Hugging Face's logo

Datasets:
cbrian
/
merge_task1_MM_epi_250

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
cbrian commited on
Commit
aadedff
·
verified ·
1 Parent(s): 4e5d5ad

Upload folder using huggingface_hub

Browse files
Files changed (7) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/info.json +208 -0
  4. meta/stats.json +1039 -0
  5. meta/tasks.parquet +3 -0
  6. videos/observation.images.primary/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e96c9e4993dc2a437553553cf11a396b36ef817298f3adafdfc4350cd0f0ecdf
3
+ size 11025073
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2913b80597749e3e5241886d0665035b6aa94f0c5d47a004aefb7b7083adfec4
3
+ size 1919481
meta/info.json ADDED
@@ -0,0 +1,208 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "panda",
4
+ "total_episodes": 250,
5
+ "total_frames": 40781,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:250"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.images.primary": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 342,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channels"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 30.0,
31
+ "video.codec": "av1",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ },
36
+ "info": {
37
+ "video.height": 256,
38
+ "video.width": 342,
39
+ "video.codec": "av1",
40
+ "video.pix_fmt": "yuv420p",
41
+ "video.is_depth_map": false,
42
+ "video.fps": 15,
43
+ "video.channels": 3,
44
+ "has_audio": false
45
+ }
46
+ },
47
+ "observation.images.wrist": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 256,
51
+ 342,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channels"
58
+ ],
59
+ "video_info": {
60
+ "video.fps": 30.0,
61
+ "video.codec": "av1",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "has_audio": false
65
+ },
66
+ "info": {
67
+ "video.height": 256,
68
+ "video.width": 342,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 15,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.state.cartesian": {
78
+ "dtype": "float32",
79
+ "shape": [
80
+ 6
81
+ ],
82
+ "names": [
83
+ "x",
84
+ "y",
85
+ "z",
86
+ "roll",
87
+ "pitch",
88
+ "yaw"
89
+ ]
90
+ },
91
+ "observation.state.gripper": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": [
97
+ "gripper"
98
+ ]
99
+ },
100
+ "observation.state.joints": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 7
104
+ ],
105
+ "names": [
106
+ "joint_0",
107
+ "joint_1",
108
+ "joint_2",
109
+ "joint_3",
110
+ "joint_4",
111
+ "joint_5",
112
+ "joint_6"
113
+ ]
114
+ },
115
+ "observation.state.target": {
116
+ "dtype": "float32",
117
+ "shape": [
118
+ 6
119
+ ],
120
+ "names": [
121
+ "target_x",
122
+ "target_y",
123
+ "target_z",
124
+ "target_roll",
125
+ "target_pitch",
126
+ "target_yaw"
127
+ ]
128
+ },
129
+ "observation.state": {
130
+ "dtype": "float32",
131
+ "shape": [
132
+ 20
133
+ ],
134
+ "names": [
135
+ "x",
136
+ "y",
137
+ "z",
138
+ "roll",
139
+ "pitch",
140
+ "yaw",
