Upload folder using huggingface_hub

data/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1afae2d103fcdc65fa8c7e6ec55a960b5a282821cd579c91962c5c444420213
+size 893569

meta/episodes/chunk-000/file-003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da687978d72834da8cf12ee141fdaf2bd1a851cdc4483307c3f2b06958005470
+size 246177

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v3.0",
     "robot_type": "panda",
-    "total_episodes": 54,
-    "total_frames": 14946,
+    "total_episodes": 70,
+    "total_frames": 18853,
     "total_tasks": 1,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
     "fps": 20,
     "splits": {
-        "train": "0:54"
+        "train": "0:70"
     },
     "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",

meta/stats.json

@@ -1,892 +1,259 @@
 {
-    "action": {
+    "observation.images.agentview": {
         "min": [
-            -0.4419642984867096,
-            -0.5382142663002014,
-            -0.6875,
-            -0.15439285337924957,
-            -0.08132142573595047,
-            -0.2522142827510834,
-            -1.0
+            [
+                [
+                    0.011764705882352941
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
         ],
         "max": [
-            0.6875,
-            0.6875,
-            0.44982144236564636,
-            0.13907143473625183,
-            0.20624999701976776,
-            0.38539284467697144,
-            1.0
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
         ],
         "mean": [
-            0.03690822377770284,
-            -0.02013070636005042,
-            -0.009584074741719796,
-            -0.002784538673311672,
-            0.0037724641030398216,
-            0.051649147053916544,
-            0.473170079584982
+            [
+                [
+                    0.8363178208466007
+                ]
+            ],
+            [
+                [
+                    0.8274230316504042
+                ]
+            ],
+            [
+                [
+                    0.80761008894891
+                ]
+            ]
         ],
         "std": [
-            0.11828407498261423,
-            0.21702784391527055,
-            0.17536101279808186,
-            0.028874509912246726,
-            0.017559369854963994,
-            0.09642579926492147,
-            0.8809711021034861
+            [
+                [
+                    0.004545796477455888
+                ]
+            ],
+            [
+                [
+                    0.004448053945683807
+                ]
+            ],
+            [
+                [
+                    0.004286273075699025
+                ]
+            ]
         ],
         "count": [
-            14946
+            7000
         ],
         "q01": [
-            -0.22064411429975223,
-            -0.3701074460317702,
-            -0.5246046429825453,
-            -0.07790983864910743,
-            -0.027717128531688583,
-            -0.10628388583089504,
-            -1.0
+            [
+                [
+                    0.08518043500742527
+                ]
+            ],
+            [
+                [
+                    0.08342499483620044
+                ]
+            ],
+            [
+                [
+                    0.08238952861135208
+                ]
+            ]
         ],
         "q10": [
-            -0.07804921374959255,
-            -0.2625609062945139,
-            -0.2687847132796675,
-            -0.038711342049965,
-            -0.0051982365477068115,
-            -0.030172483045360705,
-            -1.0
+            [
+                [
+                    0.4506413187783669
+                ]
+            ],
+            [
+                [
+                    0.44162388759428556
+                ]
+            ],
+            [
+                [
+                    0.4282154590606189
+                ]
+            ]
         ],
         "q50": [
-            0.0028691779608594663,
-            -0.033379191604662864,
-            0.002868056515649791,
-            -0.00010933465645622008,
-            1.9540661113233972e-06,
-            0.006574879550654264,
-            0.9997263191353896
+            [
+                [
+                    0.9744936546059731
+                ]
+            ],
+            [
+                [
+                    0.972511719414745
+                ]
+            ],
+            [
+                [
+                    0.9528573415767366
+                ]
+            ]
         ],
         "q90": [
-            0.2028655728850917,
-            0.32506078793545734,
-            0.19129209557947044,
-            0.026785721900730215,
-            0.02111655151382792,
-            0.21000937742798303,
-            0.9999452638270776
+            [
+                [
+                    0.9883040509735607
+                ]
+            ],
+            [
+                [
+                    0.9881736676102388
+                ]
+            ],
+            [
+                [
+                    0.9725288930235895
+                ]
+            ]
         ],
         "q99": [
-            0.3548170882781365,
-            0.5367298081767319,
-            0.29193930216589214,
-            0.07009887186765505,
-            0.06051939872108574,
-            0.2628910183984745,
-            0.999994526382708
+            [
+                [
+                    0.9967260167895942
+                ]
+            ],
+            [
+                [
+                    0.9938190827714958
+                ]
+            ],
+            [
+                [
+                    0.9833068989572101
+                ]
+            ]
         ]
     },
-    "timestamp": {
+    "reward": {
         "min": [
             0.0
         ],
         "max": [
-            19.3
-        ],
-        "mean": [
-            7.077100896560953
-        ],
-        "std": [
-            4.3019752268609865
-        ],
-        "count": [
-            14946
-        ],
-        "q01": [
-            0.11663030209620881
-        ],
-        "q10": [
-            1.392971349177006
-        ],
-        "q50": [
-            7.064663659172838
-        ],
-        "q90": [
-            12.756569604924362
-        ],
-        "q99": [
-            14.03661123410075
-        ]
-    },
-    "steps_to_go": {
-        "min": [
-            0
-        ],
-        "max": [
-            386
-        ],
-        "mean": [
-            141.5420179312191
-        ],
-        "std": [
-            86.03950453721968
-        ],
-        "count": [
-            14946
-        ],
-        "q01": [
-            2.3326060437929828
-        ],
-        "q10": [
-            27.859426985066207
-        ],
-        "q50": [
-            141.29525361969735
-        ],
-        "q90": [
-            255.13139209696257
-        ],
-        "q99": [
-            280.73222468014654
-        ]
-    },
-    "observation.environment_state": {
-        "min": [
-            -0.21973282098770142,
-            -0.17335118353366852,
-            0.808029294013977,
-            -0.0855671837925911,
-            -0.04523960128426552,
-            -0.13020206987857819,
-            -0.9999850988388062,
-            -0.14002753794193268,
-            -0.263047456741333,
-            -0.0367300920188427,
-            -0.8711023330688477,
-            -0.7485880255699158,
-            -0.5063610672950745,
-            4.89594731334364e-06,
-            -0.06685008853673935,
-            -0.20941168069839478,
-            0.8929834365844727,
-            -0.11207305639982224,
-            -0.13071121275424957,
-            0.5085794925689697,
-            0.4798201322555542,
-            -0.37645044922828674,
-            -0.06319776177406311,
-            -0.12297665327787399,
-            -0.9999880790710449,
-            -0.8816156983375549,
-            -0.24450205266475677,
-            2.3220700313686393e-06
-        ],
-        "max": [
-            0.058499980717897415,
-            0.27568626403808594,
-            1.0213762521743774,
-            0.5016093254089355,
-            0.7194941639900208,
-            0.8626760840415955,
-            -0.49439170956611633,
-            0.06725027412176132,
-            0.028760671615600586,
-            0.21749848127365112,
-            0.8721676468849182,
-            0.8739740252494812,
-            0.1826227456331253,
-            0.5861176252365112,
-            0.027291862294077873,
-            -0.07551134377717972,
-            0.9165018796920776,
-            0.08130928874015808,
-            0.07695591449737549,
-            0.87657231092453,
-            0.8608646392822266,
-            0.271488219499588,
-            0.4494674801826477,
-            0.15676923096179962,
-            0.9999899864196777,
-            0.8720374703407288,
-            0.16024509072303772,
-            0.18786166608333588
-        ],
-        "mean": [
-            -0.06727754123529868,
-            0.05827779425865182,
-            0.9046524742329821,
-            0.02389290930030806,
-            0.048533412112686795,
-            0.29489539523576463,
-            -0.873466708881699,
-            -0.06173088758980496,
-            -0.014180772394749698,
-            0.011013667940527008,
-            0.5518150837464108,
-            0.5474654868477925,
-            0.021957108156632956,
-            0.04555157635097499,
-            -0.0006142446730558438,
-            -0.14957836655573123,
-            0.8963378368651677,
-            -0.00016304162504746656,
-            -0.0022966668674342197,
-            0.706591343550291,
-            0.707079254518499,
-            -0.07757723524648197,
-            0.14645893936439658,
