Hugging Face's logo

Datasets:
jasonme
/
sample_dataset_6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Pico
dual-arm
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
jasonme commited on
Commit
a0f3ba9
·
verified ·
1 Parent(s): 7158acc

Upload folder using huggingface_hub

Browse files
Files changed (10) hide show
  1. README.md +27 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/extra/conversion_report.json +164 -0
  5. meta/extra/raw_session_meta.json +177 -0
  6. meta/info.json +177 -0
  7. meta/stats.json +984 -0
  8. meta/tasks.parquet +3 -0
  9. videos/observation.images.left/chunk-000/file-000.mp4 +3 -0
  10. videos/observation.images.right/chunk-000/file-000.mp4 +3 -0
README.md ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ tags:
4
+ - LeRobot
5
+ - Pico
6
+ - dual-arm
7
+ task_categories:
8
+ - robotics
9
+ configs:
10
+ - config_name: default
11
+ data_files: data/*/*.parquet
12
+ ---
13
+
14
+ # mocovision/pico_dual_arm_record_20260526_165905_delta
15
+
16
+ This dataset was created using LeRobot.
17
+
18
+ The Hub dataset viewer should load only `data/*/*.parquet` as the train split.
19
+ LeRobot metadata lives under `meta/`, and conversion diagnostics live under
20
+ `meta/extra/`.
21
+
22
+ Schema:
23
+
24
+ - `state`: left TCP `[x,y,z,rx,ry,rz]`, right TCP `[x,y,z,rx,ry,rz]`, left gripper, right gripper.
25
+ - `action`: left controller pose, right controller pose, left gripper, right gripper.
26
+ - `robot_0_action`: left controller pose and left gripper.
27
+ - `robot_1_action`: right controller pose and right gripper.
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31966af58c2dc71d19fb1fcf0324e9075b4d709acd2d36fd8c829e2d49e05655
3
+ size 535431
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d7cbb57cbdbeff3042934740dc504e7bf643ee3a798cac7527b9115f0abe873
3
+ size 67554
meta/extra/conversion_report.json ADDED
@@ -0,0 +1,164 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683",
3
+ "episode_count": 2,
4
+ "episodes": [
5
+ {
6
+ "episode_index": 0,
7
+ "raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/episode_000000",
8
+ "frames": 767,
9
+ "duration_s": 38.35,
10
+ "start_monotonic_ns": 537957660295324,
11
+ "end_monotonic_ns": 537996059881431,
12
+ "summary_present": true,
13
+ "source_counts": {
14
+ "robot_state": 2305,
15
+ "pico_tracking": 3457,
16
+ "gripper_events": 4
17
+ },
18
+ "sync_abs_error_ms": {
19
+ "robot": {
20
+ "mean": 1.632014267275098,
21
+ "p95": 1.6408685,
22
+ "max": 1.693926
23
+ },
24
+ "pico": {
25
+ "mean": 2.7597013741851373,
26
+ "p95": 5.4335814,
27
+ "max": 6.641897
28
+ },
29
+ "left_camera": {
30
+ "mean": 8.337301778357237,
31
+ "p95": 15.897611300000001,
32
+ "max": 17.424309
33
+ },
34
+ "right_camera": {
35
+ "mean": 8.35059122946545,
36
+ "p95": 16.7529927,
37
+ "max": 16.904489
38
+ }
39
+ },
40
+ "origin_state": [
41
+ 0.4063698351383209,
42
+ 0.15107399225234985,
43
+ 0.42385342717170715,
44
+ -2.552891492843628,
45
+ -0.10559817403554916,
46
+ 0.19331471621990204,
47
+ 0.402254194021225,
48
+ -0.13530518114566803,
49
+ 0.4363325238227844,
50
+ -2.5475881099700928,
51
+ 0.08507312089204788,
52
+ 2.967067241668701,
53
+ 80.0,
54
+ 0.0
55
+ ],
56
+ "origin_action": [
57
+ -0.163718581199646,
58
+ -0.4466119408607483,
59
+ -0.1393386870622635,
60
+ 0.06553179770708084,
61
+ 0.07995320111513138,
62
+ 0.039652589708566666,
63
+ 0.9938514828681946,
64
+ 0.09387203305959702,
65
+ -0.4242400527000427,
66
+ -0.1702209860086441,
67
+ 0.06894133985042572,
68
+ 0.032287731766700745,
69
+ -0.04202236980199814,
70
+ 0.9962121844291687,
71
+ 80.0,
72
+ 0.0
73
+ ]
74
+ },
75
+ {
76
+ "episode_index": 1,
77
+ "raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/episode_000001",
78
+ "frames": 1305,
79
+ "duration_s": 65.25,
80
+ "start_monotonic_ns": 538004863220011,
81
+ "end_monotonic_ns": 538070140600862,
82
+ "summary_present": true,
83
+ "source_counts": {
84
+ "robot_state": 3918,
85
+ "pico_tracking": 5866,
86
+ "gripper_events": 12
87
+ },
88
+ "sync_abs_error_ms": {
89
+ "robot": {
90
+ "mean": 1.5248246306513409,
91
+ "p95": 1.5404038,
92
+ "max": 1.593708
93
+ },
94
+ "pico": {
95
+ "mean": 2.8806099118773942,
96
+ "p95": 5.5727318,
97
+ "max": 43.804557
98
+ },
99
+ "left_camera": {
100
+ "mean": 8.3475185348659,
101
+ "p95": 15.8664962,
102
+ "max": 17.519756
103
+ },
104
+ "right_camera": {
105
+ "mean": 8.411380449042145,
106
+ "p95": 16.9324408,
107
+ "max": 17.018362
108
+ }
109
+ },
110
+ "origin_state": [
111
+ 0.40639740228652954,
112
+ 0.15109258890151978,
113