141
+ "gripper",
142
+ "joint_0",
143
+ "joint_1",
144
+ "joint_2",
145
+ "joint_3",
146
+ "joint_4",
147
+ "joint_5",
148
+ "joint_6",
149
+ "target_x",
150
+ "target_y",
151
+ "target_z",
152
+ "target_roll",
153
+ "target_pitch",
154
+ "target_yaw"
155
+ ]
156
+ },
157
+ "action": {
158
+ "dtype": "float32",
159
+ "shape": [
160
+ 7
161
+ ],
162
+ "names": [
163
+ "x",
164
+ "y",
165
+ "z",
166
+ "roll",
167
+ "pitch",
168
+ "yaw",
169
+ "gripper"
170
+ ]
171
+ },
172
+ "timestamp": {
173
+ "dtype": "float32",
174
+ "shape": [
175
+ 1
176
+ ],
177
+ "names": null
178
+ },
179
+ "frame_index": {
180
+ "dtype": "int64",
181
+ "shape": [
182
+ 1
183
+ ],
184
+ "names": null
185
+ },
186
+ "episode_index": {
187
+ "dtype": "int64",
188
+ "shape": [
189
+ 1
190
+ ],
191
+ "names": null
192
+ },
193
+ "index": {
194
+ "dtype": "int64",
195
+ "shape": [
196
+ 1
197
+ ],
198
+ "names": null
199
+ },
200
+ "task_index": {
201
+ "dtype": "int64",
202
+ "shape": [
203
+ 1
204
+ ],
205
+ "names": null
206
+ }
207
+ }
208
+ }
meta/stats.json ADDED
@@ -0,0 +1,1039 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state.target": {
3
+ "min": [
4
+ 0.30109015107154846,
5
+ -0.43832409381866455,
6
+ 0.037089694291353226,
7
+ -3.1415891647338867,
8
+ -0.6122215390205383,
9
+ -0.6821029782295227
10
+ ],
11
+ "max": [
12
+ 0.8634951710700989,
13
+ 0.2277223765850067,
14
+ 0.2868620753288269,
15
+ 3.141592025756836,
16
+ 0.15883798897266388,
17
+ 0.34164145588874817
18
+ ],
19
+ "mean": [
20
+ 0.6676489814872211,
21
+ -0.12196732292398971,
22
+ 0.11654216754559558,
23
+ -0.563712200340767,
24
+ -0.17554610605388368,
25
+ -0.15844465027449106
26
+ ],
27
+ "std": [
28
+ 0.1657799565005557,
29
+ 0.16097093808581975,
30
+ 0.052280692884236146,
31
+ 3.0271501828562752,
32
+ 0.15609663177455427,
33
+ 0.18069815316520574
34
+ ],
35
+ "count": [
36
+ 40781
37
+ ],
38
+ "q01": [
39
+ 0.31079027606515874,
40
+ -0.40534625036728905,
41
+ 0.05078642363335362,
42
+ -3.1358426922799483,
43
+ -0.3848108335020009,
44
+ -0.4565683095217796
45
+ ],
46
+ "q10": [
47
+ 0.4061283363006529,
48
+ -0.40206758645145885,
49
+ 0.05366401664057952,
50
+ -3.080535997131319,
51
+ -0.37121493906582553,
52
+ -0.4478614758661635
53
+ ],
54
+ "q50": [
55
+ 0.7461490485964601,
56
+ -0.05066095634106371,
57
+ 0.11782281179913817,
58
+ -0.4517528440212986,
59
+ -0.17317889640205772,
60
+ -0.09249890781481585
61
+ ],
62
+ "q90": [
63
+ 0.801922601327625,
64
+ 0.0214295106204591,
65
+ 0.18608832007445578,
66
+ 1.8062886692322704,
67
+ 0.00565436589956029,
68
+ 0.008152302446849195
69
+ ],
70
+ "q99": [
71
+ 0.8176524605354084,
72
+ 0.03216443706537245,
73
+ 0.19985183691990208,
74
+ 2.169262332467622,
75
+ 0.04687956406209491,
76
+ 0.027365999475879147
77
+ ]
78
+ },
79
+ "timestamp": {
80
+ "min": [
81
+ 0.0
82
+ ],
83
+ "max": [
84
+ 17.8
85
+ ],
86
+ "mean": [
87
+ 5.673774551874655
88
+ ],
89
+ "std": [
90
+ 3.6365988902318738
91
+ ],
92
+ "count": [
93
