,
375
+ 0.0013126095291227102
376
+ ],
377
+ "mean": [
378
+ -0.04176901779767089,
379
+ 0.0346441165965383,
380
+ 0.8271337177877702,
381
+ 2.902098587886384,
382
+ -0.5618985113780154,
383
+ -0.1658366668380154,
384
+ 0.028456923845850662,
385
+ -0.028789628791973897
386
+ ],
387
+ "std": [
388
+ 0.10617475983188242,
389
+ 0.14378752319099938,
390
+ 0.2576474328257318,
391
+ 0.34832864461949,
392
+ 1.249773709771879,
393
+ 0.35324319066482823,
394
+ 0.013199844705517712,
395
+ 0.013050843618557307
396
+ ],
397
+ "count": [
398
+ 105093
399
+ ]
400
+ },
401
+ "episode_index": {
402
+ "min": [
403
+ 0
404
+ ],
405
+ "max": [
406
+ 390
407
+ ],
408
+ "mean": [
409
+ 198.72277887204666
410
+ ],
411
+ "std": [
412
+ 111.49364483215764
413
+ ],
414
+ "count": [
415
+ 105093
416
+ ]
417
+ }
418
+ }
libero_10_no_noops_lerobot/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:08a894f394a548ba7eafd0ecaa396f810b065a4c283d5e53e2675cb802655a81
3
+ size 2745
libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9446f1210ecd1f5e066c09e79d47d255c3125e7a81861fc03d5bbfb2ad6afc44
3
+ size 208201123
libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:600db72a93f3edab52f8c3f1b582b0599db8a47216f376d5021db259fcd1da05
3
+ size 209221115
libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e6ce78427934b124b0024f6f8ac0a57d7ff3ff9d782c65bb7d3f541c3fe676e
3
+ size 209051091
libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:433dfd7f73eaa21d0b377129a195281287d509512eae17586b52357132754ef3
3
+ size 207818614
libero_10_no_noops_lerobot/videos/observation.images.image/chunk-000/file-004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f1fc521fa294fc3e39e8021e428c48900e22bd48e9b326685da7a82a06697e4
3
+ size 92475539
libero_10_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ef9ecbfa901b73101ae9f8fc859109be76016ab11cf0eba04ec4b3793e8d0e06
3
+ size 208689144
libero_10_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd82f128fb3d6a1fa557d6dfadf347e09f685d3e0f062ac7bf82cfa40c4e326e
3
+ size 105175317
libero_10_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:01135065d1d5c935911669b8026d43363a4a2421fb241020635bd65e51ed6024
3
+ size 136690748
libero_goal_no_noops_lerobot/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aa3bb9accca06d8de0da385338e633f0902b828fa212aced84020e87812f3508
3
+ size 7781403
libero_goal_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:73517d7dfbac1206d2d604b84885c665a47093fea4eaf68d3fe4b6ea281780dd
3
+ size 712991
libero_goal_no_noops_lerobot/meta/info.json ADDED
@@ -0,0 +1,189 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 436,
5
+ "total_frames": 53313,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "fps": 20,
9
+ "splits": {
10
+ "train": "0:436"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.images.image": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 512,
19
+ 512,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "rgb"
26
+ ],
27
+ "info": {
28
+ "video.height": 512,
29
+ "video.width": 512,
30
+ "video.codec": "av1",
31
+ "video.pix_fmt": "yuv420p",
32
+ "video.is_depth_map": false,
33
+ "video.fps": 20,
34
+ "video.channels": 3,
35
+ "has_audio": false
36
+ }
37
+ },
38
+ "observation.images.wrist_image": {
39
+ "dtype": "video",
40
+ "shape": [
41
+ 512,
42
+ 512,
43
+ 3
44
+ ],
45
+ "names": [
46
+ "height",
47
+ "width",
48
+ "rgb"
49
+ ],
50
+ "info": {
51
+ "video.height": 512,
52
+ "video.width": 512,
53
+ "video.codec": "av1",
54
+ "video.pix_fmt": "yuv420p",
55
+ "video.is_depth_map": false,
56
+ "video.fps": 20,
57
+ "video.channels": 3,
58
+ "has_audio": false
59
+ }
60
+ },
61
+ "observation.state": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 8
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "x",
69
+ "y",
70
+ "z",
71
+ "roll",
72
+ "pitch",
73
+ "yaw",
74
+ "gripper",
75
+ "gripper"
76
+ ]
77
+ },
78
+ "fps": 20
79
+ },
80
+ "observation.states.ee_state": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 6
84
+ ],
85
+ "names": {
86
+ "motors": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "roll",
91
+ "pitch",
92
+ "yaw"
93
+ ]
94
+ },
95
+ "fps": 20
96
+ },
97
+ "observation.states.joint_state": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 7
101
+ ],
102
+ "names": {
103
+ "motors": [
104
+ "joint_0",
105
+ "joint_1",
106
+ "joint_2",
107
+ "joint_3",
108
+ "joint_4",
109
+ "joint_5",
110
+ "joint_6"
111
+ ]
112
+ },
113
+ "fps": 20
114
+ },
115
+ "observation.states.gripper_state": {
116
+ "dtype": "float32",
