Upload folder using huggingface_hub

data/chunk-000/file-000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ff7bf5cfe050715e7a21070d5b9dfdf4d34acbcfad2e13a44ac2bb28c53f207e
-size 16229424
+oid sha256:e5432342901d6df0556c0b017d59deb9a3e933aa358fce405b8f754ba131d92d
+size 16258953

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:961e8144eefe0bfe77588b80d2d01b81afebada9398e572d700d47158715d88f
-size 2993460
+oid sha256:90f735f0614c89394bc57c2d36927173f5a9e2e7a7365ec66e525245d7ecf1ed
+size 3107071

meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v3.0",
     "robot_type": "kuavo4pro",
     "total_episodes": 1000,
-    "total_frames": 145361,
+    "total_frames": 159620,
     "total_tasks": 1,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,

meta/stats.json

@@ -1,5 +1,37 @@
 {
-    "observation.depth_r": {
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            159620
+        ],
+        "q01": [
+            3.9999999999994186e-16
+        ],
+        "q10": [
+            3.999999999999415e-15
+        ],
+        "q50": [
+            1.9999999999997084e-14
+        ],
+        "q90": [
+            3.5999999999994754e-14
+        ],
+        "q99": [
+            3.95999999999942e-14
+        ]
+    },
+    "observation.depth_h": {
         "min": [
             [
                 [
@@ -37,34 +69,34 @@
         "mean": [
             [
                 [
-                    0.6020545876715694
+                    0.5696177215175641
                 ]
             ],
             [
                 [
-                    0.6020545876715694
+                    0.5696177215175641
                 ]
             ],
             [
                 [
-                    0.6020545876715694
+                    0.5696177215175641
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.015387373634340281
+                    0.00028020220288047827
                 ]
             ],
             [
                 [
-                    0.015387373634340281
+                    0.00028020220288047827
                 ]
             ],
             [
                 [
-                    0.015387373634340281
+                    0.00028020220288047827
                 ]
             ]
         ],
@@ -74,289 +106,90 @@
         "q01": [
             [
                 [
-                    -3.9215686274508843e-13
+                    0.03134439027505041
                 ]
             ],
             [
                 [
-                    -3.9215686274508843e-13
+                    0.03134439027505041
                 ]
             ],
             [
                 [
-                    -3.9215686274508843e-13
+                    0.03134439027505041
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.011897294411095043
+                    0.11930277135799497
                 ]
             ],
             [
                 [
-                    0.011897294411095043
+                    0.11930277135799497
                 ]
             ],
             [
                 [
-                    0.011897294411095043
+                    0.11930277135799497
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.9959000578943883
+                    0.4635407487221134
                 ]
             ],
             [
                 [
-                    0.9959000578943883
+                    0.4635407487221134
                 ]
             ],
             [
                 [
-                    0.9959000578943883
+                    0.4635407487221134
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9960427566772297
+                    0.9960219752055806
                 ]
             ],
             [
                 [
-                    0.9960427566772297
+                    0.9960219752055806
                 ]
             ],
             [
                 [
-                    0.9960427566772297
+                    0.9960219752055806
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9960748639033704
+                    0.9960727857562077
                 ]
             ],
             [
                 [
-                    0.9960748639033704
+                    0.9960727857562077
                 ]
             ],
             [
                 [
-                    0.9960748639033704
+                    0.9960727857562077
                 ]
             ]
         ]
     },
-    "index": {
-        "min": [
-            0
-        ],
-        "max": [
-            145360
-        ],
-        "mean": [
-            72680.0
-        ],
-        "std": [
-            41962.106238843655
-        ],
-        "count": [
-            145361
-        ],
-        "q01": [
-            72608.7309849587
-        ],
-        "q10": [
-            72621.54578700221
-        ],
-        "q50": [
-            72679.79978057137
-        ],
-        "q90": [
-            72738.24327991392
-        ],
-        "q99": [
-            72751.2690150413
-        ]
-    },
-    "observation.state": {
-        "min": [
-            -0.6247438192367554,
-            -0.2987966239452362,
-            -1.1908559799194336,
-            -2.2906100749969482,
-            -1.5767550468444824,
-            -0.8411893844604492,
-            -0.46631330251693726,
-            -0.00021677538461517543,
-            -0.6399357318878174,
-            -0.5829044580459595,
-            -0.4487045407295227,
-            -2.312152624130249,
-            1.002497673034668,
-            -0.3478494882583618,
-            -0.3698173463344574,
-            -0.00015742018877062947
-        ],
-        "max": [
-            0.6437586545944214,
-            0.5470309853553772,
-            0.4540359377861023,
-            -0.13516275584697723,
-            -1.0192216634750366,
-            0.3666786551475525,
-            0.696586012840271,
-            0.8656355142593384,
-            0.6502150893211365,
-            0.3148576319217682,
-            1.01033353805542,
-            -0.1290694624185562,
-            1.5745214223861694,
-            0.8751073479652405,
-            0.6038703322410583,
-            0.865422785282135
-        ],
-        "mean": [
-            0.1952468330994019,
-            0.17389425049808033,
-            -0.26405799779156686,
-            -1.855399345377519,
-            -1.5467135420627027,
-            -0.19885852787210018,
-            0.029400527027940535,
-            0.20193046651315558,
-            0.18993814045771135,
-            -0.17673726115366298,
-            0.2619180018561437,
-            -1.8498575244944604,
-            1.544361927531433,
-            0.19928664036000363,
-            0.02523821749415679,
