Upload M2S_09_00

data/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1749fb53acf4c7479a327c483f785b64819913eef962d069d0f38f63d9192304
-size 105720289
+oid sha256:98885007a8db793769f6a5ac327519d616eedbcff20852e94613a50cb5944407
+size 34941952

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2b6b47174937ce4475a041b35ce0e11c477b53591266ba705ec2fe4114801c06
-size 6310106
+oid sha256:ad2ee5ce7390361785706fac0520e211dd629b9b25ecb4f3f67742fe2b0ea6e7
+size 1670969

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v3.0",
     "robot_type": null,
-    "total_episodes": 600,
-    "total_frames": 379670,
+    "total_episodes": 151,
+    "total_frames": 108880,
     "total_tasks": 1,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
-    "fps": 30,
+    "fps": 20,
     "splits": {
-        "train": "0:600"
+        "train": "0:151"
     },
     "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",
@@ -118,7 +118,7 @@
                 "channels"
             ],
             "info": {
-                "video.fps": 30,
+                "video.fps": 20,
                 "video.height": 240,
                 "video.width": 320,
                 "video.channels": 3,
@@ -141,7 +141,7 @@
                 "channels"
             ],
             "info": {
-                "video.fps": 30,
+                "video.fps": 20,
                 "video.height": 240,
                 "video.width": 320,
                 "video.channels": 3,
@@ -164,7 +164,7 @@
                 "channels"
             ],
             "info": {
-                "video.fps": 30,
+                "video.fps": 20,
                 "video.height": 240,
                 "video.width": 320,
                 "video.channels": 3,
@@ -214,6 +214,7 @@
                     "l_r4",
                     "l_r5",
                     "l_r6",
+                    "l_gripper",
                     "r_x",
                     "r_y",
                     "r_z",
@@ -223,7 +224,6 @@
                     "r_r4",
                     "r_r5",
                     "r_r6",
-                    "l_gripper",
                     "r_gripper",
                     "v_x",
                     "v_y",

meta/stats.json

@@ -1,209 +1,4 @@
 {
-    "episode_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            599
-        ],
-        "mean": [
-            299.9709221165751
-        ],
-        "std": [
-            173.1555752293833
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            299.9709221165751
-        ],
-        "q10": [
-            299.9709221165751
-        ],
-        "q50": [
-            299.9709221165751
-        ],
-        "q90": [
-            299.9709221165751
-        ],
-        "q99": [
-            299.9709221165751
-        ]
-    },
-    "task_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            0
-        ],
-        "mean": [
-            0.0
-        ],
-        "std": [
-            0.0
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            3.999999999999419e-16
-        ],
-        "q10": [
-            3.99999999999941e-15
-        ],
-        "q50": [
-            1.9999999999997113e-14
-        ],
-        "q90": [
-            3.599999999999483e-14
-        ],
-        "q99": [
-            3.959999999999424e-14
-        ]
-    },
-    "is_first": {
-        "min": [
-            0
-        ],
-        "max": [
-            1
-        ],
-        "mean": [
-            0.0015803197513630251
-        ],
-        "std": [
-            0.039721811902863606
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            -9.999999999999987e-11
-        ],
-        "q10": [
-            -9.999999999999987e-11
-        ],
-        "q50": [
-            -9.999999999999987e-11
-        ],
-        "q90": [
-            -9.999999999999987e-11
-        ],
-        "q99": [
-            -9.999999999999987e-11
-        ]
-    },
-    "kitchen_type": {
-        "min": [
-            1
-        ],
-        "max": [
-            1
-        ],
-        "mean": [
-            1.0
-        ],
-        "std": [
-            0.0
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            1.0000000000000002
-        ],
-        "q10": [
-            1.0000000000000024
-        ],
-        "q50": [
-            1.0000000000000124
-        ],
-        "q90": [
-            1.0000000000000275
-        ],
-        "q99": [
-            1.0000000000000275
-        ]
-    },
-    "initial_pose": {
-        "min": [
-            -0.05297660827636719,
-            -1.949264645576477,
-            0.6204133629798889,
-            -2.5100348466366995e-08,
-            4.699495459448144e-09,
-            -0.17684568464756012
-        ],
-        "max": [
-            1.4459152221679688,
-            -0.6785974502563477,
-            1.0,
-            1.1131498922622995e-07,
-            7.574781690777854e-09,
-            0.7842749953269958
-        ],
-        "mean": [
-            1.287803110223395,
-            -0.9791108327568524,
-            0.8765428669419636,
-            4.574159052936719e-08,
-            6.639616967205959e-09,
-            0.3222745296134722
-        ],
-        "std": [
-            0.27469358531196375,
-            0.20210643784992374,
-            0.14860341813809208,
-            4.615112743821534e-08,
-            1.1256643213036987e-09,
-            0.3251599121429252
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            0.3251935243234526,
-            -1.371983390080837,
-            0.6666449073220232,
-            2.217462943551051e-09,
-            5.049408634615727e-09,
-            0.015657259416100595
-        ],
-        "q10": [
-            0.8910292772128905,
-            -1.2400510605521926,
-            0.6812432511628921,
-            2.2307525789278055e-09,
-            5.1602999995049895e-09,
-            0.015708434688075847
-        ],
-        "q50": [
-            1.3845132682609749,
-            -0.9956103936104952,
-            0.9845726429571402,
-            1.6932121501108782e-08,
-            7.45796014240692e-09,
-            0.11927071107200977
-        ],
-        "q90": [
-            1.4179224036891345,
-            -0.7588291745751691,
-            0.9994493749800003,
-            1.0389152347307987e-07,
-            7.570714565418234e-09,
-            0.7319588680112948
-        ],
-        "q99": [
-            1.4181593317350165,
-            -0.7556712804536844,
-            0.9995051217368139,
-            1.0573412401743247e-07,
-            7.571142452826922e-09,
-            0.7448586921218934
-        ]
-    },
     "kitchen_num": {
         "min": [
             9
@@ -218,7 +13,7 @@
             0.0
         ],
         "count": [
-            379670
+            108880
         ],
         "q01": [
             9.0
@@ -227,109 +22,13 @@
             9.000000000000002
         ],
         "q50": [
-            9.00000000000001
-        ],
-        "q90": [
-            9.000000000000016
-        ],
-        "q99": [
-            9.000000000000016
-        ]
-    },
-    "subtask_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            7
-        ],
-        "mean": [
-            2.908035925935681
-        ],
-        "std": [
-            2.3548342846364076
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            -9.999999999999987e-11
-        ],
-        "q10": [
-            -9.999999999999987e-11
-        ],
-        "q50": [
-            3.0067117604586366
-        ],
-        "q90": [
-            6.96941941985612
-        ],
-        "q99": [
-            6.999888019552207
-        ]
-    },
-    "timestamp": {
-        "min": [
-            0.0
-        ],
-        "max": [
-            27.266666666666666
-        ],
-        "mean": [
-            10.557607922669721
-        ],
-        "std": [
-            6.138218168480654
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            0.19599042739134304
-        ],
-        "q10": [
-            2.0969786585690358
-        ],
-        "q50": [
-            10.551128782943016
-        ],
-        "q90": [
-            19.015584078895934
-        ],
-        "q99": [
-            20.91881187460775
-        ]
-    },
-    "frame_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            818
-        ],
-        "mean": [
-            316.7282376800908
-        ],
-        "std": [
-            184.14654505441905
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            5.8797128245864565
-        ],
-        "q10": [
