Upload folder using huggingface_hub

data/chunk-000/file-000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea307fb26d6e6b4410fc2adf6ead097c40e7077d636e61b801d250200151650
+size 121744387

data/chunk-000/file-001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90bb2a9be210b1ddfa3451fb61323af4f94e6b2c2cb8acedb29ee05264f9eab1
+size 98056564

data/chunk-000/file-002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae3e79fcf3ce1436d1b0acfb168c61dde8f3e53adadcceee115acf05270c86e
+size 102884757

data/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c0208a36b1b4253d0d2153009ea6560f911f8145e72874a15e3d93277ef6ac
+size 105148518

data/chunk-000/file-004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd1f2bc0c6cfa6d0bb2da794266b1a85d203dd2df019de90ca9cd9f8ca282a2
+size 105347868

data/chunk-000/file-005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db1279d8efcef2f61a15d6b4f0a741f2f6b5e5f70d0caf7e59d2f35150b2ee3a
+size 113357736

data/chunk-000/file-006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5343eb18334a82eb2c142a79077d1abb2d6fff69743f0b41c2bb20565b41cfd8
+size 91796391

data/chunk-000/file-007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80485680ca9830937c728b8dce2679da0cb1483e8675e49cf38d681599d952bb
+size 100957264

data/chunk-000/file-008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66d0f38bd8123f0d3bb55e445a55b9a3f6ffb65b2f83c23bba07f4401b48db1
+size 112155137

data/chunk-000/file-009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:831c7c8b04cba8a8487b755028ccf5d3fe7a4aef1e75e8cd6a48f022ac84815f
+size 99504255

data/chunk-000/file-010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7a6c03f330b69e49072ddc8fd411712505fc3fedb9c767307e26c4d0d90bfee
+size 99662065

data/chunk-000/file-011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:caeefebdf2981dab3d08a5a0f05e73845d6510dfe020c81ca92503f94c568f19
+size 110783500

data/chunk-000/file-012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee05ffcf566bbd9003ec0e6048afc091f9890c8083fd734af1b6fd80d2935f8
+size 106282668

data/chunk-000/file-013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:194472963655590bb5b5f9995ff6804fb6d4b2a446c4f37a7e5c8edb7ec023a5
+size 99829708

data/chunk-000/file-014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d058c62d1275653ac53e8bb1cedfa3ab67becaf084789ff850be4fa7d01f766
+size 109121280

data/chunk-000/file-015.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6945de35086a1f9e56c18ff8cce5ca4566daee2b2567e95023f576e3c6d97f4
+size 120483802

data/chunk-000/file-016.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e921e1b3fcd9f53db6bdf85c7e3ece370d99b8e5ddc83334b55371066f6a7bc
+size 112587081

data/chunk-000/file-017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5838384cd56884b8422dcdacdaaafce7417da72e3dc3bf60ad7500d145918327
+size 78532511

data/chunk-000/file-018.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ce983dd37888a93d6980b9f11ec2203f712575b1afa12591624104b010d931
+size 106375936

data/chunk-000/file-019.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42559151e518916396eb77d5744067b64827754495010530e84d88e0e7eb4bcb
+size 101470593

data/chunk-000/file-020.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e14cc313e9437b567dcb329049a05ab0c6ab42ab5ef806bbdc8ba75472bce108
+size 97666900

data/chunk-000/file-021.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b44d4240e60063c80a326c7d8c948a51440d54249f266ebea88db20ae1aa611a
+size 117427188

data/chunk-000/file-022.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fd2307a17ad856037f419c16ba2173bdad308fb93f148d76e4ca3ff114588d6
+size 104744601

data/chunk-000/file-023.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ce3b40de66ba7443858a020b3d7fd2e1b1de278307b9d8fb790ef837b2423fe
+size 95752472

data/chunk-000/file-024.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6e159a494372eefab3f96cf3dbbe0dfa888a939028b5e6fa765f69b403b0366
+size 133559534

data/chunk-000/file-025.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86ff19cfff45614177e3a7d67e8313cd8d71987b6d961baf889f26c517d1e5f6
+size 94484926

data/chunk-000/file-026.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df931d47213034d23c2c0226c54fe26499eceb17209f4fa96420c8ec0d2eaea
+size 95541207

data/chunk-000/file-027.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa25dea13babbc98539b663f38e69bf32e12c30acb742c4099b66ffab717dbf0
+size 100408603