117
+ "shape": [
118
+ 2
119
+ ],
120
+ "names": {
121
+ "motors": [
122
+ "gripper",
123
+ "gripper"
124
+ ]
125
+ },
126
+ "fps": 20
127
+ },
128
+ "action": {
129
+ "dtype": "float32",
130
+ "shape": [
131
+ 7
132
+ ],
133
+ "names": {
134
+ "motors": [
135
+ "x",
136
+ "y",
137
+ "z",
138
+ "roll",
139
+ "pitch",
140
+ "yaw",
141
+ "gripper"
142
+ ]
143
+ },
144
+ "fps": 20
145
+ },
146
+ "timestamp": {
147
+ "dtype": "float32",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null,
152
+ "fps": 20
153
+ },
154
+ "frame_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null,
160
+ "fps": 20
161
+ },
162
+ "episode_index": {
163
+ "dtype": "int64",
164
+ "shape": [
165
+ 1
166
+ ],
167
+ "names": null,
168
+ "fps": 20
169
+ },
170
+ "index": {
171
+ "dtype": "int64",
172
+ "shape": [
173
+ 1
174
+ ],
175
+ "names": null,
176
+ "fps": 20
177
+ },
178
+ "task_index": {
179
+ "dtype": "int64",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": null,
184
+ "fps": 20
185
+ }
186
+ },
187
+ "data_files_size_in_mb": 100,
188
+ "video_files_size_in_mb": 200
189
+ }
libero_goal_no_noops_lerobot/meta/stats.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.states.ee_state": {
3
+ "min": [
4
+ -0.46141287684440613,
5
+ -0.30136311054229736,
6
+ 0.9083037972450256,
7
+ 0.35224130749702454,
8
+ -1.4857728481292725,
9
+ -1.5227035284042358
10
+ ],
11
+ "max": [
12
+ 0.13241106271743774,
13
+ 0.3271525800228119,
14
+ 1.3660907745361328,
15
+ 3.4731650352478027,
16
+ 2.7270023822784424,
17
+ 0.8241475224494934
18
+ ],
19
+ "mean": [
20
+ -0.09818598335130586,
21
+ 0.014574043885133009,
22
+ 1.067127520619963,
23
+ 2.8257678347979285,
24
+ 0.3201371359114982,
25
+ -0.27475066506551904
26
+ ],
27
+ "std": [
28
+ 0.11730182417972836,
29
+ 0.11635373514848361,
30
+ 0.10564150908678163,
31
+ 0.560477734424625,
32
+ 0.7294058109672561,
33
+ 0.36198623913139627
34
+ ],
35
+ "count": [
36
+ 53313
37
+ ]
38
+ },
39
+ "episode_index": {
40
+ "min": [
41
+ 0
42
+ ],
43
+ "max": [
44
+ 435
45
+ ],
46
+ "mean": [
47
+ 212.70556899818055
48
+ ],
49
+ "std": [
50
+ 126.20148953467478
51
+ ],
52
+ "count": [
53
+ 53313
54
+ ]
55
+ },
56
+ "observation.images.wrist_image": {
57
+ "min": [
58
+ [
59
+ [
60
+ 0.0
61
+ ]
62
+ ],
63
+ [
64
+ [
65
+ 0.0
66
+ ]
67
+ ],
68
+ [
69
+ [
70
+ 0.0
71
+ ]
72
+ ]
73
+ ],
74
+ "max": [
75
+ [
76
+ [
77
+ 1.0
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 1.0
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 1.0
88
+ ]
89
+ ]
90
+ ],
91
+ "mean": [
92
+ [
93
+ [
94
+ 0.49877956500533843
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.46111534487242634
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.4246341651047977
105
+ ]
106
+ ]
107
+ ],
108
+ "std": [
109
+ [
110
+ [
111
+ 0.2787180428957132
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.2568145570030344
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.2326809927758297
122
+ ]
123
+ ]
124
+ ],
125
+ "count": [
126
+ 42131
127
+ ]
128
+ },
129
+ "task_index": {
130
+ "min": [
131
+ 0
132
+ ],
133
+ "max": [
134
+ 9
135
+ ],
136
+ "mean": [
137
+ 4.448370941421417
138
+ ],
139
+ "std": [
140
+ 2.9109097591882485
141
+ ],
142
+ "count": [
143
+ 53313
144
+ ]
145
+ },
146
+ "action": {
147
+ "min": [
148
+ -0.9375,
149
+ -0.9375,
150
+ -0.9375,
151
+ -0.24214285612106323,
152
+ -0.375,
153
+ -0.2871428430080414,
154
+ 0.0
155
+ ],
156
+ "max": [
157
+ 0.9375,
158
+ 0.9375,
159
+ 0.9375,
160
+ 0.3557142913341522,
161
+ 0.375,
162
+ 0.375,
163
+ 1.0
164
+ ],
165
+ "mean": [
166
+ 0.041869178360085656,
167
+ 0.03503375528670093,
168
+ -0.15384992123124175,
169
+ -0.0023224633986700565,
170
+ 0.025632692155239348,
171
+ 0.027230640805398828,
172
+ 0.6379307126812417
173
+ ],
174
+ "std": [
175
+ 0.3989531209169296,
176
+ 0.3527417082939275,
177
+ 0.48958796106530184,
178
+ 0.055027332328914325,
179
+ 0.07822862238958675,
180
+ 0.09996517443667442,
181
+ 0.48059870096822965
182
+ ],
183
+ "count": [
184
+ 53313
185
+ ]
186
+ },
187
+ "frame_index": {
188
+ "min": [
189
+ 0
190
+ ],
191
+ "max": [
192
+ 346
193
+ ],
194
+ "mean": [
195
+ 66.8321047399321
196
+ ],
197
+ "std": [
198
+ 46.934934129543095
199
+ ],
200
+ "count": [
201
+ 53313
202
+ ]
203
+ },
204
+ "observation.states.gripper_state": {
205
+ "min": [
206
+ -0.0021671096328645945,
207
+ -0.042015016078948975
208
+ ],
209
+ "max": [
210
+ 0.04232141748070717,
211
+ 0.001021005678921938
212
+ ],
213
+ "mean": [
214
+ 0.028285939393434847,
215