-            0.025661294959916984,
-            -0.6639742074140729,
-            0.23781815780757679,
-            -0.013297295323867635,
-            0.050008359077406125
-        ],
-        "std": [
-            0.06211610129602734,
-            0.12595772762149585,
-            0.07156001426341035,
-            0.048807828070725305,
-            0.09999809959916453,
-            0.3337808194922993,
-            0.152888321649489,
-            0.01831086116412433,
-            0.04437122643653255,
-            0.05491687889566391,
-            0.4382512189927513,
-            0.43543166640477227,
-            0.07790017161811445,
-            0.07410345041622544,
-            0.005386143387770314,
-            0.007327837428335694,
-            0.0018500706820998526,
-            0.010072278591256867,
-            0.011269418911612726,
-            0.016512157649028043,
-            0.01616587089730307,
-            0.12665863328102073,
-            0.1487005119898041,
-            0.05898920761635828,
-            0.5930443260066023,
-            0.38088656552193656,
-            0.044814871703887996,
-            0.03344536502277581
-        ],
-        "count": [
-            14946
-        ],
-        "q01": [
-            -0.1307699530212984,
-            -0.11539760634608671,
-            0.8181749398809351,
-            -0.016937377611355515,
-            -0.006652572260128735,
-            -0.0570111495538641,
-            -0.9929255601475593,
-            -0.08831347478210945,
-            -0.19460369754204282,
-            -0.016907777981880746,
-            0.2987944869067159,
-            0.3001754565978248,
-            -0.00829817216643727,
-            0.018330704025033107,
-            -0.008947116030424062,
-            -0.16047294209188454,
-            0.8957238919520698,
-            -0.025647598558302585,
-            -0.04009246801104553,
-            0.6827021918776048,
-            0.677490454781339,
-            -0.23596476552988271,
-            -0.021933727990589708,
-            -0.0806137074829274,
-            -0.9978935961883513,
-            -0.2521785483325816,
-            -0.07379557644843054,
-            0.010811585760342487
-        ],
-        "q10": [
-            -0.1270833958632245,
-            -0.08331795181507297,
-            0.8193574228909912,
-            -0.0072107551619767386,
-            -0.002134943460612637,
-            -0.04602149133551076,
-            -0.9920217207641312,
-            -0.07723851519807831,
-            -0.05258603088521069,
-            -0.014489857274485641,
-            0.36219929755474145,
-            0.35483204263630036,
-            0.0060092588192971474,
-            0.02496334742835899,
-            -0.003872003965185233,
-            -0.15296596126163559,
-            0.8958297930937226,
-            -0.0046842282021734745,
-            -0.010620388505157312,
-            0.699898790283841,
-            0.7013096668676828,
-            -0.21063284196939616,
-            -0.013347436560833528,
-            -0.06640695409310156,
-            -0.9914475395773427,
-            -0.1573945542338995,
-            -0.0537948092860483,
-            0.018500310330577065
-        ],
-        "q50": [
-            -0.07088208965921271,
-            0.04958680444126388,
-            0.9137592777524083,
-            0.015235228091915678,
-            0.05636568350811363,
-            0.1952062049047755,
-            -0.9558938510298883,
-            -0.06141549849491228,
-            1.3032686863635045e-05,
-            -0.012294822417715625,
-            0.5432499775161721,
-            0.5417813772837162,
-            0.01915899604116419,
-            0.044616706658373105,
-            3.7800388624672554e-05,
-            -0.1499470129240107,
-            0.8958318975776147,
-            -0.00019635026781452796,
-            0.00019608015502427405,
-            0.7068830816657483,
-            0.707285266893432,
-            -0.12823782907194461,
-            0.12389640666897864,
-            0.0447407265572745,
-            -0.8696444594085901,
-            0.14417879033300843,
-            -0.019297657160355867,
-            0.049879341872638795
-        ],
-        "q90": [
-            -3.341483408780015e-05,
-            0.20087207618170302,
-            0.9850341192681956,
-            0.06910700957982942,
-            0.09144503118524328,
-            0.7071053429739734,
-            -0.6831121741185565,
-            -0.04802134527083432,
-            0.004420412160745529,
-            0.10315941530385125,
-            0.7275420720497301,
-            0.7199024357446404,
-            0.04810885003314024,
-            0.06232320202580455,
-            0.001366512897735752,
-            -0.14556451342881424,
-            0.8976562413134925,
-            0.005073274335731475,
-            0.0006315110756360276,
-            0.7120492234521947,
-            0.7134411462927102,
-            0.09446012975447066,
-            0.34026034045937054,
-            0.08123157576648736,
-            -0.1276823336915996,
-            0.7120102279460502,
-            0.03330684572801735,
-            0.08322348688923147
-        ],
-        "q99": [
-            0.007405112905718809,
-            0.20577392327833802,
-            0.9923183573071761,
-            0.08518558729576813,
-            0.10608073461047329,
-            0.7089904168527073,
-            -0.6798467728913715,
-            -0.026257573931958662,
-            0.0116472676935001,
-            0.1866278683868366,
-            0.76121401871504,
-            0.759079063187568,
-            0.06450843560958158,
-            0.08270394126661934,
-            0.005714278236232225,
-            -0.14031638848244127,
-            0.9022577322547921,
-            0.02697108999877608,
-            0.015465026089103124,
-            0.7324889315840668,
-            0.7280681830623027,
-            0.13483460301694059,
-            0.3539120489110765,
-            0.12531867617743467,
-            0.12064927061799467,
-            0.7543680200681981,
-            0.05976111125571872,
-            0.1021236944465215
-        ]
-    },
-    "episode_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            53
-        ],
-        "mean": [
-            26.103238324635353
-        ],
-        "std": [
-            15.358793137708933
-        ],
-        "count": [
-            14946
-        ],
-        "q01": [
-            26.103238324635353
-        ],
-        "q10": [
-            26.103238324635353
-        ],
-        "q50": [
-            26.103238324635363
-        ],
-        "q90": [
-            26.10323832463538
-        ],
-        "q99": [
-            26.10323832463538
-        ]
-    },
-    "initial_sim_qpos": {
-        "min": [
-            -0.05250665545463562,
-            0.14675891399383545,
-            -0.040353454649448395,
-            -2.673191785812378,
-            -0.03734058514237404,
-            2.8838443756103516,
-            0.7439075708389282,
-            0.02014395035803318,
-            -0.039673544466495514,
-            -0.200108140707016,
-            0.14996491372585297,
-            0.814283549785614,
-            -0.8638214468955994,
-            -0.002834202256053686,
-            0.0005556332180276513,
-            0.5037968158721924,
-            -3.95742900255458e-12,
-            -0.1499713659286499,
-            0.8953560590744019,
-            0.7071067690849304,
-            -0.00019748219347093254,
-            0.00010776598355732858,
-            0.7071067690849304
-        ],
-        "max": [
-            0.052950695157051086,
-            0.22999681532382965,
-            0.04279142990708351,
-            -2.55914306640625,
-            0.06508408486843109,
-            2.9796786308288574,
-            0.8631057739257812,
-            0.0396900437772274,
-            -0.020139064639806747,
-            -0.05003540217876434,
-            0.25005173683166504,
-            0.8193883895874023,
-            -0.5057458281517029,
-            -0.0005908228922635317,
-            0.002869666088372469,
-            0.8626760840415955,
-            -2.1083169932101242e-12,
-            -0.14994704723358154,
-            0.8958303928375244,
-            0.7071067690849304,
-            -0.00010776599810924381,
-            0.0001974821643671021,
-            0.7071067690849304
-        ],
-        "mean": [
-            -0.004909048941456449,
-            0.19233929009545556,
-            0.0026289734737085803,
-            -2.6190054822315836,
-            0.001720633050266698,
-            2.9345489280954133,
-            0.7841371226371348,
-            0.02923509499967142,
-            -0.02923291876850303,
-            -0.12495324116364212,
-            0.19976025399443265,
-            0.8190820716111101,
-            -0.690887320265782,
-            -0.002048615741937568,
-            0.002116674537154554,
-            0.707025593456998,
-            -3.854908344712478e-12,
-            -0.14994838311380926,
-            0.8958079448652988,
-            0.7071073980961844,
-            -0.0001925068526157331,
-            0.00019250683818649558,
-            0.7071073980961844
-        ],
-        "std": [
-            0.01946645834893025,
-            0.01856157358470091,
-            0.015798679979139394,
-            0.021220520510948485,
-            0.023476741428851523,
-            0.020486159392490298,
-            0.021893728475446943,
-            0.009078168347613857,
-            0.009078157508787616,
-            0.04621351027862691,
-            0.031585261383677406,
-            0.0021110293990207756,
-            0.107627535418976,
-            0.0005542522326358172,