data/chunk-000/file-028.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a57a14733255c0ad902c335d188d409b743f94e06053ad052d7f7f892abf65
+size 132337941

data/chunk-000/file-029.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5de8240f6f911ccc2300b7e55d829914eb1a2f285c7ea5c28bfbda250c2c96c
+size 128526989

data/chunk-000/file-030.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52cf4e793a0bcf9ce40d2fa25d604d29ee1383bf56797cbc8a50aa69e9fbd20b
+size 101683540

data/chunk-000/file-031.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c3a2abca56bb30419b58c62045c723eae3c49a568483b2af5c28287135d1c34
+size 127165432

data/chunk-000/file-032.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f5607fe4ccb3025641bfc33bb4ffbfbef0fdfca2b44d6a9203e66a2250b0c3d
+size 117528618

data/chunk-000/file-033.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:543eb0a6f824c39e50d696d2bbde06703a7b8f4d92c3d509f4f8f0fc4460b74f
+size 132002942

data/chunk-000/file-034.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a56f77caad462003375f09cb6a1fef45dfd9b4e425f555694ed0551ca276f71d
+size 119715806

meta/episodes.jsonl

@@ -0,0 +1,35 @@
+{"episode_index": 0, "episode_data_index_from": 0, "episode_data_index_to": 1753, "length": 1753, "task": "DishwasherUnloadPlates"}
+{"episode_index": 1, "episode_data_index_from": 1753, "episode_data_index_to": 3253, "length": 1500, "task": "DishwasherUnloadPlates"}
+{"episode_index": 2, "episode_data_index_from": 3253, "episode_data_index_to": 4854, "length": 1601, "task": "DishwasherUnloadPlates"}
+{"episode_index": 3, "episode_data_index_from": 4854, "episode_data_index_to": 6413, "length": 1559, "task": "DishwasherUnloadPlates"}
+{"episode_index": 4, "episode_data_index_from": 6413, "episode_data_index_to": 7918, "length": 1505, "task": "DishwasherUnloadPlates"}
+{"episode_index": 5, "episode_data_index_from": 7918, "episode_data_index_to": 9652, "length": 1734, "task": "DishwasherUnloadPlates"}
+{"episode_index": 6, "episode_data_index_from": 9652, "episode_data_index_to": 11047, "length": 1395, "task": "DishwasherUnloadPlates"}
+{"episode_index": 7, "episode_data_index_from": 11047, "episode_data_index_to": 12583, "length": 1536, "task": "DishwasherUnloadPlates"}
+{"episode_index": 8, "episode_data_index_from": 12583, "episode_data_index_to": 14263, "length": 1680, "task": "DishwasherUnloadPlates"}
+{"episode_index": 9, "episode_data_index_from": 14263, "episode_data_index_to": 15732, "length": 1469, "task": "DishwasherUnloadPlates"}
+{"episode_index": 10, "episode_data_index_from": 15732, "episode_data_index_to": 17213, "length": 1481, "task": "DishwasherUnloadPlates"}
+{"episode_index": 11, "episode_data_index_from": 17213, "episode_data_index_to": 18822, "length": 1609, "task": "DishwasherUnloadPlates"}
+{"episode_index": 12, "episode_data_index_from": 18822, "episode_data_index_to": 20477, "length": 1655, "task": "DishwasherUnloadPlates"}