+ -0.02730923899700664
216
+ ],
217
+ "std": [
218
+ 0.015059853926052049,
219
+ 0.01499437375394571
220
+ ],
221
+ "count": [
222
+ 53313
223
+ ]
224
+ },
225
+ "observation.states.joint_state": {
226
+ "min": [
227
+ -0.6009133458137512,
228
+ -0.5053879618644714,
229
+ -0.5528371334075928,
230
+ -3.0401346683502197,
231
+ -2.902780294418335,
232
+ 0.6191717386245728,
233
+ -1.722458839416504
234
+ ],
235
+ "max": [
236
+ 0.6909789443016052,
237
+ 1.6999722719192505,
238
+ 0.7452406287193298,
239
+ -0.05967290326952934,
240
+ 0.5887004137039185,
241
+ 3.763115882873535,
242
+ 2.3242878913879395
243
+ ],
244
+ "mean": [
245
+ 0.048172595297142164,
246
+ 0.4606181567186928,
247
+ 0.031026921480367713,
248
+ -1.9154086002404556,
249
+ -0.22212642587819126,
250
+ 2.2085172614765414,
251
+ 0.7091397488082772
252
+ ],
253
+ "std": [
254
+ 0.10210698735352873,
255
+ 0.3607650520414412,
256
+ 0.1505944126198033,
257
+ 0.5084635188791186,
258
+ 0.39270658566117517,
259
+ 0.40637943379614244,
260
+ 0.5469413327219318
261
+ ],
262
+ "count": [
263
+ 53313
264
+ ]
265
+ },
266
+ "index": {
267
+ "min": [
268
+ 0
269
+ ],
270
+ "max": [
271
+ 53312
272
+ ],
273
+ "mean": [
274
+ 26656.0
275
+ ],
276
+ "std": [
277
+ 15390.137447945897
278
+ ],
279
+ "count": [
280
+ 53313
281
+ ]
282
+ },
283
+ "timestamp": {
284
+ "min": [
285
+ 0.0
286
+ ],
287
+ "max": [
288
+ 17.3
289
+ ],
290
+ "mean": [
291
+ 3.341605236996605
292
+ ],
293
+ "std": [
294
+ 2.3467467064771546
295
+ ],
296
+ "count": [
297
+ 53313
298
+ ]
299
+ },
300
+ "observation.images.image": {
301
+ "min": [
302
+ [
303
+ [
304
+ 0.0
305
+ ]
306
+ ],
307
+ [
308
+ [
309
+ 0.0
310
+ ]
311
+ ],
312
+ [
313
+ [
314
+ 0.0
315
+ ]
316
+ ]
317
+ ],
318
+ "max": [
319
+ [
320
+ [
321
+ 1.0
322
+ ]
323
+ ],
324
+ [
325
+ [
326
+ 1.0
327
+ ]
328
+ ],
329
+ [
330
+ [
331
+ 1.0
332
+ ]
333
+ ]
334
+ ],
335
+ "mean": [
336
+ [
337
+ [
338
+ 0.49475102456811065
339
+ ]
340
+ ],
341
+ [
342
+ [
343
+ 0.46010458426465317
344
+ ]
345
+ ],
346
+ [
347
+ [
348
+ 0.42355170791526126
349
+ ]
350
+ ]
351
+ ],
352
+ "std": [
353
+ [
354
+ [
355
+ 0.22731895875608618
356
+ ]
357
+ ],
358
+ [
359
+ [
360
+ 0.2098139155088745
361
+ ]
362
+ ],
363
+ [
364
+ [
365
+ 0.19249493454026406
366
+ ]
367
+ ]
368
+ ],
369
+ "count": [
370
+ 42131
371
+ ]
372
+ },
373
+ "observation.state": {
374
+ "min": [
375
+ -0.46141287684440613,
376
+ -0.30136311054229736,
377
+ 0.9083037972450256,
378
+ 0.35224130749702454,
379
+ -1.4857728481292725,
380
+ -1.5227035284042358,
381
+ -0.0021671096328645945,
382
+ -0.042015016078948975
383
+ ],
384
+ "max": [
385
+ 0.13241106271743774,
386
+ 0.3271525800228119,
387
+ 1.3660907745361328,
388
+ 3.4731650352478027,
389
+ 2.7270023822784424,
390
+ 0.8241475224494934,
391
+ 0.04232141748070717,
392
+ 0.001021005678921938
393
+ ],
394
+ "mean": [
395
+ -0.09818598335130586,
396
+ 0.014574043885133009,
397
+ 1.067127520619963,
398
+ 2.8257678347979285,
399
+ 0.3201371359114982,
400
+ -0.27475066506551904,
401
+ 0.028285939393434847,
402
+ -0.02730923899700664
403
+ ],
404
+ "std": [
405
+ 0.11730182417972836,
406
+ 0.11635373514848361,
407
+ 0.10564150908678163,
408
+ 0.560477734424625,
409
+ 0.7294058109672561,
410
+ 0.36198623913139627,
411
+ 0.015059853926052049,
412
+ 0.01499437375394571
413
+ ],
414
+ "count": [
415
+ 53313
416
+ ]
417
+ }
418
+ }
libero_goal_no_noops_lerobot/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:049df2a65ccadb860ea4714b2e63758a83d4da4f9cbd4373b156a7ec294b64e1
3
+ size 2451
libero_goal_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7dfeb075ef5bb8eb4e1b43939d9fcc488679264d02e9bf15b48a50abe6f31150
3
+ size 209082445
libero_goal_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cdbf6028e9c6aa9e9eb03ff9aaec47cc6ab110b5fbc24b4a902b0e536f3fbc30
3
+ size 196698833
libero_goal_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce7cfafc4c538664eea30af8de565e719d5498b1160bb4bd2e57ca89f96684cb
3
+ size 209013519
libero_goal_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e228f1b6aa9d694d7ac3b02388e10860d3dc0dad8d8f07c7c645ad7e4a614a24
3
+ size 185330740
libero_object_no_noops_lerobot/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:690dc1f8e358b102a8a9375e4c7ef3c084f3c78a452be76e4c002dffaa746e06
3
+ size 9330521
libero_object_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:81d061acc0695426829c93b26500da349162793693be32bb8d0947dec6e8bfcb
3
+ size 751139
libero_object_no_noops_lerobot/meta/info.json ADDED
