Hugging Face's logo

Datasets:
kagyvro48
/
EVAL_PI0-C3

Modalities:
Tabular
Time-series
Video
Size:
1K - 10K
Dataset card Data Studio Files
xet
Community
1
kagyvro48 commited on
Commit
7671b54
·
verified ·
1 Parent(s): 009f06b

Upload folder using huggingface_hub

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. eval_Pi0-C3-0-1/data/chunk-000/file-000.parquet +3 -0
  2. eval_Pi0-C3-0-1/meta/episodes/chunk-000/file-000.parquet +3 -0
  3. eval_Pi0-C3-0-1/meta/info.json +127 -0
  4. eval_Pi0-C3-0-1/meta/stats.json +632 -0
  5. eval_Pi0-C3-0-1/meta/tasks.parquet +3 -0
  6. eval_Pi0-C3-0-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  7. eval_Pi0-C3-0-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  8. eval_Pi0-C3-0-2/data/chunk-000/file-000.parquet +3 -0
  9. eval_Pi0-C3-0-2/meta/episodes/chunk-000/file-000.parquet +3 -0
  10. eval_Pi0-C3-0-2/meta/info.json +127 -0
  11. eval_Pi0-C3-0-2/meta/stats.json +632 -0
  12. eval_Pi0-C3-0-2/meta/tasks.parquet +3 -0
  13. eval_Pi0-C3-0-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  14. eval_Pi0-C3-0-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  15. eval_Pi0-C3-0-3/data/chunk-000/file-000.parquet +3 -0
  16. eval_Pi0-C3-0-3/meta/episodes/chunk-000/file-000.parquet +3 -0
  17. eval_Pi0-C3-0-3/meta/info.json +127 -0
  18. eval_Pi0-C3-0-3/meta/stats.json +632 -0
  19. eval_Pi0-C3-0-3/meta/tasks.parquet +3 -0
  20. eval_Pi0-C3-0-3/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  21. eval_Pi0-C3-0-3/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  22. eval_Pi0-C3-1-1/data/chunk-000/file-000.parquet +3 -0
  23. eval_Pi0-C3-1-1/meta/episodes/chunk-000/file-000.parquet +3 -0
  24. eval_Pi0-C3-1-1/meta/info.json +127 -0
  25. eval_Pi0-C3-1-1/meta/stats.json +632 -0
  26. eval_Pi0-C3-1-1/meta/tasks.parquet +3 -0
  27. eval_Pi0-C3-1-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  28. eval_Pi0-C3-1-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  29. eval_Pi0-C3-1-2/data/chunk-000/file-000.parquet +3 -0
  30. eval_Pi0-C3-1-2/meta/episodes/chunk-000/file-000.parquet +3 -0
  31. eval_Pi0-C3-1-2/meta/info.json +127 -0
  32. eval_Pi0-C3-1-2/meta/stats.json +632 -0
  33. eval_Pi0-C3-1-2/meta/tasks.parquet +3 -0
  34. eval_Pi0-C3-1-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  35. eval_Pi0-C3-1-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  36. eval_Pi0-C3-2-1/data/chunk-000/file-000.parquet +3 -0
  37. eval_Pi0-C3-2-1/meta/episodes/chunk-000/file-000.parquet +3 -0
  38. eval_Pi0-C3-2-1/meta/info.json +127 -0
  39. eval_Pi0-C3-2-1/meta/stats.json +632 -0
  40. eval_Pi0-C3-2-1/meta/tasks.parquet +3 -0
  41. eval_Pi0-C3-2-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  42. eval_Pi0-C3-2-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  43. eval_Pi0-C3-2-2/data/chunk-000/file-000.parquet +3 -0
  44. eval_Pi0-C3-2-2/meta/episodes/chunk-000/file-000.parquet +3 -0
  45. eval_Pi0-C3-2-2/meta/info.json +127 -0
  46. eval_Pi0-C3-2-2/meta/stats.json +632 -0
  47. eval_Pi0-C3-2-2/meta/tasks.parquet +3 -0
  48. eval_Pi0-C3-2-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  49. eval_Pi0-C3-2-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  50. eval_Pi0-C3-2-3/data/chunk-000/file-000.parquet +3 -0
eval_Pi0-C3-0-1/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e5b8c3dec0186c5d3d1d8b7661820b693f28588f301ac4a9f7a907fb21bec3e7
3
+ size 18983
eval_Pi0-C3-0-1/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ad443c4a7329c96ece552e033b73dcc79bd9237d9b48fd0eb7dbd9ba4a867ba5
3
+ size 52916
eval_Pi0-C3-0-1/meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 231,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.images.left_wrist_0_rgb": {
32
+ "dtype": "video",
33
+ "shape": [
34
+ 480,
35
+ 640,
36
+ 3
37
+ ],
38
+ "names": [
39
+ "height",
40
+ "width",
41
+ "channels"
42
+ ],
43
+ "info": {
44
+ "video.height": 480,
45
+ "video.width": 640,
46
+ "video.codec": "av1",
47
+ "video.pix_fmt": "yuv420p",
48
+ "video.is_depth_map": false,
49
+ "video.fps": 30,
50
+ "video.channels": 3,
51
+ "has_audio": false
52
+ }
53
+ },
54
+ "observation.images.base_0_rgb": {
55
+ "dtype": "video",
56
+ "shape": [
57
+ 480,
58
+ 640,
59
+ 3
60
+ ],
61
+ "names": [
62
+ "height",
63
+ "width",
64
+ "channels"
65
+ ],
66
+ "info": {
67
+ "video.height": 480,
68
+ "video.width": 640,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 30,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "names": [
80
+ "shoulder_pan.pos",
81
+ "shoulder_lift.pos",
82
+ "elbow_flex.pos",
83
+ "wrist_flex.pos",
84
+ "wrist_roll.pos",
85
+ "gripper.pos"
86
+ ],
87
+ "shape": [
88
+ 6
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
eval_Pi0-C3-0-1/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -16.374486923217773,
5
+ -99.1075439453125,
6
+ 17.38149070739746,
7
+ -18.186298370361328,
8
+ -44.934383392333984,
9
+ 1.8518518209457397
10
+ ],
11
+ "max": [
12
+ -9.138381004333496,
13
+ 38.598838806152344,
14
+ 99.0970687866211,
15
+ 97.6343002319336,
16
+ -2.6246719360351562,
17
+ 74.0740737915039
18
+ ],
19
+ "mean": [
20
+ -12.436556816101074,
21
+ -35.42889404296875,
22
+ 66.88654327392578,
23
+ 43.904293060302734,
24
+ -15.827791213989258,
25
+ 25.661367416381836
26
+ ],
27
+ "std": [
28
+ 2.3929407596588135,
29
+ 54.07609558105469,
30
+ 29.86325454711914,
31
+ 40.56745529174805,
32
+ 15.049117088317871,
33
+ 29.083276748657227
34
+ ],
35
+ "count": [
36
+ 231
37
+ ],
38
+ "q01": [
39
+ -16.374486923217773,
40
+ -99.1075439453125,
41
+ 17.38149070739746,
42
+ -17.507358646392824,
43
+ -44.934383392333984,
44
+ 1.8518518209457397
45
+ ],
46
+ "q10": [
47
+ -15.70435152053833,
48
+ -99.02354049682617,
49
+ 23.070529556274415,
50
+ -11.0957612991333,
51
+ -41.633945592244466,
52
+ 1.8518518209457397
53
+ ],
54
+ "q50": [
55
+ -10.854731901368098,
56
+ -33.958648681640625,
57
+ 70.29232788085938,
58
+ 36.60842704772949,
59
+ -11.761456489562988,
60
+ 3.854212999343872
61
+ ],
62
+ "q90": [
63
+ -9.585717868804931,
64
+ 37.27411651611328,
65
+ 99.08936462402343,
66
+ 97.6218528392703,
67
+ -2.729745809043326,
68
+ 70.06729401808519
69
+ ],
70
+ "q99": [
71
+ -9.138548100948334,
72
+ 38.58823802947998,
73
+ 99.09629837036132,
74
+ 97.63305549266727,
75
+ -2.628582679748535,
76
+ 74.06573328018189
77
+ ]
78
+ },
79
+ "observation.images.left_wrist_0_rgb": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.3991302308006536
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.40393401756535946
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.40177273284313725
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.015755430939520233
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ -3.9215686274509807e-13
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.09807515787715543
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.07846455519296235
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.03132915047878289
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3411829917598585
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.35295765097072956
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.36871817569831505
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9960599681155016
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9960913980637927
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9961288338629931
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999780410818688
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999781352317089
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999790333504696
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.base_0_rgb": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.6452901184640524
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5621305841503268
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5230789685457516