-            0.000599381279072679,
-            0.10582190046873396,
-            3.860872383113406e-13,
-            0.00022641344818293956,
-            0.0006399828069529146,
-            0.00010393995528228938,
-            1.87349956270423e-05,
-            1.873500619489622e-05,
-            0.00010393995528228938
-        ],
-        "count": [
-            14946
-        ],
-        "q01": [
-            -0.0049090538299984615,
-            0.19233934381680365,
-            0.0026289776182946054,
-            -2.619004637557277,
-            0.0017206264992722976,
-            2.934550259895917,
-            0.7841374255297063,
-            0.029235092323474317,
-            -0.029232916279492666,
-            -0.1249533082594953,
-            0.19976020479148832,
-            0.8190835353864909,
-            -0.6908874267852562,
-            -0.0020486147730277835,
-            0.0021166742799846876,
-            0.7070257289492907,
-            -3.865748081467255e-12,
-            -0.1499483958953486,
-            0.8958084221251851,
-            0.7071067690849304,
-            -0.00019250722636308417,
-            0.00019250719820092225,
-            0.7071067690849304
-        ],
-        "q10": [
-            -0.004909053829525976,
-            0.19233934381680365,
-            0.0026289776187397506,
-            -2.619004637557277,
-            0.0017206264996592578,
-            2.934550259895917,
-            0.7841374255297063,
-            0.029235092323474317,
-            -0.029232916279492666,
-            -0.1249533082594953,
-            0.19976020479148832,
-            0.8190835353864909,
-            -0.6908874267852562,
-            -0.0020486147688819774,
-            0.0021166742828031197,
-            0.7070257289492907,
-            -3.862148285457336e-12,
-            -0.1499483958953486,
-            0.8958084221251851,
-            0.7071067690849304,
-            -0.00019250722508298596,
-            0.0001925071994810204,
-            0.7071067690849304
-        ],
-        "q50": [
-            -0.004909053827426044,
-            0.19233934381680365,
-            0.0026289776207181724,
-            -2.619004637557277,
-            0.0017206265013790833,
-            2.934550259895917,
-            0.7841374255297063,
-            0.029235092323474317,
-            -0.029232916279492666,
-            -0.1249533082594953,
-            0.19976020479148832,
-            0.8190835353864909,
-            -0.6908874267852562,
-            -0.0020486147504561727,
-            0.0021166742953294894,
-            0.7070257289492907,
-            -3.846149192079909e-12,
-            -0.1499483958953486,
-            0.8958084221251851,
-            0.7071067690849304,
-            -0.00019250721939366027,
-            0.0001925072051703461,
-            0.7071067690849304
-        ],
-        "q90": [
-            -0.0049090538253261096,
-            0.19233934381680365,
-            0.002628977622696595,
-            -2.619004637557277,
-            0.0017206265030989076,
-            2.934550259895917,
-            0.7841374255297063,
-            0.029235092323474317,
-            -0.029232916279492666,
-            -0.1249533082594953,
-            0.19976020479148832,
-            0.8190835353864909,
-            -0.6908874267852562,
-            -0.0020486147320303667,
-            0.0021166743078558604,
-            0.7070257289492907,
-            -3.830150098702482e-12,
-            -0.1499483958953486,
-            0.8958084221251851,
-            0.7071067690849304,
-            -0.0001925072137043346,
-            0.00019250721085967178,
-            0.7071067690849304
-        ],
-        "q99": [
-            -0.004909053824853628,
-            0.19233934381680365,
-            0.0026289776231417385,
-            -2.619004637557277,
-            0.0017206265034858687,
-            2.934550259895917,
-            0.7841374255297063,
-            0.029235092323474317,
-            -0.029232916279492666,
-            -0.1249533082594953,
-            0.19976020479148832,
-            0.8190835353864909,
-            -0.6908874267852562,
-            -0.0020486147278845593,
-            0.0021166743106742925,
-            0.7070257289492907,
-            -3.826550302692564e-12,
-            -0.1499483958953486,
-            0.8958084221251851,
-            0.7071067690849304,
-            -0.00019250721242423637,
-            0.00019250721213976996,
-            0.7071067690849304
-        ]
-    },
-    "is_valid": {
-        "min": [
-            0
-        ],
-        "max": [
-            1
-        ],
-        "mean": [
-            0.9963869931754316
-        ],
-        "std": [
-            0.059999608384172544
-        ],
-        "count": [
-            14946
-        ],
-        "q01": [
-            0.9998012820594036
-        ],
-        "q10": [
-            0.9998193473358217
-        ],
-        "q50": [
-            0.9998996374532342
-        ],
-        "q90": [
-            0.9999799275706467
-        ],
-        "q99": [
-            0.9999979928470646
-        ]
-    },
-    "observation.state": {
-        "min": [
-            -0.17890284955501556,
-            -0.11270345002412796,
-            0.8083876967430115,
-            0.5964251756668091,
-            -0.29134371876716614,
-            -0.04631883651018143,
-            -0.11388144642114639,
-            0.000980317941866815,
-            -0.040208231657743454
-        ],
-        "max": [
-            0.05774372071027756,
-            0.2961495816707611,
-            1.0375910997390747,
-            0.9998607039451599,
-            0.791151762008667,
-            0.316987544298172,
-            0.15988139808177948,
-            0.040989410132169724,
-            -0.0009514104458503425
+            1.0
         ],
         "mean": [
-            -0.04176622597498439,
-            0.0805414514373113,
-            0.9189324553841076,
-            0.8314480358149239,
-            0.4102658586566362,
-            0.04809394244097894,
-            0.018949839378051024,
-            0.02193797827185708,
-            -0.021978051689683108
+            0.007425873858176122
         ],
         "std": [
-            0.04302122191121678,
-            0.09440833318220877,
-            0.06198068177780307,
-            0.14209743011648554,
-            0.3379721440481697,
-            0.038685513439369906,
-            0.042314084347580196,
-            0.010862190529688221,
-            0.010667797107443224
+            0.08585295716331967
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            -0.11336469847382923,
-            -0.053766513527214586,
-            0.8113819913419252,
-            0.6630283066900151,
-            -0.08008905091026394,
-            0.008740112235098522,
-            -0.03455847089151047,
-            0.014427580434782004,
-            -0.03989440882060605
+            -1.000000013351432e-10
         ],
         "q10": [
-            -0.0905322130348134,
-            -0.021937721812252398,
-            0.8213803188254364,
-            0.6713767196629464,
-            -0.03918080912380229,
-            0.015307444303496317,
-            -0.021307745992133628,
-            0.014984850397639542,
-            -0.039685183386902155
+            -1.000000013351432e-10
         ],
         "q50": [
-            -0.03952281361314431,
-            0.06564241888607987,
-            0.9399691583606417,
-            0.8189706100141222,
-            0.5406607518526669,
-            0.0500866632327581,
-            0.01956333134333662,
-            0.015122537213721532,
-            -0.015311865995236703
+            -1.000000013351432e-10
         ],
         "q90": [
-            0.0024406049334350596,
-            0.20245801436172087,
-            0.9790172390822804,
-            0.9948730424529858,
-            0.7358524497773837,
-            0.08172659841672064,
-            0.05923720340716924,
-            0.03982212296374482,
-            -0.015176368134910502
+            -1.000000013351432e-10
         ],
         "q99": [
-            0.009488781714674564,
-            0.21029087620331488,
-            1.0102444441347544,
-            0.9982542223262122,
-            0.7432663033539053,
-            0.09845563116788596,
-            0.06896657391353968,
-            0.04016183386053149,
-            -0.014582186079071958
+            0.020735348245120088
         ]
     },
-    "success": {
+    "done": {
         "min": [
-            1
+            0
         ],
         "max": [
             1
         ],
         "mean": [
-            1.0
+            0.007425873866228187
         ],
         "std": [
-            0.0
+            0.0858529572207682
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            1.0000000000000002
+            -9.999999999999999e-11
         ],
         "q10": [
-            1.000000000000004
+            -9.999999999999999e-11
         ],
         "q50": [
-            1.00000000000002
+            -9.999999999999999e-11
         ],
         "q90": [
-            1.0000000000000366
+            -9.999999999999999e-11
         ],
         "q99": [
-            1.000000000000039
+            0.02073534892021878
         ]
     },
-    "index": {
+    "steps_to_go": {
         "min": [
             0
         ],
         "max": [
-            14945
+            386
         ],
         "mean": [
-            7472.5
+            137.70747361162685
         ],
         "std": [
-            4314.538551996803
+            83.84101152379456
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            7333.290588112573
+            2.2641242086747813
         ],
         "q10": [
-            7358.817409053848