+{"episode_index": 13, "episode_data_index_from": 20477, "episode_data_index_to": 21983, "length": 1506, "task": "DishwasherUnloadPlates"}
+{"episode_index": 14, "episode_data_index_from": 21983, "episode_data_index_to": 23701, "length": 1718, "task": "DishwasherUnloadPlates"}
+{"episode_index": 15, "episode_data_index_from": 23701, "episode_data_index_to": 25615, "length": 1914, "task": "DishwasherUnloadPlates"}
+{"episode_index": 16, "episode_data_index_from": 25615, "episode_data_index_to": 27303, "length": 1688, "task": "DishwasherUnloadPlates"}
+{"episode_index": 17, "episode_data_index_from": 27303, "episode_data_index_to": 28488, "length": 1185, "task": "DishwasherUnloadPlates"}
+{"episode_index": 18, "episode_data_index_from": 28488, "episode_data_index_to": 30079, "length": 1591, "task": "DishwasherUnloadPlates"}
+{"episode_index": 19, "episode_data_index_from": 30079, "episode_data_index_to": 31635, "length": 1556, "task": "DishwasherUnloadPlates"}
+{"episode_index": 20, "episode_data_index_from": 31635, "episode_data_index_to": 33065, "length": 1430, "task": "DishwasherUnloadPlates"}
+{"episode_index": 21, "episode_data_index_from": 33065, "episode_data_index_to": 34786, "length": 1721, "task": "DishwasherUnloadPlates"}
+{"episode_index": 22, "episode_data_index_from": 34786, "episode_data_index_to": 36400, "length": 1614, "task": "DishwasherUnloadPlates"}
+{"episode_index": 23, "episode_data_index_from": 36400, "episode_data_index_to": 37919, "length": 1519, "task": "DishwasherUnloadPlates"}
+{"episode_index": 24, "episode_data_index_from": 37919, "episode_data_index_to": 39917, "length": 1998, "task": "DishwasherUnloadPlates"}
+{"episode_index": 25, "episode_data_index_from": 39917, "episode_data_index_to": 41443, "length": 1526, "task": "DishwasherUnloadPlates"}
+{"episode_index": 26, "episode_data_index_from": 41443, "episode_data_index_to": 42871, "length": 1428, "task": "DishwasherUnloadPlates"}
+{"episode_index": 27, "episode_data_index_from": 42871, "episode_data_index_to": 44336, "length": 1465, "task": "DishwasherUnloadPlates"}
+{"episode_index": 28, "episode_data_index_from": 44336, "episode_data_index_to": 46305, "length": 1969, "task": "DishwasherUnloadPlates"}
+{"episode_index": 29, "episode_data_index_from": 46305, "episode_data_index_to": 48230, "length": 1925, "task": "DishwasherUnloadPlates"}
+{"episode_index": 30, "episode_data_index_from": 48230, "episode_data_index_to": 49779, "length": 1549, "task": "DishwasherUnloadPlates"}
+{"episode_index": 31, "episode_data_index_from": 49779, "episode_data_index_to": 51692, "length": 1913, "task": "DishwasherUnloadPlates"}
+{"episode_index": 32, "episode_data_index_from": 51692, "episode_data_index_to": 53437, "length": 1745, "task": "DishwasherUnloadPlates"}
+{"episode_index": 33, "episode_data_index_from": 53437, "episode_data_index_to": 55383, "length": 1946, "task": "DishwasherUnloadPlates"}
+{"episode_index": 34, "episode_data_index_from": 55383, "episode_data_index_to": 57202, "length": 1819, "task": "DishwasherUnloadPlates"}