+ 40781
94
+ ],
95
+ "q01": [
96
+ 0.0807841283926212
97
+ ],
98
+ "q10": [
99
+ 1.1049546673708004
100
+ ],
101
+ "q50": [
102
+ 5.658764952959843
103
+ ],
104
+ "q90": [
105
+ 10.237058270026404
106
+ ],
107
+ "q99": [
108
+ 11.266140370761383
109
+ ]
110
+ },
111
+ "observation.images.primary": {
112
+ "min": [
113
+ [
114
+ [
115
+ 0.0
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.0
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.0
126
+ ]
127
+ ]
128
+ ],
129
+ "max": [
130
+ [
131
+ [
132
+ 1.0
133
+ ]
134
+ ],
135
+ [
136
+ [
137
+ 1.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 1.0
143
+ ]
144
+ ]
145
+ ],
146
+ "mean": [
147
+ [
148
+ [
149
+ 0.36056626850418527
150
+ ]
151
+ ],
152
+ [
153
+ [
154
+ 0.35771484523707114
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.3577194912280701
160
+ ]
161
+ ]
162
+ ],
163
+ "std": [
164
+ [
165
+ [
166
+ 0.0034454623144126307
167
+ ]
168
+ ],
169
+ [
170
+ [
171
+ 0.005470127095383451
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.007197766156410302
177
+ ]
178
+ ]
179
+ ],
180
+ "count": [
181
+ 25000
182
+ ],
183
+ "q01": [
184
+ [
185
+ [
186
+ 0.0776677168314049
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.09528214963011446
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.10291659553109164
197
+ ]
198
+ ]
199
+ ],
200
+ "q10": [
201
+ [
202
+ [
203
+ 0.1512702595386113
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.16968367469075799
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.17383737131646695
214
+ ]
215
+ ]
216
+ ],
217
+ "q50": [
218
+ [
219
+ [
220
+ 0.2365467162017054
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.2539224238284143
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.2523048697172369
231
+ ]
232
+ ]
233
+ ],
234
+ "q90": [
235
+ [
236
+ [
237
+ 0.7585891542936068
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 0.7263519764560133
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.7343662325466225
248
+ ]
249
+ ]
250
+ ],
251
+ "q99": [
252
+ [
253
+ [
254
+ 0.9927365078985539
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.9889805668434224
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.9938816607006179
265
+ ]
266
+ ]
267
+ ]
268
+ },
269
+ "episode_index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 249
275
+ ],
276
+ "mean": [
277
+ 122.66030749613789
278
+ ],
279
+ "std": [
280
+ 70.64688111396897
281
+ ],
282
+ "count": [
283
+ 40781
284
+ ],
285
+ "q01": [
286
+ 122.66030749613789
287
+ ],
288
+ "q10": [
289
+ 122.66030749613789
290
+ ],
291
+ "q50": [
292
+ 122.66030749613789
293
+ ],
294
+ "q90": [
295
+ 122.66030749613789
296
+ ],
297
+ "q99": [
298
+ 122.66030749613789
299
+ ]
300
+ },
301
+ "observation.images.wrist": {
302
+ "min": [
303
+ [
304
+ [
305
+ 0.0
306
+ ]
307
+ ],
308
+ [
309
+ [
310
+ 0.0
311
+ ]
312
+ ],
313
+ [
314
+ [
315
+ 0.0
316
+ ]
317
+ ]
318
+ ],
319
+ "max": [
320
+ [
321
+ [
322
+ 1.0
323
+ ]
324
