Hugging Face's logo

Datasets:
jzpeng
/
typoverflow_vifailback

Tasks:
Robotics
Modalities:
Time-series
Tabular
Size:
1M<n<10M
Tags:
tsfile
timeseries
tabular
robotics
lerobot
vifailback
License:
Dataset card Files
xet
 Community
jzpeng commited on
Commit
119b660
·
verified ·
1 Parent(s): 45237e3

Upload encoded TsFile conversion of typoverflow/vifailback

Browse files
Files changed (10) hide show
  1. .gitattributes +61 -60
  2. README.md +167 -3
  3. data/typoverflow_vifailback_train.tsfile +3 -0
  4. meta/critical_frames.jsonl +0 -0
  5. meta/episodes/chunk-000/file-000.parquet +3 -0
  6. meta/info.json +1681 -0
  7. meta/qc_warnings.jsonl +0 -0
  8. meta/stats.json +3204 -0
  9. meta/tasks.parquet +3 -0
  10. typoverflow_vifailback.yaml +104 -0
.gitattributes CHANGED
@@ -1,60 +1,61 @@
1
- *.7z filter=lfs diff=lfs merge=lfs -text
2
- *.arrow filter=lfs diff=lfs merge=lfs -text
3
- *.avro filter=lfs diff=lfs merge=lfs -text
4
- *.bin filter=lfs diff=lfs merge=lfs -text
5
- *.bz2 filter=lfs diff=lfs merge=lfs -text
6
- *.ckpt filter=lfs diff=lfs merge=lfs -text
7
- *.ftz filter=lfs diff=lfs merge=lfs -text
8
- *.gz filter=lfs diff=lfs merge=lfs -text
9
- *.h5 filter=lfs diff=lfs merge=lfs -text
10
- *.joblib filter=lfs diff=lfs merge=lfs -text
11
- *.lfs.* filter=lfs diff=lfs merge=lfs -text
12
- *.lz4 filter=lfs diff=lfs merge=lfs -text
13
- *.mds filter=lfs diff=lfs merge=lfs -text
14
- *.mlmodel filter=lfs diff=lfs merge=lfs -text
15
- *.model filter=lfs diff=lfs merge=lfs -text
16
- *.msgpack filter=lfs diff=lfs merge=lfs -text
17
- *.npy filter=lfs diff=lfs merge=lfs -text
18
- *.npz filter=lfs diff=lfs merge=lfs -text
19
- *.onnx filter=lfs diff=lfs merge=lfs -text
20
- *.ot filter=lfs diff=lfs merge=lfs -text
21
- *.parquet filter=lfs diff=lfs merge=lfs -text
22
- *.pb filter=lfs diff=lfs merge=lfs -text
23
- *.pickle filter=lfs diff=lfs merge=lfs -text
24
- *.pkl filter=lfs diff=lfs merge=lfs -text
25
- *.pt filter=lfs diff=lfs merge=lfs -text
26
- *.pth filter=lfs diff=lfs merge=lfs -text
27
- *.rar filter=lfs diff=lfs merge=lfs -text
28
- *.safetensors filter=lfs diff=lfs merge=lfs -text
29
- saved_model/**/* filter=lfs diff=lfs merge=lfs -text
30
- *.tar.* filter=lfs diff=lfs merge=lfs -text
31
- *.tar filter=lfs diff=lfs merge=lfs -text
32
- *.tflite filter=lfs diff=lfs merge=lfs -text
33
- *.tgz filter=lfs diff=lfs merge=lfs -text
34
- *.wasm filter=lfs diff=lfs merge=lfs -text
35
- *.xz filter=lfs diff=lfs merge=lfs -text
36
- *.zip filter=lfs diff=lfs merge=lfs -text
37
- *.zst filter=lfs diff=lfs merge=lfs -text
38
- *tfevents* filter=lfs diff=lfs merge=lfs -text
39
- # Audio files - uncompressed
40
- *.pcm filter=lfs diff=lfs merge=lfs -text
41
- *.sam filter=lfs diff=lfs merge=lfs -text
42
- *.raw filter=lfs diff=lfs merge=lfs -text
43
- # Audio files - compressed
44
- *.aac filter=lfs diff=lfs merge=lfs -text
45
- *.flac filter=lfs diff=lfs merge=lfs -text
46
- *.mp3 filter=lfs diff=lfs merge=lfs -text
47
- *.ogg filter=lfs diff=lfs merge=lfs -text
48
- *.wav filter=lfs diff=lfs merge=lfs -text
49
- # Image files - uncompressed
50
- *.bmp filter=lfs diff=lfs merge=lfs -text
51
- *.gif filter=lfs diff=lfs merge=lfs -text
52
- *.png filter=lfs diff=lfs merge=lfs -text
53
- *.tiff filter=lfs diff=lfs merge=lfs -text
54
- # Image files - compressed
55
- *.jpg filter=lfs diff=lfs merge=lfs -text
56
- *.jpeg filter=lfs diff=lfs merge=lfs -text
57
- *.webp filter=lfs diff=lfs merge=lfs -text
58
- # Video files - compressed
59
- *.mp4 filter=lfs diff=lfs merge=lfs -text
60
- *.webm filter=lfs diff=lfs merge=lfs -text
 
 
1
+ *.7z filter=lfs diff=lfs merge=lfs -text
2
+ *.arrow filter=lfs diff=lfs merge=lfs -text
3
+ *.avro filter=lfs diff=lfs merge=lfs -text
4
+ *.bin filter=lfs diff=lfs merge=lfs -text
5
+ *.bz2 filter=lfs diff=lfs merge=lfs -text
6
+ *.ckpt filter=lfs diff=lfs merge=lfs -text
7
+ *.ftz filter=lfs diff=lfs merge=lfs -text
8
+ *.gz filter=lfs diff=lfs merge=lfs -text
9
+ *.h5 filter=lfs diff=lfs merge=lfs -text
10
+ *.joblib filter=lfs diff=lfs merge=lfs -text
11
+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
12
+ *.lz4 filter=lfs diff=lfs merge=lfs -text
13
+ *.mds filter=lfs diff=lfs merge=lfs -text
14
+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
15
+ *.model filter=lfs diff=lfs merge=lfs -text
16
+ *.msgpack filter=lfs diff=lfs merge=lfs -text
17
+ *.npy filter=lfs diff=lfs merge=lfs -text
18
+ *.npz filter=lfs diff=lfs merge=lfs -text
19
+ *.onnx filter=lfs diff=lfs merge=lfs -text
20
+ *.ot filter=lfs diff=lfs merge=lfs -text
21
+ *.parquet filter=lfs diff=lfs merge=lfs -text
22
+ *.pb filter=lfs diff=lfs merge=lfs -text
23
+ *.pickle filter=lfs diff=lfs merge=lfs -text
24
+ *.pkl filter=lfs diff=lfs merge=lfs -text
25
+ *.pt filter=lfs diff=lfs merge=lfs -text
26
+ *.pth filter=lfs diff=lfs merge=lfs -text
27
+ *.rar filter=lfs diff=lfs merge=lfs -text
28
+ *.safetensors filter=lfs diff=lfs merge=lfs -text
29
+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
30
+ *.tar.* filter=lfs diff=lfs merge=lfs -text
31
+ *.tar filter=lfs diff=lfs merge=lfs -text
32
+ *.tflite filter=lfs diff=lfs merge=lfs -text
33
+ *.tgz filter=lfs diff=lfs merge=lfs -text
34
+ *.wasm filter=lfs diff=lfs merge=lfs -text
35
+ *.xz filter=lfs diff=lfs merge=lfs -text
36
+ *.zip filter=lfs diff=lfs merge=lfs -text
37
+ *.zst filter=lfs diff=lfs merge=lfs -text
38
+ *tfevents* filter=lfs diff=lfs merge=lfs -text
39
+ # Audio files - uncompressed
40
+ *.pcm filter=lfs diff=lfs merge=lfs -text
41
+ *.sam filter=lfs diff=lfs merge=lfs -text
42
+ *.raw filter=lfs diff=lfs merge=lfs -text
43
+ # Audio files - compressed
44
+ *.aac filter=lfs diff=lfs merge=lfs -text
45
+ *.flac filter=lfs diff=lfs merge=lfs -text
46
+ *.mp3 filter=lfs diff=lfs merge=lfs -text
47
+ *.ogg filter=lfs diff=lfs merge=lfs -text
48
+ *.wav filter=lfs diff=lfs merge=lfs -text
49
+ # Image files - uncompressed
50
+ *.bmp filter=lfs diff=lfs merge=lfs -text
51
+ *.gif filter=lfs diff=lfs merge=lfs -text
52
+ *.png filter=lfs diff=lfs merge=lfs -text
53
+ *.tiff filter=lfs diff=lfs merge=lfs -text
54
+ # Image files - compressed
55
+ *.jpg filter=lfs diff=lfs merge=lfs -text
56
+ *.jpeg filter=lfs diff=lfs merge=lfs -text
57
+ *.webp filter=lfs diff=lfs merge=lfs -text
58
+ # Video files - compressed
59
+ *.mp4 filter=lfs diff=lfs merge=lfs -text
60
+ *.webm filter=lfs diff=lfs merge=lfs -text
61
+ data/typoverflow_vifailback_train.tsfile filter=lfs diff=lfs merge=lfs -text
README.md CHANGED
@@ -1,3 +1,167 @@
1
- ---
2
- license: apache-2.0
3
- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: mit
3
+ authors:
4
+ - Chenxiao Gao
5
+ task_categories:
6
+ - robotics
7
+ tags:
8
+ - tsfile
9
+ - timeseries
10
+ - tabular
11
+ - robotics
12
+ - lerobot
13
+ - vifailback
14
+ - aloha
15
+ - piper
16
+ modality:
17
+ - timeseries
18
+ - tabular
19
+ pretty_name: VIFailBack (TsFile)
20
+ configs:
21
+ - config_name: default
22
+ data_files:
23
+ - split: train
24
+ path: data/typoverflow_vifailback_train.tsfile
25
+ size_categories:
26
+ - 1M<n<10M
27
+ ---
28
+
29
+ # VIFailBack (TsFile)
30
+
31
+ This dataset is an Apache TsFile conversion of
32
+ [`typoverflow/vifailback`](https://huggingface.co/datasets/typoverflow/vifailback), a LeRobot v3.0 ALOHA AgileX Piper robot dataset.
33
+
34
+ **Modalities: Time-series, Tabular.** The converted repository contains numeric
35
+ robot state, target, timing, episode/task tags, debug signals, and mirrored
36
+ source metadata. Camera videos remain in the original Hugging Face dataset.
37
+
38
+ ## Source Dataset and Author
39
+
40
+ - Original dataset: [`typoverflow/vifailback`](https://huggingface.co/datasets/typoverflow/vifailback)
41
+ - Pinned source revision: [`9145e6c58471ec61d5a11d7a1bbb39d540fc5710`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710)
42
+ - Original author, repository owner, uploader, and commit author: [Chenxiao Gao (`typoverflow`)](https://huggingface.co/typoverflow)
43
+ - License: MIT
44
+ - Robot type: `aloha_agilex_piper`
45
+ - LeRobot codebase version: `v3.0`
46
+ - Sampling rate: 25 fps
47
+ - Split: `train`, episodes 0 through 4713
48
+ - Source scale: 4,714 episodes, 1,190,262 frames, 98 tasks
49
+ - Source frame shards: 8 Parquet files totaling 516,628,399 bytes
50
+ - Paper, homepage, and completed citation: not provided by the source card
51
+
52
+ The source card states that the dataset was created using
53
+ [LeRobot](https://github.com/huggingface/lerobot). Task text for all 98 task
54
+ indices is preserved in `meta/tasks.parquet`; the source card does not provide a
55
+ more detailed dataset narrative, so none is inferred here.
56
+
57
+ ## Converted Files
58
+
59
+ - TsFile: `data/typoverflow_vifailback_train.tsfile`
60
+ - Table: `typoverflow_vifailback_train`
61
+ - Rows: 1,190,262
62
+ - Episode/task devices: 4,714
63
+ - Columns: 183 total — 1 TIME, 2 TAG, 180 FIELD
64
+ - TsFile size: 467,828,268 bytes (90.55% of the source frame-Parquet size)
65
+ - Time precision: milliseconds
66
+ - Metadata: `meta/` is mirrored from the pinned source, with only
67
+ `meta/info.json` rewritten to describe the TsFile artifact and conversion.
68
+ - Conversion config: `typoverflow_vifailback.yaml`
69
+
70
+ The latest pinned source metadata includes `meta/critical_frames.jsonl` and
71
+ `meta/qc_warnings.jsonl`; both are preserved unchanged.
72
+
73
+ ## TsFile Schema
74
+
75
+ `Time` is an INT64 millisecond timestamp computed as
76
+ `round(timestamp * 1000)`. It restarts within each episode and spans
77
+ 0..36,960 ms across the dataset.
78
+
79
+ TAG columns (TsFile table-model device segments):
80
+
81
+ - `episode_index` — source episode number, 0 through 4713
82
+ - `task_index` — source task number, 0 through 97
83
+
84
+ Scalar FIELD columns:
85
+
86
+ - `frame_index` — frame number within an episode
87
+ - `sample_index` — source global `index`, renamed to avoid ambiguity
88
+
89
+ The remaining 178 FLOAT FIELD columns are flattened from the source's scalar
90
+ and vector signals while preserving their full source prefixes. Dots are
91
+ replaced by underscores and vector positions receive a numeric suffix. They
92
+ cover these source groups:
93
+
94
+ - `raw_state.*` and `raw_target.*`: joint position/velocity, end-effector XYZ
95
+ and quaternion, gripper state, and base velocity
96
+ - `state.*` and `target.*`: joint position/velocity, end-effector XYZ and 9D
97
+ rotation, gripper state, and base velocity
98
+ - `debug.*`: left/right gripper end-effector XYZ and 6D rotation
99
+
100
+ For example, `raw_state.left_joint_pos[6]` becomes
101
+ `raw_state_left_joint_pos_0` through `raw_state_left_joint_pos_5`. The complete
102
+ machine-readable list and roles are recorded in `meta/info.json`.
103
+
104
+ ## Encoding and Conversion Notes
105
+
106
+ - FLOAT/DOUBLE FIELD: `GORILLA + ZSTD`
107
+ - INT32/INT64 FIELD: `TS_2DIFF + ZSTD`
108
+ - Time: `TS_2DIFF + LZ4`
109
+ - BOOLEAN FIELD policy: `RLE + LZ4`; this source schema contains no BOOLEAN field
110
+ - TAG: stored through the TsFile device/TAG mechanism, not duplicated as ordinary FIELD columns
111
+ - All eight source frame shards are merged into one train-split TsFile. Filter
112
+ by `episode_index` and `task_index` to select a trajectory or task.
113
+ - The source `timestamp` column is the only numeric source value not stored as a
114
+ separate FIELD. It is redundant after the exact millisecond mapping
115
+ (`timestamp = Time / 1000` seconds at 25 fps).
116
+ - The source `index` is retained as `sample_index`; `frame_index` is unchanged.
117
+ - No published rows, episodes, tasks, or numeric signal dimensions are dropped.
118
+
119
+ ## Videos
120
+
121
+ Videos are not duplicated in the converted repository. The pinned source has
122
+ 145 frame-aligned MP4 files totaling 27,938,508,868
123
+ bytes (26.02 GiB) in three streams:
124
+
125
+ - [`videos/observation.images.cam_high/`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710/videos/observation.images.cam_high) — 56 MP4 files, 11,040,155,298 bytes (10.28 GiB)
126
+ - [`videos/observation.images.cam_left_wrist/`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710/videos/observation.images.cam_left_wrist) — 45 MP4 files, 8,526,126,153 bytes (7.94 GiB)
127
+ - [`videos/observation.images.cam_right_wrist/`](https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710/videos/observation.images.cam_right_wrist) — 44 MP4 files, 8,372,227,417 bytes (7.80 GiB)
128
+
129
+ The source template is
130
+ `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`.
131
+ Numeric rows remain aligned with the original videos through `episode_index`,
132
+ `frame_index`, and the source episode metadata under `meta/episodes/`.
133
+
134
+ ## Validation
135
+
136
+ The generated TsFile passed Apache TsFile Java 2.2.1 schema inspection and a
137
+ full 1,190,262-row query readback. Validation confirmed:
138
+
139
+ - source, staged, and TsFile row-count equality
140
+ - exactly two TAG columns and 180 FIELD columns
141
+ - the requested physical encoding/compression profile
142
+ - TsFile size below the combined source frame-Parquet size
143
+ - SHA-256 `4580f9bfa834395dba4298be61761a3a5d97dd77d93f009e7c3eef0cbad493a8`
144
+
145
+ The local JSON and Markdown validation reports are intentionally not included
146
+ in this upload-ready dataset.
147
+
148
+ ## Minimal Read Example
149
+
150
+ ```python
151
+ from tsfile import TsFileReader
152
+
153
+ reader = TsFileReader("data/typoverflow_vifailback_train.tsfile")
154
+ table_name = "typoverflow_vifailback_train"
155
+ columns = ["episode_index", "task_index", "frame_index", "sample_index"]
156
+
157
+ with reader.query_table(table_name, columns, batch_size=65536) as result:
158
+ batch = result.read_arrow_batch()
159
+ print(batch.to_pandas().head())
160
+ reader.close()
161
+ ```
162
+
163
+ ## Citation
164
+
165
+ The source dataset card provides no paper or completed citation. Cite the
166
+ original Hugging Face dataset and Chenxiao Gao (`typoverflow`) when using this
167
+ converted artifact.