meta/info.json

@@ -0,0 +1,275 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "h1_humanoid",
+  "fps": 50,
+  "total_episodes": 35,
+  "total_frames": 57202,
+  "chunks_size": 35,
+  "total_chunks": 1,
+  "data_path": "data/chunk-{episode_chunk:03d}/file-{episode_index:03d}.parquet",
+  "features": {
+    "observation.qpos": {
+      "dtype": "float32",
+      "shape": [
+        30
+      ],
+      "description": "Full joint positions (29 dims)",
+      "names": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle",
+        "torso",
+        "left_shoulder_pitch",
+        "left_shoulder_roll",
+        "left_shoulder_yaw",
+        "left_elbow",
+        "left_wrist",
+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        "right_wrist",
+        "joint_22",
+        "joint_23",
+        "joint_24",
+        "joint_25",
+        "joint_26",
+        "joint_27",
+        "joint_28"
+      ]
+    },
+    "observation.qvel": {
+      "dtype": "float32",
+      "shape": [
+        30
+      ],
+      "description": "Full joint velocities (29 dims)",
+      "names": [
+        "left_hip_yaw",
+        "left_hip_roll",
+        "left_hip_pitch",
+        "left_knee",
+        "left_ankle",
+        "right_hip_yaw",
+        "right_hip_roll",
+        "right_hip_pitch",
+        "right_knee",
+        "right_ankle",
+        "torso",
+        "left_shoulder_pitch",
+        "left_shoulder_roll",
+        "left_shoulder_yaw",
+        "left_elbow",
+        "left_wrist",
+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        "right_wrist",
+        "joint_22",
+        "joint_23",
+        "joint_24",
+        "joint_25",
+        "joint_26",
+        "joint_27",
+        "joint_28"
+      ]
+    },
+    "observation.gripper": {
+      "dtype": "float32",
+      "shape": [
+        2
+      ],
+      "description": "Gripper states (2 dims)",
+      "names": [
+        "left_gripper",
+        "right_gripper"
+      ]
+    },
+    "observation.floating_base": {
+      "dtype": "float32",
+      "shape": [
+        4
+      ],
+      "description": "Floating base position (4 dims with 4-DOF)",
+      "names": [
+        "pelvis_x",
+        "pelvis_y",
+        "pelvis_z",
+        "pelvis_rz"
+      ]
+    },
+    "observation.floating_base_actions": {
+      "dtype": "float32",
+      "shape": [
+        4
+      ],
+      "description": "Accumulated floating base actions since reset (4 dims with 4-DOF)",
+      "names": [
+        "acc_pelvis_x",
+        "acc_pelvis_y",
+        "acc_pelvis_z",
+        "acc_pelvis_rz"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "description": "Policy state input (16 dims, matches action structure)",
+      "names": [
+        "floating_base_x",
+        "floating_base_y",
+        "floating_base_z",
+        "floating_base_rz",
+        "left_shoulder_pitch",
+        "left_shoulder_roll",
+        "left_shoulder_yaw",
+        "left_elbow",
+        "left_wrist",
+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        "right_wrist",
+        "left_gripper",
+        "right_gripper"
+      ],
+      "structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]"
+    },
+    "observation.state_arm": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "description": "Arm-only state (12 dims, no floating base)",
+      "names": [
+        "left_shoulder_pitch",
+        "left_shoulder_roll",
+        "left_shoulder_yaw",
+        "left_elbow",
+        "left_wrist",
+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        "right_wrist",
+        "left_gripper",
+        "right_gripper"
+      ],
+      "structure": "[left_arm(5), right_arm(5), grippers(2)]"
+    },
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ],
+      "description": "Full action (16 dims)",
+      "names": [
+        "floating_base_x",
+        "floating_base_y",
+        "floating_base_z",
+        "floating_base_rz",
+        "left_shoulder_pitch",
+        "left_shoulder_roll",
+        "left_shoulder_yaw",
+        "left_elbow",
+        "left_wrist",
+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        "right_wrist",
+        "left_gripper",
+        "right_gripper"
+      ],
+      "structure": "[floating_base(4), left_arm(5), right_arm(5), grippers(2)]"
+    },
+    "action.floating_base": {
+      "dtype": "float32",
+      "shape": [
+        4
+      ],
+      "description": "Floating base action (4 dims)",
+      "names": [
+        "floating_base_x",
+        "floating_base_y",
+        "floating_base_z",
+        "floating_base_rz"
+      ]
+    },
+    "action.arms": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "description": "Arms + grippers action (12 dims)",
+      "names": [
+        "left_shoulder_pitch",
+        "left_shoulder_roll",
+        "left_shoulder_yaw",
+        "left_elbow",
+        "left_wrist",
+        "right_shoulder_pitch",
+        "right_shoulder_roll",
+        "right_shoulder_yaw",
+        "right_elbow",
+        "right_wrist",
+        "left_gripper",
+        "right_gripper"
+      ],
+      "structure": "[left_arm(5), right_arm(5), grippers(2)]"
+    },
+    "observation.images.head": {
+      "dtype": "image",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "description": "head camera RGB image"
+    },
+    "observation.images.left_wrist": {
+      "dtype": "image",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "description": "left_wrist camera RGB image"
+    },
+    "observation.images.right_wrist": {
+      "dtype": "image",
+      "shape": [
+        256,
+        256,
+        3
+      ],
+      "description": "right_wrist camera RGB image"
+    }
+  },
+  "task_name": "DishwasherUnloadPlates",
+  "splits": {
+    "train": "0:35"
+  },
+  "dimension_info": {
+    "action_total": 16,
+    "action_floating_base": 4,
+    "action_arms": 12,
+    "obs_qpos": 30,
+    "obs_qvel": 30,
+    "obs_gripper": 2,
+    "obs_floating_base": 4,
+    "obs_floating_base_actions": 4,
+    "state_total": 16,
+    "state_arm": 12
+  }
+}