+            27.082884415132085
         ],
         "q50": [
-            7472.2532356884785
+            137.48457829523133
         ],
         "q90": [
-            7586.089374165741
+            248.24691932963003
         ],
         "q99": [
-            7611.690206748929
+            273.1355978514747
         ]
     },
-    "done": {
+    "is_valid": {
         "min": [
             0
         ],
@@ -894,240 +261,60 @@
             1
         ],
         "mean": [
-            0.0072260136491368926
+            0.9962870630668859
         ],
         "std": [
-            0.08469827847057684
+            0.06082064643231617
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            -9.999999999999999e-11
+            0.9998012621265042
         ],
         "q10": [
-            -9.999999999999999e-11
+            0.9998193292150036
         ],
         "q50": [
-            -9.999999999999999e-11
+            0.9998996273861133
         ],
         "q90": [
-            -9.999999999999999e-11
+            0.9999799255572224
         ],
         "q99": [
-            0.026155729531887106
+            0.9999979926457222
         ]
     },
-    "initial_sim_qvel": {
+    "source": {
         "min": [
-            -0.010005027987062931,
-            -0.015277550555765629,
-            -0.06601205468177795,
-            -0.014023635536432266,
-            -0.11548630893230438,
-            -0.040119122713804245,
-            -0.06891340762376785,
-            -0.0006306089926511049,
-            -0.06356598436832428,
-            -0.0004021373752038926,
-            -0.0001791081012925133,
-            -1.2578508403748856e-06,
-            1.1152114821888492e-11,
-            -4.27357397466034e-16,
-            -1.0256508545704284e-17,
-            -9.089807032069963e-12,
-            -0.00013815477723255754,
-            1.2984073180771077e-14,
-            -9.475294160399272e-11,
-            -0.0014457798097282648,
-            -5.8902421277344606e-15
+            1
         ],
         "max": [
-            0.012249276041984558,
-            0.015130512416362762,
-            0.04791836813092232,
-            0.008464653044939041,
-            0.10590894520282745,
-            0.037776537239551544,
-            0.07533925771713257,
-            0.06363007426261902,
-            0.0006330315954983234,
-            -1.9526157221064905e-13,
-            0.00012287577555980533,
-            0.07885854691267014,
-            0.020640749484300613,
-            3.399639261001243e-16,
-            2.501741588217628e-18,
-            9.319578962718733e-12,
-            0.00012084248737664893,
-            0.019254297018051147,
-            9.753470947559961e-11,
-            0.0012596885208040476,
-            9.445830212841469e-15
+            1
         ],
         "mean": [
-            8.764673279739965e-05,
-            -0.0004444780248482035,
-            0.002011433309779405,
-            -0.0003873202279467913,
-            0.0015955981796172247,
-            -0.00032576301073050743,
-            -0.0024360410093252596,
-            0.004976817518470452,
-            -0.004972469964341038,
-            -5.665048811925817e-05,
-            -1.626142982271243e-06,
-            0.0049889243787062335,
-            0.003075468633681197,
-            -3.1066894880991935e-18,
-            -2.2713170045128036e-19,
-            -1.6972787521341496e-13,
-            1.602195164160779e-06,
-            0.0008913764567135915,
-            -1.7516444105239058e-12,
-            1.6445703341367592e-05,
-            3.6404581542995654e-16
+            1.0
         ],
         "std": [
-            0.00496273929833325,
-            0.007033996694511241,
-            0.022888926798110186,
-            0.004969046815467164,
-            0.050957531279178354,
-            0.0167536727290842,
-            0.03311349054072383,
-            0.013228271058918764,
-            0.013240972388839587,
-            0.00011512473745989849,
-            3.457626541913357e-05,
-            0.01665477677000423,
-            0.006149104896949432,
-            1.9261278877548864e-16,
-            1.8487099081877076e-18,
-            2.956344883861634e-12,
-            4.142032628738737e-05,
-            0.003994450318598864,
-            3.087319493468388e-11,
-            0.00043263139151408396,
-            2.5906526331022084e-15
+            0.0
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            8.764630459044651e-05,
-            -0.0004444759985625216,
-            0.002011435547546355,
-            -0.00038731917998374537,
-            0.0015955804592161502,
-            -0.00032575984920409014,
-            -0.002436047365292613,
-            0.00497681541237216,
-            -0.004972458277949763,
-            -5.665051957836655e-05,
-            -1.626127005421671e-06,
-            0.004988916200797568,
-            0.0030754647359232464,
-            -1.8667791940368907e-14,
-            -1.718754727748291e-14,
-            -1.9273344689893088e-13,
-            1.602206912079196e-06,
-            0.0008913789677243527,
-            -1.7747482462081016e-12,
-            1.6445682226328672e-05,
-            -2.2941244647718876e-14
+            1.0000000000000002
         ],
         "q10": [
-            8.764630613615311e-05,
-            -0.00044447599596521845,
-            0.0020114355481813105,
-            -0.00038731917765837267,
-            0.0015955804594565985,
-            -0.00032575984880617076,
-            -0.0024360473648146743,
-            0.004976815415363081,
-            -0.004972458274944775,
-            -5.66505191717727e-05,
-            -1.6261269073862827e-06,
-            0.004988916201072296,
-            0.0030754647364530153,
-            -1.5067873712877072e-14,
-            -1.3587652114640422e-14,
-            -1.8913346089813958e-13,
-            1.6022070178241286e-06,
-            0.0008913789678899551,
-            -1.7711482587866602e-12,
-            1.6445683377131907e-05,
-            -1.9341253967143777e-14
+            1.0000000000000033
         ],
         "q50": [
-            8.764631300595965e-05,
-            -0.00044447598442164885,
-            0.0020114355510033365,
-            -0.0003873191673233826,
-            0.0015955804605252576,
-            -0.00032575984703763985,
-            -0.002436047362690498,
-            0.00497681542865609,
-            -0.004972458261589261,
-            -5.6650517364688804e-05,
-            -1.6261264716734486e-06,
-            0.0049889162022933005,
-            0.0030754647388075373,
-            9.317628537532474e-16,
-            2.411881942437244e-15,
-            -1.7313352311684544e-13,
-            1.6022074878016128e-06,
-            0.0008913789686259659,
-            -1.7551483146913714e-12,
-            1.6445688491812955e-05,
-            -3.341295386810006e-15
+            1.00000000000002
         ],
         "q90": [
-            8.764631987576655e-05,
-            -0.00044447597287807926,
-            0.0020114355538253625,
-            -0.00038731915698839246,
-            0.0015955804615939168,
-            -0.0003257598452691089,
-            -0.0024360473605663235,
-            0.0049768154419491,
-            -0.004972458248233745,
-            -5.665051555760496e-05,
-            -1.6261260359606125e-06,
-            0.004988916203514301,
-            0.0030754647411620614,
-            1.6931399420383567e-14,
-            1.841141599951491e-14,
-            -1.5713358533555135e-13,
-            1.6022079577790955e-06,
-            0.0008913789693619759,
-            -1.7391483705960858e-12,
-            1.644569360649399e-05,
-            1.2658663193523767e-14
+            1.0000000000000364
         ],
         "q99": [
-            8.764632142147302e-05,
-            -0.00044447597028077614,
-            0.002011435554460318,
-            -0.0003873191546630197,
-            0.0015955804618343658,
-            -0.0003257598448711895,
-            -0.0024360473600883847,
-            0.004976815444940021,
-            -0.004972458245228756,
-            -5.665051515101111e-05,
-            -1.6261259379252255e-06,
-            0.004988916203789029,
-            0.0030754647416918308,
-            2.0531317647875386e-14,
-            2.2011311162357378e-14,
-            -1.535335993347601e-13,
-            1.6022080635240299e-06,
-            0.0008913789695275781,
-            -1.7355483831746444e-12,
-            1.6445694757297238e-05,
-            1.625865387409886e-14
+            1.000000000000039
         ]
     },
     "task_index": {
@@ -1144,13 +331,13 @@
             0.0
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            3.999999999999417e-16
+            3.9999999999994176e-16
         ],
         "q10": [
-            3.999999999999417e-15
+            3.999999999999418e-15
         ],
         "q50": [
             1.9999999999997088e-14
@@ -1162,243 +349,387 @@
             3.959999999999424e-14
         ]
     },
-    "observation.images.robot0_eye_in_hand": {
+    "initial_sim_qpos": {
         "min": [
-            [
-                [
-                    0.00392156862745098
-                ]
-            ],
-            [
-                [
-                    0.00392156862745098
-                ]
-            ],
-            [
-                [
-                    0.00392156862745098
-                ]
-            ]
+            -0.05250665545463562,
+            0.14675891399383545,
+            -0.05676417052745819,
+            -2.673191785812378,
+            -0.056304849684238434,
+            2.8838443756103516,
+            0.7420458793640137,
+            0.02014395035803318,
+            -0.039673544466495514,