-            0.2030240640772504
-        ],
-        "std": [
-            0.2705286455257901,
-            0.17513227633689837,
-            0.27599736656478757,
-            0.36382301266093364,
-            0.048809830262921634,
-            0.2478647339382771,
-            0.1332257642316965,
-            0.2573724432894719,
-            0.2730884243028719,
-            0.1743885376403659,
-            0.2789223987014407,
-            0.37162019758920845,
-            0.050767290813287215,
-            0.24973755717703625,
-            0.13571718274060704,
-            0.2584254991461701
-        ],
-        "count": [
-            145361
-        ],
-        "q01": [
-            -0.3677250479939497,
-            -0.13407788479767904,
-            -0.7714732879301753,
-            -2.2521170954182193,
-            -1.5710766376577985,
-            -0.6859504072747986,
-            -0.09533122793608098,
-            0.0029267530846543376,
-            -0.3691309624707098,
-            -0.35081534239732315,
-            -0.11130708430675652,
-            -2.2516226019920045,
-            1.4636566614801485,
-            -0.025621319397309994,
-            -0.10920554527254496,
-            0.002928913323708215
-        ],
-        "q10": [
-            -0.2761333135267816,
-            -0.07498472309072016,
-            -0.706550630080936,
-            -2.140397541446154,
-            -1.569936011647192,
-            -0.6304796456685919,
-            -0.08460162268581682,
-            0.00323555682189389,
-            -0.27813579579354347,
-            -0.3494453189817463,
-            -0.06813815944831236,
-            -2.139081188489887,
-            1.4854055308397094,
-            -0.02117304812050473,
-            -0.0940057456066378,
-            0.0032355847252856203
-        ],
-        "q50": [
-            0.312646842846439,
-            0.14584018993782927,
-            -0.35489753380654776,
-            -2.0354232706273017,
-            -1.5652305497634769,
-            -0.13561695213120922,
-            0.01208209400805819,
-            0.21812620906584068,
-            0.30856206843502065,
-            -0.1554113438102839,
-            0.35480208068761393,
-            -2.031759212390835,
-            1.564479834983078,
-            0.1324149139394816,
-            0.011081165681143005,
-            0.22864761838118602
-        ],
-        "q90": [
-            0.4366728754324712,
-            0.3493983260224807,
-            0.061517296254738174,
-            -1.211686583582003,
-            -1.492343892758523,
-            0.018754153156994965,
-            0.24803046342700377,
-            0.5121849756037732,
-            0.432845108181815,
-            0.07036834923773466,
-            0.7043140772561756,
-            -1.1919843872677067,
-            1.5697397672311555,
-            0.6322238951959587,
-            0.24802927597409016,
-            0.5042610618326013
-        ],
-        "q99": [
-            0.5475806424059905,
-            0.3512053958359596,
-            0.10356756051385967,
-            -1.1705255263774585,
-            -1.4695087886289178,
-            0.023057388751219633,
-            0.30430158743666513,
-            0.526483366308666,
-            0.5455921690965632,
-            0.13384312387623384,
-            0.773803259102049,
-            -1.1528296182634992,
-            1.5709904183612458,
-            0.6876783401347031,
-            0.304391867041948,
-            0.5177568816208594
-        ]
-    },
-    "observation.images.wrist_cam_l": {
+    "observation.depth_l": {
         "min": [
             [
                 [
@@ -377,51 +210,51 @@
         "max": [
             [
                 [
-                    1.0
+                    0.996078431372549
                 ]
             ],
             [
                 [
-                    1.0
+                    0.996078431372549
                 ]
             ],
             [
                 [
-                    1.0
+                    0.996078431372549
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.3666624825674015
+                    0.4319668462806373
                 ]
             ],
             [
                 [
-                    0.3000196447099671
+                    0.4319668462806373
                 ]
             ],
             [
                 [
-                    0.2335301311335784
+                    0.4319668462806373
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.005266569656095178
+                    0.04362314846646876
                 ]
             ],
             [
                 [
-                    0.004648940157236865
+                    0.04362314846646876
                 ]
             ],
             [
                 [
-                    0.005401013033508776
+                    0.04362314846646876
                 ]
             ]
         ],
@@ -431,12 +264,12 @@
         "q01": [
             [
                 [
-                    0.001891311331262674
+                    -3.9215686274508843e-13
                 ]
             ],
             [
                 [
-                    0.0007454230610194538
+                    -3.9215686274508843e-13
                 ]
             ],
             [
@@ -448,68 +281,68 @@
         "q10": [
             [
                 [
-                    0.08959029487679367
+                    0.011909109381797884
                 ]
             ],
             [
                 [
-                    0.08836646389512867
+                    0.011909109381797884
                 ]
             ],
             [
                 [
-                    0.05897802618974886
+                    0.011909109381797884
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.4153474143056292
+                    0.20811452095594304
                 ]
             ],
             [
                 [
-                    0.31991846614301517
+                    0.20811452095594304
                 ]
             ],
             [
                 [
-                    0.24308904648599441
+                    0.20811452095594304
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.5341698566914032
+                    0.9960165297843692
                 ]
             ],
             [
                 [
-                    0.45958050094877007
+                    0.9960165297843692
                 ]
             ],
             [
                 [
-                    0.37657812035879457
+                    0.9960165297843692
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.7112825001450663
+                    0.9960722412140847
                 ]
             ],
             [