-            62.909359759395265
-        ],
-        "q50": [
-            316.475082329918
+            9.000000000000014
         ],
         "q90": [
-            570.4675223645551
+            9.000000000000025
         ],
         "q99": [
-            627.5643562353868
+            9.000000000000028
         ]
     },
     "observation.images.front": {
@@ -358,515 +57,200 @@
             ],
             [
                 [
-                    0.984313725490196
+                    0.9882352941176471
                 ]
             ],
             [
                 [
-                    0.9137254901960784
+                    0.8784313725490196
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.450012573822968
+                    0.3797618749644717
                 ]
             ],
             [
                 [
-                    0.31485402843315813
+                    0.24483647592371877
                 ]
             ],
             [
                 [
-                    0.19484778072883274
+                    0.13787942839075318
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.011803789115964232
+                    0.01065298592311511
                 ]
             ],
             [
                 [
-                    0.008592101078414066
+                    0.008729631546070309
                 ]
             ],
             [
                 [
-                    0.005964005540655254
+                    0.006740145222860639
                 ]
             ]
         ],
         "count": [
-            75394
+            20926
         ],
         "q01": [
             [
                 [
-                    0.006804246703369212
+                    0.0050676940296033625
                 ]
             ],
             [
                 [
-                    0.0028675098963097372
+                    0.0033014168918011765
                 ]
             ],
             [
                 [
-                    -3.921568627450975e-13
+                    -3.9215686274509807e-13
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.025612150379891483
+                    0.021821382926017624
                 ]
             ],
             [
                 [
-                    0.007927668067299809
+                    0.007925973489242325
                 ]
             ],
             [
                 [
-                    0.0014326157049102798
+                    5.636632468072278e-05
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.42572516080403155
+                    0.29686412026889464
                 ]
             ],
             [
                 [
-                    0.2056633751978676
+                    0.18029439027850633
                 ]
             ],
             [
                 [
-                    0.08460187655090454
+                    0.03908492949927038
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9124037123141906
+                    0.8681057325179573
                 ]
             ],
             [
                 [
-                    0.7457208983454927
+                    0.7057060568437459
                 ]
             ],
             [
                 [
-                    0.49612364794956315
+                    0.4405715442214397
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9504808265400514
+                    0.9434753903729625
                 ]
             ],
             [
                 [
-                    0.8376653555799819
+                    0.8448629349785343
                 ]
             ],
             [
                 [
-                    0.6021355737188048
+                    0.5562442058366756
                 ]
             ]
         ]
     },
-    "joint_angles": {
+    "kitchen_type": {
         "min": [
-            -0.022410264238715172,
-            -0.3705067038536072,
-            -0.501311182975769,
-            -0.7453484535217285,
-            0.16717803478240967,
-            2.100695848464966,
-            -1.1625096797943115,
-            -0.4178043305873871,
-            0.18764638900756836,
-            -0.9111009836196899,
-            -1.745330572128296,
-            0.071548230946064,
-            0.0,
-            0.03994094580411911
+            1
         ],
         "max": [
-            0.3808988928794861,
-            0.34702038764953613,
-            1.3949228525161743,
-            -0.1599138081073761,
-            2.4220120906829834,
-            2.592820167541504,
-            1.2692914009094238,
-            0.33587369322776794,
-            1.5615302324295044,
-            -0.18349897861480713,
-            1.7453806400299072,
-            0.3377852439880371,
-            0.03999999910593033,
-            0.03999999910593033
+            1
         ],
         "mean": [
-            0.05768902730601456,
-            0.0036375525567156025,
-            -0.08216810239997656,
-            -0.4894195747228074,
-            2.008205857668325,
-            2.348747267396417,
-            -0.15062710022586703,
-            -0.07939407962376771,
-            0.47162845533930964,
-            -0.5276080428053164,
-            -0.18439628216748413,
-            0.17552318221596028,
-            0.03448352239640196,
-            0.03999775932374174
+            1.0
         ],
         "std": [
-            0.061622356776481174,
-            0.08590571277601187,
-            0.4630200494657321,
-            0.08283819030376999,
-            0.43786645942013785,
-            0.059346320579709885,
-            0.06727521870178763,
-            0.07992815749263288,
-            0.051224942261035855,
-            0.08886874839119371,
-            0.047154353447223754,
-            0.027319381696225897,
-            0.005048813223309071,
-            3.4963988008045586e-05
+            0.0
         ],
         "count": [
-            379670
+            108880
         ],
         "q01": [
-            -0.0019666911302902088,
-            -0.07612946017568947,
-            -0.5011294552938077,
-            -0.5689116597548548,
-            1.1191683699916213,
-            2.2923418502432655,
-            -0.2699053492660882,
-            -0.15706716490579298,
-            0.3752998909967867,
-            -0.6136832024314735,
-            -0.2440476395463508,
-            0.15281708790131743,
-            0.02860412537440926,
-            0.03998533102551775
+            1.0000000000000002
         ],
         "q10": [
-            -0.0005611813751306326,
-            -0.05617026982900666,
-            -0.5008265030270763,
-            -0.549424327463754,
-            1.2907849903412763,
-            2.305637695027852,
-            -0.23587076181279332,
-            -0.13728847456174495,
-            0.39550272306396095,
-            -0.5908041470407576,
-            -0.22339168871542647,
-            0.15666172780658622,
-            0.029095185733688928,
-            0.039993304687327993
+            1.0000000000000024
         ],
         "q50": [
-            0.03791780372514404,
-            0.002333657323521357,
-            -0.3599651109886943,
-            -0.48935801355550845,
-            2.290623395757007,
-            2.3494537556022532,
-            -0.15778210868365536,
-            -0.07948107266735795,
-            0.4834652841983757,
-            -0.5265852260705155,
-            -0.17920921730152736,
-            0.174970352901663,
-            0.0335043620699683,
-            0.039998881654550414
+            1.0000000000000198
         ],
         "q90": [
-            0.15582095773016888,
-            0.06484499822945403,
-            0.6700246963045617,
-            -0.4301544058514028,
-            2.363210037914642,
-            2.3905982349364105,
-            -0.0734424111446318,
-            -0.02194151880271665,
-            0.5243751264547333,
-            -0.46528484988185353,
-            -0.15720079207790638,
-            0.1953735229973602,
-            0.03999873622219343,
-            0.0399999970473479
+            1.0000000000000369
         ],
         "q99": [
-            0.18499716400132643,
-            0.08371780633903457,
-            0.8274831425992666,
-            -0.4121786852192261,
-            2.364815958976268,
-            2.403644222922892,
-            -0.07056721303917123,
-            -0.0015234269926930552,
-            0.525537737929104,
-            -0.44148243996926406,
-            -0.1537771342152172,
-            0.19981141770031813,
-            0.03999987281755665,
-            0.039999998900072144