+ 0.4237639605998993,
114
+ -2.553072929382324,
115
+ -0.10555832833051682,
116
+ 0.19351866841316223,
117
+ 0.4022931456565857,
118
+ -0.1353050172328949,
119
+ 0.43631911277770996,
120
+ -2.547506093978882,
121
+ 0.08503450453281403,
122
+ 2.9671103954315186,
123
+ 0.0,
124
+ 0.0
125
+ ],
126
+ "origin_action": [
127
+ -0.18321046233177185,
128
+ -0.5197787880897522,
129
+ -0.14048433303833008,
130
+ -0.06180393323302269,
131
+ 0.1431645154953003,
132
+ 0.012885469011962414,
133
+ 0.9876832365989685,
134
+ 0.13081978261470795,
135
+ -0.49380412697792053,
136
+ -0.1657506823539734,
137
+ -0.03350880369544029,
138
+ 0.028369812294840813,
139
+ -0.002162802964448929,
140
+ 0.9990333914756775,
141
+ 0.0,
142
+ 0.0
143
+ ]
144
+ }
145
+ ],
146
+ "repo_id": "mocovision/pico_dual_arm_record_20260526_165905_delta",
147
+ "output_root": "/home/sion/work/pico/dataset_lerobot/record_20260526_165905_697933683_first_frame_delta",
148
+ "fps": 20,
149
+ "frames": 2072,
150
+ "duration_s": 103.6,
151
+ "include_videos": true,
152
+ "video_shape": [
153
+ 1280,
154
+ 1280,
155
+ 3
156
+ ],
157
+ "video_codec": "h264_nvenc",
158
+ "first_frame_delta": true,
159
+ "state_definition": "left TCP [x,y,z,rx,ry,rz], right TCP [x,y,z,rx,ry,rz], latest left gripper target width mm, latest right gripper target width mm. With --first-frame-delta, TCP pose values are relative to the first sampled frame in each episode; gripper widths remain absolute mm.",
160
+ "action_definition": "left Pico controller pose [x,y,z,qx,qy,qz,qw], right Pico controller pose [x,y,z,qx,qy,qz,qw], latest left/right gripper target width mm. With --first-frame-delta, controller xyz is relative to the first sampled frame and quaternion is relative rotation; identity [0,0,0,1] means zero rotation. Gripper widths remain absolute mm.",
161
+ "video_definition": "observation.images.left/right are sampled from raw camera MP4 by nearest camera monotonic timestamp and re-encoded at dataset fps.",
162
+ "robot_0_action_definition": "left Pico controller pose [x,y,z,qx,qy,qz,qw] plus latest left gripper target width mm.",
163
+ "robot_1_action_definition": "right Pico controller pose [x,y,z,qx,qy,qz,qw] plus latest right gripper target width mm."
164
+ }
meta/extra/raw_session_meta.json ADDED
@@ -0,0 +1,177 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "input_path": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683",
3
+ "episodes": [
4
+ {
5
+ "raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/episode_000000",
6
+ "session_meta": {
7
+ "started_wall_time_ns": 1779786166255914300,
8
+ "started_monotonic_ns": 537957656419473,
9
+ "video_fps": 30.0,
10
+ "state_hz": 60.0,
11
+ "min_sample_hz": 20.0,
12
+ "jsonl_queue_size": 20000,
13
+ "jsonl_batch_size": 256,
14
+ "jsonl_flush_interval_s": 0.5,
15
+ "tracking_queue_size": 10000,
16
+ "camera_frame_queue_size": 60,
17
+ "record_tracking_raw": false,
18
+ "camera_use_isp": false,
19
+ "video_backend": "ffmpeg-nvenc",
20
+ "teleop_config": {
21
+ "teleop_during_record": true,
22
+ "teleop_rate_hz": 20.0,
23
+ "teleop_watchdog_s": 0.2,
24
+ "teleop_deadman_mode": "none",
25
+ "teleop_controller_scale": 1.0,
26
+ "teleop_max_target_delta_m": 0.25,
27
+ "teleop_max_target_angle_deg": 45.0,
28
+ "teleop_joint_speed_deg_s": 15.0,
29
+ "teleop_joint_accel_deg_s2": 120.0,
30
+ "teleop_servo_hz": 125.0,
31
+ "teleop_target_smoothing_s": 0.08,
32
+ "teleop_executor_mode": "continuous",
33
+ "teleop_target_stale_s": 0.25,
34
+ "teleop_feedback_lag_threshold_deg": 8.0,
35
+ "teleop_filter_target": true,
36
+ "teleop_filter_position": {
37
+ "min_cutoff": 1.2,
38
+ "beta": 0.04,
39
+ "d_cutoff": 1.0
40
+ },
41
+ "teleop_filter_rotation": {
42
+ "min_cutoff": 2.0,
43
+ "beta": 0.06,
44
+ "d_cutoff": 1.0
45
+ }
46
+ },
47
+ "runtime_env": "{'LEFT_ARM_IP': '192.168.66.125', 'RIGHT_ARM_IP': '192.168.66.124', 'LEFT_ARM_PRIMARY_PORT': '30001', 'RIGHT_ARM_PRIMARY_PORT': '30001', 'LEFT_CAMERA_SOURCE': 'umi:250801DR48FB26001391', 'RIGHT_CAMERA_SOURCE': 'umi:250801DR48FB26001187', 'WS_SERVER_URL': 'http://127.0.0.1:23451', 'ROBOT_TYPE': 'CS66F', 'ROBOT_PORT': '18764', 'SSH_PW': 'elibot', 'ROBOT_FREQUENCY_HZ': '125', 'ROBOT_SERVOJ_LOOKAHEAD_TIME': '0.03', 'ROBOT_SERVOJ_GAIN': '1000', 'ROBOT_SERVOJ_TIMEOUT_MS': '1000', 'GRIPPER_ENABLED': '1', 'GRIPPER_TYPE': 'ag160-95-w-s', 'GRIPPER_MODBUS_ID': '1', 'GRIPPER_BAUD_RATE': '115200', 'GRIPPER_PARITY': '0', 'GRIPPER_STOP_BITS': '1', 'GRIPPER_TRANSPORT': 'xmlrpc', 'GRIPPER_COMMAND_PORT_BASE': '18780', 'GRIPPER_XMLRPC_PORT': '60010', 'GRIPPER_XMLRPC_TIMEOUT_S': '6.0', 'GRIPPER_XMLRPC_OPEN_WIDTH_MM': '80', 'GRIPPER_XMLRPC_CLOSE_WIDTH_MM': '0', 'GRIPPER_XMLRPC_SPEED_PERCENT': '50', 'GRIPPER_XMLRPC_FORCE_PERCENT': '50', 'PLANNER_GLOBAL_ENV_PATH': 'assets/calibration/environment/global.yaml', 'TABLE_TOP_Z_M': '0.000000', 'PLACE_POINT': '0.515938,-0.002500,0.000000', 'PLACE_CONTACT_FORCE_THRESHOLD_N': '7.0', 'DASHSCOPE_API_KEY': 'sk-a52486850fcc4584a10dbe864dac93e0'}",