+ ],
325
+ [
326
+ [
327
+ 1.0
328
+ ]
329
+ ],
330
+ [
331
+ [
332
+ 1.0
333
+ ]
334
+ ]
335
+ ],
336
+ "mean": [
337
+ [
338
+ [
339
+ 0.4072171335855982
340
+ ]
341
+ ],
342
+ [
343
+ [
344
+ 0.3703350557992204
345
+ ]
346
+ ],
347
+ [
348
+ [
349
+ 0.35782547281705074
350
+ ]
351
+ ]
352
+ ],
353
+ "std": [
354
+ [
355
+ [
356
+ 0.012841935408159304
357
+ ]
358
+ ],
359
+ [
360
+ [
361
+ 0.009962357101049892
362
+ ]
363
+ ],
364
+ [
365
+ [
366
+ 0.01048621409171457
367
+ ]
368
+ ]
369
+ ],
370
+ "count": [
371
+ 25000
372
+ ],
373
+ "q01": [
374
+ [
375
+ [
376
+ 0.02059506967418865
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.03097024113716954
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.008587248482464253
387
+ ]
388
+ ]
389
+ ],
390
+ "q10": [
391
+ [
392
+ [
393
+ 0.09394585335470823
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 0.0679311983117813
399
+ ]
400
+ ],
401
+ [
402
+ [
403
+ 0.05221551064076838
404
+ ]
405
+ ]
406
+ ],
407
+ "q50": [
408
+ [
409
+ [
410
+ 0.408379015370407
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.30891537242154876
416
+ ]
417
+ ],
418
+ [
419
+ [
420
+ 0.30109348717596984
421
+ ]
422
+ ]
423
+ ],
424
+ "q90": [
425
+ [
426
+ [
427
+ 0.7228218847639015
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.7293163447773621
433
+ ]
434
+ ],
435
+ [
436
+ [
437
+ 0.7273042228241806
438
+ ]
439
+ ]
440
+ ],
441
+ "q99": [
442
+ [
443
+ [
444
+ 0.8866811710542027
445
+ ]
446
+ ],
447
+ [
448
+ [
449
+ 0.8883749891032161
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.8976123777473939
455
+ ]
456
+ ]
457
+ ]
458
+ },
459
+ "index": {
460
+ "min": [
461
+ 0
462
+ ],
463
+ "max": [
464
+ 40780
465
+ ],
466
+ "mean": [
467
+ 20390.0
468
+ ],
469
+ "std": [
470
+ 11772.460660371733
471
+ ],
472
+ "count": [
473
+ 40781
474
+ ],
475
+ "q01": [
476
+ 20306.10514364916
477
+ ],
478
+ "q10": [
479
+ 20321.46770173357
480
+ ],
481
+ "q50": [
482
+ 20389.77659139306
483
+ ],
484
+ "q90": [
485
+ 20458.44925577115
486
+ ],
487
+ "q99": [
488
+ 20473.885487281896
489
+ ]
490
+ },
491
+ "frame_index": {
492
+ "min": [
493
+ 0
494
+ ],
495
+ "max": [
496
+ 267
497
+ ],
498
+ "mean": [
499
+ 85.10661827811968
500
+ ],
501
+ "std": [
502
+ 54.548983353478164
503
+ ],
504
+ "count": [
505
+ 40781
506
+ ],
507
+ "q01": [
508
+ 1.21176192726955
509
+ ],
510
+ "q10": [
511
+ 16.574320011689654
512
+ ],
513
+ "q50": [
514
+ 84.8832096711702
515
+ ],
516
+ "q90": [
517
+ 153.55587404927
518
+ ],
519
+ "q99": [
520
+ 168.99210556004076
521
+ ]
522
+ },
523
+ "action": {
524
+ "min": [
525
+ -0.010867654345929623,
526
+ -0.03538897633552551,
527
+ -0.012982011772692204,
528
+ -0.048635706305503845,
529
+ -0.033083874732255936,
530
+ -0.04596947133541107,
531
+ 0.0
532
+ ],
533
+ "max": [
534
+ 0.0260467566549778,
535
+ 0.020827850326895714,
536
+ 0.01925737038254738,
537
+ 0.038905587047338486,
538
+ 0.03312129154801369,
539
+ 0.051804911345243454,
540
+ 1.0