data/typoverflow_vifailback_train.tsfile ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4580f9bfa834395dba4298be61761a3a5d97dd77d93f009e7c3eef0cbad493a8
3
+ size 467828268
meta/critical_frames.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:893decd3052f93b809a230aa1a8daa039a59b751543e393391e539b318ca36bb
3
+ size 55093593
meta/info.json ADDED
@@ -0,0 +1,1681 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "aloha_agilex_piper",
4
+ "total_episodes": 4714,
5
+ "total_frames": 1190262,
6
+ "total_tasks": 98,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 25,
11
+ "splits": {
12
+ "train": "0:4714"
13
+ },
14
+ "data_path": "data/typoverflow_vifailback_train.tsfile",
15
+ "features": {
16
+ "Time": {
17
+ "dtype": "int64",
18
+ "shape": [
19
+ 1
20
+ ],
21
+ "tsfile_role": "TIME",
22
+ "unit": "ms"
23
+ },
24
+ "episode_index": {
25
+ "dtype": "int64",
26
+ "shape": [
27
+ 1
28
+ ],
29
+ "tsfile_role": "TAG"
30
+ },
31
+ "task_index": {
32
+ "dtype": "int64",
33
+ "shape": [
34
+ 1
35
+ ],
36
+ "tsfile_role": "TAG"
37
+ },
38
+ "frame_index": {
39
+ "dtype": "int64",
40
+ "shape": [
41
+ 1
42
+ ],
43
+ "tsfile_role": "FIELD"
44
+ },
45
+ "sample_index": {
46
+ "dtype": "int64",
47
+ "shape": [
48
+ 1
49
+ ],
50
+ "tsfile_role": "FIELD"
51
+ },
52
+ "raw_state_left_gripper_state": {
53
+ "dtype": "float32",
54
+ "shape": [
55
+ 1
56
+ ],
57
+ "tsfile_role": "FIELD"
58
+ },
59
+ "raw_state_right_gripper_state": {
60
+ "dtype": "float32",
61
+ "shape": [
62
+ 1
63
+ ],
64
+ "tsfile_role": "FIELD"
65
+ },
66
+ "raw_target_left_gripper_state": {
67
+ "dtype": "float32",
68
+ "shape": [
69
+ 1
70
+ ],
71
+ "tsfile_role": "FIELD"
72
+ },
73
+ "raw_target_right_gripper_state": {
74
+ "dtype": "float32",
75
+ "shape": [
76
+ 1
77
+ ],
78
+ "tsfile_role": "FIELD"
79
+ },
80
+ "state_left_gripper_state": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 1
84
+ ],
85
+ "tsfile_role": "FIELD"
86
+ },
87
+ "state_right_gripper_state": {
88
+ "dtype": "float32",
89
+ "shape": [
90
+ 1
91
+ ],
92
+ "tsfile_role": "FIELD"
93
+ },
94
+ "target_left_gripper_state": {
95
+ "dtype": "float32",
96
+ "shape": [
97
+ 1
98
+ ],
99
+ "tsfile_role": "FIELD"
100
+ },
101
+ "target_right_gripper_state": {
102
+ "dtype": "float32",
103
+ "shape": [
104
+ 1
105
+ ],
106
+ "tsfile_role": "FIELD"
107
+ },
108
+ "raw_state_left_joint_pos_0": {
109
+ "dtype": "float32",
110
+ "shape": [
111
+ 1
112
+ ],
113
+ "tsfile_role": "FIELD"
114
+ },
115
+ "raw_state_left_joint_pos_1": {
116
+ "dtype": "float32",
117
+ "shape": [
118
+ 1
119
+ ],
120
+ "tsfile_role": "FIELD"
121
+ },
122
+ "raw_state_left_joint_pos_2": {
123
+ "dtype": "float32",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "tsfile_role": "FIELD"
128
+ },
129
+ "raw_state_left_joint_pos_3": {
130
+ "dtype": "float32",
131
+ "shape": [
132
+ 1
133
+ ],
134
+ "tsfile_role": "FIELD"
135
+ },
136
+ "raw_state_left_joint_pos_4": {
137
+ "dtype": "float32",
138
+ "shape": [
139
+ 1
140
+ ],
141
+ "tsfile_role": "FIELD"
142
+ },
143
+ "raw_state_left_joint_pos_5": {
144
+ "dtype": "float32",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "tsfile_role": "FIELD"
149
+ },
150
+ "raw_state_left_joint_vel_0": {
151
+ "dtype": "float32",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "tsfile_role": "FIELD"
156
+ },
157
+ "raw_state_left_joint_vel_1": {
158
+ "dtype": "float32",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "tsfile_role": "FIELD"
163
+ },
164
+ "raw_state_left_joint_vel_2": {
165
+ "dtype": "float32",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "tsfile_role": "FIELD"
170
+ },
171
+ "raw_state_left_joint_vel_3": {
172
+ "dtype": "float32",
173
+ "shape": [
174
+ 1
175
+ ],
176
+ "tsfile_role": "FIELD"
177
+ },
178
+ "raw_state_left_joint_vel_4": {
179
+ "dtype": "float32",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "tsfile_role": "FIELD"
184
+ },
185
+ "raw_state_left_joint_vel_5": {
186
+ "dtype": "float32",
187
+ "shape": [
188
+ 1
189
+ ],
190
+ "tsfile_role": "FIELD"
191
+ },
192
+ "raw_state_left_eef_xyz_0": {
193
+ "dtype": "float32",
194
+ "shape": [
195
+ 1
196
+ ],
197
+ "tsfile_role": "FIELD"
198
+ },
199
+ "raw_state_left_eef_xyz_1": {
200
+ "dtype": "float32",
201
+ "shape": [
202
+ 1
203
+ ],
204
+ "tsfile_role": "FIELD"
205
+ },
206
+ "raw_state_left_eef_xyz_2": {
207
+ "dtype": "float32",
208
+ "shape": [
209
+ 1
210
+ ],
211
+ "tsfile_role": "FIELD"
212
+ },
213
+ "raw_state_left_eef_quat_0": {
214
+ "dtype": "float32",
215
+ "shape": [
216
+ 1
217
+ ],
218
+ "tsfile_role": "FIELD"
219
+ },
220
+ "raw_state_left_eef_quat_1": {
221
+ "dtype": "float32",
222
+ "shape": [
223
+ 1
224
+ ],
225
+ "tsfile_role": "FIELD"
226
+ },
227
+ "raw_state_left_eef_quat_2": {
228
+ "dtype": "float32",
229
+ "shape": [
230
+ 1
231
+ ],
232
+ "tsfile_role": "FIELD"
233
+ },
234
+ "raw_state_left_eef_quat_3": {
235
+ "dtype": "float32",
236
+ "shape": [
237
+ 1
238
+ ],
239
+ "tsfile_role": "FIELD"
240
+ },
241
+ "raw_state_right_joint_pos_0": {
242
+ "dtype": "float32",
243
+ "shape": [
244
+ 1
245
+ ],
246
+ "tsfile_role": "FIELD"
247
+ },
248
+ "raw_state_right_joint_pos_1": {
249
+ "dtype": "float32",
250
+ "shape": [
251
+ 1
252
+ ],
253
+ "tsfile_role": "FIELD"
254
+ },
255
+ "raw_state_right_joint_pos_2": {
256
+ "dtype": "float32",
257
+ "shape": [
258
+ 1
259
+ ],
260
+ "tsfile_role": "FIELD"
261
+ },
262
+ "raw_state_right_joint_pos_3": {
263
+ "dtype": "float32",
264
+ "shape": [
265
+ 1
266
+ ],
267
+ "tsfile_role": "FIELD"
268
+ },
269
+ "raw_state_right_joint_pos_4": {
270
+ "dtype": "float32",
271
+ "shape": [
272
+ 1
273
+ ],
274
+ "tsfile_role": "FIELD"
275
+ },
276
+ "raw_state_right_joint_pos_5": {
277
+ "dtype": "float32",
278
+ "shape": [
279
+ 1
280
+ ],
281
+ "tsfile_role": "FIELD"
282
+ },
283
+ "raw_state_right_joint_vel_0": {
284
+ "dtype": "float32",
285
+ "shape": [
286
+ 1
287
+ ],
288
+ "tsfile_role": "FIELD"
289
+ },
290
+ "raw_state_right_joint_vel_1": {
291
+ "dtype": "float32",
292
+ "shape": [
293
+ 1
294
+ ],
295
+ "tsfile_role": "FIELD"
296
+ },
297
+ "raw_state_right_joint_vel_2": {
298
+ "dtype": "float32",
299
+ "shape": [
300
+ 1
301
+ ],
302
+ "tsfile_role": "FIELD"
303
+ },
304
+ "raw_state_right_joint_vel_3": {
305
+ "dtype": "float32",
306
+ "shape": [
307
+ 1
308
+ ],
309
+ "tsfile_role": "FIELD"
310
+ },
311
+ "raw_state_right_joint_vel_4": {
312
+ "dtype": "float32",
313
+ "shape": [
314
+ 1
315
+ ],
316
+ "tsfile_role": "FIELD"
317
+ },
318
+ "raw_state_right_joint_vel_5": {
319
+ "dtype": "float32",
320
+ "shape": [
321
+ 1
322
+ ],
323
+ "tsfile_role": "FIELD"
324
+ },
325
+ "raw_state_right_eef_xyz_0": {
326
+ "dtype": "float32",
327
+ "shape": [
328
+ 1
329
+ ],
330
+ "tsfile_role": "FIELD"
331
+ },
332
+ "raw_state_right_eef_xyz_1": {
333
+ "dtype": "float32",
334
+ "shape": [
335
+ 1
336
+ ],
337
+ "tsfile_role": "FIELD"
338
+ },
339
+ "raw_state_right_eef_xyz_2": {
340
+ "dtype": "float32",
341
+ "shape": [
342
+ 1
343
+ ],
344
+ "tsfile_role": "FIELD"
345
+ },
346
+ "raw_state_right_eef_quat_0": {
347
+ "dtype": "float32",
348
+ "shape": [
349
+ 1
350
+ ],
351
+ "tsfile_role": "FIELD"
352
+ },
353
+ "raw_state_right_eef_quat_1": {
354
+ "dtype": "float32",
355
+ "shape": [
356
+ 1
357
+ ],
358
+ "tsfile_role": "FIELD"
359
+ },
360
+ "raw_state_right_eef_quat_2": {
361
+ "dtype": "float32",
362
+ "shape": [
363
+ 1
364
+ ],
365
+ "tsfile_role": "FIELD"
366
+ },
367
+ "raw_state_right_eef_quat_3": {
368
+ "dtype": "float32",
369
+ "shape": [
370
+ 1
371
+ ],
372
+ "tsfile_role": "FIELD"
373
+ },
374
+ "raw_target_left_joint_pos_0": {
375
+ "dtype": "float32",
376
+ "shape": [
377
+ 1
378
+ ],
379
+ "tsfile_role": "FIELD"
380
+ },
381
+ "raw_target_left_joint_pos_1": {
382
+ "dtype": "float32",
383
+ "shape": [
384
+ 1
385
+ ],
386
+ "tsfile_role": "FIELD"
387
+ },
388
+ "raw_target_left_joint_pos_2": {
389
+ "dtype": "float32",
390
+ "shape": [
391
+ 1
392
+ ],
393
+ "tsfile_role": "FIELD"
394
+ },
395
+ "raw_target_left_joint_pos_3": {
396
+ "dtype": "float32",
397
+ "shape": [
398
+ 1
399
+ ],
400
+ "tsfile_role": "FIELD"
401
+ },
402
+ "raw_target_left_joint_pos_4": {
403
+ "dtype": "float32",
404
+ "shape": [
405
+ 1
406
+ ],
407
+ "tsfile_role": "FIELD"
408
+ },
409
+ "raw_target_left_joint_pos_5": {
410
+ "dtype": "float32",
411
+ "shape": [
412
+ 1
413
+ ],
414
+ "tsfile_role": "FIELD"
415
+ },
416
+ "raw_target_left_eef_xyz_0": {
417
+ "dtype": "float32",
418
+ "shape": [
419
+ 1
420
+ ],
421
+ "tsfile_role": "FIELD"
422
+ },
423
+ "raw_target_left_eef_xyz_1": {
424
+ "dtype": "float32",
425
+ "shape": [
426
+ 1
427
+ ],
428
+ "tsfile_role": "FIELD"
429
+ },
430
+ "raw_target_left_eef_xyz_2": {
431
+ "dtype": "float32",
432
+ "shape": [
433
+ 1
434
+ ],
435
+ "tsfile_role": "FIELD"
436
+ },
437
+ "raw_target_left_eef_quat_0": {
438
+ "dtype": "float32",
439
+ "shape": [
440
+ 1
441
+ ],
442
+ "tsfile_role": "FIELD"
443
+ },
444
+ "raw_target_left_eef_quat_1": {
445
+ "dtype": "float32",
446
+ "shape": [
447
+ 1
448
+ ],
449
+ "tsfile_role": "FIELD"
450
+ },
451
+ "raw_target_left_eef_quat_2": {
452
+ "dtype": "float32",
453
+ "shape": [
454
+ 1
455
+ ],
456
+ "tsfile_role": "FIELD"
457
+ },
458
+ "raw_target_left_eef_quat_3": {
459
+ "dtype": "float32",
460
+ "shape": [
461
+ 1
462
+ ],
463
+ "tsfile_role": "FIELD"
464
+ },
465
+ "raw_target_right_joint_pos_0": {
466
+ "dtype": "float32",
467
+ "shape": [
468
+ 1
469
+ ],
470
+ "tsfile_role": "FIELD"
471
+ },
472
+ "raw_target_right_joint_pos_1": {
473
+ "dtype": "float32",
474
+ "shape": [
475
+ 1
476
+ ],
477
+ "tsfile_role": "FIELD"
478
+ },
479
+ "raw_target_right_joint_pos_2": {
480
+ "dtype": "float32",
481
+ "shape": [
482
+ 1
483
+ ],
484
+ "tsfile_role": "FIELD"
485
+ },
486
+ "raw_target_right_joint_pos_3": {
487
+ "dtype": "float32",
488
+ "shape": [
489
+ 1
490
+ ],
491
+ "tsfile_role": "FIELD"
492
+ },
493
+ "raw_target_right_joint_pos_4": {
494
+ "dtype": "float32",
495
+ "shape": [
496
+ 1
497
+ ],
498
+ "tsfile_role": "FIELD"
499
+ },
500
+ "raw_target_right_joint_pos_5": {
501
+ "dtype": "float32",
502
+ "shape": [
503
+ 1
504
+ ],
505
+ "tsfile_role": "FIELD"
506
+ },
507
+ "raw_target_right_eef_xyz_0": {
508
+ "dtype": "float32",
509
+ "shape": [
510
+ 1
511
+ ],
512
+ "tsfile_role": "FIELD"
513
+ },
514
+ "raw_target_right_eef_xyz_1": {
515
+ "dtype": "float32",
516
+ "shape": [
517
+ 1
518
+ ],
519
+ "tsfile_role": "FIELD"
520
+ },
521
+ "raw_target_right_eef_xyz_2": {
522
+ "dtype": "float32",
523
+ "shape": [
524
+ 1
525
+ ],
526
+ "tsfile_role": "FIELD"
527
+ },
528
+ "raw_target_right_eef_quat_0": {
529
+ "dtype": "float32",
530
+ "shape": [
531
+ 1
532
+ ],
533
+ "tsfile_role": "FIELD"
534
+ },
535
+ "raw_target_right_eef_quat_1": {
536
+ "dtype": "float32",
537
+ "shape": [
538
+ 1
539
+ ],
540
+ "tsfile_role": "FIELD"
541
+ },
542
+ "raw_target_right_eef_quat_2": {
543
+ "dtype": "float32",
544
+ "shape": [
545
+ 1
546
+ ],
547
+ "tsfile_role": "FIELD"
548
+ },
549
+ "raw_target_right_eef_quat_3": {
550
+ "dtype": "float32",
551
+ "shape": [
552
+ 1
553
+ ],
554
+ "tsfile_role": "FIELD"
555
+ },
556
+ "raw_target_base_vel_0": {
557
+ "dtype": "float32",
558
+ "shape": [
559
+ 1
560
+ ],
561
+ "tsfile_role": "FIELD"
562
+ },
563
+ "raw_target_base_vel_1": {
564
+ "dtype": "float32",
565
+ "shape": [
566
+ 1
567
+ ],
568
+ "tsfile_role": "FIELD"
569
+ },
570
+ "state_left_joint_pos_0": {
571
+ "dtype": "float32",
572
+ "shape": [
573
+ 1
574
+ ],
575
+ "tsfile_role": "FIELD"
576
+ },
577
+ "state_left_joint_pos_1": {
578
+ "dtype": "float32",
579
+ "shape": [
580
+ 1
581
+ ],
582
+ "tsfile_role": "FIELD"
583
+ },
584
+ "state_left_joint_pos_2": {
585
+ "dtype": "float32",
586
+ "shape": [
587
+ 1
588
+ ],
589
+ "tsfile_role": "FIELD"
590
+ },
591
+ "state_left_joint_pos_3": {
592
+ "dtype": "float32",
593
+ "shape": [
594
+ 1
595
+ ],
596
+ "tsfile_role": "FIELD"
597
+ },
598
+ "state_left_joint_pos_4": {
599
+ "dtype": "float32",
600
+ "shape": [
601
+ 1
602
+ ],
603
+ "tsfile_role": "FIELD"
604
+ },
605
+ "state_left_joint_pos_5": {
606
+ "dtype": "float32",
607
+ "shape": [
608
+ 1
609
+ ],
610
+ "tsfile_role": "FIELD"
611
+ },
612
+ "state_left_joint_vel_0": {
613
+ "dtype": "float32",
614
+ "shape": [
615
+ 1
616
+ ],
617
+ "tsfile_role": "FIELD"
618
+ },
619
+ "state_left_joint_vel_1": {
620
+ "dtype": "float32",
621
+ "shape": [
622
+ 1
623
+ ],
624
+ "tsfile_role": "FIELD"
625
+ },
626
+ "state_left_joint_vel_2": {
627
+ "dtype": "float32",
628
+ "shape": [
629
+ 1
630
+ ],
631
+ "tsfile_role": "FIELD"
632
+ },
633
+ "state_left_joint_vel_3": {
634
+ "dtype": "float32",
635
+ "shape": [
636
+ 1
637
+ ],
638
+ "tsfile_role": "FIELD"
639
+ },
640
+ "state_left_joint_vel_4": {
641
+ "dtype": "float32",
642
+ "shape": [
643
+ 1
644
+ ],
645
+ "tsfile_role": "FIELD"
646
+ },
647
+ "state_left_joint_vel_5": {
648
+ "dtype": "float32",
649
+ "shape": [
650
+ 1
651
+ ],
652
+ "tsfile_role": "FIELD"
653
+ },
654
+ "state_left_eef_xyz_0": {
655
+ "dtype": "float32",
656
+ "shape": [
657
+ 1
658
+ ],
659
+ "tsfile_role": "FIELD"
660
+ },
661
+ "state_left_eef_xyz_1": {
662
+ "dtype": "float32",
663
+ "shape": [
664
+ 1
665
+ ],
666
+ "tsfile_role": "FIELD"
667
+ },
668
+ "state_left_eef_xyz_2": {
669
+ "dtype": "float32",
670
+ "shape": [
671
+ 1
672
+ ],
673
+ "tsfile_role": "FIELD"
674
+ },
675
+ "state_left_eef_rot9d_0": {
676
+ "dtype": "float32",
677
+ "shape": [
678
+ 1
679
+ ],
680
+ "tsfile_role": "FIELD"
681
+ },
682
+ "state_left_eef_rot9d_1": {
683
+ "dtype": "float32",
684
+ "shape": [
685
+ 1
686
+ ],
687
+ "tsfile_role": "FIELD"
688
+ },
689
+ "state_left_eef_rot9d_2": {
690
+ "dtype": "float32",
691
+ "shape": [
692
+ 1
693
+ ],
694
+ "tsfile_role": "FIELD"
695
+ },
696
+ "state_left_eef_rot9d_3": {
697
+ "dtype": "float32",
698
+ "shape": [
699
+ 1
700
+ ],
701
+ "tsfile_role": "FIELD"
702
+ },
703
+ "state_left_eef_rot9d_4": {
704
+ "dtype": "float32",
705
+ "shape": [
706
+ 1
707
+ ],
708
+ "tsfile_role": "FIELD"
709
+ },
710
+ "state_left_eef_rot9d_5": {
711
+ "dtype": "float32",
712
+ "shape": [
713
+ 1
714
+ ],
715
+ "tsfile_role": "FIELD"
716
+ },
717
+ "state_left_eef_rot9d_6": {
718
+ "dtype": "float32",
719
+ "shape": [
720
+ 1
721
+ ],
722
+ "tsfile_role": "FIELD"
723
+ },
724
+ "state_left_eef_rot9d_7": {
725
+ "dtype": "float32",
726
+ "shape": [
727
+ 1
728
+ ],
729
+ "tsfile_role": "FIELD"
730
+ },
731
+ "state_left_eef_rot9d_8": {
732
+ "dtype": "float32",
733
+ "shape": [
734
+ 1
735
+ ],
736
+ "tsfile_role": "FIELD"
737
+ },
738
+ "state_right_joint_pos_0": {
739
+ "dtype": "float32",
740
+ "shape": [
741
+ 1
742
+ ],
743
+ "tsfile_role": "FIELD"
744
+ },
745
+ "state_right_joint_pos_1": {
746
+ "dtype": "float32",
747
+ "shape": [
748
+ 1
749
+ ],
750
+ "tsfile_role": "FIELD"
751
+ },
752
+ "state_right_joint_pos_2": {
753
+ "dtype": "float32",
754
+ "shape": [
755
+ 1
756
+ ],
757
+ "tsfile_role": "FIELD"
758
+ },
759
+ "state_right_joint_pos_3": {
760
+ "dtype": "float32",
761
+ "shape": [
762
+ 1
763
+ ],
764
+ "tsfile_role": "FIELD"
765
+ },
766
+ "state_right_joint_pos_4": {
767
+ "dtype": "float32",
768
+ "shape": [