+            1.0000000000000406
         ]
     },
-    "action": {
+    "subtask_index": {
         "min": [
-            0.15421414375305176,
-            0.08878972381353378,
-            0.14678502082824707,
-            -0.6022369265556335,
-            -0.8899959921836853,
-            -0.0018614453729242086,
-            -0.19904117286205292,
-            -0.109217569231987,
-            -0.9985496997833252,
-            -1.600000023841858,
-            0.2252335250377655,
-            -0.1645582914352417,
-            0.11626625061035156,
-            -0.1748499721288681,
-            -0.892732560634613,
-            -0.8834611177444458,
-            -0.755659818649292,
-            -0.5914726257324219,
-            -1.0,
-            -1.600000023841858,
-            0.0,
-            -0.126348614692688,
-            -0.785398006439209
+            0
         ],
         "max": [
-            0.30054911971092224,
-            0.22655218839645386,
-            0.3082433342933655,
-            -0.4501616060733795,
-            -0.7939012050628662,
-            0.15581196546554565,
-            -0.049972958862781525,
-            0.04367974027991295,
-            -0.979905366897583,
-            -1.600000023841858,
-            0.6410024166107178,
-            0.08332812786102295,
-            0.2842138409614563,
-            0.6839249134063721,
-            -0.4673517644405365,
-            0.5678870677947998,
-            0.34980398416519165,
-            0.6474002003669739,
-            -0.32571476697921753,
-            0.10000000149011612,
-            0.3800000548362732,
-            0.14455124735832214,
-            0.785398006439209
+            7
         ],
         "mean": [
-            0.22665070478840246,
-            0.16148689038760905,
-            0.2208050107169488,
-            -0.5179397628143416,
-            -0.8512346791750726,
-            0.08080323867684892,
-            -0.11777462634972354,
-            -0.02254562768543871,
-            -0.9924669580552596,
-            -1.5999900524100739,
-            0.3356589199651785,
-            -0.13281034590606183,
-            0.21115260322521076,
-            0.5252965263122601,
-            -0.8468059995541951,
-            -0.059546526407169835,
-            -0.10322166053964799,
-            0.0058516061515207435,
-            -0.9929729614264846,
-            -0.780943489276754,
-            0.06979022549076398,
-            0.003467948327748635,
-            0.07967141114849789
+            2.4335415135929463
         ],
         "std": [
-            0.018292296934764047,
-            0.01774512856716107,
-            0.017033037178406762,
-            0.014980644152501922,
-            0.009250478694329933,
-            0.017285208296414608,
-            0.017815420502652064,
-            0.01754797033020455,
-            0.002215746651056157,
-            0.00721313308950752,
-            0.12795395979891666,
-            0.03753336888790341,
-            0.02509037266122011,
-            0.02744908204536718,
-            0.01901265690039941,
-            0.048195551684327764,
-            0.03648246507240617,
-            0.041328397217880626,
-            0.016650295782118657,
-            0.8494396131349875,
-            0.11952471017443927,
-            0.017998509929021116,
-            0.2741686674910829
+            2.3381305339432794
         ],
         "count": [
-            379670
+            108880
         ],
         "q01": [
-            0.20828302880355729,
-            0.14379474004480342,
-            0.2034252125517713,
-            -0.5332429780184226,
-            -0.8605093074178791,
-            0.06293276119599829,
-            -0.13559288442648101,
-            -0.03996216024750988,
-            -0.9945297011740607,
-            -1.600000023841858,
-            0.22524642450545354,
-            -0.16083065192174506,
-            0.13191805181223615,
-            0.5007644547842519,
-            -0.8611109963950364,
-            -0.09959052713223696,
-            -0.15254817362837803,
-            -0.07163115985767561,
-            -0.998411202704218,
-            -1.600000023841858,
-            -1.000000013351432e-10,
-            -0.01637493138715117,
-            -0.45569586097162107
+            -9.999999999999998e-11
         ],
         "q10": [
-            0.21362768692757503,
-            0.1491503026280917,
-            0.20853782489329611,
-            -0.5288067687274378,
-            -0.8578308289771683,
-            0.06835553346153943,
-            -0.13036411305309129,
-            -0.03479684206847994,
-            -0.9939751940433409,
-            -1.600000023841858,
-            0.22524642450545354,
-            -0.1607463260145007,
-            0.17715612980099654,
-            0.5097687696000387,
-            -0.8565285663924908,
-            -0.09005630734626192,
-            -0.12544367610574209,
-            -0.042654711726008106,
-            -0.9968919932824748,
-            -1.600000023841858,
-            -1.000000013351432e-10,
-            -7.502423743828287e-06,
-            -1.4808778795495547e-05
+            -9.999999999999998e-11
         ],
         "q50": [
-            0.2265867021018862,
-            0.16122562987202138,
-            0.22077198424416256,
-            -0.5179461265681663,
-            -0.8512734137449253,
-            0.08102546446627723,
-            -0.11786658106137304,
-            -0.022753864732114517,
-            -0.9924868024629694,
-            -1.600000023841858,
-            0.2540681724228155,
-            -0.15109405822401523,
-            0.21887005259430564,
-            0.519676701311878,
-            -0.8508436694859571,
-            -0.0686076958651571,
-            -0.10982505897428756,
-            0.013034747517966431,
-            -0.9935454859994254,
-            -1.224462288424491,
-            -1.000000013351432e-10,
-            7.749810018265908e-07,
-            0.00011440684030262344
+            2.163213009937488
         ],
         "q90": [
-            0.23961445098639447,
-            0.17416567651943904,
-            0.23313696774292053,
-            -0.50714191188153,
-            -0.8445178105971062,
-            0.09289084571175814,
-            -0.10502284681937162,
-            -0.010014552769126038,
-            -0.9909158507983287,
-            -1.600000023841858,
-            0.54485572604435,
-            -0.07241227372896127,
-            0.234440387074834,
-            0.5589023902050254,
-            -0.8247027634838408,
-            -0.0016881379963388805,
-            -0.062208535908718283,
-            0.030910388289676696,
-            -0.9881921111490971,
-            0.09992919635169531,
-            0.2887960761264468,
-            0.011834278449035654,
-            0.7554477938145293
+            5.339980925493233
         ],
         "q99": [
-            0.245009500797479,
-            0.17948247150894323,
-            0.2384673227373009,
-            -0.5025906436023313,
-            -0.8417005282921234,
-            0.09806390359307791,
-            -0.09994529158915523,
-            -0.004524246803180728,
-            -0.9902001199497958,
-            -1.600000023841858,
-            0.5749856782929458,
-            -0.03879173917599594,
-            0.24632945217545496,
-            0.5724477613908542,
-            -0.8141512908490905,
-            0.03109181538077478,
-            -0.02924325823595701,
-            0.034824872308071034,
-            -0.9823627004061346,
-            0.09999292097627407,
-            0.3795339551182614,
-            0.06874081171222793,
-            0.7852919188571118
+            6.999832256500404
         ]
     },
     "kitchen_sub_num": {
@@ -883,57 +267,25 @@
             0.0
         ],
         "count": [
-            379670
-        ],
-        "q01": [
-            3.999999999999419e-16
-        ],
-        "q10": [
-            3.99999999999941e-15
-        ],
-        "q50": [
-            1.9999999999997113e-14
-        ],
-        "q90": [
-            3.599999999999483e-14
-        ],
-        "q99": [
-            3.959999999999424e-14
-        ]
-    },
-    "index": {
-        "min": [
-            0
-        ],
-        "max": [
-            379669
-        ],
-        "mean": [
-            189834.5
-        ],
-        "std": [
-            109601.28835123243
-        ],
-        "count": [
-            379670
+            108880
         ],
         "q01": [
-            189523.65147514446
+            3.9999999999994186e-16