541
+ ],
542
+ "mean": [
543
+ 0.002722678879127112,
544
+ -0.0023856544454918505,
545
+ 0.0005051304356593986,
546
+ -0.000505536241603358,
547
+ -0.0022888552191675277,
548
+ -0.0025068861699083125,
549
+ 0.33098747024948355
550
+ ],
551
+ "std": [
552
+ 0.005276012825877368,
553
+ 0.006156803994403622,
554
+ 0.003936039538827428,
555
+ 0.004307242817622712,
556
+ 0.005998661201486365,
557
+ 0.008499098346609057,
558
+ 0.4705685563017717
559
+ ],
560
+ "count": [
561
+ 40781
562
+ ],
563
+ "q01": [
564
+ -0.006158073612129172,
565
+ -0.019695405393712544,
566
+ -0.00687461442121588,
567
+ -0.01264762385065455,
568
+ -0.017606282123448294,
569
+ -0.024217930535596146,
570
+ -1.000000013351432e-10
571
+ ],
572
+ "q10": [
573
+ -0.001996961480673488,
574
+ -0.012032913740459691,
575
+ -0.003995368878165238,
576
+ -0.005136105195635641,
577
+ -0.010272388875179402,
578
+ -0.01552238920663337,
579
+ -1.000000013351432e-10
580
+ ],
581
+ "q50": [
582
+ 0.0008926977821928308,
583
+ -0.00035502658986248745,
584
+ 7.93407155098239e-05,
585
+ -6.940954608604096e-05,
586
+ -0.0007814100680261722,
587
+ -0.00032229610410918874,
588
+ 0.014268626093833347
589
+ ],
590
+ "q90": [
591
+ 0.010906476831538506,
592
+ 0.002428479285343951,
593
+ 0.005685979681994696,
594
+ 0.003191180068305897,
595
+ 0.003642181371003209,
596
+ 0.004542092714760252,
597
+ 0.9999373160480868
598
+ ],
599
+ "q99": [
600
+ 0.015772777909586953,
601
+ 0.007602777746405978,
602
+ 0.011464743194461719,
603
+ 0.011208470531371773,
604
+ 0.012194609498600423,
605
+ 0.014696877959583493,
606
+ 0.9999937316048083
607
+ ]
608
+ },
609
+ "observation.state.gripper": {
610
+ "min": [
611
+ 0.0
612
+ ],
613
+ "max": [
614
+ 1.0
615
+ ],
616
+ "mean": [
617
+ 0.3310119914806409
618
+ ],
619
+ "std": [
620
+ 0.4705773626908047
621
+ ],
622
+ "count": [
623
+ 40781
624
+ ],
625
+ "q01": [
626
+ -1.000000013351432e-10
627
+ ],
628
+ "q10": [
629
+ -1.000000013351432e-10
630
+ ],
631
+ "q50": [
632
+ 0.014268626093833347
633
+ ],
634
+ "q90": [
635
+ 0.9999373231235098
636
+ ],
637
+ "q99": [
638
+ 0.9999937323123508
639
+ ]
640
+ },
641
+ "observation.state.cartesian": {
642
+ "min": [
643
+ 0.30348634719848633,
644
+ -0.4315677583217621,
645
+ 0.03603732958436012,
646
+ -3.1415867805480957,
647
+ -0.587377667427063,
648
+ -0.6677734851837158
649
+ ],
650
+ "max": [
651
+ 0.850109338760376,
652
+ 0.2275644838809967,
653
+ 0.2826690375804901,
654
+ 3.141584634780884,
655
+ 0.10864363610744476,
656
+ 0.28352758288383484
657
+ ],
658
+ "mean": [
659
+ 0.6521143993831267,
660
+ -0.11306847678601342,
661
+ 0.11416267916614617,
662
+ -0.3629434616285634,
663
+ -0.19823068066627952,
664
+ -0.14590115966948639
665
+ ],
666
+ "std": [
667
+ 0.16837320742696052,
668
+ 0.155769768578971,
669
+ 0.0520340096373814,
670
+ 3.059419003147042,
671
+ 0.14887890685849148,
672
+ 0.16788826446238134
673
+ ],
674
+ "count": [
675
+ 40781
676
+ ],
677
+ "q01": [
678
+ 0.3051744081088656,