769
+ 1
770
+ ],
771
+ "tsfile_role": "FIELD"
772
+ },
773
+ "state_right_joint_pos_5": {
774
+ "dtype": "float32",
775
+ "shape": [
776
+ 1
777
+ ],
778
+ "tsfile_role": "FIELD"
779
+ },
780
+ "state_right_joint_vel_0": {
781
+ "dtype": "float32",
782
+ "shape": [
783
+ 1
784
+ ],
785
+ "tsfile_role": "FIELD"
786
+ },
787
+ "state_right_joint_vel_1": {
788
+ "dtype": "float32",
789
+ "shape": [
790
+ 1
791
+ ],
792
+ "tsfile_role": "FIELD"
793
+ },
794
+ "state_right_joint_vel_2": {
795
+ "dtype": "float32",
796
+ "shape": [
797
+ 1
798
+ ],
799
+ "tsfile_role": "FIELD"
800
+ },
801
+ "state_right_joint_vel_3": {
802
+ "dtype": "float32",
803
+ "shape": [
804
+ 1
805
+ ],
806
+ "tsfile_role": "FIELD"
807
+ },
808
+ "state_right_joint_vel_4": {
809
+ "dtype": "float32",
810
+ "shape": [
811
+ 1
812
+ ],
813
+ "tsfile_role": "FIELD"
814
+ },
815
+ "state_right_joint_vel_5": {
816
+ "dtype": "float32",
817
+ "shape": [
818
+ 1
819
+ ],
820
+ "tsfile_role": "FIELD"
821
+ },
822
+ "state_right_eef_xyz_0": {
823
+ "dtype": "float32",
824
+ "shape": [
825
+ 1
826
+ ],
827
+ "tsfile_role": "FIELD"
828
+ },
829
+ "state_right_eef_xyz_1": {
830
+ "dtype": "float32",
831
+ "shape": [
832
+ 1
833
+ ],
834
+ "tsfile_role": "FIELD"
835
+ },
836
+ "state_right_eef_xyz_2": {
837
+ "dtype": "float32",
838
+ "shape": [
839
+ 1
840
+ ],
841
+ "tsfile_role": "FIELD"
842
+ },
843
+ "state_right_eef_rot9d_0": {
844
+ "dtype": "float32",
845
+ "shape": [
846
+ 1
847
+ ],
848
+ "tsfile_role": "FIELD"
849
+ },
850
+ "state_right_eef_rot9d_1": {
851
+ "dtype": "float32",
852
+ "shape": [
853
+ 1
854
+ ],
855
+ "tsfile_role": "FIELD"
856
+ },
857
+ "state_right_eef_rot9d_2": {
858
+ "dtype": "float32",
859
+ "shape": [
860
+ 1
861
+ ],
862
+ "tsfile_role": "FIELD"
863
+ },
864
+ "state_right_eef_rot9d_3": {
865
+ "dtype": "float32",
866
+ "shape": [
867
+ 1
868
+ ],
869
+ "tsfile_role": "FIELD"
870
+ },
871
+ "state_right_eef_rot9d_4": {
872
+ "dtype": "float32",
873
+ "shape": [
874
+ 1
875
+ ],
876
+ "tsfile_role": "FIELD"
877
+ },
878
+ "state_right_eef_rot9d_5": {
879
+ "dtype": "float32",
880
+ "shape": [
881
+ 1
882
+ ],
883
+ "tsfile_role": "FIELD"
884
+ },
885
+ "state_right_eef_rot9d_6": {
886
+ "dtype": "float32",
887
+ "shape": [
888
+ 1
889
+ ],
890
+ "tsfile_role": "FIELD"
891
+ },
892
+ "state_right_eef_rot9d_7": {
893
+ "dtype": "float32",
894
+ "shape": [
895
+ 1
896
+ ],
897
+ "tsfile_role": "FIELD"
898
+ },
899
+ "state_right_eef_rot9d_8": {
900
+ "dtype": "float32",
901
+ "shape": [
902
+ 1
903
+ ],
904
+ "tsfile_role": "FIELD"
905
+ },
906
+ "target_left_joint_pos_0": {
907
+ "dtype": "float32",
908
+ "shape": [
909
+ 1
910
+ ],
911
+ "tsfile_role": "FIELD"
912
+ },
913
+ "target_left_joint_pos_1": {
914
+ "dtype": "float32",
915
+ "shape": [
916
+ 1
917
+ ],
918
+ "tsfile_role": "FIELD"
919
+ },
920
+ "target_left_joint_pos_2": {
921
+ "dtype": "float32",
922
+ "shape": [
923
+ 1
924
+ ],
925
+ "tsfile_role": "FIELD"
926
+ },
927
+ "target_left_joint_pos_3": {
928
+ "dtype": "float32",
929
+ "shape": [
930
+ 1
931
+ ],
932
+ "tsfile_role": "FIELD"
933
+ },
934
+ "target_left_joint_pos_4": {
935
+ "dtype": "float32",
936
+ "shape": [
937
+ 1
938
+ ],
939
+ "tsfile_role": "FIELD"
940
+ },
941
+ "target_left_joint_pos_5": {
942
+ "dtype": "float32",
943
+ "shape": [
944
+ 1
945
+ ],
946
+ "tsfile_role": "FIELD"
947
+ },
948
+ "target_left_eef_xyz_0": {
949
+ "dtype": "float32",
950
+ "shape": [
951
+ 1
952
+ ],
953
+ "tsfile_role": "FIELD"
954
+ },
955
+ "target_left_eef_xyz_1": {
956
+ "dtype": "float32",
957
+ "shape": [
958
+ 1
959
+ ],
960
+ "tsfile_role": "FIELD"
961
+ },
962
+ "target_left_eef_xyz_2": {
963
+ "dtype": "float32",
964
+ "shape": [
965
+ 1
966
+ ],
967
+ "tsfile_role": "FIELD"
968
+ },
969
+ "target_left_eef_rot9d_0": {
970
+ "dtype": "float32",
971
+ "shape": [
972
+ 1
973
+ ],
974
+ "tsfile_role": "FIELD"
975
+ },
976
+ "target_left_eef_rot9d_1": {
977
+ "dtype": "float32",
978
+ "shape": [
979
+ 1
980
+ ],
981
+ "tsfile_role": "FIELD"
982
+ },
983
+ "target_left_eef_rot9d_2": {
984
+ "dtype": "float32",
985
+ "shape": [
986
+ 1
987
+ ],
988
+ "tsfile_role": "FIELD"
989
+ },
990
+ "target_left_eef_rot9d_3": {
991
+ "dtype": "float32",
992
+ "shape": [
993
+ 1
994
+ ],
995
+ "tsfile_role": "FIELD"
996
+ },
997
+ "target_left_eef_rot9d_4": {
998
+ "dtype": "float32",
999
+ "shape": [
1000
+ 1
1001
+ ],
1002
+ "tsfile_role": "FIELD"
1003
+ },
1004
+ "target_left_eef_rot9d_5": {
1005
+ "dtype": "float32",
1006
+ "shape": [
1007
+ 1
1008
+ ],
1009
+ "tsfile_role": "FIELD"
1010
+ },
1011
+ "target_left_eef_rot9d_6": {
1012
+ "dtype": "float32",
1013
+ "shape": [
1014
+ 1
1015
+ ],
1016
+ "tsfile_role": "FIELD"
1017
+ },
1018
+ "target_left_eef_rot9d_7": {
1019
+ "dtype": "float32",
1020
+ "shape": [
1021
+ 1
1022
+ ],
1023
+ "tsfile_role": "FIELD"
1024
+ },
1025
+ "target_left_eef_rot9d_8": {
1026
+ "dtype": "float32",
1027
+ "shape": [
1028
+ 1
1029
+ ],
1030
+ "tsfile_role": "FIELD"
1031
+ },
1032
+ "target_right_joint_pos_0": {
1033
+ "dtype": "float32",
1034
+ "shape": [
1035
+ 1
1036
+ ],
1037
+ "tsfile_role": "FIELD"
1038
+ },
1039
+ "target_right_joint_pos_1": {
1040
+ "dtype": "float32",
1041
+ "shape": [
1042
+ 1
1043
+ ],
1044
+ "tsfile_role": "FIELD"
1045
+ },
1046
+ "target_right_joint_pos_2": {
1047
+ "dtype": "float32",
1048
+ "shape": [
1049
+ 1
1050
+ ],
1051
+ "tsfile_role": "FIELD"
1052
+ },
1053
+ "target_right_joint_pos_3": {
1054
+ "dtype": "float32",
1055
+ "shape": [
1056
+ 1
1057
+ ],
1058
+ "tsfile_role": "FIELD"
1059
+ },
1060
+ "target_right_joint_pos_4": {
1061
+ "dtype": "float32",
1062
+ "shape": [
1063
+ 1
1064
+ ],
1065
+ "tsfile_role": "FIELD"
1066
+ },
1067
+ "target_right_joint_pos_5": {
1068
+ "dtype": "float32",
1069
+ "shape": [
1070
+ 1
1071
+ ],
1072
+ "tsfile_role": "FIELD"
1073
+ },
1074
+ "target_right_eef_xyz_0": {
1075
+ "dtype": "float32",
1076
+ "shape": [
1077
+ 1
1078
+ ],
1079
+ "tsfile_role": "FIELD"
1080
+ },
1081
+ "target_right_eef_xyz_1": {
1082
+ "dtype": "float32",
1083
+ "shape": [
1084
+ 1
1085
+ ],
1086
+ "tsfile_role": "FIELD"
1087
+ },
1088
+ "target_right_eef_xyz_2": {
1089
+ "dtype": "float32",
1090
+ "shape": [
1091
+ 1
1092
+ ],
1093
+ "tsfile_role": "FIELD"
1094
+ },
1095
+ "target_right_eef_rot9d_0": {
1096
+ "dtype": "float32",
1097
+ "shape": [
1098
+ 1
1099
+ ],
1100
+ "tsfile_role": "FIELD"
1101
+ },
1102
+ "target_right_eef_rot9d_1": {
1103
+ "dtype": "float32",
1104
+ "shape": [
1105
+ 1
1106
+ ],
1107
+ "tsfile_role": "FIELD"
1108
+ },
1109
+ "target_right_eef_rot9d_2": {
1110
+ "dtype": "float32",
1111
+ "shape": [
1112
+ 1
1113
+ ],
1114
+ "tsfile_role": "FIELD"
1115
+ },
1116
+ "target_right_eef_rot9d_3": {
1117
+ "dtype": "float32",
1118
+ "shape": [
1119
+ 1
1120
+ ],
1121
+ "tsfile_role": "FIELD"
1122
+ },
1123
+ "target_right_eef_rot9d_4": {
1124
+ "dtype": "float32",
1125
+ "shape": [
1126
+ 1
1127
+ ],
1128
+ "tsfile_role": "FIELD"
1129
+ },
1130
+ "target_right_eef_rot9d_5": {
1131
+ "dtype": "float32",
1132
+ "shape": [
1133
+ 1
1134
+ ],
1135
+ "tsfile_role": "FIELD"
1136
+ },
1137
+ "target_right_eef_rot9d_6": {
1138
+ "dtype": "float32",
1139
+ "shape": [
1140
+ 1
1141
+ ],
1142
+ "tsfile_role": "FIELD"
1143
+ },
1144
+ "target_right_eef_rot9d_7": {
1145
+ "dtype": "float32",
1146
+ "shape": [
1147
+ 1
1148
+ ],
1149
+ "tsfile_role": "FIELD"
1150
+ },
1151
+ "target_right_eef_rot9d_8": {
1152
+ "dtype": "float32",
1153
+ "shape": [
1154
+ 1
1155
+ ],
1156
+ "tsfile_role": "FIELD"
1157
+ },
1158
+ "target_base_vel_0": {
1159
+ "dtype": "float32",
1160
+ "shape": [
1161
+ 1
1162
+ ],
1163
+ "tsfile_role": "FIELD"
1164
+ },
1165
+ "target_base_vel_1": {
1166
+ "dtype": "float32",
1167
+ "shape": [
1168
+ 1
1169
+ ],
1170
+ "tsfile_role": "FIELD"
1171
+ },
1172
+ "debug_left_gripper_eef_xyz_0": {
1173
+ "dtype": "float32",
1174
+ "shape": [
1175
+ 1
1176
+ ],
1177
+ "tsfile_role": "FIELD"
1178
+ },
1179
+ "debug_left_gripper_eef_xyz_1": {
1180
+ "dtype": "float32",
1181
+ "shape": [
1182
+ 1
1183
+ ],
1184
+ "tsfile_role": "FIELD"
1185
+ },
1186
+ "debug_left_gripper_eef_xyz_2": {
1187
+ "dtype": "float32",
1188
+ "shape": [
1189
+ 1
1190
+ ],
1191
+ "tsfile_role": "FIELD"
1192
+ },
1193
+ "debug_left_gripper_eef_rot6d_0": {
1194
+ "dtype": "float32",
1195
+ "shape": [
1196
+ 1
1197
+ ],
1198
+ "tsfile_role": "FIELD"
1199
+ },
1200
+ "debug_left_gripper_eef_rot6d_1": {
1201
+ "dtype": "float32",
1202
+ "shape": [
1203
+ 1
1204
+ ],
1205
+ "tsfile_role": "FIELD"
1206
+ },
1207
+ "debug_left_gripper_eef_rot6d_2": {
1208
+ "dtype": "float32",
1209
+ "shape": [
1210
+ 1
1211
+ ],
1212
+ "tsfile_role": "FIELD"
1213
+ },
1214
+ "debug_left_gripper_eef_rot6d_3": {
1215
+ "dtype": "float32",
1216
+ "shape": [
1217
+ 1
1218
+ ],
1219
+ "tsfile_role": "FIELD"
1220
+ },
1221
+ "debug_left_gripper_eef_rot6d_4": {
1222
+ "dtype": "float32",
1223
+ "shape": [
1224
+ 1
1225
+ ],
1226
+ "tsfile_role": "FIELD"
1227
+ },
1228
+ "debug_left_gripper_eef_rot6d_5": {
1229
+ "dtype": "float32",
1230
+ "shape": [
1231
+ 1
1232
+ ],
1233
+ "tsfile_role": "FIELD"
1234
+ },
1235
+ "debug_right_gripper_eef_xyz_0": {
1236
+ "dtype": "float32",
1237
+ "shape": [
1238
+ 1
1239
+ ],
1240
+ "tsfile_role": "FIELD"
1241
+ },
1242
+ "debug_right_gripper_eef_xyz_1": {
1243
+ "dtype": "float32",
1244
+ "shape": [
1245
+ 1
1246
+ ],
1247
+ "tsfile_role": "FIELD"
1248
+ },
1249
+ "debug_right_gripper_eef_xyz_2": {
1250
+ "dtype": "float32",
1251
+ "shape": [
1252
+ 1
1253
+ ],
1254
+ "tsfile_role": "FIELD"
1255
+ },
1256
+ "debug_right_gripper_eef_rot6d_0": {
1257
+ "dtype": "float32",
1258
+ "shape": [
1259
+ 1
1260
+ ],
1261
+ "tsfile_role": "FIELD"
1262
+ },
1263
+ "debug_right_gripper_eef_rot6d_1": {
1264
+ "dtype": "float32",
1265
+ "shape": [
1266
+ 1
1267
+ ],
1268
+ "tsfile_role": "FIELD"
1269
+ },
1270
+ "debug_right_gripper_eef_rot6d_2": {
1271
+ "dtype": "float32",
1272
+ "shape": [
1273
+ 1
1274
+ ],
1275
+ "tsfile_role": "FIELD"
1276
+ },
1277
+ "debug_right_gripper_eef_rot6d_3": {
1278
+ "dtype": "float32",
1279
+ "shape": [
1280
+ 1
1281
+ ],
1282
+ "tsfile_role": "FIELD"
1283
+ },
1284
+ "debug_right_gripper_eef_rot6d_4": {
1285
+ "dtype": "float32",
1286
+ "shape": [
1287
+ 1
1288
+ ],
1289
+ "tsfile_role": "FIELD"
1290
+ },
1291
+ "debug_right_gripper_eef_rot6d_5": {
1292
+ "dtype": "float32",
1293
+ "shape": [
1294
+ 1
1295
+ ],
1296
+ "tsfile_role": "FIELD"
1297
+ }
1298
+ },
1299
+ "video_path_original": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
1300
+ "tsfile_conversion": {
1301
+ "source_dataset": "typoverflow/vifailback",
1302
+ "source_data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
1303
+ "converted_data_path": "data/typoverflow_vifailback_train.tsfile",
1304
+ "table_name": "typoverflow_vifailback_train",
1305
+ "granularity": "per_split",
1306
+ "time_precision": "ms",
1307
+ "time_mapping": {
1308
+ "source": "timestamp",
1309
+ "fps": 25,
1310
+ "unit": "milliseconds"
1311
+ },
1312
+ "tag_columns": [
1313
+ "episode_index",
1314
+ "task_index"
1315
+ ],
1316
+ "row_count": 1190262,
1317
+ "feature_source": "features describe the converted TsFile schema",
1318
+ "flattened_features": {
1319
+ "raw_state.left_joint_pos": [
1320
+ "raw_state_left_joint_pos_0",
1321
+ "raw_state_left_joint_pos_1",
1322
+ "raw_state_left_joint_pos_2",
1323
+ "raw_state_left_joint_pos_3",
1324
+ "raw_state_left_joint_pos_4",
1325
+ "raw_state_left_joint_pos_5"
1326
+ ],
1327
+ "raw_state.left_joint_vel": [
1328
+ "raw_state_left_joint_vel_0",
1329
+ "raw_state_left_joint_vel_1",
1330
+ "raw_state_left_joint_vel_2",
1331
+ "raw_state_left_joint_vel_3",
1332
+ "raw_state_left_joint_vel_4",
1333
+ "raw_state_left_joint_vel_5"
1334
+ ],
1335
+ "raw_state.left_eef_xyz": [
1336
+ "raw_state_left_eef_xyz_0",
1337
+ "raw_state_left_eef_xyz_1",
1338
+ "raw_state_left_eef_xyz_2"
1339
+ ],
1340
+ "raw_state.left_eef_quat": [
1341
+ "raw_state_left_eef_quat_0",
1342
+ "raw_state_left_eef_quat_1",
1343
+ "raw_state_left_eef_quat_2",
1344
+ "raw_state_left_eef_quat_3"
1345
+ ],
1346
+ "raw_state.right_joint_pos": [
1347
+ "raw_state_right_joint_pos_0",
1348
+ "raw_state_right_joint_pos_1",
1349
+ "raw_state_right_joint_pos_2",
1350
+ "raw_state_right_joint_pos_3",
1351
+ "raw_state_right_joint_pos_4",
1352
+ "raw_state_right_joint_pos_5"
1353
+ ],
1354
+ "raw_state.right_joint_vel": [
1355
+ "raw_state_right_joint_vel_0",
1356
+ "raw_state_right_joint_vel_1",
1357
+ "raw_state_right_joint_vel_2",
1358
+ "raw_state_right_joint_vel_3",
1359
+ "raw_state_right_joint_vel_4",
1360
+ "raw_state_right_joint_vel_5"
1361
+ ],
1362
+ "raw_state.right_eef_xyz": [
1363
+ "raw_state_right_eef_xyz_0",
1364
+ "raw_state_right_eef_xyz_1",
1365
+ "raw_state_right_eef_xyz_2"
1366
+ ],
1367
+ "raw_state.right_eef_quat": [
1368
+ "raw_state_right_eef_quat_0",
1369
+ "raw_state_right_eef_quat_1",
1370
+ "raw_state_right_eef_quat_2",
1371
+ "raw_state_right_eef_quat_3"
1372
+ ],
1373
+ "raw_target.left_joint_pos": [
1374
+ "raw_target_left_joint_pos_0",
1375
+ "raw_target_left_joint_pos_1",
1376
+ "raw_target_left_joint_pos_2",
1377
+ "raw_target_left_joint_pos_3",
1378
+ "raw_target_left_joint_pos_4",
1379
+ "raw_target_left_joint_pos_5"
1380
+ ],
1381
+ "raw_target.left_eef_xyz": [
1382
+ "raw_target_left_eef_xyz_0",
1383
+ "raw_target_left_eef_xyz_1",
1384
+ "raw_target_left_eef_xyz_2"
1385
+ ],
1386
+ "raw_target.left_eef_quat": [
1387
+ "raw_target_left_eef_quat_0",
1388
+ "raw_target_left_eef_quat_1",
1389
+ "raw_target_left_eef_quat_2",
1390
+ "raw_target_left_eef_quat_3"
1391
+ ],
1392
+ "raw_target.right_joint_pos": [
1393
+ "raw_target_right_joint_pos_0",
1394
+ "raw_target_right_joint_pos_1",
1395
+ "raw_target_right_joint_pos_2",
1396
+ "raw_target_right_joint_pos_3",
1397
+ "raw_target_right_joint_pos_4",
1398
+ "raw_target_right_joint_pos_5"
1399
+ ],
1400
+ "raw_target.right_eef_xyz": [
1401
+ "raw_target_right_eef_xyz_0",
1402
+ "raw_target_right_eef_xyz_1",
1403
+ "raw_target_right_eef_xyz_2"
1404
+ ],
1405
+ "raw_target.right_eef_quat": [
1406
+ "raw_target_right_eef_quat_0",
1407
+ "raw_target_right_eef_quat_1",
1408
+ "raw_target_right_eef_quat_2",
1409
+ "raw_target_right_eef_quat_3"
1410
+ ],
1411
+ "raw_target.base_vel": [
1412
+ "raw_target_base_vel_0",
1413
+ "raw_target_base_vel_1"
1414
+ ],
1415
+ "state.left_joint_pos": [
1416
+ "state_left_joint_pos_0",
1417
+ "state_left_joint_pos_1",
1418
+ "state_left_joint_pos_2",
1419
+ "state_left_joint_pos_3",
1420
+ "state_left_joint_pos_4",
1421
+ "state_left_joint_pos_5"
1422
+ ],
1423
+ "state.left_joint_vel": [
1424
+ "state_left_joint_vel_0",
1425
+ "state_left_joint_vel_1",
1426
+ "state_left_joint_vel_2",
1427
+ "state_left_joint_vel_3",
1428
+ "state_left_joint_vel_4",
1429
+ "state_left_joint_vel_5"
1430
+ ],
1431
+ "state.left_eef_xyz": [
1432
+ "state_left_eef_xyz_0",
1433
+ "state_left_eef_xyz_1",
1434
+ "state_left_eef_xyz_2"
1435
+ ],
1436
+ "state.left_eef_rot9d": [
1437
+ "state_left_eef_rot9d_0",
1438
+ "state_left_eef_rot9d_1",
1439
+ "state_left_eef_rot9d_2",
1440
+ "state_left_eef_rot9d_3",
1441
+ "state_left_eef_rot9d_4",
1442