meta/stats.json

@@ -0,0 +1,622 @@
+{
+  "observation.qpos": {
+    "min": [
+      -0.9766849279403687,
+      -0.3346959948539734,
+      -0.9561195373535156,
+      -0.9819867014884949,
+      0.0004578036314342171,
+      -0.0021978721488267183,
+      0.0017246408388018608,
+      -0.7627143263816833,
+      0.0004749024228658527,
+      -0.0024006906896829605,
+      0.0013088204432278872,
+      -0.7626767158508301,
+      -1.002657175064087,
+      -0.9811373949050903,
+      -0.25422027707099915,
+      -0.47839635610580444,
+      -0.9786340594291687,
+      -0.0005763343651778996,
+      -0.002827532822266221,
+      -4.588160300045274e-05,
+      -0.7626391649246216,
+      -0.0008622570894658566,
+      -0.0021791846957057714,
+      -0.006877877749502659,
+      -0.7627231478691101,
+      -1.327371597290039,
+      -0.6803686022758484,
+      -0.9360489845275879,
+      0.4333832263946533,
+      -0.6210511922836304
+    ],
+    "max": [
+      0.7186004519462585,
+      0.6099008917808533,
+      0.1745029240846634,
+      1.4734033346176147,
+      0.7840846180915833,
+      0.0018199656624346972,
+      0.7831763029098511,
+      -0.0037728308234363794,
+      0.784087061882019,
+      0.002508149016648531,
+      0.7831636667251587,
+      0.0006511124665848911,
+      0.5654146671295166,
+      0.9950831532478333,
+      0.2951303720474243,
+      0.4226571023464203,
+      0.8821792602539062,
+      0.784084141254425,
+      0.0027562761679291725,
+      0.7831704616546631,
+      0.002294304547831416,
+      0.7840842008590698,
+      0.0023523292038589716,
+      0.783150851726532,
+      0.014775949530303478,
+      0.7043383717536926,
+      0.1535610407590866,
+      0.4718858301639557,
+      0.999759316444397,
+      1.7423241138458252
+    ],
+    "mean": [
+      0.022862425073981285,
+      0.0008876339998096228,
+      -0.28069496154785156,
+      -0.29067355394363403,
+      0.5027137994766235,
+      0.0014543606666848063,
+      0.5008696913719177,
+      -0.4950530529022217,
+      0.5027142763137817,
+      0.0014390487922355533,
+      0.500892162322998,
+      -0.494792640209198,
+      -0.09673289954662323,
+      0.04782283678650856,
+      0.02655795030295849,
+      0.004407371859997511,
+      -0.25060132145881653,
+      0.2864425480365753,
+      0.0013087167171761394,
+      0.28595107793807983,
+      -0.282859742641449,
+      0.2864389419555664,
+      0.001286989077925682,
+      0.2859216332435608,
+      -0.2827411890029907,
+      -0.07224290817975998,
+      -0.25933703780174255,
+      -0.22046469151973724,
+      0.7536419630050659,
+      0.6779184341430664
+    ],
+    "std": [
+      0.24361127614974976,
+      0.1276499480009079,
+      0.18817391991615295,
+      0.346129447221756,
+      0.3383702337741852,
+      0.0002851833123713732,
+      0.33629509806632996,
+      0.3313053250312805,
+      0.338370680809021,
+      0.00032103422563523054,
+      0.33631443977355957,
+      0.33113032579421997,
+      0.21931274235248566,
+      0.24226850271224976,
+      0.08883213996887207,
+      0.14165012538433075,
+      0.30709367990493774,
+      0.3564853072166443,
+      0.0002944042207673192,
+      0.3544352352619171,
+      0.34860900044441223,
+      0.3564826548099518,
+      0.00036379776429384947,
+      0.3544209599494934,
+      0.3485015630722046,
+      0.24111807346343994,
+      0.19129954278469086,
+      0.43349891901016235,
+      0.20216335356235504,
+      0.6744139194488525
+    ]
+  },
+  "observation.qvel": {
+    "min": [
+      -4.66922664642334,
+      -1.677633285522461,
+      -3.5699548721313477,
+      -9.917997360229492,
+      -6.377956867218018,
+      -0.6468477249145508,
+      -6.117058277130127,
+      -6.497552871704102,
+      -6.377924919128418,
+      -0.887973427772522,
+      -6.116416931152344,
+      -6.492268085479736,