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 100
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.1099916628904961
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09018073344248098
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09803199308226146
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.24706258596954023
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.20004777824775455
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.2000628428925328
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.6981252029667591
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.49801689311594044
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.42351405867964653
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9254682284168378
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765217829083276
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842403188355018
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9998027734980808
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803547062140053
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843849243711825
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -16.5941162109375,
398
+ -99.73710632324219,
399
+ 14.5325927734375,
400
+ -20.761497497558594,
401
+ -45.34325408935547,
402
+ -0.15108364820480347
403
+ ],
404
+ "max": [
405
+ -8.613146781921387,
406
+ 38.544776916503906,
407
+ 99.53546142578125,
408
+ 98.01351928710938,
409
+ -2.7987842559814453,
410
+ 75.30103302001953
411
+ ],
412
+ "mean": [
413
+ -12.312255859375,
414
+ -36.4017219543457,
415
+ 65.24908447265625,
416
+ 42.9620246887207,
417
+ -15.953572273254395,
418
+ 25.136091232299805
419
+ ],
420
+ "std": [
421
+ 2.447838306427002,
422
+ 53.24452209472656,
423
+ 30.790401458740234,
424
+ 40.51677322387695,
425
+ 15.049050331115723,
426
+ 29.955331802368164
427
+ ],
428
+ "count": [
429
+ 231
430
+ ],
431
+ "q01": [
432
+ -16.499445972442626,
433
+ -99.64556312561035,
434
+ 15.064880723953246,
435
+ -19.28132297515869,
436
+ -45.2525915145874,
437
+ -0.010591800361871719
438
+ ],
439
+ "q10": [
440
+ -15.398407554626464,
441
+ -99.23790550231934,
442
+ 19.41345844268799,
443
+ -11.827241039276123,
444
+ -41.66656074523926,
445
+ 0.7296940803527832
446
+ ],
447
+ "q50": [
448
+ -11.062506675720215,
449
+ -34.28828811645508,
450
+ 67.93989562988281,
451
+ 34.053171157836914,
452
+ -11.550178527832031,
453
+ 2.089844226837158
454
+ ],
455
+ "q90": [
456
+ -9.42417278289795,
457
+ 34.00637359619141,
458
+ 99.27875671386718,
459
+ 97.4944694519043,
460
+ -2.894719123840332,
461
+ 69.92054061889648
462
+ ],
463
+ "q99": [
464
+ -8.649308652877808,
465
+ 38.43130126953125,
466
+ 99.52564491271973,
467
+ 97.74853004455566,
468
+ -2.8053330039978026,
469
+ 75.1907258605957
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 7.666666666666667
478
+ ],
479
+ "mean": [
480
+ 3.8333333333333335
481
+ ],
482
+ "std": [
483
+ 2.222777708350689
484
+ ],
485
+ "count": [
486
+ 231
487
+ ],
488
+ "q01": [
489
+ 0.06640866656839908
490
+ ],
491
+ "q10": [
492
+ 0.766819999920004
493
+ ],
494
+ "q50": [
495
+ 3.832566666666647
496
+ ],
497
+ "q90": [
498
+ 6.899846666746663
499
+ ],
500
+ "q99": [
501
+ 7.600258000098268
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 230
510
+ ],
511
+ "mean": [
512
+ 115.0
513
+ ],
514
+ "std": [
515
+ 66.68333125052068
516
+ ],
517
+ "count": [
518
+ 231
519
+ ],
520
+ "q01": [
521
+ 1.992259999901732
522
+ ],
523
+ "q10": [
524
+ 23.004599999920003
525
+ ],
526
+ "q50": [
527
+ 115.023
528
+ ],
529
+ "q90": [
530
+ 206.99540000007997
531
+ ],
532
+ "q99": [
533
+ 228.00774000009827
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 231
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 230
574
+ ],
575
+ "mean": [
576
+ 115.0
577
+ ],
578
+ "std": [
579
+ 66.68333125052068
580
+ ],
581
+ "count": [
582
+ 231
583
+ ],
584
+ "q01": [
585
+ 1.992259999901732
586
+ ],
587
+ "q10": [
588
+ 23.004599999920003
589
+ ],
590
+ "q50": [
591
+ 115.023
592
+ ],
593
+ "q90": [
594
+ 206.99540000007997
595
+ ],
596
+ "q99": [
597
+ 228.00774000009827
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 231
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C3-0-1/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0951c679746e8f2c8827b1e9ffc3655fd48da0d80d621e74014f1f3e3ef65ea5
3
+ size 2181
eval_Pi0-C3-0-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6a790da05352e30249355326d35b3293fb5f75c874aaeccda94744b3971b113
3
+ size 4004926
eval_Pi0-C3-0-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8ddae02ca2efdd96bd9029b39f4f6dc0a871677f7fb933295b8ecf6f537bf843
3
+ size 3022289
eval_Pi0-C3-0-2/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5825117d35fd2609e6cec4f37a951185d19131a8bd5998851a9311b2e535d725
3
+ size 17018
eval_Pi0-C3-0-2/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a62c064fc73d5c7f4723e385ab5114075ba7e5a467a90dd0c0c4dfeafeda77ea
3
+ size 52914
eval_Pi0-C3-0-2/meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 193,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.images.left_wrist_0_rgb": {
32
+ "dtype": "video",
33
+ "shape": [
34
+ 480,
35
+ 640,
36
+ 3
37
+ ],
38
+ "names": [
39
+ "height",
40
+ "width",
41
+ "channels"
42
+ ],
43
+ "info": {
44
+ "video.height": 480,
45
+ "video.width": 640,
46
+ "video.codec": "av1",
47
+ "video.pix_fmt": "yuv420p",
48
+ "video.is_depth_map": false,
49
+ "video.fps": 30,
50
+ "video.channels": 3,
51
+ "has_audio": false
52
+ }
53
+ },
54
+ "observation.images.base_0_rgb": {
55
+ "dtype": "video",
56
+ "shape": [
57
+ 480,
58
+ 640,
59
+ 3
60
+ ],
61
+ "names": [
62
+ "height",
63
+ "width",
64
+ "channels"
65
+ ],
66
+ "info": {
67
+ "video.height": 480,
68
+ "video.width": 640,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 30,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "names": [
80
+ "shoulder_pan.pos",
81
+ "shoulder_lift.pos",
82
+ "elbow_flex.pos",
83
+ "wrist_flex.pos",
84
+ "wrist_roll.pos",
85
+ "gripper.pos"
86
+ ],
87
+ "shape": [
88
+ 6
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
eval_Pi0-C3-0-2/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -13.390525817871094,
5
+ -98.3935775756836,
6
+ 10.158013343811035,
7
+ -12.764908790588379,
8
+ -44.041996002197266,
9
+ 1.8518518209457397
10
+ ],
11
+ "max": [
12
+ -5.632226943969727,
13
+ 41.900936126708984,
14
+ 99.18736267089844,
15
+ 87.77722930908203,
16
+ -6.2467193603515625,
17
+ 73.456787109375
18
+ ],
19
+ "mean": [
20
+ -10.411979675292969,
21
+ -21.805347442626953,
22
+ 56.55339050292969,
23
+ 35.687950134277344,
24
+ -20.203449249267578,
25
+ 25.61811065673828
26
+ ],
27
+ "std": [
28
+ 2.417680025100708,
29
+ 53.577152252197266,
30
+ 31.39623260498047,
31
+ 37.071712493896484,
32
+ 14.599295616149902,
33
+ 28.813074111938477
34
+ ],
35
+ "count": [
36
+ 193
37
+ ],
38
+ "q01": [
39
+ -13.390525817871094,
40
+ -98.3935775756836,
41
+ 10.158013343811035,
42
+ -12.764908790588379,
43
+ -44.041996002197266,
44
+ 1.8518518209457397
45
+ ],
46
+ "q10": [
47
+ -13.390525817871094,
48
+ -98.1326286315918,
49
+ 12.683331084251403,
50
+ -10.70781660079956,
51
+ -42.05150671005249,
52
+ 2.161026048660278
53
+ ],
54
+ "q50": [
55
+ -11.151895645052887,
56
+ -2.5303421020507812,
57
+ 54.307668685913086,
58
+ 24.405521392822266,
59
+ -11.9122314453125,
60
+ 6.327160596847534
61
+ ],
62
+ "q90": [
63
+ -6.079221272468567,
64
+ 40.57374267578125,
65
+ 99.1762811230075,
66
+ 87.18616843223572,
67
+ -7.1411443710327145,
68
+ 71.76100721359253
69
+ ],
70
+ "q99": [
71
+ -5.7081495380401615,
72
+ 41.87385366439819,
73
+ 99.18625451610934,
74
+ 87.7733493423462,
75
+ -6.249150168100993,
76
+ 73.44757433573405
77
+ ]
78
+ },
79
+ "observation.images.left_wrist_0_rgb": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.39610537173202615