                 [
-                    0.6613679614502092
+                    0.9960722412140847
                 ]
             ],
             [
                 [
-                    0.6376191140134538
+                    0.9960722412140847
                 ]
             ]
         ]
@@ -552,34 +385,34 @@
         "mean": [
             [
                 [
-                    0.3661024902818627
+                    0.31203562433210746
                 ]
             ],
             [
                 [
-                    0.2995289478880716
+                    0.3400171771384806
                 ]
             ],
             [
                 [
-                    0.23310391470179748
+                    0.32502663971405227
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.004946070975297117
+                    0.011047640060928975
                 ]
             ],
             [
                 [
-                    0.00449728317530267
+                    0.012606850395695937
                 ]
             ],
             [
                 [
-                    0.005540114429237303
+                    0.011393077999170493
                 ]
             ]
         ],
@@ -589,12 +422,12 @@
         "q01": [
             [
                 [
-                    0.0015809820116794542
+                    -3.9215686274508843e-13
                 ]
             ],
             [
                 [
-                    0.000606197989594204
+                    -3.9215686274508843e-13
                 ]
             ],
             [
@@ -606,73 +439,73 @@
         "q10": [
             [
                 [
-                    0.08932793114203429
+                    0.06946572227432074
                 ]
             ],
             [
                 [
-                    0.08823646077323383
+                    0.08658991644393081
                 ]
             ],
             [
                 [
-                    0.05886925393442406
+                    0.08650080448680121
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.41452394503691714
+                    0.2692136748526834
                 ]
             ],
             [
                 [
-                    0.3190387472056025
+                    0.2750956333444345
                 ]
             ],
             [
                 [
-                    0.24232723660078806
+                    0.26922499512620746
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.5342424353346065
+                    0.5660180520608378
                 ]
             ],
             [
                 [
-                    0.45971855985316573
+                    0.5657199848628166
                 ]
             ],
             [
                 [
-                    0.37686092144659816
+                    0.5673773571176352
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.7065573385785678
+                    0.8279584558830771
                 ]
             ],
             [
                 [
-                    0.6536799101368339
+                    0.8244034151974555
                 ]
             ],
             [
                 [
-                    0.6285568641732076
+                    0.8262114153669813
                 ]
             ]
         ]
     },
-    "observation.images.head_cam_h": {
+    "observation.depth_r": {
         "min": [
             [
                 [
@@ -693,51 +526,51 @@
         "max": [
             [
                 [
-                    1.0
+                    0.996078431372549
                 ]
             ],
             [
                 [
-                    1.0
+                    0.996078431372549
                 ]
             ],
             [
                 [
-                    1.0
+                    0.996078431372549
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.5726266796303101
+                    0.5431310554963232
                 ]
             ],
             [
                 [
-                    0.44000306774305553
+                    0.5431310554963232
                 ]
             ],
             [
                 [
-                    0.32014416159517983
+                    0.5431310554963232
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.004750421094265555
+                    0.031159397862021154
                 ]
             ],
             [
                 [
-                    0.004693580465061657
+                    0.031159397862021154
                 ]
             ],
             [
                 [
-                    0.00456881975587283
+                    0.031159397862021154
                 ]
             ]
         ],
@@ -747,85 +580,85 @@
         "q01": [
             [
                 [
-                    0.0645196009806789
+                    -3.9215686274508843e-13
                 ]
             ],
             [
                 [
-                    0.05404714915767537
+                    -3.9215686274508843e-13
                 ]
             ],
             [
                 [
-                    0.013617427674220896
+                    -3.9215686274508843e-13
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.3586094232939942
+                    0.01189153359635052
                 ]
             ],
             [
                 [
-                    0.21723165479859846
+                    0.01189153359635052
                 ]
             ],
             [
                 [
-                    0.07607981804030349
+                    0.01189153359635052
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.6562561390815863
+                    0.5935933236399807
                 ]
             ],
             [
                 [
-                    0.5140815665286922
+                    0.5935933236399807
                 ]
             ],
             [
                 [
-                    0.3835881868893796
+                    0.5935933236399807
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.7423080314866862
+                    0.9960352482027444
                 ]
             ],
             [
                 [
-                    0.5995835462054964
+                    0.9960352482027444
                 ]
             ],
             [
                 [
-                    0.46936523124770096
+                    0.9960352482027444
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.996287611417474
+                    0.9960741130559216
                 ]
             ],
             [
                 [
-                    0.9954803024690061
+                    0.9960741130559216
                 ]