+      -3.4583728313446045,
+      -3.442488670349121,
+      -1.7258394956588745,
+      -2.619861602783203,
+      -7.291828632354736,
+      -6.37856912612915,
+      -0.23300839960575104,
+      -6.117628574371338,
+      -6.491244316101074,
+      -6.37854528427124,
+      -0.7370426058769226,
+      -6.117422103881836,
+      -6.608828067779541,
+      -10.733037948608398,
+      -0.5381909012794495,
+      -1.0972145795822144,
+      -0.13651253283023834,
+      -0.8120267391204834
+    ],
+    "max": [
+      4.974165439605713,
+      2.7212796211242676,
+      1.5805928707122803,
+      6.987695217132568,
+      6.463736534118652,
+      0.3314517140388489,
+      6.225047588348389,
+      6.138601779937744,
+      6.465807914733887,
+      0.9096196889877319,
+      6.179893493652344,
+      6.13715934753418,
+      7.250194072723389,
+      6.95009183883667,
+      1.205696702003479,
+      4.232115745544434,
+      4.264266490936279,
+      6.468425273895264,
+      0.6740033030509949,
+      6.229366302490234,
+      6.138722896575928,
+      6.469376087188721,
+      0.37345027923583984,
+      6.285260200500488,
+      6.138762474060059,
+      5.197575569152832,
+      0.4850449860095978,
+      0.726982831954956,
+      0.11058738082647324,
+      1.082461953163147
+    ],
+    "mean": [
+      0.0005795634351670742,
+      -0.00366093497723341,
+      -0.002813172759488225,
+      -0.0043537067249417305,
+      -0.0002107909822370857,
+      0.00017405563266947865,
+      -0.0007813647971488535,
+      -0.0010494133457541466,
+      -0.00020297610899433494,
+      0.00013026608212385327,
+      -0.0006564203067682683,
+      0.0002297611499670893,
+      -0.0037962784990668297,
+      0.00043128005927428603,
+      0.001865969505161047,
+      0.0016751347575336695,
+      -0.005507323425263166,
+      9.538203448755667e-05,
+      0.00020687976211775094,
+      -8.36258041090332e-05,
+      -0.0012158849276602268,
+      0.00010061501961899921,
+      8.575590618420392e-05,
+      -0.00019599436200223863,
+      -0.0003295191563665867,
+      -0.00305073126219213,
+      -0.0007555408519692719,
+      -0.0018201881321147084,
+      -0.0006112669943831861,
+      -0.00199150200933218
+    ],
+    "std": [
+      0.2826859951019287,
+      0.14426454901695251,
+      0.1961382031440735,
+      0.45226573944091797,
+      0.391360878944397,
+      0.010555380955338478,
+      0.38729599118232727,
+      0.3837796151638031,
+      0.39139121770858765,
+      0.014203247614204884,
+      0.38744473457336426,
+      0.3827783465385437,
+      0.3302287757396698,
+      0.2468799352645874,
+      0.11911695450544357,
+      0.1887197047472,
+      0.3753756284713745,
+      0.41056081652641296,
+      0.010409841313958168,
+      0.4056808352470398,
+      0.40153801441192627,
+      0.41056907176971436,
+      0.010724565014243126,
+      0.40580061078071594,
+      0.40031132102012634,
+      0.3985123336315155,
+      0.09219704568386078,
+      0.1415807604789734,
+      0.0325751006603241,
+      0.2806820273399353
+    ]
+  },
+  "observation.gripper": {
+    "min": [
+      0.0,
+      0.0
+    ],
+    "max": [
+      1.0,
+      1.0
+    ],
+    "mean": [
+      0.6173287630081177,
+      0.3514697253704071
+    ],
+    "std": [
+      0.41773462295532227,
+      0.4416351616382599
+    ]
+  },
+  "observation.floating_base": {
+    "min": [
+      -0.6803686022758484,
+      -0.9360489845275879,
+      0.4333832263946533,
+      -0.6210511922836304
+    ],
+    "max": [
+      0.1535610407590866,
+      0.4718858301639557,
+      0.999759316444397,
+      1.7423241138458252
+    ],
+    "mean": [
+      -0.25933703780174255,
+      -0.22046469151973724,
+      0.7536419630050659,
+      0.6779184341430664
+    ],
+    "std": [
+      0.19129954278469086,
+      0.43349891901016235,