679
+ -0.39839252917267226,
680
+ 0.05088085061170271,
681
+ -3.1364714030734873,
682
+ -0.39963351189848273,
683
+ -0.4402092114296277
684
+ ],
685
+ "q10": [
686
+ 0.3860582497005697,
687
+ -0.39416290846113744,
688
+ 0.05350181808066188,
689
+ -3.1246803443051454,
690
+ -0.38756364320504383,
691
+ -0.4262959523832958
692
+ ],
693
+ "q50": [
694
+ 0.7348997903080796,
695
+ -0.04455207894917501,
696
+ 0.1145063373759863,
697
+ -0.20520031436425984,
698
+ -0.20707316837234221,
699
+ -0.08753269479158163
700
+ ],
701
+ "q90": [
702
+ 0.7908561581494034,
703
+ 0.02244420563967845,
704
+ 0.18436077014147267,
705
+ 2.344039768159807,
706
+ -0.022151344451693783,
707
+ 0.004161826751400948
708
+ ],
709
+ "q99": [
710
+ 0.8120879408147984,
711
+ 0.03280868987055827,
712
+ 0.19860900287954247,
713
+ 2.665666171244481,
714
+ 0.027611367820627102,
715
+ 0.019127735514098163
716
+ ]
717
+ },
718
+ "observation.state": {
719
+ "min": [
720
+ 0.30348634719848633,
721
+ -0.4315677583217621,
722
+ 0.03603732958436012,
723
+ -3.1415867805480957,
724
+ -0.587377667427063,
725
+ -0.6677734851837158,
726
+ 0.0,
727
+ -0.4985402524471283,
728
+ -0.5858919620513916,
729
+ -0.4305451810359955,
730
+ -2.981698513031006,
731
+ -0.192792609333992,
732
+ 2.0138437747955322,
733
+ 0.35411760210990906,
734
+ 0.30109015107154846,
735
+ -0.43832409381866455,
736
+ 0.037089694291353226,
737
+ -3.1415891647338867,
738
+ -0.6122215390205383,
739
+ -0.6821029782295227
740
+ ],
741
+ "max": [
742
+ 0.850109338760376,
743
+ 0.2275644838809967,
744
+ 0.2826690375804901,
745
+ 3.141584634780884,
746
+ 0.10864363610744476,
747
+ 0.28352758288383484,
748
+ 1.0,
749
+ 0.30895158648490906,
750
+ 1.155979871749878,
751
+ 0.23987708985805511,
752
+ -0.862820565700531,
753
+ 0.5738686919212341,
754
+ 3.0329694747924805,
755
+ 0.9711127281188965,
756
+ 0.8634951710700989,
757
+ 0.2277223765850067,
758
+ 0.2868620753288269,
759
+ 3.141592025756836,
760
+ 0.15883798897266388,
761
+ 0.34164145588874817
762
+ ],
763
+ "mean": [
764
+ 0.6521143993831267,
765
+ -0.11306847678601342,
766
+ 0.11416267916614617,
767
+ -0.3629434616285634,
768
+ -0.19823068066627952,
769
+ -0.14590115966948639,
770
+ 0.3310119914806409,
771
+ -0.023283714437184355,
772
+ 0.6637710875240447,
773
+ -0.14717814920073258,
774
+ -1.7279487628314252,
775
+ 0.176604727258867,
776
+ 2.582225700319347,
777
+ 0.6782120470631651,
778
+ 0.6676489814872211,
779
+ -0.12196732292398971,
780
+ 0.11654216754559558,
781
+ -0.563712200340767,
782
+ -0.17554610605388368,
783
+ -0.15844465027449106
784
+ ],
785
+ "std": [
786
+ 0.16837320742696052,
787
+ 0.155769768578971,
788
+ 0.0520340096373814,
789
+ 3.059419003147042,
790
+ 0.14887890685849148,
791
+ 0.16788826446238134,
792
+ 0.4705773626908047,
793
+ 0.1876029620125959,
794
+ 0.4211272379741105,
795
+ 0.08645349904499601,
796
+ 0.6693663467107276,
797
+ 0.06856678506033771,
798
+ 0.21356955211535728,
799
+ 0.06299010944875333,