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.39526360294117646
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.38765947508169935
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.011648651067255386
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ -3.9215686274509807e-13
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.06664660806817488
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.050846863949024226
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.007850199340920985
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3295062541144153
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.32555975295920436
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.33737052410888707
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9998196022797923
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9998184328489158
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9998243559722889
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999819602283321
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999818432852444
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999824355975818
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.base_0_rgb": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.6424554718137254
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5601289869281045
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.520529031862745
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 100
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.10997444739138286
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09010817884373522
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09415556695709575
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.23936822704269228
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.1960717416375932
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.1960079426362756
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.6980254190963651
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.4941628051997843
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.42343488547399033
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9254893229711162
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765215507633502
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842375773151434
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9998081726450118
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.980355253085759
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843845923484514
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -13.636490821838379,
398
+ -99.40412139892578,
399
+ 7.870898246765137,
400
+ -14.632246017456055,
401
+ -44.35565948486328,
402
+ 0.8677684664726257
403
+ ],
404
+ "max": [
405
+ -4.733339309692383,
406
+ 41.245059967041016,
407
+ 101.46308135986328,
408
+ 88.35726165771484,
409
+ -5.966623783111572,
410
+ 74.75180053710938
411
+ ],
412
+ "mean": [
413
+ -10.296151161193848,
414
+ -21.523365020751953,
415
+ 54.166259765625,
416
+ 33.536865234375,
417
+ -20.6208438873291,
418
+ 26.517141342163086
419
+ ],
420
+ "std": [
421
+ 2.5695791244506836,
422
+ 51.953426361083984,
423
+ 31.888097763061523,
424
+ 36.81591033935547,
425
+ 14.61832046508789,
426
+ 29.96991539001465
427
+ ],
428
+ "count": [
429
+ 193
430
+ ],
431
+ "q01": [
432
+ -13.59566086769104,
433
+ -99.23731300354004,
434
+ 8.038053617477416,
435
+ -14.396090950965881,
436
+ -44.2563854598999,
437
+ 0.9110645067691803
438
+ ],
439
+ "q10": [
440
+ -13.25605912208557,
441
+ -98.47161827087402,
442
+ 10.796589946746826,
443
+ -11.330402660369874,
444
+ -42.38015899658203,
445
+ 1.9191381573677062
446
+ ],
447
+ "q50": [
448
+ -10.95397138595581,
449
+ -2.7640647888183594,
450
+ 49.52877998352051,
451
+ 21.053617477416992,
452
+ -12.335365295410156,
453
+ 5.917741656303406
454
+ ],
455
+ "q90": [
456
+ -5.900186157226562,
457
+ 37.9735610961914,
458
+ 101.20538609822592,
459
+ 87.07400741577149,
460
+ -6.946696472167969,
461
+ 71.97154579162597
462
+ ],
463
+ "q99": [
464
+ -4.740336713790893,
465
+ 41.19077316284179,
466
+ 101.44501411437989,
467
+ 88.19391632080078,
468
+ -6.0121539688110355,
469
+ 74.73753963470459
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 6.4
478
+ ],
479
+ "mean": [
480
+ 3.2
481
+ ],
482
+ "std": [
483
+ 1.857118436957882
484
+ ],
485
+ "count": [
486
+ 193
487
+ ],
488
+ "q01": [
489
+ 0.0344703999010772
490
+ ],
491
+ "q10": [
492
+ 0.632703999919772
493
+ ],
494
+ "q50": [
495
+ 3.2006400000000204
496
+ ],
497
+ "q90": [
498
+ 5.767296000080228
499
+ ],
500
+ "q99": [
501
+ 6.365529600098923
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 192
510
+ ],
511
+ "mean": [
512
+ 96.0
513
+ ],
514
+ "std": [
515
+ 55.71355310873648
516
+ ],
517
+ "count": [
518
+ 193
519
+ ],
520
+ "q01": [
521
+ 1.0341119999010768
522
+ ],
523
+ "q10": [
524
+ 18.98111999991977
525
+ ],
526
+ "q50": [
527
+ 96.01920000000001
528
+ ],
529
+ "q90": [
530
+ 173.0188800000802
531
+ ],
532
+ "q99": [
533
+ 190.96588800009891
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 193
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 192
574
+ ],
575
+ "mean": [
576
+ 96.0
577
+ ],
578
+ "std": [
579
+ 55.71355310873648
580
+ ],
581
+ "count": [
582
+ 193
583
+ ],
584
+ "q01": [
585
+ 1.0341119999010768
586
+ ],
587
+ "q10": [
588
+ 18.98111999991977
589
+ ],
590
+ "q50": [
591
+ 96.01920000000001
592
+ ],
593
+ "q90": [
594
+ 173.0188800000802
595
+ ],
596
+ "q99": [
597
+ 190.96588800009891
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 193
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C3-0-2/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0951c679746e8f2c8827b1e9ffc3655fd48da0d80d621e74014f1f3e3ef65ea5
3
+ size 2181
eval_Pi0-C3-0-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f36893a3a4d8f8ba6d4fa4e0d5ba1d7d3603f21171ee5721b54513f251dd8e72
3
+ size 3388912
eval_Pi0-C3-0-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:17124679cb08835f932c331e53b03db519db9928fc2cf78874df8b4c84afd682
3
+ size 2599272
eval_Pi0-C3-0-3/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f7498d9f6b4e3b9a52537edaad88efd774b0467fb7f224b578f094e2a652f1b
3
+ size 14631
eval_Pi0-C3-0-3/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db3b0b9fcd9a3fcf6479fecc824fa7a5377e4f80aca92d4b5be7505148b6be72
3
+ size 52919
eval_Pi0-C3-0-3/meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 156,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.images.left_wrist_0_rgb": {
32
+ "dtype": "video",
33
+ "shape": [
34
+ 480,
35
+ 640,
36
+ 3
37
+ ],
38
+ "names": [
39
+ "height",
40
+ "width",
41
+ "channels"
42
+ ],
43
+ "info": {
44
+ "video.height": 480,
45
+ "video.width": 640,
46
+ "video.codec": "av1",
47
+ "video.pix_fmt": "yuv420p",
48
+ "video.is_depth_map": false,
49
+ "video.fps": 30,
50
+ "video.channels": 3,
51
+ "has_audio": false
52
+ }
53
+ },
54
+ "observation.images.base_0_rgb": {
55
+ "dtype": "video",
56
+ "shape": [
57
+ 480,
58
+ 640,
59
+ 3
60
+ ],
61
+ "names": [
62
+ "height",
63
+ "width",
64
+ "channels"
65
+ ],
66
+ "info": {
67
+ "video.height": 480,
68
+ "video.width": 640,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 30,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "names": [
80
+ "shoulder_pan.pos",
81
+ "shoulder_lift.pos",
82
+ "elbow_flex.pos",
83
+ "wrist_flex.pos",
84
+ "wrist_roll.pos",
85
+ "gripper.pos"
86
+ ],
87
+ "shape": [
88
+ 6
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
eval_Pi0-C3-0-3/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -13.98731803894043,
5
+ -93.038818359375,
6
+ 19.187358856201172,
7
+ -11.582059860229492,
8
+ -46.24671936035156,
9
+ 2.0061728954315186
10
+ ],
11
+ "max": [
12
+ -5.2592315673828125,
13
+ 38.33110046386719,