             ],
             [
                 [
-                    0.9906453498306077
+                    0.9960741130559216
                 ]
             ]
         ]
@@ -838,31 +671,262 @@
             999
         ],
         "mean": [
-            503.9155413075038
+            499.30471745395295
         ],
         "std": [
-            287.90877279415764
+            290.0695769168988
         ],
         "count": [
-            145361
+            159620
         ],
         "q01": [
-            503.9155413075038
+            499.30471745395295
         ],
         "q10": [
-            503.9155413075038
+            499.30471745395295
         ],
         "q50": [
-            503.9155413075038
+            499.30471745395295
         ],
         "q90": [
-            503.9155413075038
+            499.30471745395295
         ],
         "q99": [
-            503.9155413075038
+            499.30471745395295
         ]
     },
-    "observation.depth_h": {
+    "action": {
+        "min": [
+            -0.7794261574745178,
+            -0.3490658402442932,
+            -1.5603725910186768,
+            -2.094395160675049,
+            -1.5707963705062866,
+            -0.6981316804885864,
+            -0.044750187546014786,
+            0.0,
+            -0.5661148428916931,
+            -0.49634402990341187,
+            -0.6108652353286743,
+            -2.0071287155151367,
+            1.2787238359451294,
+            -0.28984150290489197,
+            -0.12793494760990143,
+            0.0
+        ],
+        "max": [
+            0.6632251143455505,
+            0.05628574267029762,
+            0.6981316804885864,
+            -0.17166021466255188,
+            -0.6142858862876892,
+            0.28136008977890015,
+            0.6301830410957336,
+            0.9019607901573181,
+            0.19896753132343292,
+            0.2978743016719818,
+            0.6483137011528015,
+            -0.1549128293991089,
+            1.5707999467849731,
+            0.6981316804885864,
+            0.34734219312667847,
+            0.9019607901573181
+        ],
+        "mean": [
+            -0.08765083023939416,
+            -0.021516466356233235,
+            -0.15104406964585837,
+            -1.6092594862626528,
+            -1.5612459619747872,
+            -0.5659896531003527,
+            0.01717171913838944,
+            0.16797192068633976,
+            0.05842887677138867,
+            0.031229829882463426,
+            -0.028974168984144517,
+            -1.6982910409821796,
+            1.5571732982375113,
+            0.2854971861492205,
+            0.05682274866891193,
+            0.18497479448421475
+        ],
+        "std": [
+            0.22255224729733583,
+            0.05980959572260386,
+            0.38377331244661206,
+            0.3195422812082148,
+            0.06451685964449451,
+            0.22370892389415334,
+            0.04663647417082778,
+            0.3511261441020935,
+            0.16116262549466567,
+            0.13209744404355636,
+            0.3771501905085046,
+            0.40497157861351224,
+            0.02216242547356377,
+            0.2892157853496652,
+            0.09950522174709113,
+            0.3641763329423812
+        ],
+        "count": [
+            159620
+        ],
+        "q01": [
+            -0.34906125690627865,
+            -0.1437921158929122,
+            -0.7214755049030801,
+            -2.0128175727794235,
+            -1.570796370606082,
+            -0.6981316805885864,
+            -0.0003698433843100521,
+            -9.999999999999998e-11,
+            -0.2635883553066593,
+            -0.24555229648198024,
+            -0.6092907169539868,
+            -2.007128715615136,
+            1.5077878224057208,
+            -0.15810579320286305,
+            -0.015945886728446646,
+            -9.999999999999998e-11
+        ],
+        "q10": [
+            -0.3242319042075912,
+            -0.13190675705288046,
+            -0.704640282704018,
+            -1.8262775559179436,
+            -1.570796370606082,
+            -0.6981316805885864,
+            -0.00033515559104851873,
+            -9.999999999999998e-11,
+            -0.19616923213339418,
+            -0.1258692422350956,
+            -0.5893769695042886,
+            -2.007128715615136,
+            1.5206950858605544,
+            -0.12298076901668423,
+            -0.009336395293013316,
+            -9.999999999999998e-11
+        ],
+        "q50": [
+            -0.17384313861994996,
+            -2.2456431772213638e-05,
+            -0.10917521070755323,
+            -1.7452932057497725,
+            -1.570796370606082,
+            -0.6912910688818273,
+            -4.789280812415869e-08,
+            -9.999999999999998e-11,
+            0.16022539189952156,
+            0.0034924417839984705,
+            0.001410657535048238,
+            -1.9261108937864542,
+            1.5703158246931572,
+            0.2311747606511837,
+            0.009947395411799067,
+            -9.999999999999998e-11
+        ],
+        "q90": [
+            0.22136920418760478,
+            0.0008704584145634832,
+            0.3234655212522983,
+            -0.9761074435512285,
+            -1.5113429327366117,
+            -0.10170024016228378,
+            0.10636350234581342,
+            0.9018611017909669,
+            0.19135919611240707,
+            0.25945332894350615,
+            0.5777001951480242,
+            -1.0826531624777636,
+            1.5707949002051063,
+            0.6664561451366737,
+            0.27477060583618246,
+            0.9018723351338817
+        ],
+        "q99": [
+            0.4362449979266231,
+            0.0009576566001316476,
+            0.32355301275763393,
+            -0.8932796700293726,
+            -1.5050686391666448,
+            -0.04616386869111767,
+            0.11636137398926742,
+            0.9019508214106844,
+            0.19872484270514207,
+            0.2712264317852387,
+            0.6069627349644401,
+            -0.8036233087116015,
+            1.5707975976368747,
+            0.6949881581062981,
+            0.29780182601288663,
+            0.9019519447449754
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            159619
+        ],
+        "mean": [
+            79809.5
+        ],
+        "std": [
+            46078.324983119775
+        ],
+        "count": [
+            159620
+        ],
+        "q01": [
+            79730.78987796413
+        ],
+        "q10": [
+            79745.28615844013
+        ],
+        "q50": [
+            79809.26141511588
+        ],
+        "q90": [
+            79873.60754300085
+        ],
+        "q99": [