800
+ 0.1657799565005557,
801
+ 0.16097093808581975,
802
+ 0.052280692884236146,
803
+ 3.0271501828562752,
804
+ 0.15609663177455427,
805
+ 0.18069815316520574
806
+ ],
807
+ "count": [
808
+ 40781
809
+ ],
810
+ "q01": [
811
+ 0.3051744081088656,
812
+ -0.39839252917267226,
813
+ 0.05088085061170271,
814
+ -3.1364714030734873,
815
+ -0.39963351189848273,
816
+ -0.4402092114296277,
817
+ -1.000000013351432e-10,
818
+ -0.3656329963588811,
819
+ -0.07190103437840586,
820
+ -0.2603853250614679,
821
+ -2.978499530225342,
822
+ 0.121451319998866,
823
+ 2.412423570929925,
824
+ 0.6215222365671919,
825
+ 0.31079027606515874,
826
+ -0.40534625036728905,
827
+ 0.05078642363335362,
828
+ -3.1358426922799483,
829
+ -0.3848108335020009,
830
+ -0.4565683095217796
831
+ ],
832
+ "q10": [
833
+ 0.3860582497005697,
834
+ -0.39416290846113744,
835
+ 0.05350181808066188,
836
+ -3.1246803443051454,
837
+ -0.38756364320504383,
838
+ -0.4262959523832958,
839
+ -1.000000013351432e-10,
840
+ -0.3618560303516935,
841
+ 0.016969787389020885,
842
+ -0.24101697698578986,
843
+ -2.7791116152465367,
844
+ 0.13156386937150572,
845
+ 2.42480290777841,
846
+ 0.6323295496970219,
847
+ 0.4061283363006529,
848
+ -0.40206758645145885,
849
+ 0.05366401664057952,
850
+ -3.080535997131319,
851
+ -0.37121493906582553,
852
+ -0.4478614758661635
853
+ ],
854
+ "q50": [
855
+ 0.7348997903080796,
856
+ -0.04455207894917501,
857
+ 0.1145063373759863,
858
+ -0.20520031436425984,
859
+ -0.20707316837234221,
860
+ -0.08753269479158163,
861
+ 0.014268626093833347,
862
+ 0.04325643270044749,
863
+ 0.8760964319472729,
864
+ -0.14289755206522156,
865
+ -1.393188917181662,
866
+ 0.17974550597965994,
867
+ 2.5115127355198403,
868
+ 0.6840732917735338,
869
+ 0.7461490485964601,
870
+ -0.05066095634106371,
871
+ 0.11782281179913817,
872
+ -0.4517528440212986,
873
+ -0.17317889640205772,
874
+ -0.09249890781481585
875
+ ],
876
+ "q90": [
877
+ 0.7908561581494034,
878
+ 0.02244420563967845,
879
+ 0.18436077014147267,
880
+ 2.344039768159807,
881
+ -0.022151344451693783,
882
+ 0.004161826751400948,
883
+ 0.9999373231235098,
884
+ 0.1519147422667386,
885
+ 1.0388417348316492,
886
+ -0.05948066976401506,
887
+ -1.1255637812235313,
888
+ 0.22043737029517416,
889
+ 2.898558031483015,
890
+ 0.7137661211652886,
891
+ 0.801922601327625,
892
+ 0.0214295106204591,
893
+ 0.18608832007445578,
894
+ 1.8062886692322704,
895
+ 0.00565436589956029,
896
+ 0.008152302446849195
897
+ ],
898
+ "q99": [
899
+ 0.8120879408147984,
900
+ 0.03280868987055827,
901
+ 0.19860900287954247,
902
+ 2.665666171244481,
903
+ 0.027611367820627102,
904
+ 0.019127735514098163,
905
+ 0.9999937323123508,
906
+ 0.15562642268280139,
907
+ 1.0415889946443133,
908
+ -0.045390311851597386,
909
+ -1.112457467023806,
910
+ 0.2239302183828385,
911
+ 3.02519581900037,
912
+ 0.7221393448892292,
913
+ 0.8176524605354084,
914
+ 0.03216443706537245,
915
+ 0.19985183691990208,
916
+ 2.169262332467622,
917