+            -0.200108140707016,
+            0.14996491372585297,
+            0.814283549785614,
+            -0.8638214468955994,
+            -0.002841981826350093,
+            0.0005556332180276513,
+            0.5037968158721924,
+            -3.95742900255458e-12,
+            -0.1499713659286499,
+            0.8953560590744019,
+            0.7071067690849304,
+            -0.00019748219347093254,
+            0.00010776598355732858,
+            0.7071067690849304
         ],
         "max": [
-            [
-                [
-                    1.0
-                ]
-            ],
-            [
-                [
-                    1.0
-                ]
-            ],
-            [
-                [
-                    1.0
-                ]
-            ]
+            0.052950695157051086,
+            0.22999681532382965,
+            0.04279142990708351,
+            -2.55914306640625,
+            0.06508408486843109,
+            2.990243673324585,
+            0.8631057739257812,
+            0.0396900437772274,
+            -0.020139064639806747,
+            -0.05003540217876434,
+            0.25005173683166504,
+            0.8193883895874023,
+            -0.5057458281517029,
+            -0.0005908228922635317,
+            0.002869666088372469,
+            0.8626760840415955,
+            -2.1083169932101242e-12,
+            -0.14994704723358154,
+            0.8958303928375244,
+            0.7071067690849304,
+            -0.00010776599810924381,
+            0.0001974821643671021,
+            0.7071067690849304
         ],
         "mean": [
-            [
-                [
-                    0.8253408814252242
-                ]
-            ],
-            [
-                [
-                    0.8208870989232283
-                ]
-            ],
-            [
-                [
-                    0.807259946082066
-                ]
-            ]
+            -0.004936458023427355,
+            0.19253405599573753,
+            0.0021462416636356878,
+            -2.6182162309713486,
+            0.0020514785988718066,
+            2.9363165690476136,
+            0.7837793817477398,
+            0.028972980144305684,
+            -0.028971244407306834,
+            -0.12474217460477077,
+            0.2003977611065796,
+            0.8191298210405261,
+            -0.6941889238814072,
+            -0.002085028413873438,
+            0.0021195801341309358,
+            0.7039868555220471,
+            -3.872077814190523e-12,
+            -0.14994812585855677,
+            0.8958122624943998,
+            0.7071074036168892,
+            -0.0001933399373690275,
+            0.00019333992326479228,
+            0.7071074036168892
         ],
         "std": [
-            [
-                [
-                    0.01154908941477193
-                ]
-            ],
-            [
-                [
-                    0.011888298189996187
-                ]
-            ],
-            [
-                [
-                    0.012102528004002884
-                ]
-            ]
+            0.01836280349705996,
+            0.0179427043350696,
+            0.016774100498027144,
+            0.0208396234330861,
+            0.024193706908368303,
+            0.021011453049907328,
+            0.021520092321772512,
+            0.009077245058947093,
+            0.009078306869521028,
+            0.045976071524597956,
+            0.03103848375266498,
+            0.0020334586989969737,
+            0.10647520638027716,
+            0.0005595073983709738,
+            0.0005706682557399776,
+            0.1056384996152544,
+            3.4678795632902126e-13,
+            0.0002366589338794052,
+            0.0006404603809559797,
+            9.254538868923956e-05,
+            1.6828897844932064e-05,
+            1.6828918805846827e-05,
+            9.254538868923956e-05
         ],
         "count": [
-            5400
+            18853
         ],
         "q01": [
-            [
-                [
-                    0.0614433150778668
-                ]
-            ],
-            [
-                [
-                    0.052067626431709514
-                ]
-            ],
-            [
-                [
-                    0.04547925600055372
-                ]
-            ]
+            -0.004936461870019049,
+            0.19253412376270618,
+            0.0021462469191383007,
+            -2.6182154670783726,
+            0.0020514772233787156,
+            2.936317746787086,
+            0.783779728847657,
+            0.02897297599032938,
+            -0.028971242038517777,
+            -0.12474221775731802,
+            0.20039770356326345,
+            0.8191313175018705,
+            -0.6941890788857312,
+            -0.002085027687957062,
+            0.0021195793461294657,
+            0.7039870001470129,
+            -3.884571300480565e-12,
+            -0.14994817011072956,
+            0.8958128584175472,
+            0.7071067690849304,
+            -0.0001933403317911872,
+            0.000193340303494192,
+            0.7071067690849304
         ],
         "q10": [
-            [
-                [
-                    0.25600116910131776
-                ]
-            ],
-            [
-                [
-                    0.25223882147006743
-                ]
-            ],
-            [
-                [
-                    0.24939103170607252
-                ]
-            ]
+            -0.00493646186936772,
+            0.19253412376270618,
+            0.0021462469196284637,
+            -2.6182154670783726,
+            0.0020514772238146932,
+            2.936317746787086,
+            0.783779728847657,
+            0.02897297599032938,
+            -0.028971242038517777,
+            -0.12474221775731802,
+            0.20039770356326345,
+            0.8191313175018705,
+            -0.6941890788857312,
+            -0.0020850276844125485,
+            0.002119579349201877,
+            0.7039870001470129,
+            -3.880971478646265e-12,
+            -0.14994817011072956,
+            0.8958128584175472,
+            0.7071067690849304,
+            -0.00019334033050496022,
+            0.00019334030478041896,
+            0.7071067690849304
         ],
         "q50": [
-            [
-                [
-                    0.9842426760103956
-                ]
-            ],
-            [
-                [
-                    0.981575251019361
-                ]
-            ],
-            [
-                [
-                    0.9663340320775967
-                ]
-            ]
+            -0.004936461866472927,
+            0.19253412376270618,
+            0.0021462469218069685,
+            -2.6182154670783726,
+            0.0020514772257523763,
+            2.936317746787086,
+            0.783779728847657,
+            0.02897297599032938,
+            -0.028971242038517777,
+            -0.12474221775731802,
+            0.20039770356326345,
+            0.8191313175018705,
+            -0.6941890788857312,
+            -0.002085027668659153,
+            0.0021195793628570434,
+            0.7039870001470129,
+            -3.864972270493823e-12,
+            -0.14994817011072956,
+            0.8958128584175472,
+            0.7071067690849304,
+            -0.00019334032478839547,
+            0.00019334031049698374,
+            0.7071067690849304
         ],
         "q90": [
-            [
-                [
-                    0.9921939348447143
-                ]
-            ],
-            [
-                [
-                    0.9882049554708682
-                ]
-            ],
-            [
-                [
-                    0.9726093346783287
-                ]
-            ]
+            -0.004936461863578133,
+            0.19253412376270618,
+            0.002146246923985472,
+            -2.6182154670783726,
+            0.002051477227690058,
+            2.936317746787086,
+            0.783779728847657,
+            0.02897297599032938,
+            -0.028971242038517777,
+            -0.12474221775731802,
+            0.20039770356326345,
+            0.8191313175018705,
+            -0.6941890788857312,
+            -0.002085027652905757,
+            0.00211957937651221,
+            0.7039870001470129,
+            -3.8489730623413845e-12,
+            -0.14994817011072956,
+            0.8958128584175472,
+            0.7071067690849304,
+            -0.0001933403190718308,
+            0.00019334031621354844,
+            0.7071067690849304
         ],
         "q99": [
-            [
-                [
-                    0.9961905955264969
-                ]
-            ],
-            [
-                [
-                    0.9921982494757332
-                ]
-            ],
-            [
-                [
-                    0.9766367834124285
-                ]
-            ]
+            -0.004936461862926808,
+            0.19253412376270618,
+            0.0021462469244756346,
+            -2.6182154670783726,
+            0.0020514772281260366,
+            2.936317746787086,
+            0.783779728847657,
+            0.02897297599032938,
+            -0.028971242038517777,
+            -0.12474221775731802,
+            0.20039770356326345,
+            0.8191313175018705,
+            -0.6941890788857312,
+            -0.0020850276493612416,
+            0.0021195793795846215,
+            0.7039870001470129,
+            -3.845373240507084e-12,
+            -0.14994817011072956,
+            0.8958128584175472,
+            0.7071067690849304,
+            -0.00019334031778560378,
+            0.00019334031749977543,
+            0.7071067690849304
         ]
     },
-    "frame_index": {