48
+ "camera_sources": {
49
+ "left": "umi:250801DR48FB26001391",
50
+ "right": "umi:250801DR48FB26001187"
51
+ }
52
+ },
53
+ "summary": {
54
+ "root_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/_recording/episode_000000_20260526_170246_255821085",
55
+ "started_wall_time_ns": 1779786166255914300,
56
+ "stopped_wall_time_ns": 1779786204881819213,
57
+ "started_monotonic_ns": 537957656419473,
58
+ "stopped_monotonic_ns": 537996282307764,
59
+ "tracking_written": 3457,
60
+ "tracking_dropped": 0,
61
+ "tracking_effective_hz": 89.49955982774112,
62
+ "video_frames": {
63
+ "left": 1153,
64
+ "right": 1153
65
+ },
66
+ "video_captured": {
67
+ "left": 1153,
68
+ "right": 1153
69
+ },
70
+ "video_dropped": {
71
+ "left": 0,
72
+ "right": 0
73
+ },
74
+ "video_effective_hz": {
75
+ "left": 29.850446190739227,
76
+ "right": 29.850446190739227
77
+ },
78
+ "state_samples": 2305,
79
+ "state_effective_hz": 59.67500300924018,
80
+ "jsonl_dropped": {
81
+ "tracking": 0,
82
+ "robot": 0,
83
+ "events": 0,
84
+ "camera": 0
85
+ },
86
+ "reason": "pico_stop_record",
87
+ "timing_summary_path": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/_recording/episode_000000_20260526_170246_255821085/timing_summary.json"
88
+ }
89
+ },
90
+ {
91
+ "raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/episode_000001",
92
+ "session_meta": {
93
+ "started_wall_time_ns": 1779786213459160702,
94
+ "started_monotonic_ns": 538004859666256,
95
+ "video_fps": 30.0,
96
+ "state_hz": 60.0,
97
+ "min_sample_hz": 20.0,
98
+ "jsonl_queue_size": 20000,
99
+ "jsonl_batch_size": 256,
100
+ "jsonl_flush_interval_s": 0.5,
101
+ "tracking_queue_size": 10000,
102
+ "camera_frame_queue_size": 60,
103
+ "record_tracking_raw": false,
104
+ "camera_use_isp": false,
105
+ "video_backend": "ffmpeg-nvenc",
106
+ "teleop_config": {
107
+ "teleop_during_record": true,
108
+ "teleop_rate_hz": 20.0,
109
+ "teleop_watchdog_s": 0.2,
110
+ "teleop_deadman_mode": "none",
111
+ "teleop_controller_scale": 1.0,
112
+ "teleop_max_target_delta_m": 0.25,
113
+ "teleop_max_target_angle_deg": 45.0,
114
+ "teleop_joint_speed_deg_s": 15.0,
115
+ "teleop_joint_accel_deg_s2": 120.0,
116
+ "teleop_servo_hz": 125.0,
117
+ "teleop_target_smoothing_s": 0.08,
118
+ "teleop_executor_mode": "continuous",
119
+ "teleop_target_stale_s": 0.25,
120
+ "teleop_feedback_lag_threshold_deg": 8.0,
121
+ "teleop_filter_target": true,
122
+ "teleop_filter_position": {
123
+ "min_cutoff": 1.2,
124
+ "beta": 0.04,
125
+ "d_cutoff": 1.0
126
+ },
127
+ "teleop_filter_rotation": {
128
+ "min_cutoff": 2.0,
129
+ "beta": 0.06,
130
+ "d_cutoff": 1.0
131
+ }
132
+ },
133
+ "runtime_env": "{'LEFT_ARM_IP': '192.168.66.125', 'RIGHT_ARM_IP': '192.168.66.124', 'LEFT_ARM_PRIMARY_PORT': '30001', 'RIGHT_ARM_PRIMARY_PORT': '30001', 'LEFT_CAMERA_SOURCE': 'umi:250801DR48FB26001391', 'RIGHT_CAMERA_SOURCE': 'umi:250801DR48FB26001187', 'WS_SERVER_URL': 'http://127.0.0.1:23451', 'ROBOT_TYPE': 'CS66F', 'ROBOT_PORT': '18764', 'SSH_PW': 'elibot', 'ROBOT_FREQUENCY_HZ': '125', 'ROBOT_SERVOJ_LOOKAHEAD_TIME': '0.03', 'ROBOT_SERVOJ_GAIN': '1000', 'ROBOT_SERVOJ_TIMEOUT_MS': '1000', 'GRIPPER_ENABLED': '1', 'GRIPPER_TYPE': 'ag160-95-w-s', 'GRIPPER_MODBUS_ID': '1', 'GRIPPER_BAUD_RATE': '115200', 'GRIPPER_PARITY': '0', 'GRIPPER_STOP_BITS': '1', 'GRIPPER_TRANSPORT': 'xmlrpc', 'GRIPPER_COMMAND_PORT_BASE': '18780', 'GRIPPER_XMLRPC_PORT': '60010', 'GRIPPER_XMLRPC_TIMEOUT_S': '6.0', 'GRIPPER_XMLRPC_OPEN_WIDTH_MM': '80', 'GRIPPER_XMLRPC_CLOSE_WIDTH_MM': '0', 'GRIPPER_XMLRPC_SPEED_PERCENT': '50', 'GRIPPER_XMLRPC_FORCE_PERCENT': '50', 'PLANNER_GLOBAL_ENV_PATH': 'assets/calibration/environment/global.yaml', 'TABLE_TOP_Z_M': '0.000000', 'PLACE_POINT': '0.515938,-0.002500,0.000000', 'PLACE_CONTACT_FORCE_THRESHOLD_N': '7.0', 'DASHSCOPE_API_KEY': 'sk-a52486850fcc4584a10dbe864dac93e0'}",
134
+ "camera_sources": {
135
+ "left": "umi:250801DR48FB26001391",
136
+ "right": "umi:250801DR48FB26001187"
137
+ }
138
+ },
139
+ "summary": {
140
+ "root_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/_recording/episode_000001_20260526_170333_459032902",
141
+ "started_wall_time_ns": 1779786213459160702,