14
+ 99.3679428100586,
15
+ 96.25431060791016,
16
+ -1.6272965669631958,
17
+ 71.60493469238281
18
+ ],
19
+ "mean": [
20
+ -9.140769958496094,
21
+ -11.044184684753418,
22
+ 52.281063079833984,
23
+ 27.208662033081055,
24
+ -22.143478393554688,
25
+ 28.645322799682617
26
+ ],
27
+ "std": [
28
+ 2.8112058639526367,
29
+ 48.57060241699219,
30
+ 27.547039031982422,
31
+ 33.32794189453125,
32
+ 17.238428115844727,
33
+ 29.644779205322266
34
+ ],
35
+ "count": [
36
+ 156
37
+ ],
38
+ "q01": [
39
+ -13.83796329498291,
40
+ -93.038818359375,
41
+ 19.187358856201172,
42
+ -11.582059860229492,
43
+ -46.24671936035156,
44
+ 2.0061728954315186
45
+ ],
46
+ "q10": [
47
+ -13.315953636169434,
48
+ -90.88645568847656,
49
+ 20.44779739379883,
50
+ -8.226192092895507,
51
+ -44.983097076416016,
52
+ 2.319019412994385
53
+ ],
54
+ "q50": [
55
+ -7.646581709384918,
56
+ 10.139122009277344,
57
+ 44.652713775634766,
58
+ 11.796865463256836,
59
+ -21.777427673339844,
60
+ 7.727190971374512
61
+ ],
62
+ "q90": [
63
+ -6.0048723220825195,
64
+ 37.89145202636719,
65
+ 99.27734146118163,
66
+ 75.15029876708985,
67
+ -2.364410400390625,
68
+ 70.98689575195313
69
+ ],
70
+ "q99": [
71
+ -5.2596855735778805,
72
+ 38.32426879882812,
73
+ 99.36601928710938,
74
+ 96.23748733520507,
75
+ -1.6342560839653015,
76
+ 71.59407424926758
77
+ ]
78
+ },
79
+ "observation.images.left_wrist_0_rgb": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.38979183210784313
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.39693651960784315
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.3968848284313725
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.003985689080183406
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.0038036598645443814
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.06660875713863207
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.0509836629403185
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.01172127676472091
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3254567738058108
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.33727588765223054
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.3569674477623444
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9998304658220367
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9998343956739789
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9998327897552809
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999830465825565
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999834395677508
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.999983278975881
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.base_0_rgb": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.6473897324346406
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5669236151960785
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.532332512254902
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 100
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.11373419319398902
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.0940114027146137
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.10182048331384189
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.24712498213840606
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.200051591584741
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.20015954302720798
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7058939808155091
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.5059991357485861
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.4313815376927823
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.921462837571138
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765250954330098
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842858342396571
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9961300514331591
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.980333846624269
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843896223869066
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -14.40432071685791,
398
+ -93.59660339355469,
399
+ 17.09831428527832,
400
+ -13.061864852905273,
401
+ -46.48230743408203,
402
+ 0.3550662100315094
403
+ ],
404
+ "max": [
405
+ -4.604550361633301,
406
+ 38.44932556152344,
407
+ 99.93890380859375,
408
+ 97.35362243652344,
409
+ -1.9808225631713867,
410
+ 72.72988891601562
411
+ ],
412
+ "mean": [
413
+ -9.160646438598633,
414
+ -9.841104507446289,
415
+ 48.64716339111328,
416
+ 24.593854904174805,
417
+ -23.0697021484375,
418
+ 30.565887451171875
419
+ ],
420
+ "std": [
421
+ 2.902350425720215,
422
+ 46.78727340698242,
423
+ 27.297260284423828,
424
+ 31.66411781311035,
425
+ 17.14497184753418,
426
+ 30.55016326904297
427
+ ],
428
+ "count": [
429
+ 156
430
+ ],
431
+ "q01": [
432
+ -14.228787612915038,
433
+ -93.50258514404297,
434
+ 17.09831428527832,
435
+ -13.00533218383789,
436
+ -46.37941940307617,
437
+ 0.927695803642273
438
+ ],
439
+ "q10": [
440
+ -13.219332695007324,
441
+ -90.59651794433594,
442
+ 19.245542907714842,
443
+ -8.366998100280762,
444
+ -44.99061660766601,
445
+ 2.0385045766830445
446
+ ],
447
+ "q50": [
448
+ -7.918832302093506,
449
+ 12.753189086914062,
450
+ 40.144569396972656,
451
+ 9.573310852050781,
452
+ -23.670846939086914,
453
+ 7.158299922943115
454
+ ],
455
+ "q90": [
456
+ -5.717020034790039,
457
+ 36.9545654296875,
458
+ 98.12303771972657,
459
+ 74.52853393554688,
460
+ -2.570912170410156,
461
+ 70.63391418457032
462
+ ],
463
+ "q99": [
464
+ -4.623287010192871,
465
+ 38.011987915039064,
466
+ 99.81828948974609,
467
+ 96.81126251220704,
468
+ -1.99470703125,
469
+ 72.69283050537109
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 5.166666666666667
478
+ ],
479
+ "mean": [
480
+ 2.5833333333333335
481
+ ],
482
+ "std": [
483
+ 1.5010798582156581
484
+ ],
485
+ "count": [
486
+ 156
487
+ ],
488
+ "q01": [
489
+ 0.033645333234635734
490
+ ],
491
+ "q10": [
492
+ 0.49971999991934407
493
+ ],
494
+ "q50": [
495
+ 2.5667999999993603
496
+ ],
497
+ "q90": [
498
+ 4.666946666747323
499
+ ],
500
+ "q99": [
501
+ 5.133021333432032
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 155
510
+ ],
511
+ "mean": [
512
+ 77.5
513
+ ],
514
+ "std": [
515
+ 45.03239574646975
516
+ ],
517
+ "count": [
518
+ 156
519
+ ],
520
+ "q01": [
521
+ 1.0093599999013023
522
+ ],
523
+ "q10": [
524
+ 14.991599999919343
525
+ ],
526
+ "q50": [
527
+ 77.00399999999935
528
+ ],
529
+ "q90": [
530
+ 140.00840000008066
531
+ ],
532
+ "q99": [
533
+ 153.9906400000987
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 156
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 155
574
+ ],
575
+ "mean": [
576
+ 77.5
577
+ ],
578
+ "std": [
579
+ 45.03239574646975
580
+ ],
581
+ "count": [
582
+ 156
583
+ ],
584
+ "q01": [
585
+ 1.0093599999013023
586
+ ],
587
+ "q10": [
588
+ 14.991599999919343
589
+ ],
590
+ "q50": [
591
+ 77.00399999999935
592
+ ],
593
+ "q90": [
594
+ 140.00840000008066
595
+ ],
596
+ "q99": [
597
+ 153.9906400000987
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 156
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C3-0-3/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0951c679746e8f2c8827b1e9ffc3655fd48da0d80d621e74014f1f3e3ef65ea5
3
+ size 2181
eval_Pi0-C3-0-3/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:73227465f25951dfa30b063bd6482966350cd97310d05751c3263483dad8fe50
3
+ size 2769930
eval_Pi0-C3-0-3/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f01c8f08119aa917192351e3fb12ff50f67e727a32b2ad4850b646d8ad10f08
3
+ size 1779815
eval_Pi0-C3-1-1/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c6e5aaf30f3948aa19c79371df2897410c5a254805ba83cb93ce7ed2835c518
3
+ size 19689
eval_Pi0-C3-1-1/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:00f73c46dc9756861d12b045fb3b91f7172e0f5b465ced93b5e750dbe19d3869