+      0.20216335356235504,
+      0.6744139194488525
+    ]
+  },
+  "observation.floating_base_actions": {
+    "min": [
+      -0.6809337735176086,
+      -0.34334462881088257,
+      -0.5662620067596436,
+      -0.6212171912193298
+    ],
+    "max": [
+      0.36066314578056335,
+      1.0540217161178589,
+      8.879829406738281,
+      1.7423901557922363
+    ],
+    "mean": [
+      -0.2537453770637512,
+      0.37660691142082214,
+      0.20378334820270538,
+      0.6763942241668701
+    ],
+    "std": [
+      0.19354306161403656,
+      0.4294526278972626,
+      1.29250168800354,
+      0.6749725341796875
+    ]
+  },
+  "observation.state": {
+    "min": [
+      -0.6803686022758484,
+      -0.9360489845275879,
+      0.4333832263946533,
+      -0.6210511922836304,
+      -0.7626767158508301,
+      -1.002657175064087,
+      -0.9811373949050903,
+      -0.25422027707099915,
+      -0.47839635610580444,
+      -0.9786340594291687,
+      -0.0005763343651778996,
+      -0.002827532822266221,
+      -4.588160300045274e-05,
+      -0.7626391649246216,
+      0.0,
+      0.0
+    ],
+    "max": [
+      0.1535610407590866,
+      0.4718858301639557,
+      0.999759316444397,
+      1.7423241138458252,
+      0.0006511124665848911,
+      0.5654146671295166,
+      0.9950831532478333,
+      0.2951303720474243,
+      0.4226571023464203,
+      0.8821792602539062,
+      0.784084141254425,
+      0.0027562761679291725,
+      0.7831704616546631,
+      0.002294304547831416,
+      1.0,
+      1.0
+    ],
+    "mean": [
+      -0.25933703780174255,
+      -0.22046469151973724,
+      0.7536419630050659,
+      0.6779184341430664,
+      -0.494792640209198,
+      -0.09673289954662323,
+      0.04782283678650856,
+      0.02655795030295849,
+      0.004407371859997511,
+      -0.25060132145881653,
+      0.2864425480365753,
+      0.0013087167171761394,
+      0.28595107793807983,
+      -0.282859742641449,
+      0.6173287630081177,
+      0.3514697253704071
+    ],
+    "std": [
+      0.19129954278469086,
+      0.43349891901016235,
+      0.20216335356235504,
+      0.6744139194488525,
+      0.33113032579421997,
+      0.21931274235248566,
+      0.24226850271224976,
+      0.08883213996887207,
+      0.14165012538433075,
+      0.30709367990493774,
+      0.3564853072166443,
+      0.0002944042207673192,
+      0.3544352352619171,
+      0.34860900044441223,
+      0.41773462295532227,
+      0.4416351616382599
+    ]
+  },
+  "observation.state_arm": {
+    "min": [
+      -0.7626767158508301,
+      -1.002657175064087,
+      -0.9811373949050903,
+      -0.25422027707099915,
+      -0.47839635610580444,
+      -0.9786340594291687,
+      -0.0005763343651778996,
+      -0.002827532822266221,
+      -4.588160300045274e-05,
+      -0.7626391649246216,
+      0.0,
+      0.0
+    ],
+    "max": [
+      0.0006511124665848911,
+      0.5654146671295166,
+      0.9950831532478333,
+      0.2951303720474243,
+      0.4226571023464203,
+      0.8821792602539062,
+      0.784084141254425,
+      0.0027562761679291725,
+      0.7831704616546631,
+      0.002294304547831416,
+      1.0,
+      1.0
+    ],
+    "mean": [
+      -0.494792640209198,
+      -0.09673289954662323,
+      0.04782283678650856,
+      0.02655795030295849,
+      0.004407371859997511,
+      -0.25060132145881653,
+      0.2864425480365753,
+      0.0013087167171761394,
+      0.28595107793807983,
+      -0.282859742641449,
+      0.6173287630081177,
+      0.3514697253704071
+    ],
+    "std": [
+      0.33113032579421997,
+      0.21931274235248566,
+      0.24226850271224976,
+      0.08883213996887207,
+      0.14165012538433075,
+      0.30709367990493774,
+      0.3564853072166443,
+      0.0002944042207673192,
+      0.3544352352619171,
+      0.34860900044441223,
+      0.41773462295532227,
+      0.4416351616382599
+    ]
+  },