@@ -0,0 +1,189 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 456,
5
+ "total_frames": 67185,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "fps": 20,
9
+ "splits": {
10
+ "train": "0:456"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.images.image": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 512,
19
+ 512,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "rgb"
26
+ ],
27
+ "info": {
28
+ "video.height": 512,
29
+ "video.width": 512,
30
+ "video.codec": "av1",
31
+ "video.pix_fmt": "yuv420p",
32
+ "video.is_depth_map": false,
33
+ "video.fps": 20,
34
+ "video.channels": 3,
35
+ "has_audio": false
36
+ }
37
+ },
38
+ "observation.images.wrist_image": {
39
+ "dtype": "video",
40
+ "shape": [
41
+ 512,
42
+ 512,
43
+ 3
44
+ ],
45
+ "names": [
46
+ "height",
47
+ "width",
48
+ "rgb"
49
+ ],
50
+ "info": {
51
+ "video.height": 512,
52
+ "video.width": 512,
53
+ "video.codec": "av1",
54
+ "video.pix_fmt": "yuv420p",
55
+ "video.is_depth_map": false,
56
+ "video.fps": 20,
57
+ "video.channels": 3,
58
+ "has_audio": false
59
+ }
60
+ },
61
+ "observation.state": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 8
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "x",
69
+ "y",
70
+ "z",
71
+ "roll",
72
+ "pitch",
73
+ "yaw",
74
+ "gripper",
75
+ "gripper"
76
+ ]
77
+ },
78
+ "fps": 20
79
+ },
80
+ "observation.states.ee_state": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 6
84
+ ],
85
+ "names": {
86
+ "motors": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "roll",
91
+ "pitch",
92
+ "yaw"
93
+ ]
94
+ },
95
+ "fps": 20
96
+ },
97
+ "observation.states.joint_state": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 7
101
+ ],
102
+ "names": {
103
+ "motors": [
104
+ "joint_0",
105
+ "joint_1",
106
+ "joint_2",
107
+ "joint_3",
108
+ "joint_4",
109
+ "joint_5",
110
+ "joint_6"
111
+ ]
112
+ },
113
+ "fps": 20
114
+ },
115
+ "observation.states.gripper_state": {
116
+ "dtype": "float32",
117
+ "shape": [
118
+ 2
119
+ ],
120
+ "names": {
121
+ "motors": [
122
+ "gripper",
123
+ "gripper"
124
+ ]
125
+ },
126
+ "fps": 20
127
+ },
128
+ "action": {
129
+ "dtype": "float32",
130
+ "shape": [
131
+ 7
132
+ ],
133
+ "names": {
134
+ "motors": [
135
+ "x",
136
+ "y",
137
+ "z",
138
+ "roll",
139
+ "pitch",
140
+ "yaw",
141
+ "gripper"
142
+ ]
143
+ },
144
+ "fps": 20
145
+ },
146
+ "timestamp": {
147
+ "dtype": "float32",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null,
152
+ "fps": 20
153
+ },
154
+ "frame_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null,
160
+ "fps": 20
161
+ },
162
+ "episode_index": {
163
+ "dtype": "int64",
164
+ "shape": [
165
+ 1
166
+ ],
167
+ "names": null,
168
+ "fps": 20
169
+ },
170
+ "index": {
171
+ "dtype": "int64",
172
+ "shape": [
173
+ 1
174
+ ],
175
+ "names": null,
176
+ "fps": 20
177
+ },
178
+ "task_index": {
179
+ "dtype": "int64",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": null,
184
+ "fps": 20
185
+ }
186
+ },
187
+ "data_files_size_in_mb": 100,
188
+ "video_files_size_in_mb": 200
189
+ }
libero_object_no_noops_lerobot/meta/stats.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist_image": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.4388003853796197
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.3972397571881291
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.36380647466382815
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.19627600480142285
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.18503618718836115
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.17764198447385723
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 45600
73
+ ]
74
+ },
75
+ "timestamp": {
76
+ "min": [
77
+ 0.0
78
+ ],
79
+ "max": [
80
+ 12.65
81
+ ],
82
+ "mean": [
83
+ 3.713537992111334
84
+ ],
85
+ "std": [
86
+ 2.2282246690020355
87
+ ],
88
+ "count": [
89
+ 67185
90
+ ]
91
+ },
92
+ "frame_index": {
93
+ "min": [
94
+ 0
95
+ ],
96
+ "max": [
97
+ 253
98
+ ],
99
+ "mean": [
100
+ 74.27075984222668
101
+ ],
102
+ "std": [
103
+ 44.564493380040716
104
+ ],
105
+ "count": [
106
+ 67185
107
+ ]
108
+ },
109
+ "observation.states.gripper_state": {
110
+ "min": [
111
+ 0.0006764955469407141,
112
+ -0.041782498359680176
113
+ ],
114
+ "max": [
115
+ 0.04104502499103546,
116
+ -0.0005061495467089117
117
+ ],
118
+ "mean": [
119
+ 0.02949779113833505,
120
+ -0.030670662154816106
121
+ ],
122
+ "std": [
123
+ 0.009481463234223041,
124
+ 0.009063450956312032
125
+ ],
126
+ "count": [
127
+ 67185
128
+ ]
129
+ },
130