3
+ size 52917
eval_Pi0-C3-1-1/meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 226,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.images.left_wrist_0_rgb": {
32
+ "dtype": "video",
33
+ "shape": [
34
+ 480,
35
+ 640,
36
+ 3
37
+ ],
38
+ "names": [
39
+ "height",
40
+ "width",
41
+ "channels"
42
+ ],
43
+ "info": {
44
+ "video.height": 480,
45
+ "video.width": 640,
46
+ "video.codec": "av1",
47
+ "video.pix_fmt": "yuv420p",
48
+ "video.is_depth_map": false,
49
+ "video.fps": 30,
50
+ "video.channels": 3,
51
+ "has_audio": false
52
+ }
53
+ },
54
+ "observation.images.base_0_rgb": {
55
+ "dtype": "video",
56
+ "shape": [
57
+ 480,
58
+ 640,
59
+ 3
60
+ ],
61
+ "names": [
62
+ "height",
63
+ "width",
64
+ "channels"
65
+ ],
66
+ "info": {
67
+ "video.height": 480,
68
+ "video.width": 640,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 30,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "names": [
80
+ "shoulder_pan.pos",
81
+ "shoulder_lift.pos",
82
+ "elbow_flex.pos",
83
+ "wrist_flex.pos",
84
+ "wrist_roll.pos",
85
+ "gripper.pos"
86
+ ],
87
+ "shape": [
88
+ 6
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
eval_Pi0-C3-1-1/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -35.84483337402344,
5
+ -89.64747619628906,
6
+ 28.577878952026367,
7
+ -28.043371200561523,
8
+ -46.14173126220703,
9
+ 1.6975308656692505
10
+ ],
11
+ "max": [
12
+ -5.4084296226501465,
13
+ 34.047298431396484,
14
+ 99.27764892578125,
15
+ 79.79299926757812,
16
+ 2.2047243118286133,
17
+ 74.3827133178711
18
+ ],
19
+ "mean": [
20
+ -25.653797149658203,
21
+ -15.225903511047363,
22
+ 59.23091125488281,
23
+ 24.958463668823242,
24
+ -21.65608787536621,
25
+ 31.85568618774414
26
+ ],
27
+ "std": [
28
+ 8.733665466308594,
29
+ 44.5174446105957,
30
+ 23.868709564208984,
31
+ 33.234291076660156,
32
+ 16.77508544921875,
33
+ 30.924415588378906
34
+ ],
35
+ "count": [
36
+ 226
37
+ ],
38
+ "q01": [
39
+ -35.84483337402344,
40
+ -89.38450271606445,
41
+ 28.577878952026367,
42
+ -27.950308408737182,
43
+ -46.14173126220703,
44
+ 1.6975308656692505
45
+ ],
46
+ "q10": [
47
+ -35.692997741699216,
48
+ -86.6886962890625,
49
+ 29.02540864944458,
50
+ -19.46822319030762,
51
+ -44.50955581665039,
52
+ 1.6975308656692505
53
+ ],
54
+ "q50": [
55
+ -27.858322143554688,
56
+ 0.5903411865234375,
57
+ 53.50661849975586,
58
+ 19.96537971496582,
59
+ -18.207149505615234,
60
+ 17.2957706451416
61
+ ],
62
+ "q90": [
63
+ -10.482786560058594,
64
+ 33.069764491489956,
65
+ 99.26375752324644,
66
+ 74.47594655354818,
67
+ -3.309674072265625,
68
+ 73.15724334716796
69
+ ],
70
+ "q99": [
71
+ -5.411868679523468,
72
+ 34.039313953944614,
73
+ 99.27625978552777,
74
+ 79.78758322821723,
75
+ 2.2030430089510404,
76
+ 74.07577267733487
77
+ ]
78
+ },
79
+ "observation.images.left_wrist_0_rgb": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.39292547385620913
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.3986808149509804
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.3932365093954248
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.011614393271543262
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ -3.9215686274509807e-13
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.06278278835169872
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.0548924093228467
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.007903745718792123
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.31375060948066646
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.3215634346356535
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.3294576437321942
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9998396780204155
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9998394239337529
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9998428406555501
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999839678023944
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999839423937282
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999842840659079
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.base_0_rgb": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.6750551470588235
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5926139358660131
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5611998345588236
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 100
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.12953118568203603
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.10595547378073969
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.1177043478257871
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.3214858116966866
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.2509893739317605
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.2392759672045098
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7295526644364232
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.5333212420398148
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.46271020043502353
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9177761684918925
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765269934900097
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9843108526211697
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9960499211774778
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803094261234615
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843932305202473
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -36.16175079345703,
398
+ -91.01041412353516,
399
+ 25.729555130004883,
400
+ -30.367137908935547,
401
+ -46.47859573364258,
402
+ 0.14857006072998047
403
+ ],
404
+ "max": [
405
+ -5.269293785095215,
406
+ 34.11139678955078,
407
+ 100.1331787109375,
408
+ 80.54165649414062,
409
+ 2.4678955078125,
410
+ 75.27767944335938
411
+ ],
412
+ "mean": [
413
+ -25.913192749023438,
414
+ -15.280048370361328,
415
+ 56.682674407958984,
416
+ 22.802459716796875,
417
+ -22.271989822387695,
418
+ 31.5488224029541
419
+ ],
420
+ "std": [
421
+ 8.47037124633789,
422
+ 43.65916061401367,
423
+ 23.889741897583008,
424
+ 32.98038101196289,
425
+ 16.7801456451416,
426
+ 31.679691314697266
427
+ ],
428
+ "count": [
429
+ 226
430
+ ],
431
+ "q01": [
432
+ -36.14160842895508,
433
+ -90.6035171508789,
434
+ 26.031038780212402,
435
+ -30.006462478637694,
436
+ -46.40752632141113,
437
+ 0.40596240133047107
438
+ ],
439
+ "q10": [
440
+ -35.330126190185545,
441
+ -87.64213562011719,
442
+ 28.283087158203124,
443
+ -18.908040237426757,
444
+ -44.03518829345703,
445
+ 0.6414170145988465
446
+ ],
447
+ "q50": [
448
+ -28.117355346679688,
449
+ -1.1729583740234375,
450
+ 49.77680969238281,
451
+ 17.190555572509766,
452
+ -19.000036239624023,
453
+ 11.072342872619629
454
+ ],
455
+ "q90": [
456
+ -12.075520324707032,
457
+ 31.493850708007812,
458
+ 99.38021392822266,
459
+ 74.09564514160157,
460
+ -3.6660789489746093,
461
+ 73.07489471435547
462
+ ],
463
+ "q99": [
464
+ -5.285543823242188,
465
+ 33.8203628540039,
466
+ 99.93585968017578,
467
+ 80.35844360351562,
468
+ 2.426192626953125,
469
+ 75.17805885314941
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 7.5
478
+ ],
479
+ "mean": [
480
+ 3.75
481
+ ],
482
+ "std": [
483
+ 2.1746647251166484
484
+ ],
485
+ "count": [
486
+ 226
487
+ ],
488
+ "q01": [
489
+ 0.0663899999017704
490
+ ],
491
+ "q10": [
492
+ 0.7328999999195439
493
+ ],
494
+ "q50": [
495
+ 3.7334999999995597
496
+ ],
497
+ "q90": [
498
+ 6.767100000080456
499
+ ],
500
+ "q99": [
501
+ 7.43361000009823
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 225
510
+ ],
511
+ "mean": [
512
+ 112.5
513
+ ],
514
+ "std": [
515
+ 65.23994175349944
516
+ ],
517
+ "count": [
518
+ 226
519
+ ],
520
+ "q01": [
521
+ 1.9916999999017702
522
+ ],
523
+ "q10": [
524
+ 21.986999999919544
525
+ ],
526
+ "q50": [
527