         ],
         "q10": [
-            189580.6811220794
+            3.999999999999418e-15
         ],
         "q50": [
-            189834.3054358539
+            1.999999999999709e-14
         ],
         "q90": [
-            190088.23928468465
+            3.5999999999994735e-14
         ],
         "q99": [
-            190145.33611855528
+            3.959999999999422e-14
         ]
     },
-    "observation.images.wrist_right": {
+    "observation.images.wrist_left": {
         "min": [
             [
                 [
@@ -959,401 +311,139 @@
             ],
             [
                 [
-                    0.9882352941176471
+                    0.9921568627450981
                 ]
             ],
             [
                 [
-                    0.9254901960784314
+                    0.8941176470588236
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.5987684041339428
+                    0.45694327190499806
                 ]
             ],
             [
                 [
-                    0.44847848734593126
+                    0.34127531720280735
                 ]
             ],
             [
                 [
-                    0.2961615664445824
+                    0.20114793034894513
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.022286521543111452
+                    0.016326463789697904
                 ]
             ],
             [
                 [
-                    0.021231969588213263
+                    0.017246070831255497
                 ]
             ],
             [
                 [
-                    0.020680660169044067
+                    0.01310433261851308
                 ]
             ]
         ],
         "count": [
-            75394
+            20926
         ],
         "q01": [
             [
                 [
-                    0.013710679409236622
+                    0.008034561883047334
                 ]
             ],
             [
                 [
-                    0.003930496547015232
+                    0.003895548784124652
                 ]
             ],
             [
                 [
-                    -3.921568627450975e-13
+                    -3.9215686274509807e-13
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.09726604613938025
+                    0.027581048716071865
                 ]
             ],
             [
                 [
-                    0.034053969430760514
+                    0.009428961156425901
                 ]
             ],
             [
                 [
-                    0.010591313630187718
+                    0.0006003735659063478
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.6972021236754814
+                    0.3679670807394419
                 ]
             ],
             [
                 [
-                    0.5086845343373181
+                    0.21265936388259146
                 ]
             ],
             [
                 [
-                    0.3201529814824138
+                    0.07913817766884487
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9437102459297472
+                    0.9284449466567098
                 ]
             ],
             [
                 [
-                    0.8202179804898756
+                    0.8125199387906874
                 ]
             ],
             [
                 [
-                    0.5876011438820419
+                    0.5200479732233719
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9659701263739935
+                    0.9489562079352224
                 ]
             ],
             [
                 [
-                    0.8804282537122072
+                    0.861186292806092
                 ]
             ],
             [
                 [
-                    0.6960934062721984
+                    0.5944692638053602
                 ]
             ]
         ]
     },
-    "is_last": {
-        "min": [
-            0
-        ],
-        "max": [
-            1
-        ],
-        "mean": [
-            0.0015803197513630251
-        ],
-        "std": [
-            0.039721811902863606
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            -9.999999999999987e-11
-        ],
-        "q10": [
-            -9.999999999999987e-11
-        ],
-        "q50": [
-            -9.999999999999987e-11
-        ],
-        "q90": [
-            -9.999999999999987e-11
-        ],
-        "q99": [
-            -9.999999999999987e-11
-        ]
-    },
-    "observation.state": {
-        "min": [
-            0.1680990755558014,
-            0.09209273755550385,
-            0.15053248405456543,
-            -0.6041998863220215,
-            -0.8895266056060791,
-            0.0020694932900369167,
-            -0.20442739129066467,
-            -0.10162193328142166,
-            -0.9988524317741394,
-            0.22486329078674316,
-            -0.16391634941101074,
-            0.12133896350860596,
-            -0.17219269275665283,
-            -0.8980886340141296,
-            -0.8781383037567139,
-            -0.7544602155685425,
-            -0.5821091532707214,
-            -0.9999995827674866,
-            -1.600000023841858,
-            -1.600000023841858,
-            -0.06251918524503708,
-            -0.12253602594137192,
-            -0.7863882780075073
-        ],
-        "max": [
-            0.29729607701301575,
-            0.22413888573646545,
-            0.3053928017616272,
-            -0.4484485983848572,
-            -0.7911626696586609,
-            0.155081108212471,
-            -0.03985419496893883,
-            0.04468980431556702,
-            -0.9777811169624329,
-            0.6376725435256958,
-            0.07634269446134567,
-            0.2781946063041687,
-            0.6881501078605652,
-            -0.4704212546348572,
-            0.5601672530174255,
-            0.33020511269569397,
-            0.6404237151145935,
-            -0.3367712199687958,
-            -1.5974901914596558,
-            -0.2654963433742523,
-            0.38030827045440674,
-            0.14012673497200012,
-            0.988226056098938
-        ],
-        "mean": [
-            0.22662229681967477,
-            0.16146704762733322,
-            0.22079586240957952,
-            -0.5179562353767098,
-            -0.851238591890086,
-            0.08062615533720359,
-            -0.11774033865565811,
-            -0.02236552920025633,
-            -0.9924867324863702,
-            0.3342062274503767,
-            -0.13337486512974872,
-            0.20921176015670565,
-            0.5230827704281182,
-            -0.8481447247062964,
-            -0.06026990816577707,
-            -0.10821904711845058,
-            0.003955354409155121,
-            -0.9924446196455868,
-            -1.5998987130806426,
-            -1.3659623707270492,
-            0.06841757949827774,
-            -0.0003330640733987581,
-            0.08025750353416071
-        ],
-        "std": [
-            0.017707141926683646,
-            0.017172987749498117,
-            0.016428194573841887,
-            0.015616228763854502,
-            0.009701846560647192,
-            0.016602124366687183,
-            0.018017705539757903,
-            0.016659068621943746,
-            0.0022287244595783117,
-            0.12489401002382851,
-            0.03615212292981974,
-            0.022927253561878667,
-            0.02808667278238651,
-            0.01929176900177661,
-            0.04734367459398852,
-            0.03781167085387364,
-            0.040305134922835106,
-            0.016506123275818248,
-            0.004022458643233272,
-            0.21332148509046442,
-            0.11703750116052157,
-            0.022982496173459918,
-            0.2752845796519199
-        ],
-        "count": [
-            379670
-        ],
-        "q01": [
-            0.21004959634774392,
-            0.14560161913093803,
-            0.2052590162898912,
-            -0.5369660064173588,
-            -0.8629429801859549,
-            0.0631905487303123,
-            -0.13750467425810034,
-            -0.037845856240882526,
-            -0.994729639201217,
-            0.2249483291296886,
-            -0.16128431385295458,
-            0.14104011258437152,
-            0.4976900047376934,
-            -0.8631753311502214,
-            -0.09939100292126517,
-            -0.15262726686475844,
-            -0.06343461467732237,
-            -0.9983287660837792,
-            -1.600000023841858,