+ "state_left_eef_rot9d_5",
1443
+ "state_left_eef_rot9d_6",
1444
+ "state_left_eef_rot9d_7",
1445
+ "state_left_eef_rot9d_8"
1446
+ ],
1447
+ "state.right_joint_pos": [
1448
+ "state_right_joint_pos_0",
1449
+ "state_right_joint_pos_1",
1450
+ "state_right_joint_pos_2",
1451
+ "state_right_joint_pos_3",
1452
+ "state_right_joint_pos_4",
1453
+ "state_right_joint_pos_5"
1454
+ ],
1455
+ "state.right_joint_vel": [
1456
+ "state_right_joint_vel_0",
1457
+ "state_right_joint_vel_1",
1458
+ "state_right_joint_vel_2",
1459
+ "state_right_joint_vel_3",
1460
+ "state_right_joint_vel_4",
1461
+ "state_right_joint_vel_5"
1462
+ ],
1463
+ "state.right_eef_xyz": [
1464
+ "state_right_eef_xyz_0",
1465
+ "state_right_eef_xyz_1",
1466
+ "state_right_eef_xyz_2"
1467
+ ],
1468
+ "state.right_eef_rot9d": [
1469
+ "state_right_eef_rot9d_0",
1470
+ "state_right_eef_rot9d_1",
1471
+ "state_right_eef_rot9d_2",
1472
+ "state_right_eef_rot9d_3",
1473
+ "state_right_eef_rot9d_4",
1474
+ "state_right_eef_rot9d_5",
1475
+ "state_right_eef_rot9d_6",
1476
+ "state_right_eef_rot9d_7",
1477
+ "state_right_eef_rot9d_8"
1478
+ ],
1479
+ "target.left_joint_pos": [
1480
+ "target_left_joint_pos_0",
1481
+ "target_left_joint_pos_1",
1482
+ "target_left_joint_pos_2",
1483
+ "target_left_joint_pos_3",
1484
+ "target_left_joint_pos_4",
1485
+ "target_left_joint_pos_5"
1486
+ ],
1487
+ "target.left_eef_xyz": [
1488
+ "target_left_eef_xyz_0",
1489
+ "target_left_eef_xyz_1",
1490
+ "target_left_eef_xyz_2"
1491
+ ],
1492
+ "target.left_eef_rot9d": [
1493
+ "target_left_eef_rot9d_0",
1494
+ "target_left_eef_rot9d_1",
1495
+ "target_left_eef_rot9d_2",
1496
+ "target_left_eef_rot9d_3",
1497
+ "target_left_eef_rot9d_4",
1498
+ "target_left_eef_rot9d_5",
1499
+ "target_left_eef_rot9d_6",
1500
+ "target_left_eef_rot9d_7",
1501
+ "target_left_eef_rot9d_8"
1502
+ ],
1503
+ "target.right_joint_pos": [
1504
+ "target_right_joint_pos_0",
1505
+ "target_right_joint_pos_1",
1506
+ "target_right_joint_pos_2",
1507
+ "target_right_joint_pos_3",
1508
+ "target_right_joint_pos_4",
1509
+ "target_right_joint_pos_5"
1510
+ ],
1511
+ "target.right_eef_xyz": [
1512
+ "target_right_eef_xyz_0",
1513
+ "target_right_eef_xyz_1",
1514
+ "target_right_eef_xyz_2"
1515
+ ],
1516
+ "target.right_eef_rot9d": [
1517
+ "target_right_eef_rot9d_0",
1518
+ "target_right_eef_rot9d_1",
1519
+ "target_right_eef_rot9d_2",
1520
+ "target_right_eef_rot9d_3",
1521
+ "target_right_eef_rot9d_4",
1522
+ "target_right_eef_rot9d_5",
1523
+ "target_right_eef_rot9d_6",
1524
+ "target_right_eef_rot9d_7",
1525
+ "target_right_eef_rot9d_8"
1526
+ ],
1527
+ "target.base_vel": [
1528
+ "target_base_vel_0",
1529
+ "target_base_vel_1"
1530
+ ],
1531
+ "debug.left_gripper_eef_xyz": [
1532
+ "debug_left_gripper_eef_xyz_0",
1533
+ "debug_left_gripper_eef_xyz_1",
1534
+ "debug_left_gripper_eef_xyz_2"
1535
+ ],
1536
+ "debug.left_gripper_eef_rot6d": [
1537
+ "debug_left_gripper_eef_rot6d_0",
1538
+ "debug_left_gripper_eef_rot6d_1",
1539
+ "debug_left_gripper_eef_rot6d_2",
1540
+ "debug_left_gripper_eef_rot6d_3",
1541
+ "debug_left_gripper_eef_rot6d_4",
1542
+ "debug_left_gripper_eef_rot6d_5"
1543
+ ],
1544
+ "debug.right_gripper_eef_xyz": [
1545
+ "debug_right_gripper_eef_xyz_0",
1546
+ "debug_right_gripper_eef_xyz_1",
1547
+ "debug_right_gripper_eef_xyz_2"
1548
+ ],
1549
+ "debug.right_gripper_eef_rot6d": [
1550
+ "debug_right_gripper_eef_rot6d_0",
1551
+ "debug_right_gripper_eef_rot6d_1",
1552
+ "debug_right_gripper_eef_rot6d_2",
1553
+ "debug_right_gripper_eef_rot6d_3",
1554
+ "debug_right_gripper_eef_rot6d_4",
1555
+ "debug_right_gripper_eef_rot6d_5"
1556
+ ]
1557
+ },
1558
+ "renamed_features": {
1559
+ "raw_state.left_gripper_state": "raw_state_left_gripper_state",
1560
+ "raw_state.right_gripper_state": "raw_state_right_gripper_state",
1561
+ "raw_target.left_gripper_state": "raw_target_left_gripper_state",
1562
+ "raw_target.right_gripper_state": "raw_target_right_gripper_state",
1563
+ "state.left_gripper_state": "state_left_gripper_state",
1564
+ "state.right_gripper_state": "state_right_gripper_state",
1565
+ "target.left_gripper_state": "target_left_gripper_state",
1566
+ "target.right_gripper_state": "target_right_gripper_state",
1567
+ "index": "sample_index"
1568
+ },
1569
+ "dropped_features": [
1570
+ "timestamp"
1571
+ ],
1572
+ "omitted_features": [
1573
+ "observation.images.cam_high",
1574
+ "observation.images.cam_left_wrist",
1575
+ "observation.images.cam_right_wrist"
1576
+ ],
1577
+ "original_video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
1578
+ "original_video_features": {
1579
+ "observation.images.cam_high": {
1580
+ "dtype": "video",
1581
+ "shape": [
1582
+ 480,
1583
+ 640,
1584
+ 3
1585
+ ],
1586
+ "names": [
1587
+ "height",
1588
+ "width",
1589
+ "rgb"
1590
+ ],
1591
+ "info": {
1592
+ "video.height": 480,
1593
+ "video.width": 640,
1594
+ "video.codec": "av1",
1595
+ "video.pix_fmt": "yuv420p",
1596
+ "video.is_depth_map": false,
1597
+ "video.fps": 25,
1598
+ "video.channels": 3,
1599
+ "has_audio": false
1600
+ }
1601
+ },
1602
+ "observation.images.cam_left_wrist": {
1603
+ "dtype": "video",
1604
+ "shape": [
1605
+ 480,
1606
+ 640,
1607
+ 3
1608
+ ],
1609
+ "names": [
1610
+ "height",
1611
+ "width",
1612
+ "rgb"
1613
+ ],
1614
+ "info": {
1615
+ "video.height": 480,
1616
+ "video.width": 640,
1617
+ "video.codec": "av1",
1618
+ "video.pix_fmt": "yuv420p",
1619
+ "video.is_depth_map": false,
1620
+ "video.fps": 25,
1621
+ "video.channels": 3,
1622
+ "has_audio": false
1623
+ }
1624
+ },
1625
+ "observation.images.cam_right_wrist": {
1626
+ "dtype": "video",
1627
+ "shape": [
1628
+ 480,
1629
+ 640,
1630
+ 3
1631
+ ],
1632
+ "names": [
1633
+ "height",
1634
+ "width",
1635
+ "rgb"
1636
+ ],
1637
+ "info": {
1638
+ "video.height": 480,
1639
+ "video.width": 640,
1640
+ "video.codec": "av1",
1641
+ "video.pix_fmt": "yuv420p",
1642
+ "video.is_depth_map": false,
1643
+ "video.fps": 25,
1644
+ "video.channels": 3,
1645
+ "has_audio": false
1646
+ }
1647
+ }
1648
+ },
1649
+ "original_video_source": "https://huggingface.co/datasets/typoverflow/vifailback/tree/9145e6c58471ec61d5a11d7a1bbb39d540fc5710/videos",
1650
+ "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
1651
+ "source_revision": "9145e6c58471ec61d5a11d7a1bbb39d540fc5710",
1652
+ "source_author": {
1653
+ "name": "Chenxiao Gao",
1654
+ "huggingface_user": "typoverflow",
1655
+ "url": "https://huggingface.co/typoverflow"
1656
+ },
1657
+ "source_shard_count": 8,
1658
+ "source_episode_count": 4714,
1659
+ "source_task_count": 98,
1660
+ "source_video_file_count": 145,
1661
+ "source_video_streams": [
1662
+ "observation.images.cam_high",
1663
+ "observation.images.cam_left_wrist",
1664
+ "observation.images.cam_right_wrist"
1665
+ ],
1666
+ "source_video_file_counts": {
1667
+ "observation.images.cam_high": 56,
1668
+ "observation.images.cam_left_wrist": 45,
1669
+ "observation.images.cam_right_wrist": 44
1670
+ },
1671
+ "source_video_bytes": 27938508868,
1672
+ "frame_video_alignment": "episode_index and frame_index preserve alignment with the original consolidated MP4 files and meta/episodes metadata.",
1673
+ "encoding": {
1674
+ "FLOAT_DOUBLE": "GORILLA + ZSTD",
1675
+ "INT32_INT64": "TS_2DIFF + ZSTD",
1676
+ "Time": "TS_2DIFF + LZ4",
1677
+ "BOOLEAN": "RLE + LZ4 (no BOOLEAN field exists in this source)",
1678
+ "TAG": "TsFile table device/TAG mechanism"
1679
+ }
1680
+ }
1681
+ }
meta/qc_warnings.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
meta/stats.json ADDED
@@ -0,0 +1,3204 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "target.base_vel": {
3
+ "min": [
4
+ 0.0,
5
+ 0.0
6
+ ],
7
+ "max": [
8
+ 0.0,
9
+ 0.0
10
+ ],
11
+ "mean": [
12
+ 0.0,
13
+ 0.0
14
+ ],
15
+ "std": [
16
+ 0.0,
17
+ 0.0
18
+ ],
19
+ "count": [
20
+ 1190262
21
+ ],
22
+ "q01": [
23
+ 3.999578446212128e-16,
24
+ 3.999578446212128e-16
25
+ ],
26
+ "q10": [
27
+ 3.999578446212128e-15,
28
+ 3.999578446212128e-15
29
+ ],
30
+ "q50": [
31
+ 1.9997892231060632e-14,
32
+ 1.9997892231060632e-14
33
+ ],
34
+ "q90": [
35
+ 3.599620601590915e-14,
36
+ 3.599620601590915e-14
37
+ ],
38
+ "q99": [
39
+ 3.9595826617500024e-14,
40
+ 3.9595826617500024e-14
41
+ ]
42
+ },
43
+ "target.left_joint_pos": {
44
+ "min": [
45
+ -2.136366605758667,
46
+ -0.017949875444173813,
47
+ -2.9559032917022705,
48
+ -1.7966796159744263,
49
+ -1.3195165395736694,
50
+ -292.6617431640625
51
+ ],
52
+ "max": [
53
+ 0.4361523389816284,
54
+ 2.8948493003845215,
55
+ 0.022171324118971825,
56
+ 1.7840152978897095,
57
+ 33070.77734375,
58
+ 2.173243284225464
59
+ ],
60
+ "mean": [
61
+ -0.5451073920204275,
62
+ 1.1083788931307064,
63
+ -0.9207788080625742,
64
+ -0.1913325720608691,
65
+ 0.7200259952850157,
66
+ 0.13232695735049077
67
+ ],
68
+ "std": [
69
+ 0.24469969626053834,
70
+ 0.6627834516020411,
71
+ 0.5771313252843996,
72
+ 0.4334466069992136,
73
+ 30.316951123283342,
74
+ 0.6205707726739635
75
+ ],
76
+ "count": [
77
+ 1190262
78
+ ],
79
+ "q01": [
80
+ -0.674282911839334,
81
+ 0.6129110518112161,
82
+ -1.3681530199323775,
83
+ -0.4450362926614553,
84
+ 0.37001189538136553,
85
+ -0.16456112232392545
86
+ ],
87
+ "q10": [
88
+ -0.6540964655990295,
89
+ 0.6946503356377358,
90
+ -1.3233922707769097,
91
+ -0.3892455680214279,
92
+ 0.4390840740901031,
93
+ -0.09997901626992436
94
+ ],
95
+ "q50": [
96
+ -0.5441160159095263,
97
+ 1.0335082737270596,
98
+ -0.8436802628134663,
99
+ -0.16794255155516857,
100
+ 0.6971418588897472,
101
+ 0.11804714624656885
102
+ ],
103
+ "q90": [
104
+ -0.43264584505057063,
105
+ 1.5801107596332271,
106
+ -0.608912522001446,
107
+ -0.019753197263527342,
108
+ 0.9126795732945262,
109
+ 0.3698676064166745
110
+ ],
111
+ "q99": [
112
+ -0.4160030128524618,
113
+ 1.633194529324926,
114
+ -0.5466592834592233,
115
+ 0.043710442629023766,
116
+ 0.9458005769171737,
117
+ 0.43823048082263083
118
+ ]
119
+ },
120
+ "target.right_gripper_state": {
121
+ "min": [
122
+ 0.0
123
+ ],
124
+ "max": [
125
+ 1.0
126
+ ],
127
+ "mean": [
128
+ 0.3002835973660775
129
+ ],
130
+ "std": [
131
+ 0.291675304566513
132
+ ],
133
+ "count": [
134
+ 1190262
135
+ ],
136
+ "q01": [
137
+ 0.09444673765141393
138
+ ],
139
+ "q10": [
140
+ 0.11501896513473153
141
+ ],
142
+ "q50": [
143
+ 0.2659321087411173
144
+ ],
145
+ "q90": [
146
+ 0.5520274630826922
147
+ ],
148
+ "q99": [
149
+ 0.598515987592417
150
+ ]
151
+ },
152
+ "debug.right_gripper_eef_rot6d": {
153
+ "min": [
154
+ 0.7750394940376282,
155
+ -0.31293871998786926,
156
+ -0.479384183883667,
157
+ -0.4842788875102997,
158
+ -0.8812373876571655,
159
+ -0.69905024766922
160
+ ],
161
+ "max": [
162
+ 1.000000238418579,
163
+ 0.472450315952301,
164
+ 0.191426619887352,
165
+ 0.472450315952301,
166
+ 1.0000003576278687,
167
+ 0.5959576964378357
168
+ ],
169
+ "mean": [
170
+ 0.9999271557750974,
171
+ -0.00023302264577081206,
172
+ 2.2973167942201217e-05,
173
+ 0.00021480083995434083,
174
+ 0.9998928341343902,
175
+ -0.0003956187946238692
176
+ ],
177
+ "std": [
178
+ 0.0004884539294613937,
179
+ 0.009366614679969701,
180
+ 0.007622430077573283,
181
+ 0.00937734397365749,
182
+ 0.002530517989961649,
183
+ 0.010965229456697942
184
+ ],
185
+ "count": [
186
+ 1190262
187
+ ],
188
+ "q01": [
189
+ 0.9989939226477021,
190
+ -0.021781787385703636,
191
+ -0.019601517524844035,
192
+ -0.021454274476934185,
193
+ 0.9984495281450273,
194
+ -0.02827243668429591
195
+ ],
196
+ "q10": [
197
+ 0.9998039297569428,
198
+ -0.006665317444294718,
199
+ -0.005051809184242185,
200
+ -0.0057159671785137,
201
+ 0.9997093655272724,
202
+ -0.009077836012376692
203
+ ],
204
+ "q50": [
205
+ 0.9999919257072983,
206
+ -4.8133904018667936e-05,
207
+ -3.163299261811232e-07,
208
+ 4.449274639878135e-05,
209
+ 0.9999862198131465,
210
+ -5.483805406567524e-05
211
+ ],
212
+ "q90": [
213
+ 0.9999999153944652,
214
+ 0.00566722981978316,
215
+ 0.005284059451943235,
216
+ 0.006597783788674534,
217
+ 0.9999998659916901,
218
+ 0.007690930899098919
219
+ ],
220
+ "q99": [
221
+ 1.0000000651240464,
222
+ 0.021407365859815623,
223
+ 0.018693343969797226,
224
+ 0.021716513362936535,
225
+ 1.000000093630759,
226
+ 0.025785691636349722
227
+ ]
228
+ },
229
+ "episode_index": {
230
+ "min": [
231
+ 0
232
+ ],
233
+ "max": [
234
+ 650
235
+ ],
236
+ "mean": [
237
+ 301.32596604781145
238
+ ],
239
+ "std": [
240
+ 176.01210546272225
241
+ ],
242
+ "count": [
243
+ 1190262
244
+ ],
245
+ "q01": [
246
+ 301.32596604781145
247
+ ],
248
+ "q10": [
249
+ 301.32596604781145
250
+ ],
251
+ "q50": [
252
+ 301.32596604781145
253
+ ],
254
+ "q90": [
255
+ 301.32596604781145
256
+ ],
257
+ "q99": [
258
+ 301.32596604781145
259
+ ]
260
+ },
261
+ "target.right_joint_pos": {
262
+ "min": [
263
+ -0.5304895043373108,
264
+ -0.01788010075688362,
265
+ -2.8398656845092773,
266
+ -1.7779971361160278,
267
+ -1.3306632041931152,
268
+ -2.109398365020752
269
+ ],
270
+ "max": [
271
+ 1.7347185611724854,
272
+ 2.9962687492370605,
273
+ 33070.77734375,
274
+ 1.7791833877563477,
275
+ 1.3048286437988281,
276
+ 2.1212427616119385
277
+ ],
278
+ "mean": [
279
+ 0.4822226720666372,
280
+ 1.0779679862232885,
281
+ -0.834740554027738,
282
+ 0.10972757670888648,
283
+ 0.6561104784037403,
284
+ -0.007318175168955715
285
+ ],
286
+ "std": [
287
+ 0.23009847845194137,
288
+ 0.6729530644477982,
289
+ 30.318102209174917,
290
+ 0.38187622747321576,
291
+ 0.5135976882299932,
292
+ 0.48194896207876825
293
+ ],
294
+ "count": [
295
+ 1190262
296
+ ],
297
+ "q01": [
298
+ 0.32934862091824846,
299
+ 0.5412694413917228,
300
+ -1.327998816582662,
301
+ -0.13401242696982704,
302
+ 0.3068093821261069,
303
+ -0.3202328903908414
304
+ ],
305
+ "q10": [
306
+ 0.3463723141187808,
307
+ 0.6171733595485551,
308
+ -1.29596082040898,
309
+ -0.06796255472577567,
310
+ 0.3823741347002804,
311
+ -0.2591231440825181
312
+ ],
313
+ "q50": [
314
+ 0.48394340433698413,
315
+ 1.0027438546177,
316
+ -0.7858319997630691,
317
+ 0.09064882328142189,
318
+ 0.6588389426615966,
319
+ 0.00788550870653163
320
+ ],
321
+ "q90": [
322
+ 0.6175679493076027,
323
+ 1.5845077546582529,
324
+ -0.5265966466476191,
325
+ 0.3142082609136106,
326
+ 0.9162879434095343,
327
+ 0.2310578394688588
328
+ ],
329
+ "q99": [
330
+ 0.637367490623611,
331
+ 1.6352203702785444,
332
+ -0.47087938515326994,
333
+ 0.36234107272108745,
334
+ 0.9743739728759746,
335
+ 0.30147314504757344
336
+ ]
337
+ },
338
+ "target.left_eef_xyz": {
339
+ "min": [
340
+ -0.025574803352355957,
341
+ -0.5172364711761475,
342
+ 0.013182041235268116
343
+ ],
344
+ "max": [
345
+ 0.5694496631622314,
346
+ 0.15098541975021362,
347
+ 0.5549294948577881
348
+ ],
349
+ "mean": [
350
+ 0.1798906628629405,
351
+ -0.12166112853498647,
352
+ 0.27995418337802347
353
+ ],
354
+ "std": [
355
+ 0.11519968881558569,
356
+ 0.09078932451097577,
357
+ 0.06347682319106349
358
+ ],
359
+ "count": [
360
+ 1190262
361
+ ],
362
+ "q01": [
363
+ 0.09547432775947541,
364
+ -0.21366731893710145,
365
+ 0.21278535122037442
366
+ ],
367
+ "q10": [
368
+ 0.10805289563868034,
369
+ -0.20475676407913096,
370
+ 0.22593810402428702
371
+ ],
372
+ "q50": [
373
+ 0.16650441898312934,
374
+ -0.10327951706790882,
375
+ 0.28628780891014854
376
+ ],
377
+ "q90": [