+ "observation.state": {
131
+ "min": [
132
+ -0.17652566730976105,
133
+ -0.28169912099838257,
134
+ 0.008128181099891663,
135
+ 2.2889645099639893,
136
+ -1.8830392360687256,
137
+ -1.0439393520355225,
138
+ 0.0006764955469407141,
139
+ -0.041782498359680176
140
+ ],
141
+ "max": [
142
+ 0.14580604434013367,
143
+ 0.3322660028934479,
144
+ 0.38492220640182495,
145
+ 3.4003379344940186,
146
+ 0.7954724431037903,
147
+ 0.6642153263092041,
148
+ 0.04104502499103546,
149
+ -0.0005061495467089117
150
+ ],
151
+ "mean": [
152
+ -0.02964191237496711,
153
+ -0.007346721876390035,
154
+ 0.20262085545907607,
155
+ 3.1072989921373937,
156
+ -0.21544799803673143,
157
+ -0.11419560480696511,
158
+ 0.02949779113833505,
159
+ -0.030670662154816106
160
+ ],
161
+ "std": [
162
+ 0.0671627543699371,
163
+ 0.17588609898734353,
164
+ 0.07807705697966331,
165
+ 0.08845089865688936,
166
+ 0.33874398806048617,
167
+ 0.20683738299297866,
168
+ 0.009481463234223041,
169
+ 0.009063450956312032
170
+ ],
171
+ "count": [
172
+ 67185
173
+ ]
174
+ },
175
+ "index": {
176
+ "min": [
177
+ 0
178
+ ],
179
+ "max": [
180
+ 67184
181
+ ],
182
+ "mean": [
183
+ 33592.0
184
+ ],
185
+ "std": [
186
+ 19394.638915604144
187
+ ],
188
+ "count": [
189
+ 67185
190
+ ]
191
+ },
192
+ "action": {
193
+ "min": [
194
+ -0.8839285969734192,
195
+ -0.9375,
196
+ -0.9375,
197
+ -0.15000000596046448,
198
+ -0.29035714268684387,
199
+ -0.32892856001853943,
200
+ 0.0
201
+ ],
202
+ "max": [
203
+ 0.9375,
204
+ 0.8919642567634583,
205
+ 0.9375,
206
+ 0.17678570747375488,
207
+ 0.35035714507102966,
208
+ 0.1810714304447174,
209
+ 1.0
210
+ ],
211
+ "mean": [
212
+ 0.07131191515352144,
213
+ 0.13514846787305781,
214
+ -0.046106473233441164,
215
+ 0.0011658853192879892,
216
+ 0.0070940900180738765,
217
+ -0.015087391866725584,
218
+ 0.46519312462370566
219
+ ],
220
+ "std": [
221
+ 0.26858879157266685,
222
+ 0.438629980769597,
223
+ 0.44745559114490396,
224
+ 0.024293558705718442,
225
+ 0.04934640045204311,
226
+ 0.04221511054187961,
227
+ 0.4987869984074254
228
+ ],
229
+ "count": [
230
+ 67185
231
+ ]
232
+ },
233
+ "observation.images.image": {
234
+ "min": [
235
+ [
236
+ [
237
+ 0.0
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.0
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.0
248
+ ]
249
+ ]
250
+ ],
251
+ "max": [
252
+ [
253
+ [
254
+ 1.0
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 1.0
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 1.0
265
+ ]
266
+ ]
267
+ ],
268
+ "mean": [
269
+ [
270
+ [
271
+ 0.44091541191373523
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.4037502252699053
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.36975361997664874
282
+ ]
283
+ ]
284
+ ],
285
+ "std": [
286
+ [
287
+ [
288
+ 0.13886942600115032
289
+ ]
290
+ ],
291
+ [
292
+ [
293
+ 0.13908004208179026
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.13985900646663177
299
+ ]
300
+ ]
301
+ ],
302
+ "count": [
303
+ 45600
304
+ ]
305
+ },
306
+ "episode_index": {
307
+ "min": [
308
+ 0
309
+ ],
310
+ "max": [
311
+ 455
312
+ ],
313
+ "mean": [
314
+ 225.16606385353873
315
+ ],
316
+ "std": [
317
+ 130.23877032553747
318
+ ],
319
+ "count": [
320
+ 67185
321
+ ]
322
+ },
323
+ "task_index": {
324
+ "min": [
325
+ 0
326
+ ],
327
+ "max": [
328
+ 9
329
+ ],
330
+ "mean": [
331
+ 4.490020093770931
332
+ ],
333
+ "std": [
334
+ 2.8268152136341596
335
+ ],
336
+ "count": [
337
+ 67185
338
+ ]
339
+ },
340
+ "observation.states.ee_state": {
341
+ "min": [
342
+ -0.17652566730976105,
343
+ -0.28169912099838257,
344
+ 0.008128181099891663,
345
+ 2.2889645099639893,
346
+ -1.8830392360687256,
347
+ -1.0439393520355225
348
+ ],
349
+ "max": [
350
+ 0.14580604434013367,
351
+ 0.3322660028934479,
352
+ 0.38492220640182495,
353
+ 3.4003379344940186,
354
+ 0.7954724431037903,
355
+ 0.6642153263092041
356
+ ],
357
+ "mean": [
358
+ -0.02964191237496711,
359
+ -0.007346721876390035,
360
+ 0.20262085545907607,
361
+ 3.1072989921373937,
362
+ -0.21544799803673143,
363
+ -0.11419560480696511
364
+ ],
365
+ "std": [
366
+ 0.0671627543699371,
367
+ 0.17588609898734353,
368
+ 0.07807705697966331,
369
+ 0.08845089865688936,
370
+ 0.33874398806048617,
371
+ 0.20683738299297866
372
+ ],
373
+ "count": [
374
+ 67185
375
+ ]
376
+ },
377
+ "observation.states.joint_state": {
378
+ "min": [
379
+ -0.5660527348518372,
380
+ -0.22972644865512848,
381
+ -0.3864690959453583,
382
+ -2.590574264526367,
383
+ -0.7118426561355591,
384
+ 1.2690945863723755,
385