+            79888.21012203587
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            18.7
+        ],
+        "mean": [
+            7.971357599298354
+        ],
+        "std": [
+            4.676595333744521
+        ],
+        "count": [
+            159620
+        ],
+        "q01": [
+            0.10034539560606379
+        ],
+        "q10": [
+            1.5499734432473409
+        ],
+        "q50": [
+            7.9474423510835255
+        ],
+        "q90": [
+            14.382111899441393
+        ],
+        "q99": [
+            15.842369802990593
+        ]
+    },
+    "observation.images.head_cam_h": {
         "min": [
             [
                 [
@@ -883,51 +947,51 @@
         "max": [
             [
                 [
-                    0.996078431372549
+                    1.0
                 ]
             ],
             [
                 [
-                    0.996078431372549
+                    1.0
                 ]
             ],
             [
                 [
-                    0.996078431372549
+                    1.0
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.6902581331760631
+                    0.39182118564950935
                 ]
             ],
             [
                 [
-                    0.6902581331760631
+                    0.4368278069281039
                 ]
             ],
             [
                 [
-                    0.6902581331760631
+                    0.4091633742544932
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.012817581193063208
+                    0.0015493704674443792
                 ]
             ],
             [
                 [
-                    0.012817581193063208
+                    0.0025078523443065313
                 ]
             ],
             [
                 [
-                    0.012817581193063208
+                    0.0021595236147146234
                 ]
             ]
         ],
@@ -937,90 +1001,122 @@
         "q01": [
             [
                 [
-                    0.08856150868990947
+                    0.0039017567717251622
                 ]
             ],
             [
                 [
-                    0.08856150868990947
+                    0.0038702844512800145
                 ]
             ],
             [
                 [
-                    0.08856150868990947
+                    0.0019347029368807628
                 ]
             ]
         ],
         "q10": [
             [
                 [
-                    0.21656511829068656
+                    0.08228144345165342
                 ]
             ],
             [
                 [
-                    0.21656511829068656
+                    0.1979675267279638
                 ]
             ],
             [
                 [
-                    0.21656511829068656
+                    0.1801725562563363
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.8883781824570014
+                    0.3215587916681336
                 ]
             ],
             [
                 [
-                    0.8883781824570014
+                    0.32151360290157943
                 ]
             ],
             [
                 [
-                    0.8883781824570014
+                    0.32148075183707714
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9960358663373334
+                    0.9998557106640635
                 ]
             ],
             [
                 [
-                    0.9960358663373334
+                    0.9998571208601921
                 ]
             ],
             [
                 [
-                    0.9960358663373334
+                    0.9998502553682104
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9960741748693803
+                    0.999985571066759
                 ]
             ],
             [
                 [
-                    0.9960741748693803
+                    0.9999857120863719
                 ]
             ],
             [
                 [
-                    0.9960741748693803
+                    0.9999850255371735
                 ]
             ]
         ]
     },
-    "observation.depth_l": {
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            187
+        ],
+        "mean": [
+            79.71357599298334
+        ],
+        "std": [
+            46.76595333744522
+        ],
+        "count": [
+            159620
+        ],
+        "q01": [
+            1.0034539569492524
+        ],
+        "q10": [
+            15.499734433198547
+        ],
+        "q50": [
+            79.47499110888303
+        ],
+        "q90": [
+            143.82111899368996
+        ],
+        "q99": [
+            158.42369802901712
+        ]
+    },
+    "observation.images.wrist_cam_l": {
         "min": [
             [
                 [
@@ -1041,51 +1137,51 @@
         "max": [
             [
                 [
-                    0.996078431372549
+                    1.0
                 ]
             ],
             [
                 [
-                    0.996078431372549
+                    1.0
                 ]
             ],
             [
                 [
-                    0.996078431372549
+                    1.0
                 ]
             ]
         ],
         "mean": [
             [
                 [
-                    0.60289036624183
+                    0.3278190971221401
                 ]
             ],
             [
                 [
-                    0.60289036624183
+                    0.34928821134191135
                 ]
             ],
             [
                 [
-                    0.60289036624183
+                    0.33568316209967425
                 ]
             ]
         ],
         "std": [
             [
                 [
-                    0.017207042133300654
+                    0.030136355744972747
                 ]
             ],
             [
                 [
-                    0.017207042133300654
+                    0.02254116520930731
                 ]
             ],
             [
                 [
-                    0.017207042133300654
+                    0.02514052945568454
                 ]
             ]
         ],
@@ -1112,333 +1208,237 @@
         "q10": [
             [
                 [
-                    0.011898245027097297
+                    0.06671050683848981
                 ]
             ],
             [
                 [
-                    0.011898245027097297
+                    0.08026200975860297
                 ]
             ],
             [
                 [
-                    0.011898245027097297