-            -1.600000023841858,
-            -0.0010095456504384162,
-            -0.04604267301938428,
-            -0.47010091989076913
-        ],
-        "q10": [
-            0.21400905455758995,
-            0.14957936847829248,
-            0.208982860560179,
-            -0.5303426512966148,
-            -0.8589827001090561,
-            0.06814264771941742,
-            -0.13122514702592947,
-            -0.03403519721494485,
-            -0.9940916699256955,
-            0.22504198528211625,
-            -0.16087719304771575,
-            0.17714936944149332,
-            0.5055617203745794,
-            -0.8585996863547513,
-            -0.09147755989399495,
-            -0.13693088844503848,
-            -0.04062019460712093,
-            -0.9970006467984592,
-            -1.600000023841858,
-            -1.600000023841858,
-            -0.00040223111642377705,
-            -0.03726524537741191,
-            -0.0002936119294643232
-        ],
-        "q50": [
-            0.226541227646428,
-            0.1611504350791927,
-            0.22078481312301754,
-            -0.5181034872533651,
-            -0.8512248323755858,
-            0.08078710087646936,
-            -0.11777357271168788,
-            -0.022601516231247128,
-            -0.9925259767181032,
-            0.25578365741664416,
-            -0.15037903776738207,
-            0.21806410332012185,
-            0.5177621597109164,
-            -0.8517430230384793,
-            -0.06878423522012243,
-            -0.1184204312404241,
-            0.006999871730528538,
-            -0.9925103212045192,
-            -1.599952363426569,
-            -1.3276239582482052,
-            0.0001905164142309978,
-            4.577997099733381e-06,
-            4.6519230192911146e-05
-        ],
-        "q90": [
-            0.2392330595419916,
-            0.1737625774856921,
-            0.23269168194985645,
-            -0.5054513570803449,
-            -0.8434446755065473,
-            0.09274510090706925,
-            -0.1041362951484087,
-            -0.010440252847309745,
-            -0.9908271984714679,
-            0.5370741815967227,
-            -0.07507440109745049,
-            0.22965734130934218,
-            0.5584394931532065,
-            -0.8251451552640938,
-            -0.005735912509912002,
-            -0.06279670488755754,
-            0.030674100245010525,
-            -0.986910813726108,
-            -1.5997154920270555,
-            -1.1366040189394615,
-            0.2777448239049143,
-            0.014655013392504392,
-            0.76078877950983
-        ],
-        "q99": [
-            0.2431848890822306,
-            0.1775432005895954,
-            0.23663549226431393,
-            -0.4987096798258345,
-            -0.8391105204731973,
-            0.09772563903212843,
-            -0.09788393618885528,
-            -0.006158806477781219,
-            -0.9899630670971606,
-            0.5694953113597769,
-            -0.044594348900661315,
-            0.23981588716414073,
-            0.57373246487415,
-            -0.8134666727463754,
-            0.023658116220239202,
-            -0.03333645114265544,
-            0.03407038030546734,
-            -0.9826541251773493,
-            -1.599376590959811,
-            -1.1158446889109113,
-            0.37812366821580673,
-            0.06888300054450863,
-            0.7856126176931633
-        ]
-    },
-    "observation.images.wrist_left": {
+    "observation.images.wrist_right": {
         "min": [
             [
                 [
@@ -1379,136 +469,1046 @@
             ],
             [
                 [
-                    0.984313725490196
+                    0.9882352941176471
                 ]
             ],
             [
                 [
-                    0.9098039215686274
+                    0.8862745098039215
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.5065857989590103
+                    0.5418206261685278
                 ]
             ],
             [
                 [
-                    0.3721861130432267
+                    0.4081129160337954
                 ]
             ],
             [
                 [
-                    0.2410326871289325
+                    0.243559388038085
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.017123310765332515
+                    0.02460412185223132
                 ]
             ],
             [
                 [
-                    0.01597750882382634
+                    0.030811876920445472
                 ]
             ],
             [
                 [
-                    0.013481793025153305
+                    0.025104587388863942
                 ]
             ]
         ],
         "count": [
-            75394
+            20926
         ],
         "q01": [
             [
                 [
-                    0.008693671243664543
+                    0.012689080619651483
                 ]
             ],
             [
                 [
-                    0.0038774605537032028
+                    0.003995244155295358
                 ]
             ],
             [
                 [
-                    -3.921568627450975e-13
+                    -3.9215686274509807e-13
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.03530978554189049
+                    0.09815146579412894
                 ]
             ],
             [
                 [
-                    0.009845663137219978
+                    0.04042935988487049
                 ]
             ],
             [
                 [
-                    0.0038525615054299267
+                    0.010837755461122298
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.4998322672620694
+                    0.508569687516166
                 ]
             ],
             [
                 [
-                    0.2854166168481178
+                    0.328556559536143
                 ]
             ],
             [
                 [
-                    0.16773384217123885
+                    0.1709126344905192
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9363216591478966
+                    0.9364678121222771
                 ]
             ],
             [
                 [
-                    0.8040870788705664
+                    0.8287230384647043
                 ]
             ],
             [
                 [
-                    0.5641473460592961
+                    0.5447958907651603
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9544081302074072
+                    0.9582943802213
                 ]
             ],
             [
                 [
-                    0.8524770333573826
+                    0.8899873155555914
                 ]
             ],
             [
                 [
-                    0.637837768029856
+                    0.6424233106069621
                 ]
             ]
         ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            42.5
+        ],
+        "mean": [
+            18.131877755326954
+        ],
+        "std": [
+            10.629468732033791
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            0.3394716138879107
+        ],
+        "q10": [
+            3.6027409338654954
+        ],
+        "q50": [
+            18.120173587619348
+        ],
+        "q90": [
+            32.6565407597421
+        ],
+        "q99": [
+            35.92396932108637
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            3.9999999999994186e-16
+        ],
+        "q10": [
+            3.999999999999418e-15
+        ],
+        "q50": [
+            1.999999999999709e-14
+        ],
+        "q90": [
+            3.5999999999994735e-14
+        ],
+        "q99": [
+            3.959999999999422e-14
+        ]
+    },
+    "action": {
+        "min": [
+            0.1632610559463501,
+            0.09883531928062439,
+            0.16574859619140625,
+            -0.5925661325454712,
+            -0.8936555981636047,
+            -0.0047483136877417564,
+            -0.22903935611248016,
+            -0.09575597196817398,
+            -0.9987735152244568,
+            -1.600000023841858,
+            0.22522586584091187,
+            -0.18949055671691895,
+            0.10483413934707642,
+            0.37983301281929016,
+            -0.9184675812721252,
+            -0.4458232820034027,
+            -0.29718881845474243,
+            -0.2747703492641449,
+            -0.9999486207962036,
+            -1.600000023841858,
+            0.0,
+            -0.06479174643754959,