142
+ "stopped_wall_time_ns": 1779786279115746565,
143
+ "started_monotonic_ns": 538004859666256,
144
+ "stopped_monotonic_ns": 538070516241769,
145
+ "tracking_written": 5866,
146
+ "tracking_dropped": 0,
147
+ "tracking_effective_hz": 89.34367889532301,
148
+ "video_frames": {
149
+ "left": 1959,
150
+ "right": 1959
151
+ },
152
+ "video_captured": {
153
+ "left": 1959,
154
+ "right": 1959
155
+ },
156
+ "video_dropped": {
157
+ "left": 0,
158
+ "right": 0
159
+ },
160
+ "video_effective_hz": {
161
+ "left": 29.837072443903473,
162
+ "right": 29.837072443903473
163
+ },
164
+ "state_samples": 3918,
165
+ "state_effective_hz": 59.674144887806946,
166
+ "jsonl_dropped": {
167
+ "tracking": 0,
168
+ "robot": 0,
169
+ "events": 0,
170
+ "camera": 0
171
+ },
172
+ "reason": "pico_stop_record",
173
+ "timing_summary_path": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/_recording/episode_000001_20260526_170333_459032902/timing_summary.json"
174
+ }
175
+ }
176
+ ]
177
+ }
meta/info.json ADDED
@@ -0,0 +1,177 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "elite_cs66_dual_arm_pico",
4
+ "total_episodes": 2,
5
+ "total_frames": 2072,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:2"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 14
21
+ ],
22
+ "names": [
23
+ "left_tcp_x",
24
+ "left_tcp_y",
25
+ "left_tcp_z",
26
+ "left_tcp_rx",
27
+ "left_tcp_ry",
28
+ "left_tcp_rz",
29
+ "right_tcp_x",
30
+ "right_tcp_y",
31
+ "right_tcp_z",
32
+ "right_tcp_rx",
33
+ "right_tcp_ry",
34
+ "right_tcp_rz",
35
+ "left_gripper_width_mm",
36
+ "right_gripper_width_mm"
37
+ ]
38
+ },
39
+ "action": {
40
+ "dtype": "float32",
41
+ "shape": [
42
+ 16
43
+ ],
44
+ "names": [
45
+ "left_controller_x",
46
+ "left_controller_y",
47
+ "left_controller_z",
48
+ "left_controller_qx",
49
+ "left_controller_qy",
50
+ "left_controller_qz",
51
+ "left_controller_qw",
52
+ "right_controller_x",
53
+ "right_controller_y",
54
+ "right_controller_z",
55
+ "right_controller_qx",
56
+ "right_controller_qy",
57
+ "right_controller_qz",
58
+ "right_controller_qw",
59
+ "left_gripper_width_mm",
60
+ "right_gripper_width_mm"
61
+ ]
62
+ },
63
+ "robot_0_action": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 8
67
+ ],
68
+ "names": [
69
+ "left_controller_x",
70
+ "left_controller_y",
71
+ "left_controller_z",
72
+ "left_controller_qx",
73
+ "left_controller_qy",
74
+ "left_controller_qz",
75
+ "left_controller_qw",
76
+ "left_gripper_width_mm"
77
+ ]
78
+ },
79
+ "robot_1_action": {
80
+ "dtype": "float32",
81
+ "shape": [
82
+ 8
83
+ ],
84
+ "names": [
85
+ "right_controller_x",
86
+ "right_controller_y",
87
+ "right_controller_z",
88
+ "right_controller_qx",
89
+ "right_controller_qy",
90
+ "right_controller_qz",
91
+ "right_controller_qw",
92
+ "right_gripper_width_mm"
93
+ ]
94
+ },
95
+ "observation.images.left": {
96
+ "dtype": "video",
97
+ "shape": [
98
+ 1280,
99
+ 1280,
100
+ 3
101
+ ],
102
+ "names": [
103
+ "height",
104
+ "width",
105
+ "channels"
106
+ ],
107
+ "info": {
108
+ "video.height": 1280,
109
+ "video.width": 1280,
110
+ "video.codec": "h264",
111
+ "video.pix_fmt": "yuv420p",
112
+ "video.is_depth_map": false,
113
+ "video.fps": 20,
114
+ "video.channels": 3,
115
+ "has_audio": false
116
+ }
117
+ },
118
+ "observation.images.right": {
119
+ "dtype": "video",
120
+ "shape": [
121
+ 1280,
122
+ 1280,
123
+ 3
124
+ ],
125
+ "names": [
126
+ "height",
127
+ "width",
128
+ "channels"
129
+ ],
130
+ "info": {
131
+ "video.height": 1280,
132
+ "video.width": 1280,
133
+ "video.codec": "h264",
134
+ "video.pix_fmt": "yuv420p",
135
+ "video.is_depth_map": false,
136
+ "video.fps": 20,
137
+ "video.channels": 3,
138
+ "has_audio": false
139
+ }
140
+ },
141
+ "timestamp": {
142
+ "dtype": "float32",
143
+ "shape": [
144
+ 1
145
+ ],
146
+ "names": null
147
+ },
148
+ "frame_index": {
149
+ "dtype": "int64",
150
+ "shape": [
151
+ 1
152
+ ],
153
+ "names": null
154
+ },
155
+ "episode_index": {
156
+ "dtype": "int64",
157
+ "shape": [
158
+ 1
159
+ ],
160
+ "names": null
161
+ },
162
+ "index": {
163
+ "dtype": "int64",
164
+ "shape": [
165
+ 1
166
+ ],
167
+ "names": null
168
+ },
169
+ "task_index": {
170
+ "dtype": "int64",
171
+ "shape": [
172
+ 1
173
+ ],
174
+ "names": null
175
+ }
176
+ }
177
+ }
meta/stats.json ADDED
@@ -0,0 +1,984 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.right": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.31283745509394634
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.30666438572895355