+    "observation.state": {
         "min": [
-            0
+            -0.17890284955501556,
+            -0.11270345002412796,
+            0.8083876967430115,
+            0.5964251756668091,
+            -0.29134371876716614,
+            -0.06107301637530327,
+            -0.11388144642114639,
+            0.000980317941866815,
+            -0.04031891003251076
         ],
         "max": [
-            386
+            0.05774372071027756,
+            0.2961495816707611,
+            1.0375910997390747,
+            0.9999740123748779,
+            0.791151762008667,
+            0.316987544298172,
+            0.15988139808177948,
+            0.040989410132169724,
+            -0.0009514104458503425
         ],
         "mean": [
-            141.5420179312191
+            -0.04119093687447966,
+            0.08116584316046999,
+            0.9189613556309238,
+            0.8339156753149474,
+            0.4068236949035598,
+            0.04710852696588061,
+            0.018227437160469668,
+            0.022054598174267206,
+            -0.02209019363112224
         ],
         "std": [
-            86.03950453721968
+            0.04234793891276776,
+            0.09483217980546002,
+            0.0623403619393349,
+            0.14177494626255713,
+            0.33643386169837286,
+            0.039595847133499576,
+            0.0408892673052351,
+            0.010911181527116568,
+            0.01071823701798777
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            2.3326060437929828
+            -0.11187371265700181,
+            -0.054042561139626084,
+            0.8113297003202127,
+            0.6653689347145818,
+            -0.07703620782560373,
+            0.008661517561834175,
+            -0.03521893185122258,
+            0.01452696619585378,
+            -0.03989709609026746
         ],
         "q10": [
-            27.859426985066207
+            -0.08924383448883126,
+            -0.02268525302945219,
+            0.8206508916652557,
+            0.6729196704449585,
+            -0.03398579102009631,
+            0.01577820772466758,
+            -0.021061144781779888,
+            0.014978824783548148,
+            -0.03969040558012019
         ],
         "q50": [
-            141.29525361969735
+            -0.03910680190714745,
+            0.066444450260629,
+            0.9410198484909779,
+            0.8247490026069016,
+            0.5296448070348645,
+            0.04809318973887778,
+            0.019268860094890525,
+            0.015115152188040288,
+            -0.015306794535105505
         ],
         "q90": [
-            255.13139209696257
+            0.0014356956716056676,
+            0.20383332723772113,
+            0.979374078687292,
+            0.9949448031587266,
+            0.7347573719504688,
+            0.08009842845921943,
+            0.05768050305599272,
+            0.03982448782277185,
+            -0.015168995084666273
         ],
         "q99": [
-            280.73222468014654
+            0.00866590067066029,
+            0.21194931151301752,
+            1.0106242667055192,
+            0.9981775450376641,
+            0.7413890882328433,
+            0.09668705431623428,
+            0.06757719475774775,
+            0.0401436585697889,
+            -0.014681955624603683
         ]
     },
-    "reward": {
+    "success": {
         "min": [
-            0.0
+            1
         ],
         "max": [
-            1.0
+            1
         ],
         "mean": [
-            0.007226013642812174
+            1.0
         ],
         "std": [
-            0.0846982787151769
+            0.0
         ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            -1.000000013351432e-10
+            1.0000000000000002
         ],
         "q10": [
-            -1.000000013351432e-10
+            1.0000000000000033
         ],
         "q50": [
-            -1.000000013351432e-10
+            1.00000000000002
         ],
         "q90": [
-            -1.000000013351432e-10
+            1.0000000000000364
         ],
         "q99": [
-            0.026155728680312396
+            1.000000000000039
         ]
     },
-    "observation.images.agentview": {
+    "observation.images.robot0_eye_in_hand": {
         "min": [
             [
                 [
-                    0.011764705882352941
+                    0.00392156862745098
                 ]
             ],
             [
                 [
-                    0.0
+                    0.00392156862745098
                 ]
             ],
             [
                 [
-                    0.0
+                    0.00392156862745098
                 ]
             ]
         ],
@@ -1422,156 +753,825 @@
         "mean": [
             [
                 [
-                    0.8365520389088706
+                    0.8252104258390367
                 ]
             ],
             [
                 [
-                    0.8276474486817117
+                    0.8207084528818855
                 ]
             ],
             [
                 [
-                    0.8078217753269751
+                    0.807047592060506
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.004192932601253217
+                    0.011377862942859402
                 ]
             ],
             [
                 [
-                    0.004100276695843999
+                    0.01165277089871515
                 ]
             ],
             [
                 [
-                    0.003951359425556566
+                    0.011824870290983825
                 ]
             ]
         ],
         "count": [
-            5400
+            7000
         ],
         "q01": [
             [
                 [
-                    0.08506747300519318
+                    0.061848575935673784
                 ]
             ],
             [
                 [
-                    0.08331812667868227
+                    0.052485157554287266
                 ]
             ],
             [
                 [
-                    0.08233650081949699
+                    0.045953580185052
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.45067368798005947
+                    0.25518000150778036
                 ]
             ],
             [
                 [
-                    0.44190019629965316
+                    0.2512191760748494
                 ]
             ],
             [
                 [
-                    0.4285213724030131
+                    0.248398742818691
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.9745697453586586
+                    0.9842404971002658
                 ]
             ],
             [
                 [
-                    0.9725091997695745
+                    0.9815926524057432
                 ]
             ],
             [
                 [
-                    0.9528585383609528
+                    0.9662938757838248
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9883056847194338
+                    0.9921956935658387
                 ]
             ],
             [
                 [
-                    0.9881700791823281
+                    0.9882075609491477
                 ]
             ],
             [
                 [
-                    0.972529697372996
+                    0.9726102950162295
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9967069511512793
+                    0.9961918757428466
                 ]
             ],
             [
                 [
-                    0.9938029861000992
+                    0.9922004488361594
                 ]
             ],
             [
                 [
-                    0.9834431326545389
+                    0.9766688654043563
                 ]
             ]
         ]
     },
-    "source": {
+    "frame_index": {
         "min": [
-            1
+            0
         ],
         "max": [
-            1
+            386
+        ],
+        "mean": [
+            137.70747361162685
+        ],
+        "std": [
+            83.84101152379456
+        ],
+        "count": [
+            18853
+        ],
+        "q01": [
+            2.2641242086747813
+        ],
+        "q10": [
+            27.082884415132085
+        ],
+        "q50": [
+            137.48457829523133
+        ],
+        "q90": [
+            248.24691932963003
+        ],
+        "q99": [
+            273.1355978514747
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            69
+        ],
+        "mean": [
+            33.46146501882989
+        ],
+        "std": [
+            19.960767830708807
+        ],
+        "count": [
+            18853
+        ],
+        "q01": [
+            33.46146501882989
+        ],
+        "q10": [
+            33.46146501882989
+        ],
+        "q50": [
+            33.4614650188299
+        ],
+        "q90": [
+            33.46146501882992
+        ],
+        "q99": [
+            33.46146501882992
+        ]
+    },
+    "observation.environment_state": {
+        "min": [
+            -0.21973282098770142,
+            -0.17335118353366852,
+            0.808029294013977,
+            -0.0855671837925911,
+            -0.04523960128426552,
+            -0.13020206987857819,
+            -0.9999850988388062,
+            -0.14002753794193268,
+            -0.263047456741333,
+            -0.0367300920188427,
+            -0.8711023330688477,
+            -0.7489132881164551,
+            -0.5063610672950745,
+            1.911535719045787e-06,
+            -0.06685008853673935,
+            -0.20941168069839478,
+            0.8929834365844727,
+            -0.11207305639982224,
+            -0.13071121275424957,
+            0.5085794925689697,