+            -0.785398006439209
+        ],
+        "max": [
+            0.2977501153945923,
+            0.23685592412948608,
+            0.29337078332901,
+            -0.44829922914505005,
+            -0.7966378927230835,
+            0.1681237518787384,
+            -0.04140423983335495,
+            0.056790512055158615,
+            -0.9721052646636963,
+            -1.600000023841858,
+            0.6298551559448242,
+            0.04666721075773239,
+            0.27624112367630005,
+            0.8502371907234192,
+            -0.5257220268249512,
+            0.1927516609430313,
+            0.12131465971469879,
+            0.3742891550064087,
+            -0.8942046165466309,
+            0.10000000149011612,
+            0.10000001639127731,
+            0.08319124579429626,
+            0.785398006439209
+        ],
+        "mean": [
+            0.226596712661684,
+            0.16133325204231297,
+            0.2235503644512078,
+            -0.5165573396733001,
+            -0.8519978958700045,
+            0.08037302415194585,
+            -0.1203757407391426,
+            -0.020633673294779387,
+            -0.9921117473921953,
+            -1.5999882880124774,
+            0.3118829890940556,
+            -0.1407870640788667,
+            0.21465046282441608,
+            0.5277009402162929,
+            -0.8450644833525036,
+            -0.06501359532160914,
+            -0.10741169894337216,
+            0.009342501296184589,
+            -0.993471344854357,
+            -0.8739130891481802,
+            0.04005742637017325,
+            0.002185096696022937,
+            0.04566919381383323
+        ],
+        "std": [
+            0.01895859333433886,
+            0.01836864124670914,
+            0.01839653142913899,
+            0.017605478393801693,
+            0.010958543131074194,
+            0.01944880131972227,
+            0.01918338761148934,
+            0.020592049210154718,
+            0.002492661042597202,
+            0.00789617084131619,
+            0.12117014388870151,
+            0.03248645374171984,
+            0.023945803142557873,
+            0.03668438820427908,
+            0.02879041499854746,
+            0.031560192829234564,
+            0.023402597201618393,
+            0.028862231008183727,
+            0.003177806246839321,
+            0.8409191412213333,
+            0.04830168131963619,
+            0.012193553492890261,
+            0.16888037432177033
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            0.2079823939968729,
+            0.1423515498241938,
+            0.20429752688608385,
+            -0.5330977008342664,
+            -0.8622133587729526,
+            0.06096092062660859,
+            -0.1394521221462937,
+            -0.0409766647419165,
+            -0.994363154124031,
+            -1.600000023841858,
+            0.22524151419926486,
+            -0.16113192586174974,
+            0.12852128638628546,
+            0.5025878328740064,
+            -0.8607594928691171,
+            -0.09591762005818533,
+            -0.14943566926319443,
+            -0.06798213557562674,
+            -0.9978619307981726,
+            -1.600000023841858,
+            -1.000000013351432e-10,
+            -0.009773815619990215,
+            -0.3526490734525479
+        ],
+        "q10": [
+            0.21368199943286323,
+            0.14782187441503994,
+            0.21000296759274298,
+            -0.5282743845229684,
+            -0.8591078157229988,
+            0.06665396682493042,
+            -0.13358978672013638,
+            -0.035139227167000645,
+            -0.9937422751956471,
+            -1.600000023841858,
+            0.22524151419926486,
+            -0.16075970793926733,
+            0.18005852356421911,
+            0.5126031164380852,
+            -0.8553166113429059,
+            -0.08538993322661981,
+            -0.12203862721632577,
+            -0.0324579632364347,
+            -0.9959455766589572,
+            -1.600000023841858,
+            -1.000000013351432e-10,
+            -4.687303534921906e-06,
+            -0.00013563797840868757
+        ],
+        "q50": [
+            0.22649004149994625,
+            0.16119816661422318,
+            0.22335280408670372,
+            -0.5166254949935934,
+            -0.8520586355945847,
+            0.08030848350273417,
+            -0.12030465182400747,
+            -0.02065852816601092,
+            -0.9921778815432365,
+            -1.600000023841858,
+            0.23094413877749304,
+            -0.1549711699936138,
+            0.22097551035998003,
+            0.5194595185153643,
+            -0.8507859339961503,
+            -0.07175276690206987,
+            -0.11137841664072373,
+            0.016424550049520228,
+            -0.9934550828958508,
+            -1.5202618023978829,
+            0.00041223847790601884,
+            3.140448493586767e-07,
+            -2.980402771500841e-05
+        ],
+        "q90": [
+            0.23947692762546874,
+            0.17505722732308032,
+            0.23748615735813333,
+            -0.5047733272440885,
+            -0.844773381832579,
+            0.09400948932385607,
+            -0.10726187943470301,
+            -0.006340875502629813,
+            -0.9903766220970892,
+            -1.600000023841858,
+            0.5294463428777739,
+            -0.0910783876632827,
+            0.2350975970342984,
+            0.5721010976686328,
+            -0.8149745297243287,
+            -0.014941220998025966,
+            -0.07550597989975981,
+            0.027315000821836913,
+            -0.9918821674748225,
+            0.0999197766342461,
+            0.09999332353067585,
+            0.003048839914386475,
+            0.39154088345667365
+        ],
+        "q99": [
+            0.24508386759358752,
+            0.18064204055159627,
+            0.24316197181220428,
+            -0.4993435388663119,
+            -0.8416753839097405,
+            0.0998028575659406,
+            -0.10149283784038023,
+            -0.0005391632450147805,
+            -0.9895446866242895,
+            -1.600000023841858,
+            0.5663487574193424,
+            -0.051103976832918084,
+            0.24841411279953343,
+            0.5941487618896739,
+            -0.7957059661167342,
+            0.018174050545051085,
+            -0.0433818768329576,
+            0.03307867122920354,
+            -0.9872681327135707,
+            0.09999197900452905,
+            0.09999934205359622,
+            0.04563867799963218,
+            0.46292908762421564
+        ]
+    },
+    "is_last": {
+        "min": [
+            0
+        ],
+        "max": [
+            1
+        ],
+        "mean": [
+            0.0013868479059515062
+        ],
+        "std": [
+            0.03721457454865316
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            -9.999999999999998e-11
+        ],
+        "q10": [
+            -9.999999999999998e-11
+        ],
+        "q50": [
+            -9.999999999999998e-11
+        ],
+        "q90": [
+            -9.999999999999998e-11
+        ],
+        "q99": [
+            -9.999999999999998e-11
+        ]
+    },
+    "observation.state": {
+        "min": [
+            0.16817119717597961,
+            0.1020406186580658,
+            0.16695904731750488,
+            -0.5940805673599243,
+            -0.8946648836135864,
+            -0.0004789140948560089,
+            -0.22658611834049225,
+            -0.09209787100553513,
+            -0.9988016486167908,
+            -1.600000023841858,
+            0.22506141662597656,
+            -0.18828529119491577,
+            0.10704892873764038,
+            0.37438729405403137,
+            -0.9209537506103516,
+            -0.44377705454826355,
+            -0.3054123818874359,
+            -0.27169784903526306,
+            -0.9999935030937195,
+            -1.600000023841858,
+            -0.0035734360571950674,
+            -0.06495177745819092,
+            -0.7864039540290833
+        ],
+        "max": [
+            0.295301228761673,
+            0.23419810831546783,
+            0.2914409041404724,
+            -0.4460783004760742,
+            -0.795381486415863,
+            0.16349729895591736,
+            -0.044407669454813004,
+            0.052048712968826294,
+            -0.972787082195282,
+            -1.597389817237854,
+            0.6296029090881348,
+            0.041285596787929535,
+            0.2721046805381775,
+            0.8416315913200378,
+            -0.53952956199646,