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.29841638639197265
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0036663924521428493
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.002842835255561597
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.00332457689416697
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 53043200
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ -3.9215686274509807e-13
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ -3.9215686274509807e-13
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ -3.9215686274509807e-13
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.015673983439067066
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.023551862483105528
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.01972700425650041
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.2996383261300508
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.27861161307246723
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.2669035648568001
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.64404513567185
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.618592783636746
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.5936141324385341
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.8580167383920434
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.8491385951765086
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.8436528862163005
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "timestamp": {
161
+ "min": [
162
+ 0.0
163
+ ],
164
+ "max": [
165
+ 65.2
166
+ ],
167
+ "mean": [
168
+ 27.62116312741313
169
+ ],
170
+ "std": [
171
+ 17.635342053174444
172
+ ],
173
+ "count": [
174
+ 2072
175
+ ],
176
+ "q01": [
177
+ 0.5323431260602132
178
+ ],
179
+ "q10": [
180
+ 5.502555971927636
181
+ ],
182
+ "q50": [
183
+ 27.623851829150585
184
+ ],
185
+ "q90": [
186
+ 49.73977028289861
187
+ ],
188
+ "q99": [
189
+ 54.70998312876604
190
+ ]
191
+ },
192
+ "index": {
193
+ "min": [
194
+ 0
195
+ ],
196
+ "max": [
197
+ 2071
198
+ ],
199
+ "mean": [
200
+ 1035.5
201
+ ],
202
+ "std": [
203
+ 598.1348092194601
204
+ ],
205
+ "count": [
206
+ 2072
207
+ ],
208
+ "q01": [
209
+ 493.72359997480544
210
+ ],
211
+ "q10": [
212
+ 593.1278568918117
213
+ ],
214
+ "q50": [
215
+ 1035.5537740347493
216
+ ],
217
+ "q90": [
218
+ 1477.872143108188
219
+ ],
220
+ "q99": [
221
+ 1577.2764000251948
222
+ ]
223
+ },
224
+ "state": {
225
+ "min": [
226
+ -0.07060885429382324,
227
+ -0.030962713062763214,
228
+ -0.158281147480011,
229
+ -0.4544691741466522,
230
+ -0.027446448802947998,
231
+ -0.14048351347446442,
232
+ -0.074485182762146,
233
+ -0.13543006777763367,
234
+ -0.2323489934206009,
235
+ -0.1971546858549118,
236
+ -0.41873395442962646,
237
+ -0.35951176285743713,
238
+ 0.0,
239
+ 0.0
240
+ ],
241
+ "max": [
242
+ 0.2446446418762207,
243
+ 0.1021750271320343,
244
+ 0.05596378445625305,
245
+ 0.28338852524757385,
246
+ 0.3109258711338043,
247
+ 0.317831814289093,
248
+ 0.22300976514816284,
249
+ 0.1074824184179306,
250
+ 0.061252862215042114,
251
+ 0.32536253333091736,
252
+ 0.14122141897678375,
253
+ 0.0741884633898735,
254
+ 80.0,
255
+ 80.0
256
+ ],
257
+ "mean": [
258
+ 0.030283458558770623,
259
+ 0.04076802794566256,
260
+ -0.01237060862193765,
261
+ 0.02555224733179054,
262
+ 0.1172539998658548,
263
+ 0.010036923488850154,
264
+ 0.08293713961737356,
265
+ -0.03414854155691578,
266
+ -0.08080405455060631,
267
+ 0.0386498068930387,
268
+ -0.11484758368545862,
269
+ -0.14511691395222104,
270
+ 27.760619019909715,
271
+ 21.351351259297846
272
+ ],
273
+ "std": [
274
+ 0.06612309576417602,
275
+ 0.03159754838647799,
276
+ 0.0427807081847908,
277
+ 0.14755220805568336,
278
+ 0.08087565097557398,
279
+ 0.1228570433912215,
280
+ 0.0779324515196149,
281
+ 0.05954399118204293,
282
+ 0.10207675977235242,
283
+ 0.16355512944226883,
284
+ 0.1602293984222771,
285
+ 0.10365833231083516,
286
+ 38.08145727502873,
287
+ 35.38683343263301
288
+ ],
289
+ "count": [
290
+ 2072
291
+ ],
292
+ "q01": [
293
+ -0.04459967401656268,
294
+ -0.016976811788886523,
295
+ -0.10682374292457814,
296
+ -0.26421594221468536,
297
+ -0.014648590571295136,
298
+ -0.13331848491486664,
299
+ -0.026722285000568717,
300
+ -0.11470313824918192,
301
+ -0.1617450284395856,
302
+ -0.12058330297921258,
303
+ -0.2855271365115973,
304
+ -0.2762426123672442,
305
+ -3.7017123107658105e-11,
306
+ -6.298247826964047e-11
307
+ ],
308
+ "q10": [
309
+ -0.026676879919036993,
310
+ -0.005000625320163674,
311
+ -0.07699650802306156,
312
+ -0.18308582501701695,
313
+ 0.017425452491976898,