+            0.4798201322555542,
+            -0.37645044922828674,
+            -0.06319776177406311,
+            -0.12297665327787399,
+            -0.9999880790710449,
+            -0.8816156983375549,
+            -0.24450205266475677,
+            3.79235842729031e-07
+        ],
+        "max": [
+            0.058499980717897415,
+            0.27568626403808594,
+            1.0213762521743774,
+            0.5016093254089355,
+            0.7194941639900208,
+            0.8626760840415955,
+            -0.49439170956611633,
+            0.06725027412176132,
+            0.028760671615600586,
+            0.21749848127365112,
+            0.8721676468849182,
+            0.8739740252494812,
+            0.1826227456331253,
+            0.5861176252365112,
+            0.027291862294077873,
+            -0.07551134377717972,
+            0.9165018796920776,
+            0.08130928874015808,
+            0.07695591449737549,
+            0.87657231092453,
+            0.8608646392822266,
+            0.271488219499588,
+            0.4494674801826477,
+            0.15676923096179962,
+            0.9999899864196777,
+            0.8720374703407288,
+            0.16024509072303772,
+            0.18786166608333588
         ],
         "mean": [
+            -0.06725096259563916,
+            0.059954663694741894,
+            0.9040020338857812,
+            0.023134007565334336,
+            0.04450378393680274,
+            0.29934140382167523,
+            -0.8738925973787198,
+            -0.06172466675640702,
+            -0.014904965312453666,
+            0.011648147032241521,
+            0.5486730142599129,
+            0.5441081788736076,
+            0.023905380119845016,
+            0.04350063322313118,
+            -0.0005920349655111284,
+            -0.14947853779556305,
+            0.8963287176076964,
+            5.1507808837533876e-05,
+            -0.002441877124990458,
+            0.7065954325888724,
+            0.7071367064211809,
+            -0.07731715804867954,
+            0.14852423673448326,
+            0.026027845409631357,
+            -0.6577826464255373,
+            0.23885425553298822,
+            -0.014916702679296321,
+            0.04920696707379469
+        ],
+        "std": [
+            0.06161403125980676,
+            0.12635025642451767,
+            0.0717505245206599,
+            0.04578412425674742,
+            0.09073824318146465,
+            0.33308029578204923,
+            0.15138901029923063,
+            0.018121212364134935,
+            0.04555594553247718,
+            0.055389566877036486,
+            0.4431883651333531,
+            0.44097632905499573,
+            0.07093914000880497,
+            0.06732048782073603,
+            0.004894360442869622,
+            0.007637876620666628,
+            0.0018216276577717224,
+            0.009828314851466204,
+            0.011375342590230939,
+            0.015150298265619254,
+            0.014807108283958913,
+            0.12502130614982396,
+            0.14898343459008292,
+            0.059164019271333,
+            0.5986261073069554,
+            0.3824435772448775,
+            0.044277350643306235,
+            0.03240374999682938
+        ],
+        "count": [
+            18853
+        ],
+        "q01": [
+            -0.1302916870080818,
+            -0.11539395745332069,
+            0.8180187652697999,
+            -0.01756808650341568,
+            -0.006630694749284933,
+            -0.053939900982994976,
+            -0.9940652025261906,
+            -0.08889888441609532,
+            -0.19590097237917992,
+            -0.016778373302522118,
+            0.261712872249271,
+            0.26094905099354765,
+            -0.012360943241020085,
+            0.017469693140569287,
+            -0.008271914426622761,
+            -0.16006344631241565,
+            0.8957354456136968,
+            -0.024135084818164516,
+            -0.039982134858487894,
+            0.6843334565891235,
+            0.681042222800412,
+            -0.23462010480532672,
+            -0.02099395287648148,
+            -0.08069217107001117,
+            -0.9973479361348809,
+            -0.25607728808044594,
+            -0.07495835639504568,
+            0.011081477236580262
+        ],
+        "q10": [
+            -0.1267102509845282,
+            -0.08368256479135774,
+            0.8193117581942447,
+            -0.007639325351567633,
+            -0.001975629494645523,
+            -0.04406052917955876,
+            -0.9932569357975877,
+            -0.07787637249932014,
+            -0.05866606915327829,
+            -0.014174197336829392,
+            0.36033786785792216,
+            0.3498415195053529,
+            0.008074243505590476,
+            0.02453046431053921,
+            -0.0035791317216243746,
+            -0.1528287282339398,
+            0.8958298536129453,
+            -0.004349111213886277,
+            -0.01108723481747143,
+            0.700538229936783,
+            0.7020202544378246,
+            -0.20966359438091184,
+            -0.012233223102578001,
+            -0.06580306768037181,
+            -0.991202307991625,
+            -0.1691612123198543,
+            -0.05533533765205425,
+            0.018719891671109275
+        ],
+        "q50": [
+            -0.07083352421968118,
+            0.0533610575012285,
+            0.9120947558977986,
+            0.015620903431323767,
+            0.05136698230469233,
+            0.20760726316946665,
+            -0.9532038499448671,
+            -0.06117643670386346,
+            2.914017979596542e-05,
+            -0.012147626017494037,
+            0.5386905558812363,
+            0.5371924935225489,
+            0.02195506875864282,
+            0.04207262586522271,
+            2.994111521051735e-05,
+            -0.14994697950711502,
+            0.8958316367343148,
+            -0.0001964764917861321,
+            0.00019611014053249638,
+            0.7069292640984827,
+            0.7072481630365235,
+            -0.12703776862882973,
+            0.12692407724027002,
+            0.04557723766219634,
+            -0.8341308012305495,
+            0.14836769773508895,
+            -0.019957458099346088,
+            0.04911146207857775
+        ],
+        "q90": [
+            -0.0004647782584628427,
+            0.2014690679788463,
+            0.9851927443304961,
+            0.06634511799868693,
+            0.08464026234314419,
+            0.7062356041559525,
+            -0.686348790208076,
+            -0.04801794275837165,
+            0.0044662348938803,
+            0.10598990231817998,
+            0.7281473998759231,
+            0.719977043750339,
+            0.048314117330449984,
+            0.06021164621166767,
+            0.0010892123758315883,
+            -0.14537582177303646,
+            0.8976634790334189,
+            0.00567015783941924,
+            0.0005430104279103991,
+            0.7114746685439134,
+            0.7128669404888739,
+            0.09049939794012449,
+            0.3429261051409235,
+            0.08159724942835955,
+            -0.11048713813780264,
+            0.7112236971213809,
+            0.0316141103103418,
+            0.08102775047950786
+        ],
+        "q99": [
+            0.007276677977316006,
+            0.2071902162302451,
+            0.9921433292791909,
+            0.08741198108477742,
+            0.10285415897253361,
+            0.7080501626942102,
+            -0.68295495026244,
+            -0.027322332761582465,
+            0.011757360086984435,
+            0.18685489106537687,
+            0.7622864126224779,
+            0.7594805272275976,
+            0.06500175716114673,
+            0.08625664593509719,
+            0.0050825900213256345,
+            -0.1406773785428972,
+            0.9019664231486986,
+            0.02678633079380811,
+            0.013987475640567478,
+            0.7296398715910843,
+            0.7267288665802747,
+            0.13164931130793406,
+            0.3565872711588728,
+            0.12586211665755426,
+            0.09489511668884343,
+            0.753062813910378,
+            0.056879372148413605,
+            0.0985522494678524
+        ]
+    },
+    "action": {
+        "min": [
+            -0.4419642984867096,
+            -0.5382142663002014,
+            -0.6875,
+            -0.20271427929401398,
+            -0.3465000092983246,
+            -0.2522142827510834,
+            -1.0
+        ],
+        "max": [
+            0.6875,
+            0.6875,
+            0.44982144236564636,
+            0.20742857456207275,
+            0.20624999701976776,
+            0.38539284467697144,
             1.0
         ],
+        "mean": [
+            0.03745728927828315,
+            -0.020689022053258958,
+            -0.010105242230690774,
+            -0.0030418557958075284,
+            0.004228512158940547,
+            0.05309455917597557,
+            0.4635336554752941
+        ],
         "std": [
+            0.11736754475298679,
+            0.22075212642457284,
+            0.17781486823027368,
+            0.02983256124179841,
+            0.0183276373384851,
+            0.09877627134662584,
+            0.8860793141564717
+        ],
+        "count": [
+            18853
+        ],
+        "q01": [
+            -0.21654770333789986,
+            -0.37289620295150366,
+            -0.524341019583951,
+            -0.0812887207752524,
+            -0.029376793484873823,
+            -0.10806324358515812,
+            -1.0
+        ],
+        "q10": [
+            -0.07763519814249854,
+            -0.26652092741042144,
+            -0.2773188301347452,
+            -0.04028907433500529,
+            -0.0046435751925507605,