+                    0.08016443246589364
                 ]
             ]
         ],
         "q50": [
             [
                 [
-                    0.9959003411824352
+                    0.26156814228990505
                 ]
             ],
             [
                 [
-                    0.9959003411824352
+                    0.2698630257742486
                 ]
             ],
             [
                 [
-                    0.9959003411824352
+                    0.26126773798927666
                 ]
             ]
         ],
         "q90": [
             [
                 [
-                    0.9960428133348415
+                    0.7761339147962039
                 ]
             ],
             [
                 [
-                    0.9960428133348415
+                    0.7776536899111357
                 ]
             ],
             [
                 [
-                    0.9960428133348415
+                    0.7756580496981548
                 ]
             ]
         ],
         "q99": [
             [
                 [
-                    0.9960748695691309
+                    0.9543891765530202
                 ]
             ],
             [
                 [
-                    0.9960748695691309
+                    0.952951296628249
                 ]
             ],
             [
                 [
-                    0.9960748695691309
+                    0.9538271908965755
                 ]
             ]
         ]
     },
-    "task_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            0
-        ],
-        "mean": [
-            0.0
-        ],
-        "std": [
-            0.0
-        ],
-        "count": [
-            145361
-        ],
-        "q01": [
-            3.999999999999422e-16
-        ],
-        "q10": [
-            3.999999999999412e-15
-        ],
-        "q50": [
-            1.9999999999997075e-14
-        ],
-        "q90": [
-            3.599999999999494e-14
-        ],
-        "q99": [
-            3.9599999999994134e-14
-        ]
-    },
-    "frame_index": {
-        "min": [
-            0
-        ],
-        "max": [
-            150
-        ],
-        "mean": [
-            72.26417677368758
-        ],
-        "std": [
-            42.10255677542933
-        ],
-        "count": [
-            145361
-        ],
-        "q01": [
-            0.995161732195463
-        ],
-        "q10": [
-            13.809963776172822
-        ],
-        "q50": [
-            72.06395734481677
-        ],
-        "q90": [
-            130.50745668736272
-        ],
-        "q99": [
-            143.5331918151794
-        ]
-    },
-    "action": {
-        "min": [
-            -0.6263101696968079,
-            -0.3049503564834595,
-            -1.1763192415237427,
-            -2.3008077144622803,
-            -1.5707999467849731,
-            -0.8509998321533203,
-            -0.37006184458732605,
-            0.0,
-            -0.6398445963859558,
-            -0.5919877290725708,
-            -0.47035178542137146,
-            -2.323176383972168,
-            0.9495397806167603,
-            -0.34061601758003235,
-            -0.3940211236476898,
-            0.0
-        ],
-        "max": [
-            0.6487941741943359,
-            0.5576967597007751,
-            0.4758332073688507,
-            -0.14343775808811188,
-            -0.9624565243721008,
-            0.36548084020614624,
-            0.6935664415359497,
-            0.8627451062202454,
-            0.6549895405769348,
-            0.31795522570610046,
-            1.0004136562347412,
-            -0.1363578885793686,
-            1.5707999467849731,
-            0.8881593942642212,
-            0.5964860916137695,
-            0.8627451062202454
-        ],
-        "mean": [
-            0.1931966614318512,
-            0.178269267163096,
-            -0.2645249892706322,
-            -1.862152738710615,
-            -1.5504670924871262,
-            -0.19445591587408131,
-            0.025901801297639426,
-            0.3456652879053973,
-            0.18787129309145562,
-            -0.18110020392983342,
-            0.26250908912249654,
-            -1.8566707108735427,
-            1.5495765463336095,
-            0.19481157655075815,
-            0.02274359127711151,
-            0.35021163834688346
-        ],
-        "std": [
-            0.27056388148733773,
-            0.17669355282438454,
-            0.27460171917311044,
-            0.3641821120655098,
-            0.04717419544700661,
-            0.24502586436830492,
-            0.13573815616940244,
-            0.4227724494077791,
-            0.2731329592805831,
-            0.17588294695537562,
-            0.2775160768054484,
-            0.3720251649089943,
-            0.04828483477136925,
-            0.24692510649582713,
-            0.1375226216680321,
-            0.4236687157415432
-        ],
-        "count": [
-            145361
-        ],
-        "q01": [
-            -0.36962776289543703,
-            -0.13614316140691565,
-            -0.7646301448332472,
-            -2.2645422180758414,
-            -1.5707963918389278,
-            -0.6951239899273743,
-            -0.09668159031495294,
-            -1.000000013351432e-10,
-            -0.37103133042632613,
-            -0.35046694908872306,
-            -0.11728114503727849,
-            -2.2639729742305885,
-            1.4721437641298094,
-            -0.020207699003741378,
-            -0.10513775990712282,
-            -1.000000013351432e-10
-        ],
-        "q10": [
-            -0.285654377790135,
-            -0.07745486402654873,
-            -0.708622340684892,
-            -2.1283864205903797,
-            -1.5707963916360965,
-            -0.619512655917985,
-            -0.0930457877287982,
-            -1.000000013351432e-10,
-            -0.28814388041090794,
-            -0.34909007432024786,
-            -0.06773843944778075,
-            -2.1273394941230817,
-            1.4961267416083643,
-            -0.01938244791388332,
-            -0.10057601557663008,
-            -1.000000013351432e-10
-        ],
-        "q50": [
-            0.3172003247707678,
-            0.15969510313439803,
-            -0.34901796299945553,
-            -2.0494486323863783,
-            -1.5697838514614777,
-            -0.13097122049941484,
-            0.008314369461017724,
-            0.42325508576616944,
-            0.3130963002302264,
-            -0.16984008862387484,
-            0.3490161777504624,
-            -2.0459293524950577,
-            1.569731368835545,
-            0.12754095000536006,
-            0.007626102631029878,