314
+ -0.11078573090229256,
315
+ 0.023082038093516496,
316
+ -0.09978869323075738,
317
+ -0.15262407218897178,
318
+ -0.06773209844582848,
319
+ -0.25675992086245664,
320
+ -0.24851078345767552,
321
+ 29.608213663065605,
322
+ -6.298114578460117e-11
323
+ ],
324
+ "q50": [
325
+ 0.010515883445387354,
326
+ 0.03926085429104283,
327
+ -0.0068147278949977925,
328
+ 0.03918047879667931,
329
+ 0.1382548270044079,
330
+ -0.025920181045251175,
331
+ 0.0920272343863938,
332
+ -0.037097547149364786,
333
+ -0.1089752116285509,
334
+ 0.018585436847995837,
335
+ -0.110123202143575,
336
+ -0.1675436164856561,
337
+ 29.610740752325174,
338
+ -6.297522362887096e-11
339
+ ],
340
+ "q90": [
341
+ 0.13182260709865068,
342
+ 0.07641064356652925,
343
+ 0.03274540024248588,
344
+ 0.18474268528801827,
345
+ 0.17930499482252654,
346
+ 0.22910552873459564,
347
+ 0.1460813767956318,
348
+ 0.04208482636793239,
349
+ 0.029269691065859957,
350
+ 0.16419561851165584,
351
+ 0.05360825598585099,
352
+ -0.0062963063896968085,
353
+ 29.613267841584744,
354
+ 50.38372248030606
355
+ ],
356
+ "q99": [
357
+ 0.17367284181721968,
358
+ 0.0854448398056307,
359
+ 0.049661138159902515,
360
+ 0.23866575030732226,
361
+ 0.21000559038687572,
362
+ 0.29698582055600914,
363
+ 0.16807924977766214,
364
+ 0.06184935388709042,
365
+ 0.05497081709439547,
366
+ 0.2585955969412527,
367
+ 0.11063543258803,
368
+ 0.040397342607868,
369
+ 29.613836436668148,
370
+ 50.38586259552096
371
+ ]
372
+ },
373
+ "action": {
374
+ "min": [
375
+ -0.12040001153945923,
376
+ -0.10420054197311401,
377
+ -0.19696009159088135,
378
+ -0.190375417470932,
379
+ -0.1415824145078659,
380
+ -0.19669203460216522,
381
+ 0.9448963403701782,
382
+ -0.4216373562812805,
383
+ -0.17711684107780457,
384
+ -0.19399210810661316,
385
+ -0.1453695446252823,
386
+ -0.6794922351837158,
387
+ -0.13143731653690338,
388
+ 0.7305996417999268,
389
+ 0.0,
390
+ 0.0
391
+ ],
392
+ "max": [
393
+ 0.17738112807273865,
394
+ 0.036594003438949585,
395
+ 0.03486429154872894,
396
+ 0.03191244974732399,
397
+ 0.28231748938560486,
398
+ 0.06925995647907257,
399
+ 1.0,
400
+ 0.05353347212076187,
401
+ 0.05075553059577942,
402
+ 0.053856946527957916,
403
+ 0.0540863536298275,
404
+ 0.1788426637649536,
405
+ 0.23206761479377747,
406
+ 1.0,
407
+ 80.0,
408
+ 80.0
409
+ ],
410
+ "mean": [
411
+ 0.01663364179640951,
412
+ -0.042979603460684246,
413
+ -0.040147531866617354,
414
+ -0.06649829818360134,
415
+ 0.010012006260361164,
416
+ -0.03584352019602526,
417
+ 0.9887739064668136,
418
+ -0.12593822604275406,
419
+ -0.05913837519600182,
420
+ -0.06101030560972665,
421
+ -0.06616234130128988,
422
+ -0.1732318610731426,
423
+ 0.05139940396458285,
424
+ 0.9498277439171283,
425
+ 27.760619019909715,
426
+ 21.351351259297846
427
+ ],
428
+ "std": [
429
+ 0.054794137902497375,
430
+ 0.032428273954120915,
431
+ 0.051740062159050894,
432
+ 0.05298445801001603,
433
+ 0.10704704690316291,
434
+ 0.04614184059811734,
435
+ 0.011111601266856704,
436
+ 0.13799293441471833,
437
+ 0.0526587450946313,
438
+ 0.048355076068457174,
439
+ 0.045254207951998,
440
+ 0.2215670043046098,
441
+ 0.0797200866150912,
442
+ 0.05747838439546721,
443
+ 38.08145727502873,
444
+ 35.38683343263301
445
+ ],
446
+ "count": [
447
+ 2072
448
+ ],
449
+ "q01": [
450
+ -0.06871672995480202,
451
+ -0.08630604407088437,
452
+ -0.17412460129071589,
453
+ -0.13000607964715788,
454
+ -0.1211117234145755,
455
+ -0.13606906206774952,
456
+ 0.9589353742545407,
457
+ -0.2789531498916922,
458
+ -0.13949300243174048,
459
+ -0.15850122890194238,
460
+ -0.13640704254217045,
461
+ -0.47313547375385423,
462
+ -0.07592658544923395,
463
+ 0.8211396137181971,
464
+ -3.7017123107658105e-11,
465
+ -6.298247826964047e-11
466
+ ],
467
+ "q10": [
468
+ -0.03931379336171557,
469
+ -0.07522932143241857,
470
+ -0.11689673068080975,
471
+ -0.11078970263223074,
472
+ -0.10028190864591667,
473
+ -0.09411184570957047,
474
+ 0.9710674663883379,
475
+ -0.24197303870869044,
476
+ -0.1263307482892338,
477
+ -0.11711613672990424,
478
+ -0.11136990800952992,
479
+ -0.35119769667566514,
480
+ -0.054248546378176415,
481
+ 0.8865872335134787,
482
+ 29.608213663065605,
483
+ -6.298114578460117e-11
484
+ ],
485
+ "q50": [
486
+ 0.009700365854934232,
487
+ -0.04447635941290113,
488
+ -0.025754832227545356,
489
+ -0.07526839972639089,
490
+ -0.023741515077341305,
491
+ -0.03223337371056921,
492
+ 0.9912056180587376,
493
+ -0.14341238657602298,
494
+ -0.046417722369285305,
495
+ -0.060389737105967914,
496
+ -0.06706534720899746,
497
+ -0.18653357815371402,
498