378
+ 0.2638221392431165,
379
+ -0.06934359364319988,
380
+ 0.32119614246768274
381
+ ],
382
+ "q99": [
383
+ 0.276542764872743,
384
+ -0.06005065481894193,
385
+ 0.3406787354089581
386
+ ]
387
+ },
388
+ "raw_state.right_joint_pos": {
389
+ "min": [
390
+ -0.5304895043373108,
391
+ -0.01788010075688362,
392
+ -2.8398656845092773,
393
+ -1.7779971361160278,
394
+ -1.3306632041931152,
395
+ -2.109398365020752
396
+ ],
397
+ "max": [
398
+ 1.7347185611724854,
399
+ 2.9962687492370605,
400
+ 33070.77734375,
401
+ 1.7791833877563477,
402
+ 1.3048286437988281,
403
+ 2.1212427616119385
404
+ ],
405
+ "mean": [
406
+ 0.48200457495154053,
407
+ 1.0753155645007177,
408
+ -0.8328310656961835,
409
+ 0.10944956543739869,
410
+ 0.656216381332982,
411
+ -0.006975895331082784
412
+ ],
413
+ "std": [
414
+ 0.2300156470540007,
415
+ 0.6725555985050637,
416
+ 30.318090098807,
417
+ 0.38141857851389926,
418
+ 0.5130116086915443,
419
+ 0.4814727295884878
420
+ ],
421
+ "count": [
422
+ 1190262
423
+ ],
424
+ "q01": [
425
+ 0.3293215090215536,
426
+ 0.5403300231976487,
427
+ -1.3279794597531773,
428
+ -0.1340713922169557,
429
+ 0.3064212028922921,
430
+ -0.32053390232516327
431
+ ],
432
+ "q10": [
433
+ 0.34608019061743595,
434
+ 0.6100435781355382,
435
+ -1.294624602696224,
436
+ -0.06818823823939679,
437
+ 0.3806687844773479,
438
+ -0.25989195505323376
439
+ ],
440
+ "q50": [
441
+ 0.4838398267607968,
442
+ 1.0001502689124209,
443
+ -0.7842750038590245,
444
+ 0.09032291140697067,
445
+ 0.6593059234713587,
446
+ 0.00821628489408164
447
+ ],
448
+ "q90": [
449
+ 0.6170570176344584,
450
+ 1.5839769394976855,
451
+ -0.522207564408928,
452
+ 0.31391429722736386,
453
+ 0.9179292382754554,
454
+ 0.2318992625075853
455
+ ],
456
+ "q99": [
457
+ 0.6374338739749063,
458
+ 1.6351987316601149,
459
+ -0.47033184160043945,
460
+ 0.3623267430246096,
461
+ 0.9747749243170916,
462
+ 0.30153749263154644
463
+ ]
464
+ },
465
+ "target.right_eef_xyz": {
466
+ "min": [
467
+ -0.48119762539863586,
468
+ -0.09442842751741409,
469
+ 0.012755424715578556
470
+ ],
471
+ "max": [
472
+ 0.5606339573860168,
473
+ 0.4844518005847931,
474
+ 0.5070028305053711
475
+ ],
476
+ "mean": [
477
+ 0.18239769082923474,
478
+ 0.10248606242617034,
479
+ 0.26998498484347005
480
+ ],
481
+ "std": [
482
+ 0.1174994959809049,
483
+ 0.0853135371245235,
484
+ 0.06459527804192959
485
+ ],
486
+ "count": [
487
+ 1190262
488
+ ],
489
+ "q01": [
490
+ 0.09016764670766172,
491
+ 0.0447763861725079,
492
+ 0.2012683248825218
493
+ ],
494
+ "q10": [
495
+ 0.10253059608155057,
496
+ 0.0514549854009884,
497
+ 0.2170210600310052
498
+ ],
499
+ "q50": [
500
+ 0.16719450905192118,
501
+ 0.08365285044208291,
502
+ 0.27531236162571
503
+ ],
504
+ "q90": [
505
+ 0.27580811324407345,
506
+ 0.18785892831147744,
507
+ 0.31184530387474396
508
+ ],
509
+ "q99": [
510
+ 0.28636804541273697,
511
+ 0.20136843934566376,
512
+ 0.33255153137044646
513
+ ]
514
+ },
515
+ "timestamp": {
516
+ "min": [
517
+ 0.0
518
+ ],
519
+ "max": [
520
+ 36.96
521
+ ],
522
+ "mean": [
523
+ 6.164854561432687
524
+ ],
525
+ "std": [
526
+ 4.802848415955723
527
+ ],
528
+ "count": [
529
+ 1190262
530
+ ],
531
+ "q01": [
532
+ 0.10344305509503884
533
+ ],
534
+ "q10": [
535
+ 1.2155797198965992
536
+ ],
537
+ "q50": [
538
+ 6.156293808737741
539
+ ],
540
+ "q90": [
541
+ 11.11050283671691
542
+ ],
543
+ "q99": [
544
+ 12.22588198402433
545
+ ]
546
+ },
547
+ "raw_state.left_joint_pos": {
548
+ "min": [
549
+ -2.136366605758667,
550
+ -0.017949875444173813,
551
+ -2.9559032917022705,
552
+ -1.7966796159744263,
553
+ -1.3195165395736694,
554
+ -292.6617431640625
555
+ ],
556
+ "max": [
557
+ 0.4361523389816284,
558
+ 2.8948493003845215,
559
+ 0.022171324118971825,
560
+ 1.7840152978897095,
561
+ 33070.77734375,
562
+ 2.173243284225464
563
+ ],
564
+ "mean": [
565
+ -0.5447503868839202,
566
+ 1.106152378249364,
567
+ -0.918965895651728,
568
+ -0.19111079778809612,
569
+ 0.7199935114637099,
570
+ 0.13204706522876591
571
+ ],
572
+ "std": [
573
+ 0.24440223451338217,
574
+ 0.6622603425515478,
575
+ 0.5761099063420537,
576
+ 0.43273464910452836,
577
+ 30.316938672927975,
578
+ 0.6198394047764999
579
+ ],
580
+ "count": [
581
+ 1190262
582
+ ],
583
+ "q01": [
584
+ -0.6746832143134905,
585
+ 0.6116969054469206,
586
+ -1.3684538702505002,
587
+ -0.4452353991486795,
588
+ 0.36932759730462816,
589
+ -0.1648500904169706
590
+ ],
591
+ "q10": [
592
+ -0.6541429473404956,
593
+ 0.6871674781781585,
594
+ -1.3230525996146885,
595
+ -0.39002545694990204,
596
+ 0.43650347761510955,
597
+ -0.10191309335128622
598
+ ],
599
+ "q50": [
600
+ -0.5437188434163622,
601
+ 1.0321055941195434,
602
+ -0.8426625792280225,
603
+ -0.16793626401510542,
604
+ 0.6975479462352185,
605
+ 0.11820903237840187
606
+ ],
607
+ "q90": [
608
+ -0.4321166861559285,
609
+ 1.579988513826904,
610
+ -0.6030649518303838,
611
+ -0.019215668355911045,
612
+ 0.9136956115546339,
613
+ 0.37131581809619696
614
+ ],
615
+ "q99": [
616
+ -0.41598975258873094,
617
+ 1.6334911244217905,
618
+ -0.5458881778664834,
619
+ 0.043832833556387,
620
+ 0.9459464954653146,
621
+ 0.43896197561564865
622
+ ]
623
+ },
624
+ "state.right_gripper_state": {
625
+ "min": [
626
+ 0.0
627
+ ],
628
+ "max": [
629
+ 1.0
630
+ ],
631
+ "mean": [
632
+ 0.3003087851512851
633
+ ],
634
+ "std": [
635
+ 0.29153907064916196
636
+ ],
637
+ "count": [
638
+ 1190262
639
+ ],
640
+ "q01": [
641
+ 0.09425630130037708
642
+ ],
643
+ "q10": [
644
+ 0.11401342652694152
645
+ ],
646
+ "q50": [
647
+ 0.265536182246357
648
+ ],
649
+ "q90": [
650
+ 0.5521453723043133
651
+ ],
652
+ "q99": [
653
+ 0.5985452306759493
654
+ ]
655
+ },
656
+ "observation.images.cam_right_wrist": {
657
+ "min": [
658
+ [
659
+ [
660
+ 0.0
661
+ ]
662
+ ],
663
+ [
664
+ [
665
+ 0.0
666
+ ]
667
+ ],
668
+ [
669
+ [
670
+ 0.0
671
+ ]
672
+ ]
673
+ ],
674
+ "max": [
675
+ [
676
+ [
677
+ 1.0
678
+ ]
679
+ ],
680
+ [
681
+ [
682
+ 1.0
683
+ ]
684
+ ],
685
+ [
686
+ [
687
+ 1.0
688
+ ]
689
+ ]
690
+ ],
691
+ "mean": [
692
+ [
693
+ [
694
+ 0.4991959293129514
695
+ ]
696
+ ],
697
+ [
698
+ [
699
+ 0.5001726512549041
700
+ ]
701
+ ],
702
+ [
703
+ [
704
+ 0.49639103343044405
705
+ ]
706
+ ]
707
+ ],
708
+ "std": [
709
+ [
710
+ [
711
+ 0.0199515291723899
712
+ ]
713
+ ],
714
+ [
715
+ [
716
+ 0.019143577498196427
717
+ ]
718
+ ],
719
+ [
720
+ [
721
+ 0.01972742306930429
722
+ ]
723
+ ]
724
+ ],
725
+ "count": [
726
+ 472969
727
+ ],
728
+ "q01": [
729
+ [
730
+ [
731
+ 0.053701071199353835
732
+ ]
733
+ ],
734
+ [
735
+ [
736
+ 0.0631630146381596
737
+ ]
738
+ ],
739
+ [
740
+ [
741
+ 0.06127981146301904
742
+ ]
743
+ ]
744
+ ],
745
+ "q10": [
746
+ [
747
+ [
748
+ 0.1111630164065862
749
+ ]
750
+ ],
751
+ [
752
+ [
753
+ 0.12045487862919226
754
+ ]
755
+ ],
756
+ [
757
+ [
758
+ 0.12178662404461238
759
+ ]
760
+ ]
761
+ ],
762
+ "q50": [
763
+ [
764
+ [
765
+ 0.5745167335026308
766
+ ]
767
+ ],
768
+ [
769
+ [
770
+ 0.5739534493113997
771
+ ]
772
+ ],
773
+ [
774
+ [
775
+ 0.5652458991719195
776
+ ]
777
+ ]
778
+ ],
779
+ "q90": [
780
+ [
781
+ [
782
+ 0.7111995389576172
783
+ ]
784
+ ],
785
+ [
786
+ [
787
+ 0.7141271296050811
788
+ ]
789
+ ],
790
+ [
791
+ [
792
+ 0.7218224312679448
793
+ ]
794
+ ]
795
+ ],
796
+ "q99": [
797
+ [
798
+ [
799
+ 0.8344853213488542
800
+ ]
801
+ ],
802
+ [
803
+ [
804
+ 0.8307771950728323
805
+ ]
806
+ ],
807
+ [
808
+ [
809
+ 0.8532812403667722
810
+ ]
811
+ ]
812
+ ]
813
+ },
814
+ "debug.left_gripper_eef_xyz": {
815
+ "min": [
816
+ -0.03974274918437004,
817
+ -0.08191245049238205,
818
+ -0.05133657529950142
819
+ ],
820
+ "max": [
821
+ 0.07331667840480804,
822
+ 0.07790468633174896,
823
+ 0.07853725552558899
824
+ ],
825
+ "mean": [
826
+ 0.0001206535119337648,
827
+ -0.00025288535581709535,
828
+ 0.00016590505508248566
829
+ ],
830
+ "std": [
831
+ 0.0018844198268935315,
832
+ 0.0026162750853398246,
833
+ 0.003416210169370154
834
+ ],
835
+ "count": [
836
+ 1190262
837
+ ],
838
+ "q01": [
839
+ -0.003602153712271314,
840
+ -0.00630107893261871,
841
+ -0.008274410389923444
842
+ ],
843
+ "q10": [
844
+ -0.0009548252292171848,
845
+ -0.0023360865216852183,
846
+ -0.002649857218046652
847
+ ],
848
+ "q50": [
849
+ 3.552017771483163e-06,
850
+ -3.820739373448237e-05,
851
+ 3.743541113583163e-05
852
+ ],
853
+ "q90": [
854
+ 0.001330702463340164,
855
+ 0.0011439956358770072,
856
+ 0.003314815324250065
857
+ ],
858
+ "q99": [
859
+ 0.005073301238635101,
860
+ 0.0057567186574574505,
861
+ 0.006980585490176547
862
+ ]
863
+ },
864
+ "target.left_gripper_state": {
865
+ "min": [
866
+ 0.0
867
+ ],
868
+ "max": [
869
+ 1.0
870
+ ],
871
+ "mean": [
872
+ 0.301609582630091
873
+ ],
874
+ "std": [
875
+ 0.29127662985308755
876
+ ],
877
+ "count": [
878
+ 1190262
879
+ ],
880
+ "q01": [
881
+ 0.12775635705448082
882
+ ],
883
+ "q10": [
884
+ 0.13937234646890362
885
+ ],
886
+ "q50": [
887
+ 0.2690071890978238
888
+ ],
889
+ "q90": [
890
+ 0.5364080983233901
891
+ ],
892
+ "q99": [
893
+ 0.5793320488274707
894
+ ]
895
+ },
896
+ "state.right_joint_pos": {
897
+ "min": [
898
+ -0.5304895043373108,
899
+ -0.01788010075688362,
900
+ -2.8398656845092773,
901
+ -1.7779971361160278,
902
+ -1.3306632041931152,
903
+ -2.109398365020752
904
+ ],
905
+ "max": [
906
+ 1.7347185611724854,
907
+ 2.9962687492370605,
908
+ 33070.77734375,
909
+ 1.7791833877563477,
910
+ 1.3048286437988281,
911
+ 2.1212427616119385
912
+ ],
913
+ "mean": [
914
+ 0.48200457495154053,
915
+ 1.0753155645007177,
916
+ -0.8328310656961835,
917
+ 0.10944956543739869,
918
+ 0.656216381332982,
919
+ -0.006975895331082784
920
+ ],
921
+ "std": [
922
+ 0.2300156470540007,
923
+ 0.6725555985050637,
924
+ 30.318090098807,
925
+ 0.38141857851389926,
926
+ 0.5130116086915443,
927
+ 0.4814727295884878
928
+ ],
929
+ "count": [
930
+ 1190262
931
+ ],
932
+ "q01": [
933
+ 0.3293215090215536,
934
+ 0.5403300231976487,
935
+ -1.3279794597531773,
936
+ -0.1340713922169557,
937
+ 0.3064212028922921,
938
+ -0.32053390232516327
939
+ ],
940
+ "q10": [
941
+ 0.34608019061743595,
942
+ 0.6100435781355382,
943
+ -1.294624602696224,
944
+ -0.06818823823939679,
945
+ 0.3806687844773479,
946
+ -0.25989195505323376
947
+ ],
948
+ "q50": [
949
+ 0.4838398267607968,
950
+ 1.0001502689124209,
951
+ -0.7842750038590245,
952
+ 0.09032291140697067,
953
+ 0.6593059234713587,
954
+ 0.00821628489408164
955
+ ],
956
+ "q90": [
957
+ 0.6170570176344584,
958
+ 1.5839769394976855,
959
+ -0.522207564408928,
960
+ 0.31391429722736386,
961
+ 0.9179292382754554,
962
+ 0.2318992625075853
963
+ ],
964
+ "q99": [
965
+ 0.6374338739749063,
966
+ 1.6351987316601149,
967
+ -0.47033184160043945,
968
+ 0.3623267430246096,
969
+ 0.9747749243170916,
970
+ 0.30153749263154644
971
+ ]
972
+ },
973
+ "raw_target.left_eef_xyz": {
974
+ "min": [
975
+ -0.025574803352355957,
976
+ -0.5172364711761475,
977
+ 0.013182041235268116
978
+ ],
979
+ "max": [
980
+ 0.5694496631622314,
981
+ 0.15098541975021362,
982
+ 0.5549294948577881
983
+ ],
984
+ "mean": [
985
+ 0.1798906628629405,
986
+ -0.12166112853498647,
987
+ 0.27995418337802347
988
+ ],
989
+ "std": [
990
+ 0.11519968881558569,
991
+ 0.09078932451097577,
992
+ 0.06347682319106349
993
+ ],
994
+ "count": [
995
+ 1190262
996
+ ],
997
+ "q01": [
998
+ 0.09547432775947541,
999
+ -0.21366731893710145,
1000
+ 0.21278535122037442
1001
+ ],
1002
+ "q10": [
1003
+ 0.10805289563868034,
1004
+ -0.20475676407913096,
1005
+ 0.22593810402428702
1006
+ ],
1007
+ "q50": [
1008
+ 0.16650441898312934,
1009
+ -0.10327951706790882,
1010
+ 0.28628780891014854
1011
+ ],
1012
+ "q90": [
1013
+ 0.2638221392431165,
1014
+ -0.06934359364319988,
1015
+ 0.32119614246768274
1016
+ ],
1017
+ "q99": [
1018
+ 0.276542764872743,
1019
+ -0.06005065481894193,
1020
+ 0.3406787354089581
1021
+ ]
1022
+ },
1023
+ "raw_target.right_gripper_state": {
1024
+ "min": [
1025
+ -0.005900000222027302
1026
+ ],
1027
+ "max": [
1028
+ 0.09920000284910202
1029
+ ],
1030
+ "mean": [
1031
+ 0.028309011554364105
1032
+ ],
1033
+ "std": [
1034
+ 0.028062971638027998
1035
+ ],
1036
+ "count": [
1037
+ 1190262
1038
+ ],
1039
+ "q01": [
1040
+ 0.00843386618627421
1041
+ ],
1042
+ "q10": [
1043
+ 0.010448497928765368
1044
+ ],
1045
+ "q50": [
1046
+ 0.02504341703307661
1047
+ ],
1048
+ "q90": [
1049
+ 0.05245194654566095
1050
+ ],
1051
+ "q99": [
1052
+ 0.05704134644039945
1053
+ ]
1054
+ },
1055
+ "target.left_eef_rot9d": {
1056
+ "min": [
1057
+ -0.9999999403953552,
1058
+ -0.9999989867210388,
1059
+ -0.43877989053726196,
1060
+ -0.9999993443489075,
1061
+ -0.9983866810798645,
1062
+ -0.9999995827674866,
1063
+ -0.9999982118606567,
1064
+ -0.9999997615814209,
1065
+ -1.0
1066
+ ],
1067
+ "max": [
1068
+ 0.9966843724250793,
1069
+ 0.9294155240058899,
1070
+ 0.9989352226257324,
1071
+ 0.7838147878646851,
1072
+ 0.9999969601631165,
1073
+ 0.3771432340145111,
1074
+ 0.9999586939811707,
1075
+ 0.8818954229354858,
1076
+ 0.4286975562572479
1077
+ ],
1078
+ "mean": [
1079
+ -0.49089457610177833,
1080
+ -0.5116281670397105,
1081
+ 0.5060461598687541,
1082
+ -0.7676007382062588,
1083
+ 0.2592923780172208,
1084
+ -0.41222145953978634,
1085
+ 0.05529891102310395,
1086
+ -0.6429635858677005,
1087
+ -0.5997873815455633
1088
+ ],
1089
+ "std": [
1090
+ 0.25682630860684424,
1091
+ 0.33511999480664184,
1092
+ 0.25082208911402404,
1093
+ 0.23854326230532563,
1094
+ 0.24714441361441036,
1095
+ 0.23589683912824683,
1096
+ 0.20950303578285875,
1097
+ 0.29020112497698214,
1098
+ 0.30933366776951876
1099
+ ],
1100
+ "count": [
1101
+ 1190262
1102
+ ],
1103
+ "q01": [
1104
+ -0.6592540292205703,
1105
+ -0.6976059200814724,
1106
+ 0.3129906823284886,
1107
+ -0.9026670926072682,
1108
+ 0.08926378705751603,
1109
+ -0.5818104111527267,
1110
+ -0.08771127742422938,
1111
+ -0.8238156511070067,
1112
+ -0.7661758392086604
1113
+ ],
1114
+ "q10": [
1115
+ -0.6284974105739243,
1116
+ -0.6656734197393128,
1117
+ 0.35029423199264204,
1118
+ -0.8831411073233635,
1119
+ 0.12823142853346733,
1120
+ -0.5497739386336807,
1121
+ -0.04471439797817658,
1122
+ -0.7944688163570556,
1123
+ -0.746560252172298
1124
+ ],
1125
+ "q50": [
1126
+ -0.5023900628818777,
1127
+ -0.5019265899754194,
1128
+ 0.5272984414895434,
1129
+ -0.7797984042962934,
1130
+ 0.24258259209116453,
1131
+ -0.42750058265063023,
1132
+ 0.057734302410023045,
1133
+ -0.6783660621226462,
1134
+ -0.5903012958301455
1135
+ ],
1136
+ "q90": [
1137
+ -0.3247829783795645,
1138
+ -0.37332791682369304,
1139
+ 0.6353148403573847,
1140
+ -0.6368650488529987,
1141
+ 0.41502034996881515,
1142
+ -0.24729890106071417,
1143
+ 0.14923433995946567,
1144
+ -0.4425802676443849,
1145
+ -0.4557325585776733
1146
+ ],
1147
+ "q99": [
1148
+ -0.28219966746595054,
1149
+ -0.3182332235999546,
1150
+ 0.6725371449809074,
1151
+ -0.6048946712739286,
1152
+ 0.45476429736989316,
1153
+ -0.20886623202468166,
1154
+ 0.18804573423005785,
1155
+ -0.39997017758876263,
1156
+ -0.40669760095714275
1157
+ ]
1158
+ },
1159
+ "state.left_joint_vel": {
1160
+ "min": [
1161
+ -1.8559999465942383,
1162
+ -2.296999931335449,
1163
+ -2.687999963760376,
1164
+ -4.520999908447266,
1165
+ -3.934000015258789,
1166
+ -5.020999908447266
1167
+ ],
1168
+ "max": [
1169
+ 28.92799949645996,
1170