+ 0.04687956406209491,
918
+ 0.027365999475879147
919
+ ]
920
+ },
921
+ "observation.state.joints": {
922
+ "min": [
923
+ -0.4985402524471283,
924
+ -0.5858919620513916,
925
+ -0.4305451810359955,
926
+ -2.981698513031006,
927
+ -0.192792609333992,
928
+ 2.0138437747955322,
929
+ 0.35411760210990906
930
+ ],
931
+ "max": [
932
+ 0.30895158648490906,
933
+ 1.155979871749878,
934
+ 0.23987708985805511,
935
+ -0.862820565700531,
936
+ 0.5738686919212341,
937
+ 3.0329694747924805,
938
+ 0.9711127281188965
939
+ ],
940
+ "mean": [
941
+ -0.023283714437184355,
942
+ 0.6637710875240447,
943
+ -0.14717814920073258,
944
+ -1.7279487628314252,
945
+ 0.176604727258867,
946
+ 2.582225700319347,
947
+ 0.6782120470631651
948
+ ],
949
+ "std": [
950
+ 0.1876029620125959,
951
+ 0.4211272379741105,
952
+ 0.08645349904499601,
953
+ 0.6693663467107276,
954
+ 0.06856678506033771,
955
+ 0.21356955211535728,
956
+ 0.06299010944875333
957
+ ],
958
+ "count": [
959
+ 40781
960
+ ],
961
+ "q01": [
962
+ -0.3656329963588811,
963
+ -0.07190103437840586,
964
+ -0.2603853250614679,
965
+ -2.978499530225342,
966
+ 0.121451319998866,
967
+ 2.412423570929925,
968
+ 0.6215222365671919
969
+ ],
970
+ "q10": [
971
+ -0.3618560303516935,
972
+ 0.016969787389020885,
973
+ -0.24101697698578986,
974
+ -2.7791116152465367,
975
+ 0.13156386937150572,
976
+ 2.42480290777841,
977
+ 0.6323295496970219
978
+ ],
979
+ "q50": [
980
+ 0.04325643270044749,
981
+ 0.8760964319472729,
982
+ -0.14289755206522156,
983
+ -1.393188917181662,
984
+ 0.17974550597965994,
985
+ 2.5115127355198403,
986
+ 0.6840732917735338
987
+ ],
988
+ "q90": [
989
+ 0.1519147422667386,
990
+ 1.0388417348316492,
991
+ -0.05948066976401506,
992
+ -1.1255637812235313,
993
+ 0.22043737029517416,
994
+ 2.898558031483015,
995
+ 0.7137661211652886
996
+ ],
997
+ "q99": [
998
+ 0.15562642268280139,
999
+ 1.0415889946443133,
1000
+ -0.045390311851597386,
1001
+ -1.112457467023806,
1002
+ 0.2239302183828385,
1003
+ 3.02519581900037,
1004
+ 0.7221393448892292
1005
+ ]
1006
+ },
1007
+ "task_index": {
1008
+ "min": [
1009
+ 0
1010
+ ],
1011
+ "max": [
1012
+ 0
1013
+ ],
1014
+ "mean": [
1015
+ 0.0
1016
+ ],
1017
+ "std": [
1018
+ 0.0
1019
+ ],
1020
+ "count": [
1021
+ 40781
1022
+ ],
1023
+ "q01": [
1024
+ 3.9999999999994196e-16
1025
+ ],
1026
+ "q10": [
1027
+ 3.999999999999414e-15
1028
+ ],
1029
+ "q50": [
1030
+ 1.999999999999708e-14
1031
+ ],
1032
+ "q90": [
1033
+ 3.5999999999994766e-14
1034
+ ],
1035
+ "q99": [
1036
+ 3.9599999999994203e-14
1037
+ ]
1038
+ }
1039
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cea0c3a403962a97a662e47dc92f03fee221cab4474a1be302e8fb4a9ed0bf0b
3
+ size 2227
videos/observation.images.primary/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7615011c5756c7c28ee8d55dea2f20abf25689d95fe95a468f171695a636cb3c
3
+ size 189437341
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fad290c459dc28bc502030602ea00105e6e70da01d1f1cd3cddb59320c6728b
3
+ size 108451867