+ 112.00499999999954
528
+ ],
529
+ "q90": [
530
+ 203.01300000008044
531
+ ],
532
+ "q99": [
533
+ 223.00830000009822
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 226
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 225
574
+ ],
575
+ "mean": [
576
+ 112.5
577
+ ],
578
+ "std": [
579
+ 65.23994175349944
580
+ ],
581
+ "count": [
582
+ 226
583
+ ],
584
+ "q01": [
585
+ 1.9916999999017702
586
+ ],
587
+ "q10": [
588
+ 21.986999999919544
589
+ ],
590
+ "q50": [
591
+ 112.00499999999954
592
+ ],
593
+ "q90": [
594
+ 203.01300000008044
595
+ ],
596
+ "q99": [
597
+ 223.00830000009822
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 226
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C3-1-1/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0951c679746e8f2c8827b1e9ffc3655fd48da0d80d621e74014f1f3e3ef65ea5
3
+ size 2181
eval_Pi0-C3-1-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51a839c228d6e1432d2a692133da6d5886beb4592cc3d9ca453f838a874d5d06
3
+ size 3997488
eval_Pi0-C3-1-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68cf94d1a09d4ce373230f8bb3bc2feb0c4e340a85c23467bb51ea5b49960933
3
+ size 2530648
eval_Pi0-C3-1-2/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9bead503cd7da2e3af952ea4a9c277b56bd752541b5bb3ead79feb54c6039331
3
+ size 18522
eval_Pi0-C3-1-2/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f6a74fd61c1abbeb456019d1444daca65f71fb3771ad2736004c150e969efdc2
3
+ size 52925
eval_Pi0-C3-1-2/meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 217,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.images.left_wrist_0_rgb": {
32
+ "dtype": "video",
33
+ "shape": [
34
+ 480,
35
+ 640,
36
+ 3
37
+ ],
38
+ "names": [
39
+ "height",
40
+ "width",
41
+ "channels"
42
+ ],
43
+ "info": {
44
+ "video.height": 480,
45
+ "video.width": 640,
46
+ "video.codec": "av1",
47
+ "video.pix_fmt": "yuv420p",
48
+ "video.is_depth_map": false,
49
+ "video.fps": 30,
50
+ "video.channels": 3,
51
+ "has_audio": false
52
+ }
53
+ },
54
+ "observation.images.base_0_rgb": {
55
+ "dtype": "video",
56
+ "shape": [
57
+ 480,
58
+ 640,
59
+ 3
60
+ ],
61
+ "names": [
62
+ "height",
63
+ "width",
64
+ "channels"
65
+ ],
66
+ "info": {
67
+ "video.height": 480,
68
+ "video.width": 640,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 30,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "names": [
80
+ "shoulder_pan.pos",
81
+ "shoulder_lift.pos",
82
+ "elbow_flex.pos",
83
+ "wrist_flex.pos",
84
+ "wrist_roll.pos",
85
+ "gripper.pos"
86
+ ],
87
+ "shape": [
88
+ 6
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
eval_Pi0-C3-1-2/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -34.94964599609375,
5
+ -92.3248519897461,
6
+ 33.724605560302734,
7
+ -26.1705265045166,
8
+ -44.934383392333984,
9
+ 2.160493850708008
10
+ ],
11
+ "max": [
12
+ -0.41029465198516846,
13
+ 28.157072067260742,
14
+ 99.18736267089844,
15
+ 90.43863677978516,
16
+ 0.5774278044700623,
17
+ 75.0
18
+ ],
19
+ "mean": [
20
+ -20.75830078125,
21
+ -35.00636291503906,
22
+ 69.73921203613281,
23
+ 40.33110427856445,
24
+ -15.3300142288208,
25
+ 21.132015228271484
26
+ ],
27
+ "std": [
28
+ 12.95103931427002,
29
+ 48.833316802978516,
30
+ 24.79035186767578,
31
+ 40.19462203979492,
32
+ 15.33568286895752,
33
+ 28.125469207763672
34
+ ],
35
+ "count": [
36
+ 217
37
+ ],
38
+ "q01": [
39
+ -34.94964599609375,
40
+ -92.3248519897461,
41
+ 34.17197967529297,
42
+ -25.583515949249268,
43
+ -44.934383392333984,
44
+ 2.160493850708008
45
+ ],
46
+ "q10": [
47
+ -34.50460557937622,
48
+ -91.96719556535993,
49
+ 38.879144287109376,
50
+ -17.595089149475097,
51
+ -41.99826405843099,
52
+ 2.160493850708008
53
+ ],
54
+ "q50": [
55
+ -24.878547350565594,
56
+ -16.72244644165039,
57
+ 59.82897122701009,
58
+ 27.463855743408203,
59
+ -6.715841293334961,
60
+ 2.7754674639020647
61
+ ],
62
+ "q90": [
63
+ -0.5601947784423827,
64
+ 27.71249313354492,
65
+ 99.18189926147461,
66
+ 90.41663198056429,
67
+ 0.5684491712938655,
68
+ 71.4549015045166
69
+ ],
70
+ "q99": [
71
+ -0.4110440987944603,
72
+ 27.8916983795166,
73
+ 99.18681632995606,
74
+ 90.43643629986308,
75
+ 0.5765299411524426,
76
+ 74.38566947937012
77
+ ]
78
+ },
79
+ "observation.images.left_wrist_0_rgb": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.40656758578431373
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.41245042892156863
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.41054791258169937
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.011757784160470571
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.003959273277430781
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.09009567741903333
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.07855537697483875
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.0312963115399205
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3295794239349576
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.34115254747859175
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.35291372216042277
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9998429602006177
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9998427537749156
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9998494507307911
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999842960204147
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999842753778444
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.999984945073432
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.base_0_rgb": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.6589727491830065
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5748184477124183
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.537670324754902
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 100
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.11775684507012273
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09815521030661926
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.10590062111770332
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.2901484387508361
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.22753419330694646
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.21569801884490866
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7099262609632346
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.5099163705853288
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.43139012323938275
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9214689395215009
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765262642605687
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842841973793027
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9960738778517503
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803414842532244
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843894791359483
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -35.042877197265625,
398
+ -93.24301147460938,
399
+ 29.076675415039062,
400
+ -28.643939971923828,
401
+ -45.270965576171875,
402
+ 0.9745693802833557
403
+ ],
404
+ "max": [
405
+ -0.12021350860595703,
406
+ 28.41064453125,
407
+ 99.56312561035156,
408
+ 90.95661926269531,
409
+ 0.5921659469604492,
410
+ 76.04521179199219
411
+ ],
412
+ "mean": [
413
+ -21.00998306274414,
414
+ -35.3019905090332,
415
+ 67.29130554199219,
416
+ 38.89365768432617,
417
+ -15.9365873336792,
418
+ 21.683584213256836
419
+ ],
420
+ "std": [
421
+ 12.757462501525879,
422
+ 47.74570846557617,
423
+ 25.403568267822266,
424
+ 39.7957649230957,
425
+ 15.49898910522461,
426
+ 29.41265296936035
427
+ ],
428
+ "count": [
429
+ 217
430
+ ],
431
+ "q01": [
432
+ -35.01375095367432,
433
+ -93.04422660827636,
434
+ 31.54609769821167,
435
+ -27.730909404754637,
436
+ -45.100493087768555,
437
+ 1.0434091782569885
438
+ ],
439
+ "q10": [
440
+ -34.33255119323731,