+ -0.6626704335212708
386
+ ],
387
+ "max": [
388
+ 0.2898368835449219,
389
+ 1.1373920440673828,
390
+ 0.40036875009536743,
391
+ -0.5287837386131287,
392
+ 0.8737819790840149,
393
+ 3.1428897380828857,
394
+ 2.542262315750122
395
+ ],
396
+ "mean": [
397
+ -0.0034518980853881025,
398
+ 0.3687163159723632,
399
+ -0.01713396953341007,
400
+ -1.90895773958679,
401
+ 0.01694183308786753,
402
+ 2.199468019216767,
403
+ 0.8867216380182597
404
+ ],
405
+ "std": [
406
+ 0.11899526662524616,
407
+ 0.250858700707191,
408
+ 0.19223282625002847,
409
+ 0.3022160467368733,
410
+ 0.13847141146525552,
411
+ 0.26984981547039144,
412
+ 0.4576600403407422
413
+ ],
414
+ "count": [
415
+ 67185
416
+ ]
417
+ }
418
+ }
libero_object_no_noops_lerobot/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c748f708da4698c5672853d915a268eb3b90669be55fb972b5fbbe6be3fd576d
3
+ size 2549
libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a626cec0b1893c95c96ed6cad1760820defe14c1aa25e947d8162cf7d917d0c8
3
+ size 208772907
libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6b3df7740ae8fa985f7e60f740158cefe5bdf1de093f05ae36d9072ce79568da
3
+ size 207486119
libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b3c7bef3fd448d44ac6124a0e2454cf7683c3478b5e2e23a948b0f8a56febe02
3
+ size 208878735
libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce48191f4ce2d9bdaf95a448e73b1cd1508de2bc48014e2df517850dc746a1c2
3
+ size 209551469
libero_object_no_noops_lerobot/videos/observation.images.image/chunk-000/file-004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:daea239e4d174e2252c43fd5c2edfb4dffb2ab231fc55835a04f68d4fd4ff6a9
3
+ size 127796168
libero_object_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfcc796b87734059b483359e845ef544de4376fd6cc61caefe8a7122304c3138
3
+ size 208507586
libero_object_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:798589b6124955f2c8e33dc2743ddd50770f38ee87c46bf3202de197357b7222
3
+ size 208863121
libero_object_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7817137d64af93f499d19394fea8b5873068c123f7fb6b551c1de95da92317a7
3
+ size 155098902
libero_spatial_no_noops_lerobot/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:77535092dd6f75abedc74e4a97b6cd84fbe3c6082b46d5c5f4a430c0a7780e61
3
+ size 7765705
libero_spatial_no_noops_lerobot/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d16714ab1a56a56f67f7a5a8496fadb2f148931ee2813c3b524ac0b3323012f7
3
+ size 726417
libero_spatial_no_noops_lerobot/meta/info.json ADDED
@@ -0,0 +1,189 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 434,
5
+ "total_frames": 53229,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "fps": 20,
9
+ "splits": {
10
+ "train": "0:434"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.images.image": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 512,
19
+ 512,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "rgb"
26
+ ],
27
+ "info": {
28
+ "video.height": 512,
29
+ "video.width": 512,
30
+ "video.codec": "av1",
31
+ "video.pix_fmt": "yuv420p",
32
+ "video.is_depth_map": false,
33
+ "video.fps": 20,
34
+ "video.channels": 3,
35
+ "has_audio": false
36
+ }
37
+ },
38
+ "observation.images.wrist_image": {
39
+ "dtype": "video",
40
+ "shape": [
41
+ 512,
42
+ 512,
43
+ 3
44
+ ],
45
+ "names": [
46
+ "height",
47
+ "width",
48
+ "rgb"
49
+ ],
50
+ "info": {
51
+ "video.height": 512,
52
+ "video.width": 512,
53
+ "video.codec": "av1",
54
+ "video.pix_fmt": "yuv420p",
55
+ "video.is_depth_map": false,
56
+ "video.fps": 20,
57
+ "video.channels": 3,
58
+ "has_audio": false
59
+ }
60
+ },
61
+ "observation.state": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 8
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "x",
69
+ "y",
70
+ "z",
71
+ "roll",
72
+ "pitch",
73
+ "yaw",
74
+ "gripper",
75
+ "gripper"
76
+ ]
77
+ },
78
+ "fps": 20
79
+ },
80
+ "observation.states.ee_state": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 6
84
+ ],
85
+ "names": {
86
+ "motors": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "roll",
91
+ "pitch",
92
+ "yaw"
93
+ ]
94
+ },
95
+ "fps": 20
96
+ },
97
+ "observation.states.joint_state": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 7
101
+ ],
102
+ "names": {
103
+ "motors": [
104
+ "joint_0",
105
+ "joint_1",
106
+ "joint_2",
107
+ "joint_3",
108
+ "joint_4",
109
+ "joint_5",
110
+ "joint_6"
111
+ ]
112
+ },
113
+ "fps": 20
114
+ },
115
+ "observation.states.gripper_state": {
116
+ "dtype": "float32",
117
+ "shape": [
118
+ 2
119
+ ],
120
+ "names": {