-            0.4393306834081957
-        ],
-        "q90": [
-            0.4200299227296414,
-            0.3490716014038774,
-            0.060331264398768215,
-            -1.2111946748034812,
-            -1.4995561837256859,
-            0.016810215527122963,
-            0.25266595686092325,
-            0.862696281565139,
-            0.41552083558574704,
-            0.07294503356286522,
-            0.7074684495631843,
-            -1.1915114014645212,
-            1.5707927695279091,
-            0.6220444876859547,
-            0.25286689199244705,
-            0.8626968413356475
-        ],
-        "q99": [
-            0.5494857741940595,
-            0.35089555292500907,
-            0.10932272330955793,
-            -1.1811416666628396,
-            -1.474379817164224,
-            0.017748040075028563,
-            0.2948959905373243,
-            0.8627402237547372,
-            0.5475010573762253,
-            0.13627701675072157,
-            0.7670071015400506,
-            -1.1635420489364288,
-            1.5707960166526236,
-            0.6966096041717051,
-            0.2946372439884042,
-            0.8627402797317881
-        ]
-    },
-    "timestamp": {
+    "observation.state": {
         "min": [
-            0.0
+            -0.7721222043037415,
+            -0.3492811620235443,
+            -1.5715280771255493,
+            -2.0796351432800293,
+            -1.5807466506958008,
+            -0.695669949054718,
+            -0.07902070134878159,
+            0.0022733467631042004,
+            -0.5638551115989685,
+            -0.4863867461681366,
+            -0.6044871807098389,
+            -1.99869704246521,
+            1.2838367223739624,
+            -0.30112317204475403,
+            -0.17664752900600433,
+            0.0019814944826066494
         ],
         "max": [
-            15.0
+            0.6568978428840637,
+            0.054615698754787445,
+            0.6942664384841919,
+            -0.1671529859304428,
+            -0.6140875816345215,
+            0.296308696269989,
+            0.6560404300689697,
+            0.9056666493415833,
+            0.20029810070991516,
+            0.29784247279167175,
+            0.640875518321991,
+            -0.1492842584848404,
+            1.5759999752044678,
+            0.6927002668380737,
+            0.34083518385887146,
+            0.9043516516685486
         ],
         "mean": [
-            7.226417677368712
+            -0.09037055953658661,
+            -0.022099774272138474,
+            -0.15256049195802218,
+            -1.6014835463268038,
+            -1.560790590538804,
+            -0.5609556533630571,
+            0.015429552607616288,
+            0.16394443827256594,
+            0.05944466963707943,
+            0.03149260060946073,
+            -0.03758247617191303,
+            -1.6871812448601962,
+            1.5590391550531897,
+            0.28406039721504817,
+            0.05473142833055809,
+            0.17766421001375124
         ],
         "std": [
-            4.210255677542934
+            0.21720037266165165,
+            0.05956091383874557,
+            0.37491855435799526,
+            0.3147461833806762,
+            0.05955743203022554,
+            0.22494587923056952,
+            0.04725569493336704,
+            0.32762997919387044,
+            0.16170988099930564,
+            0.1307396677745607,
+            0.37716427424777627,
+            0.40083494614818893,
+            0.020751780822322874,
+            0.2878610030354783,
+            0.09514490387202397,
+            0.3356868218161571
         ],
         "count": [
-            145361
+            159620
         ],
         "q01": [
-            0.09951617313078802
+            -0.3512016946348995,
+            -0.14582645616166945,
+            -0.7238323475814801,
+            -1.996829488729685,
+            -1.5725805164780366,
+            -0.6942369412529009,
+            -0.015011915401682962,
+            0.0032424629993917484,
+            -0.26549842765438647,
+            -0.24440219617021022,
+            -0.6021206572284794,
+            -1.9981271301462535,
+            1.4848584395160596,
+            -0.16048435673296726,
+            -0.03199365523795631,
+            0.0030089369464385606
         ],
         "q10": [
-            1.3809963775444756
+            -0.31939371096391794,
+            -0.1311934284390982,
+            -0.7001344971435984,
+            -1.8168314339729477,
+            -1.571145048209307,
+            -0.694024939799341,
+            -0.005162765998849579,
+            0.00335192411108036,
+            -0.19550388651787254,
+            -0.12422153253492495,
+            -0.5889391431896999,
+            -1.9981005811060972,
+            1.5352333599154582,
+            -0.11679241834201431,
+            -0.00875780315732257,
+            0.0032107906361002587
         ],
         "q50": [
-            7.20639261810213
+            -0.16955313944619704,
+            -0.0018392414675610506,
+            -0.0792560940450071,
+            -1.7355480759750275,
+            -1.570907909212422,
+            -0.6859343777776434,
+            -0.0018349288467467075,
+            0.0034058718763141,
+            0.16243695276237705,
+            0.004504892115961454,
+            0.001884431856649705,
+            -1.913618133339615,
+            1.567559030895571,
+            0.22703297204211637,
+            0.012686457192210423,
+            0.0034153004392702686
         ],
         "q90": [
-            13.05074566880884
+            0.22391687216309383,
+            0.001215093381138671,
+            0.32131478827085896,
+            -0.9849025074599519,
+            -1.521913936507491,
+            -0.0983136289122615,
+            0.09496477985604279,
+            0.8609186430755599,
+            0.193949944114397,
+            0.2574134128002104,
+            0.5606649909560286,
+            -1.0740433580671516,
+            1.5709084255334098,
+            0.6678195512980174,
+            0.25708401622446336,
+            0.8502652678967499
         ],
         "q99": [
-            14.353319181606604
+            0.4310447551933158,
+            0.003304746839643596,
+            0.32156711250570524,
+            -0.8810988217025799,
+            -1.4852091077618572,
+            -0.02757471597361045,
+            0.14655154298890263,
+            0.870117902573198,
+            0.19939826734814153,
+            0.2715046558013482,
+            0.5981283163398997,
+            -0.7923925517102826,
+            1.5712132777538805,
+            0.688243302026341,
+            0.2912304384526675,
+            0.8553841711232035
         ]
     }
 }