+            -0.03235553793078473,
+            -1.0
+        ],
+        "q50": [
+            0.0033651365781368734,
+            -0.03664539752566708,
+            0.0034445823259097565,
+            -8.753163390354748e-05,
+            3.767578266814979e-05,
+            0.005769962365779083,
+            0.9997244051519957
+        ],
+        "q90": [
+            0.20028861186884553,
+            0.3386155281214126,
+            0.19529446153559263,
+            0.026529024635223584,
+            0.02322145227064371,
+            0.21373950208888395,
+            0.9999448810303989
+        ],
+        "q99": [
+            0.3513898183684933,
+            0.5382550206977122,
+            0.2896015368759943,
+            0.07350935185372089,
+            0.06071804888724512,
+            0.26893498305471353,
+            0.9999944881030401
+        ]
+    },
+    "timestamp": {
+        "min": [
             0.0
         ],
+        "max": [
+            19.3
+        ],
+        "mean": [
+            6.88537368058134
+        ],
+        "std": [
+            4.192050576189729
+        ],
         "count": [
-            14946
+            18853
         ],
         "q01": [
-            1.0000000000000002
+            0.11320621034029935
         ],
         "q10": [
-            1.000000000000004
+            1.3541442206802832
         ],
         "q50": [
-            1.00000000000002
+            6.874150413727089
         ],
         "q90": [
-            1.0000000000000366
+            12.412345966557764
         ],
         "q99": [
-            1.000000000000039
+            13.656779892667164
+        ]
+    },
+    "initial_sim_qvel": {
+        "min": [
+            -0.011015892960131168,
+            -0.015277550555765629,
+            -0.06601205468177795,
+            -0.014023635536432266,
+            -0.11548630893230438,
+            -0.04045896232128143,
+            -0.06891340762376785,
+            -0.0006306089926511049,
+            -0.06367418169975281,
+            -0.0004021373752038926,
+            -0.0001791081012925133,
+            -1.2578508403748856e-06,
+            1.1152114821888492e-11,
+            -6.747972148200517e-16,
+            -1.0256508545704284e-17,
+            -9.089807032069963e-12,
+            -0.00013815477723255754,
+            1.2984073180771077e-14,
+            -9.475294160399272e-11,
+            -0.0014457798097282648,
+            -5.8902421277344606e-15
+        ],
+        "max": [
+            0.012249276041984558,
+            0.01798800751566887,
+            0.04791836813092232,
+            0.01321467850357294,
+            0.10590894520282745,
+            0.037776537239551544,
+            0.08642390370368958,
+            0.06363007426261902,
+            0.0006330315954983234,
+            -1.9526157221064905e-13,
+            0.00015839726256672293,
+            0.07885854691267014,
+            0.020640749484300613,
+            4.904692929703599e-16,
+            2.501741588217628e-18,
+            9.319578962718733e-12,
+            0.00012084248737664893,
+            0.019254297018051147,
+            9.753470947559961e-11,
+            0.0012596885208040476,
+            9.445830212841469e-15
+        ],
+        "mean": [
+            7.612955926573563e-05,
+            -0.00036462829127877105,
+            0.0009461449810231823,
+            -3.7927813211082625e-05,
+            0.0007214223560575748,
+            -0.0026153451126082476,
+            -0.0007302390816556634,
+            0.004711523210573944,
+            -0.004709930846386649,
+            -5.163717828907866e-05,
+            5.808768624487784e-07,
+            0.004252885252853409,
+            0.0028142573269793834,
+            -6.693222899228792e-19,
+            -2.914479536602073e-19,
+            -2.618329486567992e-13,
+            2.9593603663580794e-06,
+            0.0007112593175309579,
+            -2.7153554977293606e-12,
+            3.064542614041442e-05,
+            4.2574855415112786e-16
+        ],
+        "std": [
+            0.0048768486939078206,
+            0.007392651947169663,
+            0.022923774404155623,
+            0.005358585611937186,
+            0.049967332599357324,
+            0.01711928484859767,
+            0.03490080756217173,
+            0.01353936426095965,
+            0.013558005271021932,
+            0.00010938057982134786,
+            3.547779839460436e-05,
+            0.015036474542284501,
+            0.0058814194396931314,
+            2.1365384217109722e-16,
+            1.8682653103115304e-18,
+            2.8054715511977667e-12,
+            3.908672309455506e-05,
+            0.003574144442103872,
+            2.929168853700469e-11,
+            0.0004081750665531853,
+            2.5169232744237794e-15
+        ],
+        "count": [
+            18853
+        ],
+        "q01": [
+            7.612920403862893e-05,
+            -0.0003646267959029899,
+            0.0009461458709167915,
+            -3.792748378394653e-05,
+            0.0007214096498875723,
+            -0.0026153420332268246,
+            -0.000730242323846156,
+            0.004711523109074047,
+            -0.00470992312691232,
+            -5.163720097892827e-05,
+            5.808883697659119e-07,
+            0.004252879147326455,
+            0.0028142546626388023,
+            -1.8796872717871383e-14,
+            -1.624191553792035e-14,
+            -2.8608584590001384e-13,
+            2.9593665863639575e-06,
+            0.0007112613075717425,
+            -2.739336101895934e-12,
+            3.0645431086629e-05,
+            -2.1639819806356822e-14
+        ],
+        "q10": [
+            7.612920570948508e-05,
+            -0.0003646267936124726,
+            0.000946145871568545,
+            -3.792748144477761e-05,
+            0.00072140965008552,
+            -0.002615342032750964,
+            -0.0007302423234672624,
+            0.004711523112112865,
+            -0.00470992312395863,
+            -5.1637200607226354e-05,
+            5.808884694919376e-07,
+            0.00425287914755271,
+            0.0028142546633330556,
+            -1.5196952436888134e-14,
+            -1.2642035139106705e-14,
+            -2.824858404222362e-13,
+            2.9593666802013264e-06,
+            0.0007112613077372426,
+            -2.73573610079062e-12,
+            3.064543214910163e-05,
+            -1.803984848017147e-14
+        ],
+        "q50": [
+            7.612921313551182e-05,
+            -0.0003646267834323961,
+            0.0009461458744652278,
+            -3.792747104847113e-05,
+            0.0007214096509652884,
+            -0.0026153420306360225,
+            -0.0007302423217832897,
+            0.0047115231256187546,
+            -0.00470992311083111,
+            -5.163719895521769e-05,
+            5.808889127187143e-07,
+            0.004252879148558261,
+            0.002814254666418622,
+            8.026932563706741e-16,
+            3.3574333000650033e-15,
+            -2.664858160765588e-13,
+            2.959367097256301e-06,
+            0.0007112613084727968,
+            -2.719736095878114e-12,
+            3.064543687120211e-05,
+            -2.039975919347695e-15
+        ],
+        "q90": [
+            7.612922056153884e-05,
+            -0.00036462677325231954,
+            0.0009461458773619104,
+            -3.7927460652164645e-05,
+            0.0007214096518450567,
+            -0.0026153420285210823,
+            -0.0007302423200993184,
+            0.004711523139124644,
+            -0.004709923097703589,
+            -5.163719730320907e-05,
+            5.808893559454925e-07,
+            0.00425287914956381,
+            0.002814254669504188,
+            1.680233894962948e-14,
+            1.9356901739236712e-14,
+            -2.504857917308814e-13,
+            2.959367514311275e-06,
+            0.0007112613092083506,
+            -2.703736090965611e-12,
+            3.0645441593302603e-05,
+            1.3959896641476084e-14
+        ],
+        "q99": [
+            7.61292222323949e-05,
+            -0.00036462677096180243,
+            0.0009461458780136636,
+            -3.792745831299567e-05,
+            0.0007214096520430053,
+            -0.0026153420280452208,
+            -0.000730242319720425,
+            0.004711523142163463,
+            -0.0047099230947498984,
+            -5.1637196931507147e-05,
+            5.808894556715168e-07,
+            0.004252879149790064,
+            0.0028142546701984427,
+            2.040225923061272e-14,
+            2.2956782138050342e-14,
+            -2.468857862531039e-13,
+            2.9593676081486456e-06,
+            0.0007112613093738501,
+            -2.7001360898602973e-12,
+            3.064544265577522e-05,
+            1.7559867967661425e-14
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            18852
+        ],
+        "mean": [
+            9426.0
+        ],
+        "std": [
+            5442.392304860062
+        ],
+        "count": [
+            18853
+        ],
+        "q01": [
+            9290.556650597046
+        ],
+        "q10": [
+            9315.375410803506
+        ],
+        "q50": [
+            9425.777104683604
+        ],
+        "q90": [
+            9536.539445718003
+        ],
+        "q99": [
+            9561.428124239848
         ]
     }
 }

videos/observation.images.agentview/chunk-000/file-003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1c64393d8c2d92834e55c957e0fb03b17f4eab7509def5a04d1c18181972ccc
+size 8235580

videos/observation.images.robot0_eye_in_hand/chunk-000/file-003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46712c4fa9a948260286618d06f2901e84905c881c23116e6ec9db1c1cf1459f
+size 2475392