File size: 3,270 Bytes
99513ae | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 | {
"generated_at_utc": "2026-07-20T05:48:41.076622+00:00",
"status": "pass",
"stats_status": "complete",
"source_frames": 368563,
"source_episodes": 3439,
"source_state_shape": [
368563,
9
],
"source_action_shape": [
368563,
9
],
"source_nonterminal_action_equals_next_state_bitwise": true,
"source_terminal_action_equals_terminal_state_bitwise": true,
"canonical_action_vs_source_bitwise_equal": true,
"canonical_action_vs_joint_abs_bitwise_equal": true,
"both_fingers_all_spaces_bitwise_equal": true,
"selected_views_only": true,
"stored_arrays_readback_bitwise_equal": true,
"nonconverted_data_columns_arrow_equal": true,
"numeric_thresholds": {
"position_m": 1e-05,
"rotation_rad": 0.0001
},
"numeric_metrics": {
"quat_vs_source_fk_max_position_m": 4.7349653313698595e-08,
"quat_vs_source_fk_max_rotation_rad": 1.0323827311807144e-07,
"rot6d_vs_source_fk_max_position_m": 4.7349653313698595e-08,
"rot6d_vs_source_fk_max_rotation_rad": 5.960464477539064e-08,
"delta_vs_source_fk_max_position_m": 2.7600587847167534e-08,
"delta_vs_source_fk_max_rotation_rad": 1.429269171748377e-07,
"quat_norm_max_abs_error": 1.1920928955078125e-07,
"rot6d_col_norm_max_abs_error": 5.960464477539063e-08,
"rot6d_col_dot_max_abs": 8.940696716308594e-08
},
"robot_only_kinematic": {
"status": "pass",
"source_joint_branch_equivalence_status": "pass",
"counts": {
"episodes": 8,
"numeric_pass": 8,
"target_equivalence_pass": 8,
"kinematic_equivalence_pass": 8,
"strict_ik_pass": 8
},
"report": "meta/robot_only_kinematic_report.json",
"note": "Representation equivalence is the conversion criterion. A partial source-joint branch result can occur because 7-DOF IK is redundant and local DLS may select a different branch."
},
"simulator_canary": {
"status": "pending",
"note": "Full ARNOLD scene replay is a separate validation stage."
},
"stats_verification": {
"status": "pass",
"lerobot_version": "0.6.0",
"frame_count": 368563,
"numeric_fields_checked": 12,
"direct_float64_min_max_mean_std_max_abs_difference": 0.0,
"action_and_joint_abs_stats_exactly_equal": true,
"all_numeric_stats_rewritten_from_output_parquet": true,
"repaired_at_utc": "2026-07-20T05:50:17.388171+00:00"
},
"video_sample_decode": {
"status": "pass",
"backend": "pyav",
"fields": {
"observation.images.front": {
"status": "pass",
"file": "videos/observation.images.front/chunk-000/file-000.mp4",
"shape_hwc": [
480,
480,
3
]
},
"observation.images.left": {
"status": "pass",
"file": "videos/observation.images.left/chunk-000/file-000.mp4",
"shape_hwc": [
480,
480,
3
]
},
"observation.images.wrist": {
"status": "pass",
"file": "videos/observation.images.wrist/chunk-000/file-000.mp4",
"shape_hwc": [
480,
480,
3
]
}
}
},
"full_dataset_audit": {
"status": "pass",
"report": "meta/full_validation_report.json",
"all_39_mp4_full_decode": true
}
}
|