videos/observation.depth_h/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eeefedf45f195dc0e7840040633badb05217501dbebd87b45452e5ec8b6bff87
-size 204789657
+oid sha256:fc00f40b16f4c9698c6f2ab835fce61e944e32c1c0328ac88ff3653fd06277da
+size 303249342

videos/observation.depth_l/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a510d20b33d618c7bb7ad2a6e911ee770e352cdaba55fab915dc7e2f394c2bd6
-size 205052909
+oid sha256:1d373320a8c8ce219997981629556487a7244295f5b7d7c638979e9a56ba7111
+size 210138303

videos/observation.depth_r/chunk-000/file-000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fbc06858c352b6da27c1aa17119e92ff58b16e6d80d676f911e29a8e178433a1
-size 203069468
+oid sha256:9aa7104e9103b68e8d5dac2234ab6ce672cc1fa7a12baf0e0b275e87d9959255
+size 215879960

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:409fcbe777d4f83508a1176d1912d6674f9e3311d2de98edf42e3cf94932fa51
-size 524017071
+oid sha256:8642585cdbc27dfa103b3cc91f002b8df204b588647ff25c8d829c02eb14bf37
+size 522024419

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:955183e149fe18864cd3a2381907c82ea96707697a697af44ccf2c8bb1a7213a
-size 523575158
+oid sha256:b1e1ee03c7cc5a16498714c5ddaab79a1f90ec2564b29647c63cdb5ea92c8afc
+size 522129537

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f3c996b02873a21077ac6a52c2903aa159641187a7db6267715566b8350f3b02
-size 522865303
+oid sha256:d691b1de63adf18a367e1767f9295d49928f23a71b6a1a22180e185116216077
+size 523715391

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0fbb2c23022e5d71a0e92c2ffa242e9ff4277a51376aef132e9e9c624f50e2ba
-size 523696670
+oid sha256:e0d4ff611ae9961948f06071930e7a267667bc0da548326c08f6b5dbca5c0494
+size 521573102

videos/observation.images.head_cam_h/chunk-000/file-004.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6199b95b58195049d769c45e389eb02c721619f5ef8f9e3b799329984a1c6c89
-size 213491168
+oid sha256:5577b2a271018583e7eba8fc0802535606e2688535e060f1a61730d61a5274e9
+size 521619327

videos/observation.images.head_cam_h/chunk-000/file-005.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b33b06dc82f61450a11abb40850a62040fe6a2d723d9a9336b146ea45fc764
+size 19692088

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:86af12bcd0a05086cf805c4f11dc3651e75efcc5c3724c8e4ee2491f95ff117b
-size 523397096
+oid sha256:783ad47c90334e54df6d19df87eafde051616a118c53500dc4bb8242dc5c041f
+size 523824205

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e4dff6620a71dd2eeac885a239c87f38743e396b3c7fd28ab78036bd5ab6c421
-size 522995716
+oid sha256:2c44d03f0072ef96485aa4b4cd5c96e84f50c56c3a2546294600c98a8fd61b41
+size 524154139

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f3bd464c8043c31b71586f3d9cf7ea169041d5a627ad89b925e1dc09b0857363
-size 465033749
+oid sha256:9fcb04a89de4f8aa36c269401e1250856353ad3f943c0857dbf8e2774b0a8d2d
+size 523339731

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7be341963620a4f12fc3c3cc8b0628b74c80563618ab74d10a58aa45df8fc5d6
+size 200851644

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:66bb0edf26546ded3df87833b37cfb517064c6c07d02688dc5490c96a600f61c
-size 523068781
+oid sha256:75fd3d730a0ab6c48d00bb46a9cd7ea2e9d0e7f179444565d02d9474c7b2f70d
+size 523592609

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:de222de96c66adecaab5d7f725f5ead6237e8f19710a9811c7954287b1d8f278
-size 523205278
+oid sha256:894be3b72a88f45798806147ab209bec4ffb5cee68ce083786b0bf92c02ab317
+size 522789260

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

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e3b41db988233ab6af8b4c10aac44123128aeade5e4b5e2b433ef87f33225190
-size 440046553
+oid sha256:963816f0e1641ec30f86f4947018e40123253f07dbbed8610190cb8ea4d38e0b
+size 524098379

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502f9997262cd5902a8f8894136025bf4828bbb63af0f8a906d72444edd2ac78
+size 105459581