+  "action": {
+    "min": [
+      -0.012477313168346882,
+      -0.026444055140018463,
+      -0.0061870445497334,
+      -0.024630941450595856,
+      -1.0165785551071167,
+      -0.3399999737739563,
+      -0.9465838670730591,
+      -1.0040234327316284,
+      -1.0054699182510376,
+      -1.022783637046814,
+      -0.26746490597724915,
+      -0.48306506872177124,
+      -0.9914888143539429,
+      -1.3347349166870117,
+      0.0,
+      0.0
+    ],
+    "max": [
+      0.009844722226262093,
+      0.01756032183766365,
+      0.01673898473381996,
+      0.03292391449213028,
+      0.9281970262527466,
+      0.617548942565918,
+      0.17390964925289154,
+      1.463379979133606,
+      0.5696730017662048,
+      1.1138468980789185,
+      0.2985479533672333,
+      0.4383845925331116,
+      0.872620701789856,
+      0.7079764604568481,
+      1.0,
+      1.0
+    ],
+    "mean": [
+      -1.6879384929779917e-05,
+      -3.482169267954305e-05,
+      0.0015623070066794753,
+      -3.1768209737492725e-05,
+      0.006464624311774969,
+      -0.0052153873257339,
+      -0.2812930941581726,
+      -0.30915436148643494,
+      -0.09679323434829712,
+      0.033241987228393555,
+      0.02720998227596283,
+      0.004740780685096979,
+      -0.2672152817249298,
+      -0.07224176824092865,
+      0.6830355525016785,
+      0.38481172919273376
+    ],
+    "std": [
+      0.0019350148504599929,
+      0.0028878210578113794,
+      0.0038885255344212055,
+      0.008553776890039444,
+      0.24970659613609314,
+      0.13177527487277985,
+      0.1883043646812439,
+      0.3479093313217163,
+      0.21971775591373444,
+      0.248542919754982,
+      0.09286732226610184,
+      0.14293161034584045,
+      0.30894407629966736,
+      0.24151943624019623,
+      0.4653714895248413,
+      0.48668918013572693
+    ]
+  },
+  "action.floating_base": {
+    "min": [
+      -0.012477313168346882,
+      -0.026444055140018463,
+      -0.0061870445497334,
+      -0.024630941450595856
+    ],
+    "max": [
+      0.009844722226262093,
+      0.01756032183766365,
+      0.01673898473381996,
+      0.03292391449213028
+    ],
+    "mean": [
+      -1.6879384929779917e-05,
+      -3.482169267954305e-05,
+      0.0015623070066794753,
+      -3.1768209737492725e-05
+    ],
+    "std": [
+      0.0019350148504599929,
+      0.0028878210578113794,
+      0.0038885255344212055,
+      0.008553776890039444
+    ]
+  },
+  "action.arms": {
+    "min": [
+      -1.0165785551071167,
+      -0.3399999737739563,
+      -0.9465838670730591,
+      -1.0040234327316284,
+      -1.0054699182510376,
+      -1.022783637046814,
+      -0.26746490597724915,
+      -0.48306506872177124,
+      -0.9914888143539429,
+      -1.3347349166870117,
+      0.0,
+      0.0
+    ],
+    "max": [
+      0.9281970262527466,
+      0.617548942565918,
+      0.17390964925289154,
+      1.463379979133606,
+      0.5696730017662048,
+      1.1138468980789185,
+      0.2985479533672333,
+      0.4383845925331116,
+      0.872620701789856,
+      0.7079764604568481,
+      1.0,
+      1.0
+    ],
+    "mean": [
+      0.006464624311774969,
+      -0.0052153873257339,
+      -0.2812930941581726,
+      -0.30915436148643494,
+      -0.09679323434829712,
+      0.033241987228393555,
+      0.02720998227596283,
+      0.004740780685096979,
+      -0.2672152817249298,
+      -0.07224176824092865,
+      0.6830355525016785,
+      0.38481172919273376
+    ],
+    "std": [
+      0.24970659613609314,
+      0.13177527487277985,
+      0.1883043646812439,
+      0.3479093313217163,
+      0.21971775591373444,
+      0.248542919754982,
+      0.09286732226610184,
+      0.14293161034584045,
+      0.30894407629966736,
+      0.24151943624019623,
+      0.4653714895248413,
+      0.48668918013572693
+    ]
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "DishwasherUnloadPlates"}