+ 0.06527720667551268,
499
+ 0.9572739398329875,
500
+ 29.610740752325174,
501
+ -6.297522362887096e-11
502
+ ],
503
+ "q90": [
504
+ 0.10864998630201264,
505
+ -0.002596204355359077,
506
+ 0.00650147049684207,
507
+ -0.0032155944120757355,
508
+ 0.20398081070294022,
509
+ 0.014956138114728982,
510
+ 0.9987357602990502,
511
+ 0.0070073629769004,
512
+ -0.004033507086322228,
513
+ -0.006586892095225427,
514
+ -0.017709861624209233,
515
+ 0.04885308172582544,
516
+ 0.12019020139768317,
517
+ 0.994272216196571,
518
+ 29.613267841584744,
519
+ 50.38372248030606
520
+ ],
521
+ "q99": [
522
+ 0.13659552443175643,
523
+ 0.020973880095695036,
524
+ 0.02318143522690507,
525
+ 0.012418112529434524,
526
+ 0.2588559094507204,
527
+ 0.04359844600508515,
528
+ 0.99989763610047,
529
+ 0.025574623158679827,
530
+ 0.02620797515598676,
531
+ 0.019259146908334093,
532
+ 0.024167295195728047,
533
+ 0.13802142030771636,
534
+ 0.15158975520462487,
535
+ 0.9998003442694986,
536
+ 29.613836436668148,
537
+ 50.38586259552096
538
+ ]
539
+ },
540
+ "frame_index": {
541
+ "min": [
542
+ 0
543
+ ],
544
+ "max": [
545
+ 1304
546
+ ],
547
+ "mean": [
548
+ 552.4232625482625
549
+ ],
550
+ "std": [
551
+ 352.70684106348875
552
+ ],
553
+ "count": [
554
+ 2072
555
+ ],
556
+ "q01": [
557
+ 10.646862523067936
558
+ ],
559
+ "q10": [
560
+ 110.05111944007439
561
+ ],
562
+ "q50": [
563
+ 552.4770365830116
564
+ ],
565
+ "q90": [
566
+ 994.7954056564507
567
+ ],
568
+ "q99": [
569
+ 1094.199662573457
570
+ ]
571
+ },
572
+ "observation.images.left": {
573
+ "min": [
574
+ [
575
+ [
576
+ 0.0
577
+ ]
578
+ ],
579
+ [
580
+ [
581
+ 0.0
582
+ ]
583
+ ],
584
+ [
585
+ [
586
+ 0.0
587
+ ]
588
+ ]
589
+ ],
590
+ "max": [
591
+ [
592
+ [
593
+ 1.0
594
+ ]
595
+ ],
596
+ [
597
+ [
598
+ 1.0
599
+ ]
600
+ ],
601
+ [
602
+ [
603
+ 1.0
604
+ ]
605
+ ]
606
+ ],
607
+ "mean": [
608
+ [
609
+ [
610
+ 0.30733388885537305
611
+ ]
612
+ ],
613
+ [
614
+ [
615
+ 0.304477758639351
616
+ ]
617
+ ],
618
+ [
619
+ [
620
+ 0.29698187788628977
621
+ ]
622
+ ]
623
+ ],
624
+ "std": [
625
+ [
626
+ [
627
+ 0.0014751738008447635
628
+ ]
629
+ ],
630
+ [
631
+ [
632
+ 0.0008656272702618259
633
+ ]
634
+ ],
635
+ [
636
+ [
637
+ 0.0008582316811569496
638
+ ]
639
+ ]
640
+ ],
641
+ "count": [
642
+ 53043200
643
+ ],
644
+ "q01": [
645
+ [
646
+ [
647
+ -6.312779165720343e-11
648
+ ]
649
+ ],
650
+ [
651
+ [
652
+ -6.312779165720343e-11
653
+ ]
654
+ ],
655
+ [
656
+ [
657
+ -6.312779165720343e-11
658
+ ]
659
+ ]
660
+ ],
661
+ "q10": [
662
+ [
663
+ [
664
+ 0.011783782408742638
665
+ ]
666
+ ],
667
+ [
668
+ [
669
+ 0.02350154804572089
670
+ ]
671
+ ],
672
+ [
673
+ [
674
+ 0.019635580222664737
675
+ ]
676
+ ]
677
+ ],
678
+ "q50": [
679
+ [
680
+ [
681
+ 0.27988346363803274
682
+ ]
683
+ ],
684
+ [
685
+ [
686
+ 0.24559460703938674
687
+ ]
688
+ ],
689
+ [
690
+ [
691
+ 0.23638095697608433
692
+ ]
693
+ ]
694
+ ],
695
+ "q90": [
696
+ [
697
+ [
698
+ 0.6407508824530291
699
+ ]
700
+ ],
701
+ [
702
+ [
703
+ 0.6275507343096517
704
+ ]
705
+ ],
706
+ [
707
+ [
708
+ 0.6156543933896399
709
+ ]
710
+ ]
711
+ ],
712
+ "q99": [
713
+ [
714
+ [
715
+ 0.8523503161404372
716
+ ]
717
+ ],
718
+ [
719
+ [
720
+ 0.8485083743791937
721
+ ]
722
+ ],
723
+ [
724
+ [
725
+ 0.8352819928062913
726
+ ]
727
+ ]
728
+ ]
729
+ },
730
+ "task_index": {
731
+ "min": [
732
+ 0
733
+ ],
734
+ "max": [
735
+ 0
736
+ ],
737
+ "mean": [
738
+ 0.0
739
+ ],
740
+ "std": [
741
+ 0.0
742
+ ],
743
+ "count": [
744
+ 2072
745
+ ],
746
+ "q01": [
747
+ 3.9999999999994176e-16
748
+ ],
749
+ "q10": [
750
+ 3.999999999999417e-15
751
+ ],
752
+ "q50": [
753
+ 1.9999999999997088e-14
754
+ ],
755
+ "q90": [
756
+ 3.599999999999476e-14
757
+ ],
758
+ "q99": [
759
+ 3.9599999999994235e-14
760
+ ]
761
+ },
762
+ "episode_index": {
763
+ "min": [
764
+ 0
765
+ ],
766
+ "max": [
767
+ 1
768
+ ],
769
+ "mean": [
770
+ 0.6298262548262549
771
+ ],
772
+ "std": [
773
+ 0.48285105732284395
774
+ ],
775
+ "count": [
776
+ 2072
777
+ ],
778
+ "q01": [
779
+ 0.6298262548262553
780
+ ],
781
+ "q10": [
782
+ 0.6298262548262588
783
+ ],
784
+ "q50": [
785
+ 0.6298262548262747
786
+ ],
787
+ "q90": [
788
+ 0.6298262548262907
789
+ ],
790
+ "q99": [
791
+ 0.6298262548262944
792
+ ]
793
+ },
794
+ "robot_0_action": {
795
+ "min": [
796
+ -0.12040001153945923,
797
+ -0.10420054197311401,
798
+ -0.19696009159088135,
799
+ -0.190375417470932,
800
+ -0.1415824145078659,
801
+ -0.19669203460216522,
802
+ 0.9448963403701782,
803
+ 0.0
804
+ ],
805
+ "max": [
806
+ 0.17738112807273865,
807
+ 0.036594003438949585,