+ 28.92799949645996,
1171
+ 28.92799949645996,
1172
+ 28.92799949645996,
1173
+ 28.92799949645996,
1174
+ 4.330999851226807
1175
+ ],
1176
+ "mean": [
1177
+ -0.0024167611726552502,
1178
+ 0.024736535639118686,
1179
+ -0.02910840791793997,
1180
+ -0.0030971139893197644,
1181
+ 0.0011925731939020645,
1182
+ 0.0028046340273890514
1183
+ ],
1184
+ "std": [
1185
+ 0.14131213026795578,
1186
+ 0.35284116535497234,
1187
+ 0.33093575592226293,
1188
+ 0.2584233759707407,
1189
+ 0.28768778762952163,
1190
+ 0.2992902433203294
1191
+ ],
1192
+ "count": [
1193
+ 1190262
1194
+ ],
1195
+ "q01": [
1196
+ -0.359556962939918,
1197
+ -0.7022829558106756,
1198
+ -0.6965997492858705,
1199
+ -0.6840934767864135,
1200
+ -0.7304342642831352,
1201
+ -0.7210370481225169
1202
+ ],
1203
+ "q10": [
1204
+ -0.05329493995928118,
1205
+ -0.2642735756880405,
1206
+ -0.3001891785310813,
1207
+ -0.13800338903554138,
1208
+ -0.16051470090817985,
1209
+ -0.15801642188269918
1210
+ ],
1211
+ "q50": [
1212
+ -8.080238799748897e-05,
1213
+ 0.003515361197365406,
1214
+ -0.0020326826050578823,
1215
+ 0.0001668945686644537,
1216
+ -0.00019890466138539886,
1217
+ -0.0009837499741456996
1218
+ ],
1219
+ "q90": [
1220
+ 0.04257699609316031,
1221
+ 0.3572979129789308,
1222
+ 0.12282280260798456,
1223
+ 0.1279435543314962,
1224
+ 0.1680798611639515,
1225
+ 0.17004365570153326
1226
+ ],
1227
+ "q99": [
1228
+ 0.3483814369454208,
1229
+ 0.7539351451867934,
1230
+ 0.7318836408678366,
1231
+ 0.6251767471896724,
1232
+ 0.7436887443163749,
1233
+ 0.7580185666889793
1234
+ ]
1235
+ },
1236
+ "state.left_eef_xyz": {
1237
+ "min": [
1238
+ -0.025574803352355957,
1239
+ -0.5172364711761475,
1240
+ 0.013182041235268116
1241
+ ],
1242
+ "max": [
1243
+ 0.5694496631622314,
1244
+ 0.15098541975021362,
1245
+ 0.5549294948577881
1246
+ ],
1247
+ "mean": [
1248
+ 0.17952018576800258,
1249
+ -0.1213304748068099,
1250
+ 0.2799664105255269
1251
+ ],
1252
+ "std": [
1253
+ 0.11506747666487802,
1254
+ 0.09061891808392239,
1255
+ 0.06343806135999272
1256
+ ],
1257
+ "count": [
1258
+ 1190262
1259
+ ],
1260
+ "q01": [
1261
+ 0.09529572637193008,
1262
+ -0.21368873078096595,
1263
+ 0.21276857398768875
1264
+ ],
1265
+ "q10": [
1266
+ 0.10682278978446813,
1267
+ -0.20455350394372468,
1268
+ 0.22592178458838355
1269
+ ],
1270
+ "q50": [
1271
+ 0.16634538878764787,
1272
+ -0.10311811828231046,
1273
+ 0.2862566454536169
1274
+ ],
1275
+ "q90": [
1276
+ 0.2637734301100429,
1277
+ -0.06863148986498051,
1278
+ 0.32127771501740304
1279
+ ],
1280
+ "q99": [
1281
+ 0.2765604781907778,
1282
+ -0.05993431031407714,
1283
+ 0.34078078868601713
1284
+ ]
1285
+ },
1286
+ "state.right_joint_vel": {
1287
+ "min": [
1288
+ -2.0360000133514404,
1289
+ -2.38100004196167,
1290
+ -2.8989999294281006,
1291
+ -4.10699987411499,
1292
+ -5.453000068664551,
1293
+ -4.658999919891357
1294
+ ],
1295
+ "max": [
1296
+ 2.059000015258789,
1297
+ 2.859999895095825,
1298
+ 3.0940001010894775,
1299
+ 4.60699987411499,
1300
+ 4.744999885559082,
1301
+ 5.521999835968018
1302
+ ],
1303
+ "mean": [
1304
+ 0.002472051529226473,
1305
+ 0.03340057503344445,
1306
+ -0.029372338065269333,
1307
+ 0.002023938925449503,
1308
+ -0.0006166141755958215,
1309
+ -0.0030519760695948374
1310
+ ],
1311
+ "std": [
1312
+ 0.14932336833151447,
1313
+ 0.3726062161099405,
1314
+ 0.33982113642858225,
1315
+ 0.24656543653472762,
1316
+ 0.31776814503320255,
1317
+ 0.28219460431087956
1318
+ ],
1319
+ "count": [
1320
+ 1190262
1321
+ ],
1322
+ "q01": [
1323
+ -0.39095994019339914,
1324
+ -0.7399446309981778,
1325
+ -0.7792720133135764,
1326
+ -0.6476106747659643,
1327
+ -0.7538945917618284,
1328
+ -0.6957832917827569
1329
+ ],
1330
+ "q10": [
1331
+ -0.05252680475253182,
1332
+ -0.2590891081855586,
1333
+ -0.30580517563732135,
1334
+ -0.12607037200226104,
1335
+ -0.2192686651906185,
1336
+ -0.16939564583385097
1337
+ ],
1338
+ "q50": [
1339
+ 6.380942422333517e-05,
1340
+ 0.0038665773915417634,
1341
+ -0.001428793632243419,
1342
+ 0.000423644307076126,
1343
+ -0.001172945371308208,
1344
+ -0.0005698309639416222
1345
+ ],
1346
+ "q90": [
1347
+ 0.0648931510010537,
1348
+ 0.3840178399070429,
1349
+ 0.14260569323955608,
1350
+ 0.13703868670716055,
1351
+ 0.19828287836305492,
1352
+ 0.14549021822066624
1353
+ ],
1354
+ "q99": [
1355
+ 0.40215484754417197,
1356
+ 0.8427277373650912,
1357
+ 0.7249245112926548,
1358
+ 0.6423695050458326,
1359
+ 0.8331057590903624,
1360
+ 0.7304841248572257
1361
+ ]
1362
+ },
1363
+ "target.right_eef_rot9d": {
1364
+ "min": [
1365
+ -0.9572577476501465,
1366
+ -1.0,
1367
+ -0.6298283338546753,
1368
+ -0.9999998807907104,
1369
+ -0.9999944567680359,
1370
+ -0.9134393334388733,
1371
+ -0.9996783137321472,
1372
+ -0.9999999403953552,
1373
+ -1.0000001192092896
1374
+ ],
1375
+ "max": [
1376
+ 0.9999997019767761,
1377
+ 0.9262025952339172,
1378
+ 0.9999855160713196,
1379
+ 0.8768270015716553,
1380
+ 0.98734050989151,
1381
+ 0.9943367838859558,
1382
+ 0.9995263814926147,
1383
+ 0.7593604922294617,
1384
+ 0.7700532078742981
1385
+ ],
1386
+ "mean": [
1387
+ 0.40169580640747493,
1388
+ -0.5453826703153386,
1389
+ 0.5469749283847557,
1390
+ -0.8248792593915486,
1391
+ -0.17996870738930226,
1392
+ 0.3660751443498409,
1393
+ -0.0770558013603424,
1394
+ -0.641843395085422,
1395
+ -0.6026302493466289
1396
+ ],
1397
+ "std": [
1398
+ 0.2593997764737594,
1399
+ 0.3227506916828474,
1400
+ 0.26563275290361515,
1401
+ 0.21648248826731012,
1402
+ 0.24157810957754944,
1403
+ 0.2189752779433003,
1404
+ 0.19525512347236315,
1405
+ 0.3093192730955391,
1406
+ 0.2917766537068013
1407
+ ],
1408
+ "count": [
1409
+ 1190262
1410
+ ],
1411
+ "q01": [
1412
+ 0.1861448350874889,
1413
+ -0.7567527887762481,
1414
+ 0.3139290591776103,
1415
+ -0.9376612145748945,
1416
+ -0.37939021243721943,
1417
+ 0.16253357403906296,
1418
+ -0.2338224018223988,
1419
+ -0.854316807859987,
1420
+ -0.7911181250088424
1421
+ ],
1422
+ "q10": [
1423
+ 0.2308032908142177,
1424
+ -0.7242054323380928,
1425
+ 0.35364913314653024,
1426
+ -0.9243569556587108,
1427
+ -0.3322245884506902,
1428
+ 0.19924148990588095,
1429
+ -0.18274279802043925,
1430
+ -0.8217487255598009,
1431
+ -0.7732878188665891
1432
+ ],
1433
+ "q50": [
1434
+ 0.4112776670625456,
1435
+ -0.5342450215844821,
1436
+ 0.5734316297551184,
1437
+ -0.8443808270585982,
1438
+ -0.16644367967834722,
1439
+ 0.3760135996270074,
1440
+ -0.07961939910460046,
1441
+ -0.685009706474443,
1442
+ -0.5910464733902835
1443
+ ],
1444
+ "q90": [
1445
+ 0.557404825602064,
1446
+ -0.3730700228481071,
1447
+ 0.7064507246608568,
1448
+ -0.6914180640192475,
1449
+ -0.04867359102058592,
1450
+ 0.5179239253213752,
1451
+ 0.03236367754546204,
1452
+ -0.4038695904537626,
1453
+ -0.4342998478840417
1454
+ ],
1455
+ "q99": [
1456
+ 0.592345252825119,
1457
+ -0.3157792125977034,
1458
+ 0.7414563254546885,
1459
+ -0.6560484684470527,
1460
+ -0.001496853349294801,
1461
+ 0.5550779031281798,
1462
+ 0.07519098163393742,
1463
+ -0.35513631646397437,
1464
+ -0.3764244569331207
1465
+ ]
1466
+ },
1467
+ "state.right_eef_xyz": {
1468
+ "min": [
1469
+ -0.48119762539863586,
1470
+ -0.09442842751741409,
1471
+ 0.012755424715578556
1472
+ ],
1473
+ "max": [
1474
+ 0.5606339573860168,
1475
+ 0.4844518005847931,
1476
+ 0.5070028305053711
1477
+ ],
1478
+ "mean": [
1479
+ 0.1819280366951295,
1480
+ 0.10213415621792282,
1481
+ 0.27001797308772063
1482
+ ],
1483
+ "std": [
1484
+ 0.11738809406036617,
1485
+ 0.08511472912474637,
1486
+ 0.06455944635446784
1487
+ ],
1488
+ "count": [
1489
+ 1190262
1490
+ ],
1491
+ "q01": [
1492
+ 0.09001581197481111,
1493
+ 0.04471978599622268,
1494
+ 0.20126910830571731
1495
+ ],
1496
+ "q10": [
1497
+ 0.101469219926192,
1498
+ 0.05103126411196151,
1499
+ 0.21703696788413943
1500
+ ],
1501
+ "q50": [
1502
+ 0.16677761164917226,
1503
+ 0.08344383223936669,
1504
+ 0.2753921542619221
1505
+ ],
1506
+ "q90": [
1507
+ 0.2756554669976576,
1508
+ 0.1871436971860299,
1509
+ 0.31192555107670494
1510
+ ],
1511
+ "q99": [
1512
+ 0.286361368045546,
1513
+ 0.20134680848349876,
1514
+ 0.33255776574509854
1515
+ ]
1516
+ },
1517
+ "state.left_joint_pos": {
1518
+ "min": [
1519
+ -2.136366605758667,
1520
+ -0.017949875444173813,
1521
+ -2.9559032917022705,
1522
+ -1.7966796159744263,
1523
+ -1.3195165395736694,
1524
+ -292.6617431640625
1525
+ ],
1526
+ "max": [
1527
+ 0.4361523389816284,
1528
+ 2.8948493003845215,
1529
+ 0.022171324118971825,
1530
+ 1.7840152978897095,
1531
+ 33070.77734375,
1532
+ 2.173243284225464
1533
+ ],
1534
+ "mean": [
1535
+ -0.5447503868839202,
1536
+ 1.106152378249364,
1537
+ -0.918965895651728,
1538
+ -0.19111079778809612,
1539
+ 0.7199935114637099,
1540
+ 0.13204706522876591
1541
+ ],
1542
+ "std": [
1543
+ 0.24440223451338217,
1544
+ 0.6622603425515478,
1545
+ 0.5761099063420537,
1546
+ 0.43273464910452836,
1547
+ 30.316938672927975,
1548
+ 0.6198394047764999
1549
+ ],
1550
+ "count": [
1551
+ 1190262
1552
+ ],
1553
+ "q01": [
1554
+ -0.6746832143134905,
1555
+ 0.6116969054469206,
1556
+ -1.3684538702505002,
1557
+ -0.4452353991486795,
1558
+ 0.36932759730462816,
1559
+ -0.1648500904169706
1560
+ ],
1561
+ "q10": [
1562
+ -0.6541429473404956,
1563
+ 0.6871674781781585,
1564
+ -1.3230525996146885,
1565
+ -0.39002545694990204,
1566
+ 0.43650347761510955,
1567
+ -0.10191309335128622
1568
+ ],
1569
+ "q50": [
1570
+ -0.5437188434163622,
1571
+ 1.0321055941195434,
1572
+ -0.8426625792280225,
1573
+ -0.16793626401510542,
1574
+ 0.6975479462352185,
1575
+ 0.11820903237840187
1576
+ ],
1577
+ "q90": [
1578
+ -0.4321166861559285,
1579
+ 1.579988513826904,
1580
+ -0.6030649518303838,
1581
+ -0.019215668355911045,
1582
+ 0.9136956115546339,
1583
+ 0.37131581809619696
1584
+ ],
1585
+ "q99": [
1586
+ -0.41598975258873094,
1587
+ 1.6334911244217905,
1588
+ -0.5458881778664834,
1589
+ 0.043832833556387,
1590
+ 0.9459464954653146,
1591
+ 0.43896197561564865
1592
+ ]
1593
+ },
1594
+ "raw_state.left_gripper_state": {
1595
+ "min": [
1596
+ -0.008100000210106373
1597
+ ],
1598
+ "max": [
1599
+ 0.09920000284910202
1600
+ ],
1601
+ "mean": [
1602
+ 0.02791630066080174
1603
+ ],
1604
+ "std": [
1605
+ 0.028599888433469035
1606
+ ],
1607
+ "count": [
1608
+ 1190262
1609
+ ],
1610
+ "q01": [
1611
+ 0.010764938140707465
1612
+ ],
1613
+ "q10": [
1614
+ 0.011910287012420636
1615
+ ],
1616
+ "q50": [
1617
+ 0.024792476278562146
1618
+ ],
1619
+ "q90": [
1620
+ 0.0507834401850123
1621
+ ],
1622
+ "q99": [
1623
+ 0.05498357182005628
1624
+ ]
1625
+ },
1626
+ "raw_target.left_gripper_state": {
1627
+ "min": [
1628
+ -0.008100000210106373
1629
+ ],
1630
+ "max": [
1631
+ 0.09920000284910202
1632
+ ],
1633
+ "mean": [
1634
+ 0.027912842261528417
1635
+ ],
1636
+ "std": [
1637
+ 0.02860651698108075
1638
+ ],
1639
+ "count": [
1640
+ 1190262
1641
+ ],
1642
+ "q01": [
1643
+ 0.010799776959272022
1644
+ ],
1645
+ "q10": [
1646
+ 0.011989712875743472
1647
+ ],
1648
+ "q50": [
1649
+ 0.024785491447297393
1650
+ ],
1651
+ "q90": [
1652
+ 0.050773446851155785
1653
+ ],
1654
+ "q99": [
1655
+ 0.05498200941441148
1656
+ ]
1657
+ },
1658
+ "task_index": {
1659
+ "min": [
1660
+ 0
1661
+ ],
1662
+ "max": [
1663
+ 24
1664
+ ],
1665
+ "mean": [
1666
+ 7.044290248701546
1667
+ ],
1668
+ "std": [
1669
+ 6.08728484211291
1670
+ ],
1671
+ "count": [
1672
+ 1190262
1673
+ ],
1674
+ "q01": [
1675
+ 7.044290248701546
1676
+ ],
1677
+ "q10": [
1678
+ 7.044290248701547
1679
+ ],
1680
+ "q50": [
1681
+ 7.044290248701554
1682
+ ],
1683
+ "q90": [
1684
+ 7.0442902487015635
1685
+ ],
1686
+ "q99": [
1687
+ 7.044290248701564
1688
+ ]
1689
+ },
1690
+ "observation.images.cam_left_wrist": {
1691
+ "min": [
1692
+ [
1693
+ [
1694
+ 0.0
1695
+ ]
1696
+ ],
1697
+ [
1698
+ [
1699
+ 0.0
1700
+ ]
1701
+ ],
1702
+ [
1703
+ [
1704
+ 0.0
1705
+ ]
1706
+ ]
1707
+ ],
1708
+ "max": [
1709
+ [
1710
+ [
1711
+ 1.0
1712
+ ]
1713
+ ],
1714
+ [
1715
+ [
1716
+ 1.0
1717
+ ]
1718
+ ],
1719
+ [
1720
+ [
1721
+ 1.0
1722
+ ]
1723
+ ]
1724
+ ],
1725
+ "mean": [
1726
+ [
1727
+ [
1728
+ 0.49348907127891517
1729
+ ]
1730
+ ],
1731
+ [
1732
+ [
1733
+ 0.49681429774266866
1734
+ ]
1735
+ ],
1736
+ [
1737
+ [
1738
+ 0.4926853378634324
1739
+ ]
1740
+ ]
1741
+ ],
1742
+ "std": [
1743
+ [
1744
+ [
1745
+ 0.024948639287316155
1746
+ ]
1747
+ ],
1748
+ [
1749
+ [
1750
+ 0.024867335286200908
1751
+ ]
1752
+ ],
1753
+ [
1754
+ [
1755
+ 0.025031837197388856
1756
+ ]
1757
+ ]
1758
+ ],
1759
+ "count": [
1760
+ 472969
1761
+ ],
1762
+ "q01": [
1763
+ [
1764
+ [
1765
+ 0.05213357360876579
1766
+ ]
1767
+ ],
1768
+ [
1769
+ [
1770
+ 0.06248193011861543
1771
+ ]
1772
+ ],
1773
+ [
1774
+ [
1775
+ 0.061113746999415894
1776
+ ]
1777
+ ]
1778
+ ],
1779
+ "q10": [
1780
+ [
1781
+ [
1782
+ 0.10543315836591417
1783
+ ]
1784
+ ],
1785
+ [
1786
+ [
1787
+ 0.11514291610605126
1788
+ ]
1789
+ ],
1790
+ [
1791
+ [
1792
+ 0.1153180280649639
1793
+ ]
1794
+ ]
1795
+ ],
1796
+ "q50": [
1797
+ [
1798
+ [
1799
+ 0.5642266987943382
1800
+ ]
1801
+ ],
1802
+ [
1803
+ [
1804
+ 0.5648505904852649
1805
+ ]
1806
+ ],
1807
+ [
1808
+ [
1809
+ 0.5538197102201612
1810
+ ]
1811
+ ]
1812
+ ],
1813
+ "q90": [
1814
+ [
1815
+ [
1816
+ 0.7184867560542378
1817
+ ]
1818
+ ],
1819
+ [
1820
+ [
1821
+ 0.7219232638268277
1822
+ ]
1823
+ ],
1824
+ [
1825
+ [
1826
+ 0.7267530213544444
1827
+ ]
1828
+ ]
1829
+ ],
1830
+ "q99": [
1831
+ [
1832
+ [
1833
+ 0.8395429355004715
1834
+ ]
1835
+ ],
1836
+ [
1837
+ [
1838
+ 0.837273455386739
1839
+ ]
1840
+ ],
1841
+ [
1842
+ [
1843
+ 0.8572449945967854
1844
+ ]
1845
+ ]
1846
+ ]
1847
+ },
1848
+ "raw_state.right_eef_xyz": {
1849
+ "min": [
1850
+ -0.48119762539863586,
1851
+ -0.09442842751741409,
1852
+ 0.012755424715578556
1853
+ ],
1854
+ "max": [
1855
+ 0.5606339573860168,
1856
+ 0.4844518005847931,
1857
+ 0.5070028305053711
1858
+ ],
1859
+ "mean": [
1860
+ 0.1819280366951295,
1861
+ 0.10213415621792282,
1862
+ 0.27001797308772063
1863
+ ],
1864
+ "std": [
1865
+ 0.11738809406036617,
1866
+ 0.08511472912474637,
1867
+ 0.06455944635446784
1868
+ ],
1869
+ "count": [
1870
+ 1190262
1871
+ ],
1872
+ "q01": [
1873
+ 0.09001581197481111,
1874
+ 0.04471978599622268,
1875
+ 0.20126910830571731
1876
+ ],
1877
+ "q10": [
1878
+ 0.101469219926192,
1879
+ 0.05103126411196151,
1880
+ 0.21703696788413943
1881
+ ],
1882
+ "q50": [
1883
+ 0.16677761164917226,
1884
+ 0.08344383223936669,
1885
+ 0.2753921542619221
1886
+ ],
1887
+ "q90": [
1888
+ 0.2756554669976576,
1889
+ 0.1871436971860299,
1890
+ 0.31192555107670494
1891
+ ],
1892
+ "q99": [
1893
+ 0.286361368045546,
1894
+ 0.20134680848349876,
1895
+ 0.33255776574509854
1896
+ ]
1897
+ },
1898
+ "state.right_eef_rot9d": {
1899
+ "min": [
1900
+ -0.9572577476501465,
1901
+ -1.0,
1902
+ -0.6298283338546753,
1903
+ -0.9999998807907104,
1904
+ -0.9999944567680359,
1905
+ -0.9134393334388733,
1906
+ -0.9996783137321472,
1907
+ -0.9999999403953552,
1908
+ -1.0000001192092896
1909
+ ],
1910
+ "max": [
1911
+ 0.9999997019767761,
1912
+ 0.9262025952339172,
1913
+ 0.9999855160713196,
1914
+ 0.8768270015716553,
1915
+ 0.98734050989151,
1916
+ 0.9943367838859558,
1917
+ 0.9995263814926147,
1918
+ 0.7593604922294617,
1919
+ 0.7700532078742981
1920
+ ],
1921
+ "mean": [
1922
+ 0.40145970374384954,
1923
+ -0.5452435443173427,
1924
+ 0.5475412756540747,