+            0.1786913424730301,
+            0.10169639438390732,
+            0.36735936999320984,
+            -0.8946165442466736,
+            -0.9979820251464844,
+            0.1002577394247055,
+            0.08329527825117111,
+            0.7854212522506714
+        ],
+        "mean": [
+            0.22657076952161923,
+            0.1613090984864073,
+            0.22349950700593205,
+            -0.5165850975637619,
+            -0.8519925790201821,
+            0.080284654864019,
+            -0.12031653969330353,
+            -0.020567331179177386,
+            -0.9921306881514391,
+            -1.599939930466367,
+            0.3111279271184455,
+            -0.14119054175404228,
+            0.2130277491966365,
+            0.5264273121271458,
+            -0.8459071877985251,
+            -0.06501949101657055,
+            -0.11055742284333679,
+            0.007540408009642378,
+            -0.9931888647892079,
+            -1.3970476362347868,
+            0.040056839832607695,
+            -9.836385431804134e-05,
+            0.045917631045543625
+        ],
+        "std": [
+            0.01858167066099326,
+            0.017985760911828096,
+            0.017976497556931887,
+            0.01786746020865911,
+            0.011171115586249013,
+            0.018941882978776473,
+            0.019354942280224607,
+            0.019919017017226044,
+            0.002520816019758344,
+            0.004724627072899009,
+            0.11974024181076925,
+            0.03156313546379886,
+            0.022999366610877196,
+            0.03687678720529378,
+            0.02855410520102392,
+            0.03020901435573293,
+            0.02237454988949026,
+            0.028029150060880574,
+            0.0031383970848078463,
+            0.22234099875703386,
+            0.04817568112441805,
+            0.015100245396836909,
+            0.169477492645295
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            0.20930996286751896,
+            0.1436741009060479,
+            0.20559365566645577,
+            -0.5360811285795577,
+            -0.8639264353294552,
+            0.060451217877846866,
+            -0.14178342509035044,
+            -0.03981439663402575,
+            -0.9946111546348924,
+            -1.600000023841858,
+            0.22516051584486574,
+            -0.1614428413472261,
+            0.13295714482562793,
+            0.4999616147747855,
+            -0.8623779156409507,
+            -0.09667397468209872,
+            -0.14856551314372338,
+            -0.060743943815985565,
+            -0.9976121935872448,
+            -1.600000023841858,
+            -0.0005219492584911139,
+            -0.027859196052869774,
+            -0.3585206308982471
+        ],
+        "q10": [
+            0.21387764920649596,
+            0.14810714607874564,
+            0.21015801868753942,
+            -0.52937409153715,
+            -0.8599597341253101,
+            0.0662249685771979,
+            -0.13431723317594588,
+            -0.03476652501718783,
+            -0.9938474192628474,
+            -1.600000023841858,
+            0.22516149211644845,
+            -0.16081269016911098,
+            0.17972191818955155,
+            0.5086084720387191,
+            -0.8577441749386083,
+            -0.08614627547050935,
+            -0.1255081480866926,
+            -0.03243037765185056,
+            -0.9957922284384408,
+            -1.600000023841858,
+            -0.0002696030563616074,
+            -0.02004828728853878,
+            -0.00021687801230881488
+        ],
+        "q50": [
+            0.22639180043188756,
+            0.1611710363467541,
+            0.22322728890087742,
+            -0.5166682010829574,
+            -0.8520170737392693,
+            0.08040366999449029,
+            -0.12029353751046397,
+            -0.02070535256610692,
+            -0.9922107676415743,
+            -1.5999722607967015,
+            0.2318047087180487,
+            -0.15506482942853161,
+            0.22083833909965805,
+            0.5191468277493949,
+            -0.8509703857048405,
+            -0.07096104199035783,
+            -0.11720158796336265,
+            0.011731867382577903,
+            -0.9928810486296795,
+            -1.5470390092359372,
+            0.0007270639143344071,
+            1.0356541754076744e-06,
+            1.4114073545195039e-05
+        ],
+        "q90": [
+            0.23925815336774076,
+            0.17473206609660064,
+            0.23714232151603457,
+            -0.5036629076266271,
+            -0.8439565752953818,
+            0.09406896977873216,
+            -0.10635965918855313,
+            -0.006240004535953315,
+            -0.9902990973520264,
+            -1.5998785283943038,
+            0.5247168445619182,
+            -0.0931213376909089,
+            0.23202635232167923,
+            0.5712262355319351,
+            -0.8155723934451504,
+            -0.018388700878044374,
+            -0.07981810063248244,
+            0.027333258036861003,
+            -0.9914948669130265,
+            -1.1370334326929166,
+            0.10001015241233478,
+            0.007749204684771267,
+            0.3947196479102809
+        ],
+        "q99": [
+            0.24380234635474954,
+            0.17924550227605232,
+            0.24169916141915326,
+            -0.4967666833057517,
+            -0.8396158009843773,
+            0.10025656548601629,
+            -0.0990426218959707,
+            -0.0012012654483984186,
+            -0.9892331732460653,
+            -1.5995484274341771,
+            0.5645849677729914,
+            -0.05608009873119548,
+            0.2444027053087717,
+            0.5930683107358582,
+            -0.7975024251549149,
+            0.010180717389892164,
+            -0.05036132966520807,
+            0.03215679547138237,
+            -0.9874185783095816,
+            -1.1255020782223286,
+            0.10009358752617402,
+            0.04649633361867565,
+            0.4629842343595349
+        ]
+    },
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            850
+        ],
+        "mean": [
+            362.6375551065392
+        ],
+        "std": [
+            212.5893746406758
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            6.789432279622663
+        ],
+        "q10": [
+            72.05481867883245
+        ],
+        "q50": [
+            362.3932700404116
+        ],
+        "q90": [
+            653.1308151933204
+        ],
+        "q99": [
+            718.479386419863
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            108879
+        ],
+        "mean": [
+            54439.5
+        ],
+        "std": [
+            31430.94865335756
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            54083.651877173084
+        ],
+        "q10": [
+            54148.917263572286
+        ],
+        "q50": [
+            54439.32719952972
+        ],
+        "q90": [
+            54729.99326008682
+        ],
+        "q99": [
+            54795.34183131334
+        ]
+    },
+    "is_first": {
+        "min": [
+            0
+        ],
+        "max": [
+            1
+        ],
+        "mean": [
+            0.0013868479059515062
+        ],
+        "std": [
+            0.03721457454865316
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            -9.999999999999998e-11
+        ],
+        "q10": [
+            -9.999999999999998e-11
+        ],
+        "q50": [
+            -9.999999999999998e-11
+        ],
+        "q90": [
+            -9.999999999999998e-11
+        ],
+        "q99": [
+            -9.999999999999998e-11
+        ]
+    },
+    "joint_angles": {
+        "min": [
+            -0.08346124738454819,
+            -0.31782448291778564,
+            -0.5016427040100098,
+            -0.7453469038009644,
+            0.12205133587121964,
+            2.0837433338165283,
+            -1.3390698432922363,
+            -0.5046952962875366,
+            0.2742496132850647,
+            -0.9379021525382996,
+            -1.7444840669631958,
+            0.06569378077983856,
+            0.0,
+            0.039938583970069885
+        ],
+        "max": [
+            0.3006872236728668,
+            0.40887296199798584,
+            1.443219542503357,
+            -0.2147684246301651,
+            2.4535889625549316,
+            2.6071550846099854,
+            1.3161791563034058,
+            0.2614924907684326,
+            1.570946455001831,
+            -0.214836984872818,