441
+ -92.00944290161132,
442
+ 35.79685401916504,
443
+ -16.786740493774413,
444
+ -41.75922622680664,
445
+ 1.1982798814773559
446
+ ],
447
+ "q50": [
448
+ -24.890859603881836,
449
+ -13.377384185791016,
450
+ 58.5329647064209,
451
+ 25.762353897094727,
452
+ -8.585044860839844,
453
+ 2.5191477239131927
454
+ ],
455
+ "q90": [
456
+ -0.7187870025634765,
457
+ 24.28172073364258,
458
+ 99.2713119506836,
459
+ 89.67210998535157,
460
+ 0.1899480819702149,
461
+ 72.25113983154297
462
+ ],
463
+ "q99": [
464
+ -0.2122011947631837,
465
+ 27.0439900970459,
466
+ 99.53253814697266,
467
+ 90.71335510253907,
468
+ 0.5355732727050779,
469
+ 75.75738861083984
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 7.2
478
+ ],
479
+ "mean": [
480
+ 3.6
481
+ ],
482
+ "std": [
483
+ 2.0880613017821097
484
+ ],
485
+ "count": [
486
+ 217
487
+ ],
488
+ "q01": [
489
+ 0.0664847999018468
490
+ ],
491
+ "q10": [
492
+ 0.700847999919468
493
+ ],
494
+ "q50": [
495
+ 3.6007200000000203
496
+ ],
497
+ "q90": [
498
+ 6.499152000080532
499
+ ],
500
+ "q99": [
501
+ 7.133515200098153
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 216
510
+ ],
511
+ "mean": [
512
+ 108.0
513
+ ],
514
+ "std": [
515
+ 62.6418390534633
516
+ ],
517
+ "count": [
518
+ 217
519
+ ],
520
+ "q01": [
521
+ 1.9945439999018468
522
+ ],
523
+ "q10": [
524
+ 21.025439999919467
525
+ ],
526
+ "q50": [
527
+ 108.0216
528
+ ],
529
+ "q90": [
530
+ 194.97456000008054
531
+ ],
532
+ "q99": [
533
+ 214.00545600009815
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 217
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999418e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.959999999999423e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 216
574
+ ],
575
+ "mean": [
576
+ 108.0
577
+ ],
578
+ "std": [
579
+ 62.6418390534633
580
+ ],
581
+ "count": [
582
+ 217
583
+ ],
584
+ "q01": [
585
+ 1.9945439999018468
586
+ ],
587
+ "q10": [
588
+ 21.025439999919467
589
+ ],
590
+ "q50": [
591
+ 108.0216
592
+ ],
593
+ "q90": [
594
+ 194.97456000008054
595
+ ],
596
+ "q99": [
597
+ 214.00545600009815
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 217
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999418e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.959999999999423e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C3-1-2/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0951c679746e8f2c8827b1e9ffc3655fd48da0d80d621e74014f1f3e3ef65ea5
3
+ size 2181
eval_Pi0-C3-1-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46163152afe1e2c9e8ae748d80bc2da55285a501f90c2a207b6aa1777d9ca7e9
3
+ size 3686633
eval_Pi0-C3-1-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a0eacc45cdb250652a5da62663ab67848e23a319eaf7b86f20266c749c5d97c
3
+ size 2610344
eval_Pi0-C3-2-1/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:402d4dddf16ac516bb8790d37419b9f8671d97e4b8cccfeea48e8bca2f3d6cd9
3
+ size 18952
eval_Pi0-C3-2-1/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e21492bc20f35e94e2b6264a316dd2bc7ab50fea4d05862e19ca1eb807bd3ae
3
+ size 52905
eval_Pi0-C3-2-1/meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 230,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.images.left_wrist_0_rgb": {
32
+ "dtype": "video",
33
+ "shape": [
34
+ 480,
35
+ 640,
36
+ 3
37
+ ],
38
+ "names": [
39
+ "height",
40
+ "width",
41
+ "channels"
42
+ ],
43
+ "info": {
44
+ "video.height": 480,
45
+ "video.width": 640,
46
+ "video.codec": "av1",
47
+ "video.pix_fmt": "yuv420p",
48
+ "video.is_depth_map": false,
49
+ "video.fps": 30,
50
+ "video.channels": 3,
51
+ "has_audio": false
52
+ }
53
+ },
54
+ "observation.images.base_0_rgb": {
55
+ "dtype": "video",
56
+ "shape": [
57
+ 480,
58
+ 640,
59
+ 3
60
+ ],
61
+ "names": [
62
+ "height",
63
+ "width",
64
+ "channels"
65
+ ],
66
+ "info": {
67
+ "video.height": 480,
68
+ "video.width": 640,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 30,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "names": [
80
+ "shoulder_pan.pos",
81
+ "shoulder_lift.pos",
82
+ "elbow_flex.pos",
83
+ "wrist_flex.pos",
84
+ "wrist_roll.pos",
85
+ "gripper.pos"
86
+ ],
87
+ "shape": [
88
+ 6
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
eval_Pi0-C3-2-1/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -12.719134330749512,
5
+ -93.038818359375,
6
+ 3.0248308181762695,
7
+ -12.173484802246094,
8
+ -45.354331970214844,
9
+ 1.8518518209457397
10
+ ],
11
+ "max": [
12
+ -3.3942558765411377,
13
+ 47.96965789794922,
14
+ 99.27764892578125,
15
+ 85.41152954101562,
16
+ -4.619422435760498,
17
+ 75.30863952636719
18
+ ],
19
+ "mean": [
20
+ -7.253618240356445,
21
+ -20.322063446044922,
22
+ 56.66029739379883,
23
+ 35.73147201538086,
24
+ -20.25446891784668,
25
+ 27.024290084838867
26
+ ],
27
+ "std": [
28
+ 2.3345212936401367,
29
+ 55.36339569091797,
30
+ 34.26258850097656,
31
+ 36.818538665771484,
32
+ 16.415334701538086,
33
+ 31.760055541992188
34
+ ],
35
+ "count": [
36
+ 230
37
+ ],
38
+ "q01": [
39
+ -12.420178604125976,
40
+ -93.038818359375,
41
+ 4.012384557723999,
42
+ -12.073362874984742,
43
+ -45.354331970214844,
44
+ 1.8518518209457397
45
+ ],
46
+ "q10": [
47
+ -10.55576229095459,
48
+ -89.6533352244984,
49
+ 13.23725414276123,
50
+ -7.528438091278076,
51
+ -44.30337142944336,
52
+ 1.8518518209457397
53
+ ],
54
+ "q50": [
55
+ -8.095393180847168,
56
+ 3.7212066650390625,
57
+ 49.36093521118164,
58
+ 15.443073272705078,
59
+ -13.173755645751953,
60
+ 2.3183023929595947
61
+ ],
62
+ "q90": [
63
+ -3.9173812866210938,
64
+ 40.41162109375,
65
+ 99.26944704408999,
66
+ 84.42917124430339,
67
+ -4.827171325683594,
68
+ 73.76378514216496
69
+ ],
70
+ "q99": [
71
+ -3.467132164450253,
72
+ 47.171563720703126,
73
+ 99.27682873761212,
74
+ 85.40778897603353,
75
+ -4.62566974957784,
76
+ 74.99799957275391
77
+ ]
78
+ },
79
+ "observation.images.left_wrist_0_rgb": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.39084761029411763
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.39153531045751633
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.388213106617647
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.0039727486365727935
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ -3.9215686274509807e-13
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.06272132766390062
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.05093489613713006
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.00799107342786559
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3295567649433235
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.3372529481975328
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.35280355326083657
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9998227359600644
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9998222567837952
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.999829454610447
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999822735963594
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999822256787324
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999829454613977
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.base_0_rgb": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.647492518382353
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5670055616830065
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5316816176470588
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 100
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.1136888413326227
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09405159235636949
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.10184597264406461
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.2508780129587678
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.20009111617288547
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.20013195462042183