1925
+ -0.8251803781862789,
1926
+ -0.17958366939989234,
1927
+ 0.3660041382824994,
1928
+ -0.07704607065413434,
1929
+ -0.6423072340550119,
1930
+ -0.6023009971711567
1931
+ ],
1932
+ "std": [
1933
+ 0.2592277969788017,
1934
+ 0.3225902413137692,
1935
+ 0.26547125078900813,
1936
+ 0.21620992763595323,
1937
+ 0.24132289467860288,
1938
+ 0.21882620922128412,
1939
+ 0.19500244517109858,
1940
+ 0.3091920737590499,
1941
+ 0.2917421546486699
1942
+ ],
1943
+ "count": [
1944
+ 1190262
1945
+ ],
1946
+ "q01": [
1947
+ 0.18608407629419849,
1948
+ -0.7568674989185337,
1949
+ 0.31391036713091913,
1950
+ -0.937701976641629,
1951
+ -0.37948976056818684,
1952
+ 0.16253987211291218,
1953
+ -0.23389449173872295,
1954
+ -0.8546346962205217,
1955
+ -0.7911925779512629
1956
+ ],
1957
+ "q10": [
1958
+ 0.23042226383337536,
1959
+ -0.7248900603069078,
1960
+ 0.35379712598779367,
1961
+ -0.9248004553662674,
1962
+ -0.33171100208953824,
1963
+ 0.19921472730954526,
1964
+ -0.18262236972543425,
1965
+ -0.8241374135798791,
1966
+ -0.7735595071339231
1967
+ ],
1968
+ "q50": [
1969
+ 0.4112636099761288,
1970
+ -0.5341669854077947,
1971
+ 0.5738090157801132,
1972
+ -0.8445298725088042,
1973
+ -0.16617869303386634,
1974
+ 0.3760249978370115,
1975
+ -0.07972389517585574,
1976
+ -0.6852067962565968,
1977
+ -0.5908523434603908
1978
+ ],
1979
+ "q90": [
1980
+ 0.5567905192737689,
1981
+ -0.3708565572500138,
1982
+ 0.7085885780032605,
1983
+ -0.6921616532683195,
1984
+ -0.0478049997565543,
1985
+ 0.5174316706438769,
1986
+ 0.03246822676993223,
1987
+ -0.40372444150251935,
1988
+ -0.4318331398007211
1989
+ ],
1990
+ "q99": [
1991
+ 0.5925357365590552,
1992
+ -0.31527769829784913,
1993
+ 0.7416799018151832,
1994
+ -0.6560245180145223,
1995
+ -0.001317060909654023,
1996
+ 0.5552716208401277,
1997
+ 0.0754261144002902,
1998
+ -0.35509432982632977,
1999
+ -0.3759093801547274
2000
+ ]
2001
+ },
2002
+ "state.left_eef_rot9d": {
2003
+ "min": [
2004
+ -0.9999999403953552,
2005
+ -0.9999989867210388,
2006
+ -0.43877989053726196,
2007
+ -0.9999993443489075,
2008
+ -0.9983866810798645,
2009
+ -0.9999995827674866,
2010
+ -0.9999982118606567,
2011
+ -0.9999997615814209,
2012
+ -1.0
2013
+ ],
2014
+ "max": [
2015
+ 0.9966843724250793,
2016
+ 0.9294155240058899,
2017
+ 0.9989352226257324,
2018
+ 0.7838147878646851,
2019
+ 0.9999969601631165,
2020
+ 0.3771432340145111,
2021
+ 0.9999586939811707,
2022
+ 0.8818954229354858,
2023
+ 0.4286975562572479
2024
+ ],
2025
+ "mean": [
2026
+ -0.4906809179031456,
2027
+ -0.5116609787143223,
2028
+ 0.506505140119576,
2029
+ -0.7680275965718966,
2030
+ 0.25898907210688643,
2031
+ -0.41215018178645024,
2032
+ 0.05528914093301455,
2033
+ -0.6432840571835025,
2034
+ -0.5996363543764072
2035
+ ],
2036
+ "std": [
2037
+ 0.2565941056109774,
2038
+ 0.3349722544002231,
2039
+ 0.2506817548478144,
2040
+ 0.2381543469987179,
2041
+ 0.24683644583453473,
2042
+ 0.23568051644134078,
2043
+ 0.20916845345288387,
2044
+ 0.29013658725600333,
2045
+ 0.3092488818706589
2046
+ ],
2047
+ "count": [
2048
+ 1190262
2049
+ ],
2050
+ "q01": [
2051
+ -0.6597226854702452,
2052
+ -0.6978191160152537,
2053
+ 0.3128498947024772,
2054
+ -0.9028211600438318,
2055
+ 0.0889127363234208,
2056
+ -0.5823896730938213,
2057
+ -0.08820874476575975,
2058
+ -0.8241911276023102,
2059
+ -0.7662433285138271
2060
+ ],
2061
+ "q10": [
2062
+ -0.6287506705051813,
2063
+ -0.6666703062774828,
2064
+ 0.35040737468773436,
2065
+ -0.884227078915229,
2066
+ 0.12700087655327588,
2067
+ -0.5503361759873812,
2068
+ -0.04508623543139749,
2069
+ -0.7965488343937268,
2070
+ -0.7467849128858096
2071
+ ],
2072
+ "q50": [
2073
+ -0.5023021656848861,
2074
+ -0.5020769474921651,
2075
+ 0.527577259546099,
2076
+ -0.7800353539378483,
2077
+ 0.24244353914796068,
2078
+ -0.4274288950894024,
2079
+ 0.05771852431105891,
2080
+ -0.6785291184087054,
2081
+ -0.5902960159226589
2082
+ ],
2083
+ "q90": [
2084
+ -0.32405037858286334,
2085
+ -0.3715875489893193,
2086
+ 0.6371194311637125,
2087
+ -0.6369813478985287,
2088
+ 0.41502041882356544,
2089
+ -0.24717494530492284,
2090
+ 0.14990709699113625,
2091
+ -0.4425141423981818,
2092
+ -0.4536030346957077
2093
+ ],
2094
+ "q99": [
2095
+ -0.28201264457982905,
2096
+ -0.3172293774684954,
2097
+ 0.6729449797233235,
2098
+ -0.6045634353321963,
2099
+ 0.4551031087808112,
2100
+ -0.208852150588122,
2101
+ 0.18821265864575132,
2102
+ -0.3998790246511923,
2103
+ -0.4059680478874257
2104
+ ]
2105
+ },
2106
+ "raw_target.right_joint_pos": {
2107
+ "min": [
2108
+ -0.5304895043373108,
2109
+ -0.01788010075688362,
2110
+ -2.8398656845092773,
2111
+ -1.7779971361160278,
2112
+ -1.3306632041931152,
2113
+ -2.109398365020752
2114
+ ],
2115
+ "max": [
2116
+ 1.7347185611724854,
2117
+ 2.9962687492370605,
2118
+ 33070.77734375,
2119
+ 1.7791833877563477,
2120
+ 1.3048286437988281,
2121
+ 2.1212427616119385
2122
+ ],
2123
+ "mean": [
2124
+ 0.4822226720666372,
2125
+ 1.0779679862232885,
2126
+ -0.834740554027738,
2127
+ 0.10972757670888648,
2128
+ 0.6561104784037403,
2129
+ -0.007318175168955715
2130
+ ],
2131
+ "std": [
2132
+ 0.23009847845194137,
2133
+ 0.6729530644477982,
2134
+ 30.318102209174917,
2135
+ 0.38187622747321576,
2136
+ 0.5135976882299932,
2137
+ 0.48194896207876825
2138
+ ],
2139
+ "count": [
2140
+ 1190262
2141
+ ],
2142
+ "q01": [
2143
+ 0.32934862091824846,
2144
+ 0.5412694413917228,
2145
+ -1.327998816582662,
2146
+ -0.13401242696982704,
2147
+ 0.3068093821261069,
2148
+ -0.3202328903908414
2149
+ ],
2150
+ "q10": [
2151
+ 0.3463723141187808,
2152
+ 0.6171733595485551,
2153
+ -1.29596082040898,
2154
+ -0.06796255472577567,
2155
+ 0.3823741347002804,
2156
+ -0.2591231440825181
2157
+ ],
2158
+ "q50": [
2159
+ 0.48394340433698413,
2160
+ 1.0027438546177,
2161
+ -0.7858319997630691,
2162
+ 0.09064882328142189,
2163
+ 0.6588389426615966,
2164
+ 0.00788550870653163
2165
+ ],
2166
+ "q90": [
2167
+ 0.6175679493076027,
2168
+ 1.5845077546582529,
2169
+ -0.5265966466476191,
2170
+ 0.3142082609136106,
2171
+ 0.9162879434095343,
2172
+ 0.2310578394688588
2173
+ ],
2174
+ "q99": [
2175
+ 0.637367490623611,
2176
+ 1.6352203702785444,
2177
+ -0.47087938515326994,
2178
+ 0.36234107272108745,
2179
+ 0.9743739728759746,
2180
+ 0.30147314504757344
2181
+ ]
2182
+ },
2183
+ "state.left_gripper_state": {
2184
+ "min": [
2185
+ 0.0
2186
+ ],
2187
+ "max": [
2188
+ 1.0
2189
+ ],
2190
+ "mean": [
2191
+ 0.3016416924734461
2192
+ ],
2193
+ "std": [
2194
+ 0.29120831424949695
2195
+ ],
2196
+ "count": [
2197
+ 1190262
2198
+ ],
2199
+ "q01": [
2200
+ 0.1274105382879833
2201
+ ],
2202
+ "q10": [
2203
+ 0.1385753003213384
2204
+ ],
2205
+ "q50": [
2206
+ 0.2690357163564362
2207
+ ],
2208
+ "q90": [
2209
+ 0.5365181476685051
2210
+ ],
2211
+ "q99": [
2212
+ 0.5793484628213502
2213
+ ]
2214
+ },
2215
+ "frame_index": {
2216
+ "min": [
2217
+ 0
2218
+ ],
2219
+ "max": [
2220
+ 924
2221
+ ],
2222
+ "mean": [
2223
+ 154.12136403581732
2224
+ ],
2225
+ "std": [
2226
+ 120.07121039889311
2227
+ ],
2228
+ "count": [
2229
+ 1190262
2230
+ ],
2231
+ "q01": [
2232
+ 2.58607637973731
2233
+ ],
2234
+ "q10": [
2235
+ 30.38949299934331
2236
+ ],
2237
+ "q50": [
2238
+ 153.90244944121528
2239
+ ],
2240
+ "q90": [
2241
+ 277.762570915996
2242
+ ],
2243
+ "q99": [
2244
+ 305.6470495982473
2245
+ ]
2246
+ },
2247
+ "debug.left_gripper_eef_rot6d": {
2248
+ "min": [
2249
+ -0.8866873383522034,
2250
+ -0.46236932277679443,
2251
+ -0.27472248673439026,
2252
+ -0.46236932277679443,
2253
+ -0.8866873979568481,
2254
+ -0.8995904326438904
2255
+ ],
2256
+ "max": [
2257
+ 1.000000238418579,
2258
+ 0.4623693525791168,
2259
+ 0.15804056823253632,
2260
+ 0.4623693525791168,
2261
+ 1.0000003576278687,
2262
+ 0.8566157817840576
2263
+ ],
2264
+ "mean": [
2265
+ 0.9999246870853696,
2266
+ 0.00026509332061463016,
2267
+ 2.0099657961778748e-05,
2268
+ -0.00024957011726433996,
2269
+ 0.9999032758995472,
2270
+ -0.00025724304238623964
2271
+ ],
2272
+ "std": [
2273
+ 0.0024690322163643387,
2274
+ 0.009254269225834768,
2275
+ 0.0076915096255962675,
2276
+ 0.009253739412315378,
2277
+ 0.0025861909155857473,
2278
+ 0.010067968845930598
2279
+ ],
2280
+ "count": [
2281
+ 1190262
2282
+ ],
2283
+ "q01": [
2284
+ 0.9990527506684653,
2285
+ -0.019274868253565093,
2286
+ -0.018081560727716918,
2287
+ -0.022442144371683594,
2288
+ 0.9988948391722471,
2289
+ -0.02325253150835013
2290
+ ],
2291
+ "q10": [
2292
+ 0.9997969040031344,
2293
+ -0.005621674952534828,
2294
+ -0.005094497569667508,
2295
+ -0.006473317388018476,
2296
+ 0.9997294411891396,
2297
+ -0.008211448734043034
2298
+ ],
2299
+ "q50": [
2300
+ 0.9999925391604514,
2301
+ -5.983174957202363e-06,
2302
+ -4.891159413245979e-06,
2303
+ 4.636926938051266e-06,
2304
+ 0.9999885997804434,
2305
+ -6.865109393014054e-05
2306
+ ],
2307
+ "q90": [
2308
+ 0.9999999121402102,
2309
+ 0.00646726472827741,
2310
+ 0.004948120363560694,
2311
+ 0.005622966509901522,
2312
+ 0.9999999037547745,
2313
+ 0.007142395352858863
2314
+ ],
2315
+ "q99": [
2316
+ 1.000000065733182,
2317
+ 0.022506207781178712,
2318
+ 0.019267970184473245,
2319
+ 0.01931843606797888,
2320
+ 1.000000095975891,
2321
+ 0.02437608371345096
2322
+ ]
2323
+ },
2324
+ "debug.right_gripper_eef_xyz": {
2325
+ "min": [
2326
+ -0.21519312262535095,
2327
+ -0.12984274327754974,
2328
+ -0.43206727504730225
2329
+ ],
2330
+ "max": [
2331
+ 0.12184130400419235,
2332
+ 0.421103298664093,
2333
+ 0.262596070766449
2334
+ ],
2335
+ "mean": [
2336
+ -0.00012448339547393075,
2337
+ -0.0002426488987508215,
2338
+ 0.0002550610050406728
2339
+ ],
2340
+ "std": [
2341
+ 0.002007257775620177,
2342
+ 0.002912063836480495,
2343
+ 0.003357284563051659
2344
+ ],
2345
+ "count": [
2346
+ 1190262
2347
+ ],
2348
+ "q01": [
2349
+ -0.0053672599824821495,
2350
+ -0.00735217629207234,
2351
+ -0.007556171563304526
2352
+ ],
2353
+ "q10": [
2354
+ -0.0014356837560613918,
2355
+ -0.0024872157634789047,
2356
+ -0.0022793607918578963
2357
+ ],
2358
+ "q50": [
2359
+ -6.6725266460079294e-06,
2360
+ -2.788635970104113e-05,
2361
+ 4.378516498521829e-05
2362
+ ],
2363
+ "q90": [
2364
+ 0.0009943946781314254,
2365
+ 0.0015162856901664357,
2366
+ 0.003308243430307336
2367
+ ],
2368
+ "q99": [
2369
+ 0.004151468630209003,
2370
+ 0.006120087670256982,
2371
+ 0.007128357681230616
2372
+ ]
2373
+ },
2374
+ "raw_target.right_eef_quat": {
2375
+ "min": [
2376
+ -0.9606722593307495,
2377
+ -0.9999988079071045,
2378
+ -0.7005123496055603,
2379
+ 0.0
2380
+ ],
2381
+ "max": [
2382
+ 0.7701200842857361,
2383
+ 0.999999463558197,
2384
+ 0.695233166217804,
2385
+ 0.9346736669540405
2386
+ ],
2387
+ "mean": [
2388
+ -0.17851473255410377,
2389
+ 0.8131643573812125,
2390
+ 0.13121990289568863,
2391
+ 0.3658358481524102
2392
+ ],
2393
+ "std": [
2394
+ 0.16194004663264655,
2395
+ 0.2863336718348759,
2396
+ 0.11067812829337703,
2397
+ 0.1880978574437413
2398
+ ],
2399
+ "count": [
2400
+ 1190262
2401
+ ],
2402
+ "q01": [
2403
+ -0.30018027518470014,
2404
+ 0.46845920636601907,
2405
+ 0.02714812764153061,
2406
+ 0.21703637958623218
2407
+ ],
2408
+ "q10": [
2409
+ -0.27581502414527215,
2410
+ 0.6408338730364733,
2411
+ 0.05111842396574823,
2412
+ 0.23918028088842674
2413
+ ],
2414
+ "q50": [
2415
+ -0.17930775781296857,
2416
+ 0.8493924096794818,
2417
+ 0.13577116838079906,
2418
+ 0.38466678903250795
2419
+ ],
2420
+ "q90": [
2421
+ -0.07907622300734998,
2422
+ 0.914688045294395,
2423
+ 0.20292513626252892,
2424
+ 0.4713400793332717
2425
+ ],
2426
+ "q99": [
2427
+ -0.04115966807744538,
2428
+ 0.9253789184424136,
2429
+ 0.22546117985600517,
2430
+ 0.5007245595164591
2431
+ ]
2432
+ },
2433
+ "index": {
2434
+ "min": [
2435
+ 0
2436
+ ],
2437
+ "max": [
2438
+ 173791
2439
+ ],
2440
+ "mean": [
2441
+ 75335.682008667
2442
+ ],
2443
+ "std": [
2444
+ 44471.53161316754
2445
+ ],
2446
+ "count": [
2447
+ 1190262
2448
+ ],
2449
+ "q01": [
2450
+ 75184.14672101095
2451
+ ],
2452
+ "q10": [
2453
+ 75211.95013763047
2454
+ ],
2455
+ "q50": [
2456
+ 75335.46981991292
2457
+ ],
2458
+ "q90": [
2459
+ 75459.3232155472
2460
+ ],
2461
+ "q99": [
2462
+ 75487.20769422944
2463
+ ]
2464
+ },
2465
+ "raw_state.left_joint_vel": {
2466
+ "min": [
2467
+ -1.8559999465942383,
2468
+ -2.296999931335449,
2469
+ -2.687999963760376,
2470
+ -4.520999908447266,
2471
+ -3.934000015258789,
2472
+ -5.020999908447266
2473
+ ],
2474
+ "max": [
2475
+ 28.92799949645996,
2476
+ 28.92799949645996,
2477
+ 28.92799949645996,
2478
+ 28.92799949645996,
2479
+ 28.92799949645996,
2480
+ 4.330999851226807
2481
+ ],
2482
+ "mean": [
2483
+ -0.0024167611726552502,
2484
+ 0.024736535639118686,
2485
+ -0.02910840791793997,
2486
+ -0.0030971139893197644,
2487
+ 0.0011925731939020645,
2488
+ 0.0028046340273890514
2489
+ ],
2490
+ "std": [
2491
+ 0.14131213026795578,
2492
+ 0.35284116535497234,
2493
+ 0.33093575592226293,
2494
+ 0.2584233759707407,
2495
+ 0.28768778762952163,
2496
+ 0.2992902433203294
2497
+ ],
2498
+ "count": [
2499
+ 1190262
2500
+ ],
2501
+ "q01": [
2502
+ -0.359556962939918,
2503
+ -0.7022829558106756,
2504
+ -0.6965997492858705,
2505
+ -0.6840934767864135,
2506
+ -0.7304342642831352,
2507
+ -0.7210370481225169
2508
+ ],
2509
+ "q10": [
2510
+ -0.05329493995928118,
2511
+ -0.2642735756880405,
2512
+ -0.3001891785310813,
2513
+ -0.13800338903554138,
2514
+ -0.16051470090817985,
2515
+ -0.15801642188269918
2516
+ ],
2517
+ "q50": [
2518
+ -8.080238799748897e-05,
2519
+ 0.003515361197365406,
2520
+ -0.0020326826050578823,
2521
+ 0.0001668945686644537,
2522
+ -0.00019890466138539886,
2523
+ -0.0009837499741456996
2524
+ ],
2525
+ "q90": [
2526
+ 0.04257699609316031,
2527
+ 0.3572979129789308,
2528
+ 0.12282280260798456,
2529
+ 0.1279435543314962,
2530
+ 0.1680798611639515,
2531
+ 0.17004365570153326
2532
+ ],
2533
+ "q99": [
2534
+ 0.3483814369454208,
2535
+ 0.7539351451867934,
2536
+ 0.7318836408678366,
2537
+ 0.6251767471896724,
2538
+ 0.7436887443163749,
2539
+ 0.7580185666889793
2540
+ ]
2541
+ },
2542
+ "raw_state.left_eef_xyz": {
2543
+ "min": [
2544
+ -0.025574803352355957,
2545
+ -0.5172364711761475,
2546
+ 0.013182041235268116
2547
+ ],
2548
+ "max": [
2549
+ 0.5694496631622314,
2550
+ 0.15098541975021362,
2551
+ 0.5549294948577881
2552
+ ],
2553
+ "mean": [
2554
+ 0.17952018576800258,
2555
+ -0.1213304748068099,
2556
+ 0.2799664105255269
2557
+ ],
2558
+ "std": [
2559
+ 0.11506747666487802,
2560
+ 0.09061891808392239,
2561
+ 0.06343806135999272
2562
+ ],
2563
+ "count": [
2564
+ 1190262
2565
+ ],
2566
+ "q01": [
2567
+ 0.09529572637193008,
2568
+ -0.21368873078096595,
2569
+ 0.21276857398768875
2570
+ ],
2571
+ "q10": [
2572
+ 0.10682278978446813,
2573
+ -0.20455350394372468,
2574
+ 0.22592178458838355
2575
+ ],
2576
+ "q50": [
2577
+ 0.16634538878764787,
2578
+ -0.10311811828231046,
2579
+ 0.2862566454536169
2580
+ ],
2581
+ "q90": [
2582
+ 0.2637734301100429,
2583
+ -0.06863148986498051,
2584
+ 0.32127771501740304
2585
+ ],
2586
+ "q99": [
2587
+ 0.2765604781907778,
2588
+ -0.05993431031407714,
2589
+ 0.34078078868601713
2590
+ ]
2591
+ },
2592
+ "raw_state.left_eef_quat": {
2593
+ "min": [
2594
+ -0.796191930770874,
2595
+ -0.9999954700469971,
2596
+ -0.713214099407196,
2597
+ 0.0
2598
+ ],
2599
+ "max": [
2600
+ 0.9433185458183289,
2601