121
+ "motors": [
122
+ "gripper",
123
+ "gripper"
124
+ ]
125
+ },
126
+ "fps": 20
127
+ },
128
+ "action": {
129
+ "dtype": "float32",
130
+ "shape": [
131
+ 7
132
+ ],
133
+ "names": {
134
+ "motors": [
135
+ "x",
136
+ "y",
137
+ "z",
138
+ "roll",
139
+ "pitch",
140
+ "yaw",
141
+ "gripper"
142
+ ]
143
+ },
144
+ "fps": 20
145
+ },
146
+ "timestamp": {
147
+ "dtype": "float32",
148
+ "shape": [
149
+ 1
150
+ ],
151
+ "names": null,
152
+ "fps": 20
153
+ },
154
+ "frame_index": {
155
+ "dtype": "int64",
156
+ "shape": [
157
+ 1
158
+ ],
159
+ "names": null,
160
+ "fps": 20
161
+ },
162
+ "episode_index": {
163
+ "dtype": "int64",
164
+ "shape": [
165
+ 1
166
+ ],
167
+ "names": null,
168
+ "fps": 20
169
+ },
170
+ "index": {
171
+ "dtype": "int64",
172
+ "shape": [
173
+ 1
174
+ ],
175
+ "names": null,
176
+ "fps": 20
177
+ },
178
+ "task_index": {
179
+ "dtype": "int64",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": null,
184
+ "fps": 20
185
+ }
186
+ },
187
+ "data_files_size_in_mb": 100,
188
+ "video_files_size_in_mb": 200
189
+ }
libero_spatial_no_noops_lerobot/meta/stats.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 433
8
+ ],
9
+ "mean": [
10
+ 213.92128351086814
11
+ ],
12
+ "std": [
13
+ 122.75643904687928
14
+ ],
15
+ "count": [
16
+ 53229
17
+ ]
18
+ },
19
+ "observation.states.ee_state": {
20
+ "min": [
21
+ -0.31721994280815125,
22
+ -0.2926647663116455,
23
+ 0.9094576835632324,
24
+ 2.496100664138794,
25
+ -1.798353910446167,
26
+ -0.7207611203193665
27
+ ],
28
+ "max": [
29
+ 0.1759040206670761,
30
+ 0.3904264271259308,
31
+ 1.3290090560913086,
32
+ 3.4572718143463135,
33
+ 1.2369194030761719,
34
+ 1.042615294456482
35
+ ],
36
+ "mean": [
37
+ -0.02451290873970331,
38
+ 0.10615150130733945,
39
+ 1.0578400251960747,
40
+ 3.061689349795143,
41
+ -0.1005965057813455,
42
+ 0.08257375486551881
43
+ ],
44
+ "std": [
45
+ 0.1105313291046163,
46
+ 0.13747598538616682,
47
+ 0.10432684704497153,
48
+ 0.10593968299972488,
49
+ 0.4111077956644506,
50
+ 0.21523187896802923
51
+ ],
52
+ "count": [
53
+ 53229
54
+ ]
55
+ },
56
+ "index": {
57
+ "min": [
58
+ 0
59
+ ],
60
+ "max": [
61
+ 53228
62
+ ],
63
+ "mean": [
64
+ 26614.0
65
+ ],
66
+ "std": [
67
+ 15365.888736635661
68
+ ],
69
+ "count": [
70
+ 53229
71
+ ]
72
+ },
73
+ "observation.state": {
74
+ "min": [
75
+ -0.31721994280815125,
76
+ -0.2926647663116455,
77
+ 0.9094576835632324,
78
+ 2.496100664138794,
79
+ -1.798353910446167,
80
+ -0.7207611203193665,
81
+ -7.665253360755742e-05,
82
+ -0.041329532861709595
83
+ ],
84
+ "max": [
85
+ 0.1759040206670761,
86
+ 0.3904264271259308,
87
+ 1.3290090560913086,
88
+ 3.4572718143463135,
89
+ 1.2369194030761719,
90
+ 1.042615294456482,
91
+ 0.040996309369802475,
92
+ 0.0005872611072845757
93
+ ],
94
+ "mean": [
95
+ -0.02451290873970331,
96
+ 0.10615150130733945,
97
+ 1.0578400251960747,
98
+ 3.061689349795143,
99
+ -0.1005965057813455,
100
+ 0.08257375486551881,
101
+ 0.019912415870854235,
102
+ -0.020113726667093317
103
+ ],
104
+ "std": [
105
+ 0.1105313291046163,
106
+ 0.13747598538616682,
107
+ 0.10432684704497153,
108
+ 0.10593968299972488,
109
+ 0.4111077956644506,
110
+ 0.21523187896802923,
111
+ 0.017277071353936357,
112
+ 0.017116047386313615
113
+ ],
114
+ "count": [
115
+ 53229
116
+ ]
117
+ },
118
+ "observation.states.gripper_state": {
119
+ "min": [
120
+ -7.665253360755742e-05,
121
+ -0.041329532861709595
122
+ ],
123
+ "max": [
124
+ 0.040996309369802475,
125
+ 0.0005872611072845757
126
+ ],
127
+ "mean": [
128
+ 0.019912415870854235,
129
+ -0.020113726667093317
130
+ ],
131
+ "std": [
132
+ 0.017277071353936357,
133
+ 0.017116047386313615
134
+ ],
135
+ "count": [
136
+ 53229
137
+ ]
138
+ },
139
+ "action": {
140
+ "min": [
141
+ -0.9375,
142
+ -0.9375,
143
+ -0.9375,
144
+ -0.18857142329216003,
145
+ -0.3675000071525574,
146
+ -0.36000001430511475,
147
+ 0.0
148
+ ],
149
+ "max": [
150
+ 0.9375,
151
+ 0.9375,
152
+ 0.9375,
153
+ 0.1971428543329239,
154
+ 0.33642858266830444,
155
+ 0.375,
156
+ 1.0
157
+ ],
158
+ "mean": [
159
+ 0.15323256500565316,
160
+ 0.13767446458586602,
161
+ -0.15478030616138388,
162
+ -0.005336551150067501,
163
+ -0.01131736054924684,
164
+ -0.019920350922698442,
165
+ 0.4572695339364765
166
+ ],
167
+ "std": [
168
+ 0.41222533634626757,
169
+ 0.3466294444202247,
170
+ 0.5076823853033986,
171
+ 0.03755191583697935,
172
+ 0.0723406654390112,
173
+ 0.057842365865122244,
174
+ 0.49817075243874454
175
+ ],
176
+ "count": [
177
+ 53229
178
+ ]
179
+ },
180