808
+ 0.03486429154872894,
809
+ 0.03191244974732399,
810
+ 0.28231748938560486,
811
+ 0.06925995647907257,
812
+ 1.0,
813
+ 80.0
814
+ ],
815
+ "mean": [
816
+ 0.01663364179640951,
817
+ -0.042979603460684246,
818
+ -0.040147531866617354,
819
+ -0.06649829818360134,
820
+ 0.010012006260361164,
821
+ -0.03584352019602526,
822
+ 0.9887739064668136,
823
+ 27.760619019909715
824
+ ],
825
+ "std": [
826
+ 0.054794137902497375,
827
+ 0.032428273954120915,
828
+ 0.051740062159050894,
829
+ 0.05298445801001603,
830
+ 0.10704704690316291,
831
+ 0.04614184059811734,
832
+ 0.011111601266856704,
833
+ 38.08145727502873
834
+ ],
835
+ "count": [
836
+ 2072
837
+ ],
838
+ "q01": [
839
+ -0.06871672995480202,
840
+ -0.08630604407088437,
841
+ -0.17412460129071589,
842
+ -0.13000607964715788,
843
+ -0.1211117234145755,
844
+ -0.13606906206774952,
845
+ 0.9589353742545407,
846
+ -3.7017123107658105e-11
847
+ ],
848
+ "q10": [
849
+ -0.03931379336171557,
850
+ -0.07522932143241857,
851
+ -0.11689673068080975,
852
+ -0.11078970263223074,
853
+ -0.10028190864591667,
854
+ -0.09411184570957047,
855
+ 0.9710674663883379,
856
+ 29.608213663065605
857
+ ],
858
+ "q50": [
859
+ 0.009700365854934232,
860
+ -0.04447635941290113,
861
+ -0.025754832227545356,
862
+ -0.07526839972639089,
863
+ -0.023741515077341305,
864
+ -0.03223337371056921,
865
+ 0.9912056180587376,
866
+ 29.610740752325174
867
+ ],
868
+ "q90": [
869
+ 0.10864998630201264,
870
+ -0.002596204355359077,
871
+ 0.00650147049684207,
872
+ -0.0032155944120757355,
873
+ 0.20398081070294022,
874
+ 0.014956138114728982,
875
+ 0.9987357602990502,
876
+ 29.613267841584744
877
+ ],
878
+ "q99": [
879
+ 0.13659552443175643,
880
+ 0.020973880095695036,
881
+ 0.02318143522690507,
882
+ 0.012418112529434524,
883
+ 0.2588559094507204,
884
+ 0.04359844600508515,
885
+ 0.99989763610047,
886
+ 29.613836436668148
887
+ ]
888
+ },
889
+ "robot_1_action": {
890
+ "min": [
891
+ -0.4216373562812805,
892
+ -0.17711684107780457,
893
+ -0.19399210810661316,
894
+ -0.1453695446252823,
895
+ -0.6794922351837158,
896
+ -0.13143731653690338,
897
+ 0.7305996417999268,
898
+ 0.0
899
+ ],
900
+ "max": [
901
+ 0.05353347212076187,
902
+ 0.05075553059577942,
903
+ 0.053856946527957916,
904
+ 0.0540863536298275,
905
+ 0.1788426637649536,
906
+ 0.23206761479377747,
907
+ 1.0,
908
+ 80.0
909
+ ],
910
+ "mean": [
911
+ -0.12593822604275406,
912
+ -0.05913837519600182,
913
+ -0.06101030560972665,
914
+ -0.06616234130128988,
915
+ -0.1732318610731426,
916
+ 0.05139940396458285,
917
+ 0.9498277439171283,
918
+ 21.351351259297846
919
+ ],
920
+ "std": [
921
+ 0.13799293441471833,
922
+ 0.0526587450946313,
923
+ 0.048355076068457174,
924
+ 0.045254207951998,
925
+ 0.2215670043046098,
926
+ 0.0797200866150912,
927
+ 0.05747838439546721,
928
+ 35.38683343263301
929
+ ],
930
+ "count": [
931
+ 2072
932
+ ],
933
+ "q01": [
934
+ -0.2789531498916922,
935
+ -0.13949300243174048,
936
+ -0.15850122890194238,
937
+ -0.13640704254217045,
938
+ -0.47313547375385423,
939
+ -0.07592658544923395,
940
+ 0.8211396137181971,
941
+ -6.298247826964047e-11
942
+ ],
943
+ "q10": [
944
+ -0.24197303870869044,
945
+ -0.1263307482892338,
946
+ -0.11711613672990424,
947
+ -0.11136990800952992,
948
+ -0.35119769667566514,
949
+ -0.054248546378176415,
950
+ 0.8865872335134787,
951
+ -6.298114578460117e-11
952
+ ],
953
+ "q50": [
954
+ -0.14341238657602298,
955
+ -0.046417722369285305,
956
+ -0.060389737105967914,
957
+ -0.06706534720899746,
958
+ -0.18653357815371402,
959
+ 0.06527720667551268,
960
+ 0.9572739398329875,
961
+ -6.297522362887096e-11
962
+ ],
963
+ "q90": [
964
+ 0.0070073629769004,
965
+ -0.004033507086322228,
966
+ -0.006586892095225427,
967
+ -0.017709861624209233,
968
+ 0.04885308172582544,
969
+ 0.12019020139768317,
970
+ 0.994272216196571,
971
+ 50.38372248030606
972
+ ],
973
+ "q99": [
974
+ 0.025574623158679827,
975
+ 0.02620797515598676,
976
+ 0.019259146908334093,
977
+ 0.024167295195728047,
978
+ 0.13802142030771636,
979
+ 0.15158975520462487,
980
+ 0.9998003442694986,
981
+ 50.38586259552096
982
+ ]
983
+ }
984
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:05d6536078f9edde80abe50dc4baafbee763acceea0a838b0447d1b538a9fb2f
3
+ size 2125
videos/observation.images.left/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9b258cfe5b35aca52b93208c14cf9bf26f2c5023906fae8cb0991aa95ec42b95
3
+ size 9599810
videos/observation.images.right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e76314f9415bdfffc22947efab86ef18a65b0fb1dd80d3278a186102bb2e5f6f
3
+ size 10260997