+ 0.9999978542327881,
2602
+ 0.7004187107086182,
2603
+ 0.8421969413757324
2604
+ ],
2605
+ "mean": [
2606
+ 0.2332744061518444,
2607
+ 0.8244293462248712,
2608
+ -0.14363427818118962,
2609
+ 0.36077607077754864
2610
+ ],
2611
+ "std": [
2612
+ 0.15990637205389774,
2613
+ 0.20036914745830287,
2614
+ 0.12396961594542241,
2615
+ 0.18445395105437573
2616
+ ],
2617
+ "count": [
2618
+ 1190262
2619
+ ],
2620
+ "q01": [
2621
+ 0.10801017661557673,
2622
+ 0.6466950800435955,
2623
+ -0.23267762828057564,
2624
+ 0.23462558906234257
2625
+ ],
2626
+ "q10": [
2627
+ 0.14229898862977966,
2628
+ 0.7369334074061583,
2629
+ -0.21482441493961155,
2630
+ 0.25612100577482905
2631
+ ],
2632
+ "q50": [
2633
+ 0.2332732220768354,
2634
+ 0.8375786820042865,
2635
+ -0.1487609892195928,
2636
+ 0.3769096835638251
2637
+ ],
2638
+ "q90": [
2639
+ 0.32205886995074107,
2640
+ 0.895683541659042,
2641
+ -0.06406218413257105,
2642
+ 0.4471797266739452
2643
+ ],
2644
+ "q99": [
2645
+ 0.34447539749967226,
2646
+ 0.9062215746015784,
2647
+ -0.04248028477226123,
2648
+ 0.47267708820057674
2649
+ ]
2650
+ },
2651
+ "raw_state.right_eef_quat": {
2652
+ "min": [
2653
+ -0.9606722593307495,
2654
+ -0.9999988079071045,
2655
+ -0.7005123496055603,
2656
+ 0.0
2657
+ ],
2658
+ "max": [
2659
+ 0.7701200842857361,
2660
+ 0.999999463558197,
2661
+ 0.695233166217804,
2662
+ 0.9346736669540405
2663
+ ],
2664
+ "mean": [
2665
+ -0.17831986128230337,
2666
+ 0.8131685706876454,
2667
+ 0.13120240417833645,
2668
+ 0.36613424563400937
2669
+ ],
2670
+ "std": [
2671
+ 0.1617754719321536,
2672
+ 0.2862486758651215,
2673
+ 0.11057346608676509,
2674
+ 0.1880286173052939
2675
+ ],
2676
+ "count": [
2677
+ 1190262
2678
+ ],
2679
+ "q01": [
2680
+ -0.30027313868082933,
2681
+ 0.46860952664918953,
2682
+ 0.027130209044740193,
2683
+ 0.2170012674249758
2684
+ ],
2685
+ "q10": [
2686
+ -0.2754031933162642,
2687
+ 0.6405864042359772,
2688
+ 0.05110941671920849,
2689
+ 0.23905680015902242
2690
+ ],
2691
+ "q50": [
2692
+ -0.179116523128544,
2693
+ 0.8494076880310436,
2694
+ 0.13580235676168903,
2695
+ 0.3848695685360431
2696
+ ],
2697
+ "q90": [
2698
+ -0.07870932355286601,
2699
+ 0.9148916959001138,
2700
+ 0.20270919940985374,
2701
+ 0.4729919393429212
2702
+ ],
2703
+ "q99": [
2704
+ -0.04111826488645484,
2705
+ 0.9254142639005366,
2706
+ 0.2254838314239244,
2707
+ 0.5009954094593264
2708
+ ]
2709
+ },
2710
+ "observation.images.cam_high": {
2711
+ "min": [
2712
+ [
2713
+ [
2714
+ 0.0
2715
+ ]
2716
+ ],
2717
+ [
2718
+ [
2719
+ 0.0
2720
+ ]
2721
+ ],
2722
+ [
2723
+ [
2724
+ 0.0
2725
+ ]
2726
+ ]
2727
+ ],
2728
+ "max": [
2729
+ [
2730
+ [
2731
+ 1.0
2732
+ ]
2733
+ ],
2734
+ [
2735
+ [
2736
+ 1.0
2737
+ ]
2738
+ ],
2739
+ [
2740
+ [
2741
+ 1.0
2742
+ ]
2743
+ ]
2744
+ ],
2745
+ "mean": [
2746
+ [
2747
+ [
2748
+ 0.49458917945023934
2749
+ ]
2750
+ ],
2751
+ [
2752
+ [
2753
+ 0.4956490708946442
2754
+ ]
2755
+ ],
2756
+ [
2757
+ [
2758
+ 0.4911143697744315
2759
+ ]
2760
+ ]
2761
+ ],
2762
+ "std": [
2763
+ [
2764
+ [
2765
+ 0.023473586449241253
2766
+ ]
2767
+ ],
2768
+ [
2769
+ [
2770
+ 0.022593240661764966
2771
+ ]
2772
+ ],
2773
+ [
2774
+ [
2775
+ 0.021895204246498032
2776
+ ]
2777
+ ]
2778
+ ],
2779
+ "count": [
2780
+ 472969
2781
+ ],
2782
+ "q01": [
2783
+ [
2784
+ [
2785
+ 0.05362246521256006
2786
+ ]
2787
+ ],
2788
+ [
2789
+ [
2790
+ 0.06248984334192292
2791
+ ]
2792
+ ],
2793
+ [
2794
+ [
2795
+ 0.061649616831456616
2796
+ ]
2797
+ ]
2798
+ ],
2799
+ "q10": [
2800
+ [
2801
+ [
2802
+ 0.1504709227049802
2803
+ ]
2804
+ ],
2805
+ [
2806
+ [
2807
+ 0.15727545043570149
2808
+ ]
2809
+ ],
2810
+ [
2811
+ [
2812
+ 0.15802284036042524
2813
+ ]
2814
+ ]
2815
+ ],
2816
+ "q50": [
2817
+ [
2818
+ [
2819
+ 0.5398668691591894
2820
+ ]
2821
+ ],
2822
+ [
2823
+ [
2824
+ 0.5389713993817521
2825
+ ]
2826
+ ],
2827
+ [
2828
+ [
2829
+ 0.5305513311745316
2830
+ ]
2831
+ ]
2832
+ ],
2833
+ "q90": [
2834
+ [
2835
+ [
2836
+ 0.714528699667029
2837
+ ]
2838
+ ],
2839
+ [
2840
+ [
2841
+ 0.7218367636105393
2842
+ ]
2843
+ ],
2844
+ [
2845
+ [
2846
+ 0.7313703763882209
2847
+ ]
2848
+ ]
2849
+ ],
2850
+ "q99": [
2851
+ [
2852
+ [
2853
+ 0.8117151020908662
2854
+ ]
2855
+ ],
2856
+ [
2857
+ [
2858
+ 0.8157669275117823
2859
+ ]
2860
+ ],
2861
+ [
2862
+ [
2863
+ 0.8422920953155114
2864
+ ]
2865
+ ]
2866
+ ]
2867
+ },
2868
+ "raw_target.base_vel": {
2869
+ "min": [
2870
+ 0.0,
2871
+ 0.0
2872
+ ],
2873
+ "max": [
2874
+ 0.0,
2875
+ 0.0
2876
+ ],
2877
+ "mean": [
2878
+ 0.0,
2879
+ 0.0
2880
+ ],
2881
+ "std": [
2882
+ 0.0,
2883
+ 0.0
2884
+ ],
2885
+ "count": [
2886
+ 1190262
2887
+ ],
2888
+ "q01": [
2889
+ 3.999578446212128e-16,
2890
+ 3.999578446212128e-16
2891
+ ],
2892
+ "q10": [
2893
+ 3.999578446212128e-15,
2894
+ 3.999578446212128e-15
2895
+ ],
2896
+ "q50": [
2897
+ 1.9997892231060632e-14,
2898
+ 1.9997892231060632e-14
2899
+ ],
2900
+ "q90": [
2901
+ 3.599620601590915e-14,
2902
+ 3.599620601590915e-14
2903
+ ],
2904
+ "q99": [
2905
+ 3.9595826617500024e-14,
2906
+ 3.9595826617500024e-14
2907
+ ]
2908
+ },
2909
+ "raw_state.right_gripper_state": {
2910
+ "min": [
2911
+ -0.005900000222027302
2912
+ ],
2913
+ "max": [
2914
+ 0.09920000284910202
2915
+ ],
2916
+ "mean": [
2917
+ 0.028312045010159072
2918
+ ],
2919
+ "std": [
2920
+ 0.028049269001341994
2921
+ ],
2922
+ "count": [
2923
+ 1190262
2924
+ ],
2925
+ "q01": [
2926
+ 0.008415336424781431
2927
+ ],
2928
+ "q10": [
2929
+ 0.010351986104838205
2930
+ ],
2931
+ "q50": [
2932
+ 0.02500558558445162
2933
+ ],
2934
+ "q90": [
2935
+ 0.052462906688996336
2936
+ ],
2937
+ "q99": [
2938
+ 0.05704391840517003
2939
+ ]
2940
+ },
2941
+ "raw_target.left_joint_pos": {
2942
+ "min": [
2943
+ -2.136366605758667,
2944
+ -0.017949875444173813,
2945
+ -2.9559032917022705,
2946
+ -1.7966796159744263,
2947
+ -1.3195165395736694,
2948
+ -292.6617431640625
2949
+ ],
2950
+ "max": [
2951
+ 0.4361523389816284,
2952
+ 2.8948493003845215,
2953
+ 0.022171324118971825,
2954
+ 1.7840152978897095,
2955
+ 33070.77734375,
2956
+ 2.173243284225464
2957
+ ],
2958
+ "mean": [
2959
+ -0.5451073920204275,
2960
+ 1.1083788931307064,
2961
+ -0.9207788080625742,
2962
+ -0.1913325720608691,
2963
+ 0.7200259952850157,
2964
+ 0.13232695735049077
2965
+ ],
2966
+ "std": [
2967
+ 0.24469969626053834,
2968
+ 0.6627834516020411,
2969
+ 0.5771313252843996,
2970
+ 0.4334466069992136,
2971
+ 30.316951123283342,
2972
+ 0.6205707726739635
2973
+ ],
2974
+ "count": [
2975
+ 1190262
2976
+ ],
2977
+ "q01": [
2978
+ -0.674282911839334,
2979
+ 0.6129110518112161,
2980
+ -1.3681530199323775,
2981
+ -0.4450362926614553,
2982
+ 0.37001189538136553,
2983
+ -0.16456112232392545
2984
+ ],
2985
+ "q10": [
2986
+ -0.6540964655990295,
2987
+ 0.6946503356377358,
2988
+ -1.3233922707769097,
2989
+ -0.3892455680214279,
2990
+ 0.4390840740901031,
2991
+ -0.09997901626992436
2992
+ ],
2993
+ "q50": [
2994
+ -0.5441160159095263,
2995
+ 1.0335082737270596,
2996
+ -0.8436802628134663,
2997
+ -0.16794255155516857,
2998
+ 0.6971418588897472,
2999
+ 0.11804714624656885
3000
+ ],
3001
+ "q90": [
3002
+ -0.43264584505057063,
3003
+ 1.5801107596332271,
3004
+ -0.608912522001446,
3005
+ -0.019753197263527342,
3006
+ 0.9126795732945262,
3007
+ 0.3698676064166745
3008
+ ],
3009
+ "q99": [
3010
+ -0.4160030128524618,
3011
+ 1.633194529324926,
3012
+ -0.5466592834592233,
3013
+ 0.043710442629023766,
3014
+ 0.9458005769171737,
3015
+ 0.43823048082263083
3016
+ ]
3017
+ },
3018
+ "raw_target.left_eef_quat": {
3019
+ "min": [
3020
+ -0.796191930770874,
3021
+ -0.9999954700469971,
3022
+ -0.713214099407196,
3023
+ 0.0
3024
+ ],
3025
+ "max": [
3026
+ 0.9433185458183289,
3027
+ 0.9999978542327881,
3028
+ 0.7004187107086182,
3029
+ 0.8421969413757324
3030
+ ],
3031
+ "mean": [
3032
+ 0.23346808706829317,
3033
+ 0.8243695675473236,
3034
+ -0.14367546963727573,
3035
+ 0.36057429107406774
3036
+ ],
3037
+ "std": [
3038
+ 0.16010097796224412,
3039
+ 0.2004225508065588,
3040
+ 0.12416676920472186,
3041
+ 0.18447911818856744
3042
+ ],
3043
+ "count": [
3044
+ 1190262
3045
+ ],
3046
+ "q01": [
3047
+ 0.10814893737223423,
3048
+ 0.6469844874200357,
3049
+ -0.23255895793846287,
3050
+ 0.23465961795706053
3051
+ ],
3052
+ "q10": [
3053
+ 0.14289861188308972,
3054
+ 0.7373225984326416,
3055
+ -0.21453776415729475,
3056
+ 0.25619072258931613
3057
+ ],
3058
+ "q50": [
3059
+ 0.23334365353135947,
3060
+ 0.8375304229743242,
3061
+ -0.14884464933482403,
3062
+ 0.3768455544924397
3063
+ ],
3064
+ "q90": [
3065
+ 0.32199589001993284,
3066
+ 0.8953023986405254,
3067
+ -0.06414176393856753,
3068
+ 0.4458714270910037
3069
+ ],
3070
+ "q99": [
3071
+ 0.34416305207600284,
3072
+ 0.906159355428202,
3073
+ -0.04251437843856797,
3074
+ 0.47228522621763386
3075
+ ]
3076
+ },
3077
+ "raw_state.right_joint_vel": {
3078
+ "min": [
3079
+ -2.0360000133514404,
3080
+ -2.38100004196167,
3081
+ -2.8989999294281006,
3082
+ -4.10699987411499,
3083
+ -5.453000068664551,
3084
+ -4.658999919891357
3085
+ ],
3086
+ "max": [
3087
+ 2.059000015258789,
3088
+ 2.859999895095825,
3089
+ 3.0940001010894775,
3090
+ 4.60699987411499,
3091
+ 4.744999885559082,
3092
+ 5.521999835968018
3093
+ ],
3094
+ "mean": [
3095
+ 0.002472051529226473,
3096
+ 0.03340057503344445,
3097
+ -0.029372338065269333,
3098
+ 0.002023938925449503,
3099
+ -0.0006166141755958215,
3100
+ -0.0030519760695948374
3101
+ ],
3102
+ "std": [
3103
+ 0.14932336833151447,
3104
+ 0.3726062161099405,
3105
+ 0.33982113642858225,
3106
+ 0.24656543653472762,
3107
+ 0.31776814503320255,
3108
+ 0.28219460431087956
3109
+ ],
3110
+ "count": [
3111
+ 1190262
3112
+ ],
3113
+ "q01": [
3114
+ -0.39095994019339914,
3115
+ -0.7399446309981778,
3116
+ -0.7792720133135764,
3117
+ -0.6476106747659643,
3118
+ -0.7538945917618284,
3119
+ -0.6957832917827569
3120
+ ],
3121
+ "q10": [
3122
+ -0.05252680475253182,
3123
+ -0.2590891081855586,
3124
+ -0.30580517563732135,
3125
+ -0.12607037200226104,
3126
+ -0.2192686651906185,
3127
+ -0.16939564583385097
3128
+ ],
3129
+ "q50": [
3130
+ 6.380942422333517e-05,
3131
+ 0.0038665773915417634,
3132
+ -0.001428793632243419,
3133
+ 0.000423644307076126,
3134
+ -0.001172945371308208,
3135
+ -0.0005698309639416222
3136
+ ],
3137
+ "q90": [
3138
+ 0.0648931510010537,
3139
+ 0.3840178399070429,
3140
+ 0.14260569323955608,
3141
+ 0.13703868670716055,
3142
+ 0.19828287836305492,
3143
+ 0.14549021822066624
3144
+ ],
3145
+ "q99": [
3146
+ 0.40215484754417197,
3147
+ 0.8427277373650912,
3148
+ 0.7249245112926548,
3149
+ 0.6423695050458326,
3150
+ 0.8331057590903624,
3151
+ 0.7304841248572257
3152
+ ]
3153
+ },
3154
+ "raw_target.right_eef_xyz": {
3155
+ "min": [
3156
+ -0.48119762539863586,
3157
+ -0.09442842751741409,
3158
+ 0.012755424715578556
3159
+ ],
3160
+ "max": [
3161
+ 0.5606339573860168,
3162
+ 0.4844518005847931,
3163
+ 0.5070028305053711
3164
+ ],
3165
+ "mean": [
3166
+ 0.18239769082923474,
3167
+ 0.10248606242617034,
3168
+ 0.26998498484347005
3169
+ ],
3170
+ "std": [
3171
+ 0.1174994959809049,
3172
+ 0.0853135371245235,
3173
+ 0.06459527804192959
3174
+ ],
3175
+ "count": [
3176
+ 1190262
3177
+ ],
3178
+ "q01": [
3179
+ 0.09016764670766172,
3180
+ 0.0447763861725079,
3181
+ 0.2012683248825218
3182
+ ],
3183
+ "q10": [
3184
+ 0.10253059608155057,
3185
+ 0.0514549854009884,
3186
+ 0.2170210600310052
3187
+ ],
3188
+ "q50": [
3189
+ 0.16719450905192118,
3190
+ 0.08365285044208291,
3191
+ 0.27531236162571
3192
+ ],
3193
+ "q90": [
3194
+ 0.27580811324407345,
3195
+ 0.18785892831147744,
3196
+ 0.31184530387474396
3197
+ ],
3198
+ "q99": [
3199
+ 0.28636804541273697,
3200
+ 0.20136843934566376,
3201
+ 0.33255153137044646
3202
+ ]
3203
+ }
3204
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3c5794c79e4e506e8abc541afeac0807e1a9f3cd218f2a864848f9b9c46c60f5
3
+ size 3979
typoverflow_vifailback.yaml ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # typoverflow/vifailback — LeRobot v3.0 ALOHA AgileX Piper dataset.
2
+ # Source inspected at the pinned Hugging Face revision below on 2026-08-07.
3
+ # Numeric trajectories are converted; the 145 source MP4 files remain upstream.
4
+
5
+ hf_source: "typoverflow/vifailback"
6
+ subset: null
7
+ split: "train"
8
+ revision: "9145e6c58471ec61d5a11d7a1bbb39d540fc5710"
9
+
10
+ source_pattern:
11
+ - "data/chunk-*/*.parquet"
12
+ - "meta/*"
13
+ - "meta/**"
14
+ - "README.md"
15
+ - ".gitattributes"
16
+
17
+ target_name: "typoverflow_vifailback"
18
+
19
+ conversion:
20
+ mode: "script"
21
+ converter: "lerobot"
22
+ input_format: "parquet"
23
+ time_column: null
24
+ time_precision: "ms"
25
+ tag_columns: ["episode_index", "task_index"]
26
+ rename: {}
27
+ drop: []
28
+ script_params:
29
+ granularity: "merged"
30
+ split_from_meta: true
31
+ time_source: "timestamp"
32
+ fps: 25
33
+ table_name: "typoverflow_vifailback"
34
+ stream_staging: true
35
+ tsfile_writer: "encoded_java"
36
+ encoding:
37
+ float: "GORILLA"
38
+ double: "GORILLA"
39
+ int32: "TS_2DIFF"
40
+ int64: "TS_2DIFF"
41
+ time: "TS_2DIFF"
42
+ boolean: "RLE"
43
+ compression:
44
+ float: "ZSTD"
45
+ double: "ZSTD"
46
+ int32: "ZSTD"
47
+ int64: "ZSTD"
48
+ time: "LZ4"
49
+ boolean: "LZ4"
50
+ tag: "LZ4"
51
+
52
+ upload:
53
+ mode: "single"
54
+ # Create this repository before running the upload stage.
55
+ repo_id: null
56
+
57
+ attribution:
58
+ original_url: "https://huggingface.co/datasets/typoverflow/vifailback"
59
+ original_revision: "9145e6c58471ec61d5a11d7a1bbb39d540fc5710"
60
+ paper: null
61
+ license: "mit"
62
+ authors: >-
63
+ Chenxiao Gao (Hugging Face user typoverflow; source repository owner,
64
+ uploader, and author of all commits at the pinned revision)
65
+ original_author: "Chenxiao Gao"
66
+ original_author_url: "https://huggingface.co/typoverflow"
67
+ notes: |
68
+ The source card says the dataset was created with LeRobot and supplies no
69
+ paper, completed homepage, or citation. Author attribution is based on the
70
+ public typoverflow profile and the source repository commit history.
71
+
72
+ dataset_card:
73
+ pretty_name: "VIFailBack (TsFile)"
74
+ robot_type: "aloha_agilex_piper"
75
+ codebase_version: "v3.0"
76
+ total_episodes: 4714
77
+ total_frames: 1190262
78
+ total_tasks: 98
79
+ fps: 25
80
+ source_shards: 8
81
+ source_meta_episode_shards: 1
82
+ source_data_bytes: 516628399
83
+ total_videos: 145
84
+ source_video_bytes: 27938508868
85
+ video_streams:
86
+ - "observation.images.cam_high"
87
+ - "observation.images.cam_left_wrist"
88
+ - "observation.images.cam_right_wrist"
89
+ video_file_counts:
90
+ observation.images.cam_high: 56
91
+ observation.images.cam_left_wrist: 45
92
+ observation.images.cam_right_wrist: 44
93
+ video_stream_bytes:
94
+ observation.images.cam_high: 11040155298
95
+ observation.images.cam_left_wrist: 8526126153
96
+ observation.images.cam_right_wrist: 8372227417
97
+ source_data_path: "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"
98
+ source_video_path: "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
99
+
100
+ local:
101
+ source_dir: "D:/code/py/typoverflow_vifailback"
102
+ output_dir: "D:/code/py/typoverflow_vifailback_after"
103
+ allowed_output_parent: "D:/code/py"
104
+ workdir: "D:/code/workdir/typoverflow_vifailback"