+ "task_index": {
181
+ "min": [
182
+ 0
183
+ ],
184
+ "max": [
185
+ 9
186
+ ],
187
+ "mean": [
188
+ 4.431813485130286
189
+ ],
190
+ "std": [
191
+ 2.7975848844852185
192
+ ],
193
+ "count": [
194
+ 53229
195
+ ]
196
+ },
197
+ "observation.images.wrist_image": {
198
+ "min": [
199
+ [
200
+ [
201
+ 0.011764705882352941
202
+ ]
203
+ ],
204
+ [
205
+ [
206
+ 0.0
207
+ ]
208
+ ],
209
+ [
210
+ [
211
+ 0.0
212
+ ]
213
+ ]
214
+ ],
215
+ "max": [
216
+ [
217
+ [
218
+ 1.0
219
+ ]
220
+ ],
221
+ [
222
+ [
223
+ 0.9921568627450981
224
+ ]
225
+ ],
226
+ [
227
+ [
228
+ 1.0
229
+ ]
230
+ ]
231
+ ],
232
+ "mean": [
233
+ [
234
+ [
235
+ 0.586931631614466
236
+ ]
237
+ ],
238
+ [
239
+ [
240
+ 0.5447874540923906
241
+ ]
242
+ ],
243
+ [
244
+ [
245
+ 0.5012263871950325
246
+ ]
247
+ ]
248
+ ],
249
+ "std": [
250
+ [
251
+ [
252
+ 0.2514551280709421
253
+ ]
254
+ ],
255
+ [
256
+ [
257
+ 0.22920073612514694
258
+ ]
259
+ ],
260
+ [
261
+ [
262
+ 0.20531061758689614
263
+ ]
264
+ ]
265
+ ],
266
+ "count": [
267
+ 42903
268
+ ]
269
+ },
270
+ "observation.images.image": {
271
+ "min": [
272
+ [
273
+ [
274
+ 0.0
275
+ ]
276
+ ],
277
+ [
278
+ [
279
+ 0.0
280
+ ]
281
+ ],
282
+ [
283
+ [
284
+ 0.0
285
+ ]
286
+ ]
287
+ ],
288
+ "max": [
289
+ [
290
+ [
291
+ 1.0
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 1.0
297
+ ]
298
+ ],
299
+ [
300
+ [
301
+ 1.0
302
+ ]
303
+ ]
304
+ ],
305
+ "mean": [
306
+ [
307
+ [
308
+ 0.49850134319486317
309
+ ]
310
+ ],
311
+ [
312
+ [
313
+ 0.46798308991155024
314
+ ]
315
+ ],
316
+ [
317
+ [
318
+ 0.43529346284183357
319
+ ]
320
+ ]
321
+ ],
322
+ "std": [
323
+ [
324
+ [
325
+ 0.22142000603147294
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.2032975070384105
331
+ ]
332
+ ],
333
+ [
334
+ [
335
+ 0.1857615278961399
336
+ ]
337
+ ]
338
+ ],
339
+ "count": [
340
+ 42903
341
+ ]
342
+ },
343
+ "frame_index": {
344
+ "min": [
345
+ 0
346
+ ],
347
+ "max": [
348
+ 192
349
+ ],
350
+ "mean": [
351
+ 62.59683631103346
352
+ ],
353
+ "std": [
354
+ 38.434300802340765
355
+ ],
356
+ "count": [
357
+ 53229
358
+ ]
359
+ },
360
+ "observation.states.joint_state": {
361
+ "min": [
362
+ -0.2799563705921173,
363
+ -0.22295628488063812,
364
+ -0.43655723333358765,
365
+ -2.7862343788146973,
366
+ -1.6331868171691895,
367
+ 1.0215308666229248,
368
+ -0.32212716341018677
369
+ ],
370
+ "max": [
371
+ 0.5365737676620483,
372
+ 1.7294976711273193,
373
+ 0.5079571008682251,
374
+ -0.06061827391386032,
375
+ 0.4684387147426605,
376
+ 3.406562566757202,
377
+ 2.8689239025115967
378
+ ],
379
+ "mean": [
380
+ 0.11473536386742073,
381
+ 0.6266832773107291,
382
+ 0.06014996223266588,
383
+ -1.651199827511514,
384
+ -0.1472122552178973,
385
+ 2.30261879580341,
386
+ 1.108737363540447
387
+ ],
388
+ "std": [
389
+ 0.1380342801933095,
390
+ 0.4193882740897508,
391
+ 0.12034308819878259,
392
+ 0.5584810984392532,
393
+ 0.21239142540402992,
394
+ 0.31952485264818264,
395
+ 0.4741494975670892
396
+ ],
397
+ "count": [
398
+ 53229
399
+ ]
400
+ },
401
+ "timestamp": {
402
+ "min": [
403
+ 0.0
404
+ ],
405
+ "max": [
406
+ 9.6
407
+ ],
408
+ "mean": [
409
+ 3.1298418155516736
410
+ ],
411
+ "std": [
412
+ 1.9217150401170382
413
+ ],
414
+ "count": [
415
+ 53229
416
+ ]
417
+ }
418
+ }
libero_spatial_no_noops_lerobot/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4e87beb822eb8db2d87a496c7e8831df578c1a0932a979fdb20de0e1d5f66229
3
+ size 2670
libero_spatial_no_noops_lerobot/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:077d29e3a5f3f77808fd4521937d3c98fc61782ada5bf4f3a0569ffb9fba2cab
3
+ size 208911289
libero_spatial_no_noops_lerobot/videos/observation.images.image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:82511d725db76c5efb6810b2b9918525347aedcc03b5088c20bf10443bafe775
3
+ size 208945496
libero_spatial_no_noops_lerobot/videos/observation.images.image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:458f6a2da7eb3ca7ef388a7fe57c0e8123dbcadb6ae87965dd34266a06db8be4
3
+ size 11894103
libero_spatial_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c32af7146855486476a924bb6638efdb6d58855303a832e6d3565013e7d9f47b
3
+ size 208659665
libero_spatial_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:267894b37ac3295ef50aac45ee19e042ffd9eb75fd6cff76e2aed9d8aa20d1c5
3
+ size 208378570
libero_spatial_no_noops_lerobot/videos/observation.images.wrist_image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab37056cef8c0e879b10b78a1d093f2ec8bbf40f04a0158269f20678747e0bf7
3
+ size 89258180