+            1.7454460859298706,
+            0.3637564778327942,
+            0.03999999910593033,
+            0.03999999910593033
+        ],
+        "mean": [
+            0.04134022120000937,
+            0.0007057134712646875,
+            -0.17443318647147046,
+            -0.49290967526859997,
+            2.07825209117829,
+            2.3413856242922275,
+            -0.12522000957370727,
+            -0.06546617548688637,
+            0.4918364184432985,
+            -0.5225426172488625,
+            -0.1845488578291209,
+            0.17685373169216023,
+            0.035198583720357314,
+            0.03999880060925122
+        ],
+        "std": [
+            0.054864301761427224,
+            0.08896429204058798,
+            0.4473598804331192,
+            0.08366684300111545,
+            0.41060775933579313,
+            0.06817679292389453,
+            0.06284196355147655,
+            0.08317475016721244,
+            0.05681415733472477,
+            0.09281217476007715,
+            0.03865519995284627,
+            0.03167848285721017,
+            0.005304400659890326,
+            9.576080039695853e-06
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            -0.0020218753171161795,
+            -0.08617120846560418,
+            -0.5002908835122829,
+            -0.5728749184168256,
+            1.1553117769243961,
+            2.2778956596416626,
+            -0.25166863860691346,
+            -0.1512887753759215,
+            0.39179500703719194,
+            -0.6165529006591639,
+            -0.25121403848581064,
+            0.14914651724728373,
+            0.028823206800134858,
+            0.039989378580268256
+        ],
+        "q10": [
+            -0.0003501449958053188,
+            -0.06484324096008814,
+            -0.5002903890378696,
+            -0.5499888625823232,
+            1.3571777052912033,
+            2.2930168372648305,
+            -0.2152677118746573,
+            -0.12596026113066322,
+            0.4197511083802097,
+            -0.5914940774711697,
+            -0.2233748732406883,
+            0.15465558723783462,
+            0.02910597681899928,
+            0.03999714418102212
+        ],
+        "q50": [
+            0.020933286219472016,
+            -0.00020176946142103495,
+            -0.4582754323679205,
+            -0.49376701864882505,
+            2.35296841475862,
+            2.3411673358280236,
+            -0.11914799260061229,
+            -0.06513845718092039,
+            0.497577349949217,
+            -0.5218068107116273,
+            -0.1762454884174266,
+            0.17677138076490695,
+            0.03869885353482064,
+            0.039999351551706426
+        ],
+        "q90": [
+            0.12726415205331587,
+            0.06777049442210877,
+            0.6211861902110436,
+            -0.43526841647882714,
+            2.3666676423332316,
+            2.389479941001434,
+            -0.0734830999349473,
+            -0.005881564366245978,
+            0.5435489558351745,
+            -0.4556841883422874,
+            -0.16224368532629263,
+            0.19995013689506888,
+            0.03999889412803919,
+            0.03999999579401548
+        ],
+        "q99": [
+            0.16498651918805304,
+            0.08948962161330254,
+            0.8123858235131841,
+            -0.4148108085797799,
+            2.368810558439252,
+            2.4041395535124175,
+            -0.06737669879787843,
+            0.016014475658195117,
+            0.5509131490320794,
+            -0.4310450480036928,
+            -0.1568368280511314,
+            0.20556973158440373,
+            0.03999988860814118,
+            0.039999998774738865
+        ]
+    },
+    "initial_pose": {
+        "min": [
+            -0.05515098571777344,
+            -1.9507122039794922,
+            0.6073987483978271,
+            -1.947507755062361e-08,
+            4.600912539842739e-09,
+            -0.1372125893831253
+        ],
+        "max": [
+            1.4443329572677612,
+            -0.681342601776123,
+            1.0,
+            1.1275164979451802e-07,
+            7.574781690777854e-09,
+            0.7943970561027527
+        ],
+        "mean": [
+            1.2040515086915373,
+            -1.0298258864801868,
+            0.8923213068694205,
+            4.17707406323417e-08,
+            6.759137820568646e-09,
+            0.2942977165874479
+        ],
+        "std": [
+            0.3441745425198903,
+            0.24469716400741298,
+            0.14218935738041313,
+            4.418986423491811e-08,
+            1.077061138600083e-09,
+            0.311341761757663
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            0.32451567380611623,
+            -1.4008576252845046,
+            0.661525452190642,
+            2.245124377753633e-09,
+            5.010729931869241e-09,
+            0.015834972963296372
+        ],
+        "q10": [
+            0.5987821881646324,
+            -1.3341525777462926,
+            0.6808263391896948,
+            2.257222466527476e-09,
+            5.1571549520977665e-09,
+            0.015899512719742125
+        ],
+        "q50": [
+            1.3660173603088137,
+            -0.98694875495209,
+            0.9834399011543047,
+            1.7458901294788604e-08,
+            7.449360664528344e-09,
+            0.12298288649684003
+        ],
+        "q90": [
+            1.4180723428667414,
+            -0.7598736917980161,
+            0.9993366087553054,
+            1.0394892979157296e-07,
+            7.569774280361318e-09,
+            0.7323683373763279
+        ],
+        "q99": [
+            1.4182795944902478,
+            -0.7575557458262752,
+            0.9994115143016675,
+            1.0636363475357368e-07,
+            7.57036292037118e-09,
+            0.7492969198975244
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            150
+        ],
+        "mean": [
+            75.56522777369578
+        ],
+        "std": [
+            43.445511613475595
+        ],
+        "count": [
+            108880
+        ],
+        "q01": [
+            75.56522777369578
+        ],
+        "q10": [
+            75.56522777369578
+        ],
+        "q50": [
+            75.56522777369578
+        ],
+        "q90": [
+            75.56522777369587
+        ],
+        "q99": [
+            75.56522777369587
+        ]
     }
 }

meta/tasks.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:36a74ea5507f0d51c25fdf872620211e80a655dd96ed1a2603a038a078839224
-size 2186
+oid sha256:31d3a51cef6629f61ee4966d42706c064a2331a854b57d30d4edca18e69c2864
+size 2389

videos/observation.images.front/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:41a919de0909fe2ec00faec2c829829fd3e22136dde1ed2ae54ad8a5594a3cd7
-size 206919919
+oid sha256:ab5b01f1532f179fcca1df1acc1471e6f3a7dce6314fae2d95cea4e0dff98cbe
+size 207839410

videos/observation.images.front/chunk-000/file-001.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:09624814632d9b6a6fb79df820994ff7f107020d27440291c9f3126ed51fe9a8
-size 208088007
+oid sha256:4e868a963e26502cfcd8bf2bc8f08273bc33619f7c5822c199f9c803b8f89691
+size 208077457

videos/observation.images.front/chunk-000/file-002.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:84311a9e3dc9d023b82102f7469794f59eb7c87304a44d9d7028e2c86579c3ef
-size 207686595
+oid sha256:d9ca2cc7529e3fbda4c0fd5a2416fcf9056d62cefa96857bc610b6fab58c4e0d
+size 95217661

videos/observation.images.wrist_left/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0051354806ad8adb50dac154a62489ea758a055505b4af5da4f097e53dd7eb78
-size 209273074
+oid sha256:c88cdab347a6cb18ba3e0e492be30ab1e7464331d9dac30761ceac2146178487
+size 209192619

videos/observation.images.wrist_left/chunk-000/file-001.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:00de6c8082d3b221c81f4f3a25bd0cb9bfc401138067643f2538e7c23d77c608
-size 208545923
+oid sha256:06717eb5dfb2dcc91d750faa5d6114c8740e50d60b4d40cbf0bc7e3997718336
+size 153003072

videos/observation.images.wrist_right/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:692906ffa6c17c30b33c51e6e0022459f5cb93807efa200b60c0e009aefea6f0
-size 208052750
+oid sha256:3970d204bf5def69c714a8dd48edcccfea4cc12399d150f73b12168a22a86d15
+size 207471762

videos/observation.images.wrist_right/chunk-000/file-001.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:af9edaa292f4879e50564420ecb81f7dbe1381bd6a969b8a153e736fb476f805
-size 208601037
+oid sha256:e7b26540f17c2e995b6d045def1fa4eb606a02384bdb3f50138b8fd2404b1e98
+size 154023354