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7019802843307317
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.5059354740061208
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.4313096357370861
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9214796836584465
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.976525938499684
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842825793549237
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9961035332789429
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803427108306229
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843892703892958
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -12.818605422973633,
398
+ -94.14039611816406,
399
+ 1.3943474292755127,
400
+ -14.13774299621582,
401
+ -45.58299255371094,
402
+ 0.449332058429718
403
+ ],
404
+ "max": [
405
+ -2.5138533115386963,
406
+ 48.831382751464844,
407
+ 100.45146942138672,
408
+ 85.77030181884766,
409
+ -4.5008134841918945,
410
+ 76.07575988769531
411
+ ],
412
+ "mean": [
413
+ -7.13875675201416,
414
+ -19.88258171081543,
415
+ 53.832889556884766,
416
+ 33.99568557739258,
417
+ -20.995975494384766,
418
+ 26.956031799316406
419
+ ],
420
+ "std": [
421
+ 2.456021785736084,
422
+ 54.94873809814453,
423
+ 35.270652770996094,
424
+ 36.88087844848633,
425
+ 16.669082641601562,
426
+ 32.21858596801758
427
+ ],
428
+ "count": [
429
+ 230
430
+ ],
431
+ "q01": [
432
+ -12.620135974884032,
433
+ -94.04603271484375,
434
+ 1.578593647480011,
435
+ -13.692153358459473,
436
+ -45.56409378051758,
437
+ 0.4841202199459076
438
+ ],
439
+ "q10": [
440
+ -10.8854341506958,
441
+ -92.0244140625,
442
+ 11.735910415649414,
443
+ -8.383039474487305,
444
+ -44.43268966674805,
445
+ 0.82746422290802
446
+ ],
447
+ "q50": [
448
+ -7.874385356903076,
449
+ 3.1947860717773438,
450
+ 45.435142517089844,
451
+ 13.39691162109375,
452
+ -13.358131408691406,
453
+ 2.5769553979237876
454
+ ],
455
+ "q90": [
456
+ -3.7133264541625977,
457
+ 40.05290222167969,
458
+ 100.11466979980469,
459
+ 84.65132904052734,
460
+ -5.014339447021484,
461
+ 73.85234069824219
462
+ ],
463
+ "q99": [
464
+ -2.846284198760986,
465
+ 48.308102416992185,
466
+ 100.35092334747314,
467
+ 85.66439285278321,
468
+ -4.5443580627441404,
469
+ 75.75585708618163
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 7.633333333333334
478
+ ],
479
+ "mean": [
480
+ 3.8166666666666664
481
+ ],
482
+ "std": [
483
+ 2.213155113306693
484
+ ],
485
+ "count": [
486
+ 230
487
+ ],
488
+ "q01": [
489
+ 0.06610466656839868
490
+ ],
491
+ "q10": [
492
+ 0.7343266665859067
493
+ ],
494
+ "q50": [
495
+ 3.8013999999996
496
+ ],
497
+ "q90": [
498
+ 6.866946666746587
499
+ ],
500
+ "q99": [
501
+ 7.567228666764935
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 229
510
+ ],
511
+ "mean": [
512
+ 114.5
513
+ ],
514
+ "std": [
515
+ 66.39465339920075
516
+ ],
517
+ "count": [
518
+ 230
519
+ ],
520
+ "q01": [
521
+ 1.9831399999017318
522
+ ],
523
+ "q10": [
524
+ 22.02979999991924
525
+ ],
526
+ "q50": [
527
+ 114.04199999999959
528
+ ],
529
+ "q90": [
530
+ 206.00840000007992
531
+ ],
532
+ "q99": [
533
+ 227.01686000009826
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 230
551
+ ],
552
+ "q01": [
553
+ 3.999999999999418e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999417e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 229
574
+ ],
575
+ "mean": [
576
+ 114.5
577
+ ],
578
+ "std": [
579
+ 66.39465339920075
580
+ ],
581
+ "count": [
582
+ 230
583
+ ],
584
+ "q01": [
585
+ 1.9831399999017318
586
+ ],
587
+ "q10": [
588
+ 22.02979999991924
589
+ ],
590
+ "q50": [
591
+ 114.04199999999959
592
+ ],
593
+ "q90": [
594
+ 206.00840000007992
595
+ ],
596
+ "q99": [
597
+ 227.01686000009826
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 230
615
+ ],
616
+ "q01": [
617
+ 3.999999999999418e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999417e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C3-2-1/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0951c679746e8f2c8827b1e9ffc3655fd48da0d80d621e74014f1f3e3ef65ea5
3
+ size 2181
eval_Pi0-C3-2-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3779d7b4ac4004262db806d2eb4b3164fb545c1998525fc0bc2c34c91a38c977
3
+ size 4079644
eval_Pi0-C3-2-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c46988d60e0e9cff54ddf32d918b6ce8a9ae3b4e15e521668ac8ff06f70648a0
3
+ size 2946130
eval_Pi0-C3-2-2/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e544e7f3f957bb64441a28387f873b563a4db7803b6a5a1f406cd4d400d8dc47
3
+ size 16701
eval_Pi0-C3-2-2/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:213e6fe8d25319dd727039cf227f282126b8460600898e9e59526347f630fe1e
3
+ size 52917
eval_Pi0-C3-2-2/meta/info.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so_follower",
4
+ "total_episodes": 1,
5
+ "total_frames": 192,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "names": [
20
+ "shoulder_pan.pos",
21
+ "shoulder_lift.pos",
22
+ "elbow_flex.pos",
23
+ "wrist_flex.pos",
24
+ "wrist_roll.pos",
25
+ "gripper.pos"
26
+ ],
27
+ "shape": [
28
+ 6
29
+ ]
30
+ },
31
+ "observation.images.left_wrist_0_rgb": {
32
+ "dtype": "video",
33
+ "shape": [
34
+ 480,
35
+ 640,
36
+ 3
37
+ ],
38
+ "names": [
39
+ "height",
40
+ "width",
41
+ "channels"
42
+ ],
43
+ "info": {
44
+ "video.height": 480,
45
+ "video.width": 640,
46
+ "video.codec": "av1",
47
+ "video.pix_fmt": "yuv420p",
48
+ "video.is_depth_map": false,
49
+ "video.fps": 30,
50
+ "video.channels": 3,
51
+ "has_audio": false
52
+ }
53
+ },
54
+ "observation.images.base_0_rgb": {
55
+ "dtype": "video",
56
+ "shape": [
57
+ 480,
58
+ 640,
59
+ 3
60
+ ],
61
+ "names": [
62
+ "height",
63
+ "width",
64
+ "channels"
65
+ ],
66
+ "info": {
67
+ "video.height": 480,
68
+ "video.width": 640,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 30,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "action": {
78
+ "dtype": "float32",
79
+ "names": [
80
+ "shoulder_pan.pos",
81
+ "shoulder_lift.pos",
82
+ "elbow_flex.pos",
83
+ "wrist_flex.pos",
84
+ "wrist_roll.pos",
85
+ "gripper.pos"
86
+ ],
87
+ "shape": [
88
+ 6
89
+ ]
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ }
127
+ }
eval_Pi0-C3-2-2/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -9.735173225402832,
5
+ -91.4323959350586,
6
+ 21.354402542114258,
7
+ -16.31345558166504,
8
+ -44.77690124511719,
9
+ 1.8518518209457397
10
+ ],
11
+ "max": [
12
+ -0.8578888177871704,
13
+ 37.706382751464844,
14
+ 99.27764892578125,
15
+ 92.60719299316406,
16
+ -3.3595800399780273,
17
+ 74.3827133178711
18
+ ],
19
+ "mean": [
20
+ -3.7365562915802,
21
+ -23.682222366333008,
22
+ 61.29231643676758,
23
+ 35.94339370727539,
24
+ -19.746553421020508,
25
+ 25.430803298950195
26
+ ],
27
+ "std": [
28
+ 2.4180424213409424,
29
+ 52.722957611083984,
30
+ 29.53597068786621,
31
+ 40.881439208984375,
32
+ 16.352567672729492,
33
+ 30.6197452545166
34
+ ],
35
+ "count": [
36
+ 192
37
+ ],
38
+ "q01": [
39
+ -9.509832344055177,
40
+ -91.4323959350586,
41
+ 21.354402542114258,
42
+ -16.31345558166504,
43
+ -44.77690124511719,
44
+ 1.8518518209457397
45
+ ],
46
+ "q10": [
47
+ -7.944210561116536,
48
+ -91.16895294189453,
49
+ 24.05989761352539,
50
+ -11.581943130493164,
51
+ -42.68035469055176,
52
+ 1.8518518209457397
53
+ ],
54
+ "q50": [
55
+ -2.649249350770991,
56
+ 5.8607635498046875,
57
+ 50.07691192626953,
58
+ 15.033905029296875,
59
+ -15.855185508728027,
60
+ 3.4011109828948975
61
+ ],
62
+ "q90": [
63
+ -1.0074616962009006,
64
+ 36.56480255126953,
65
+ 99.27099853515625,
66
+ 92.39806365966797,
67
+ -3.619874886905446,
68
+ 72.37940902709961
69
+ ],
70
+ "q99": [
71
+ -0.8581511339774499,
72
+ 37.69398284912109,
73
+ 99.27698388671875,
74
+ 92.59882580566406,
75
+ -3.3613470077514647,
76
+ 74.3771439819336
77
+ ]
78
+ },
79
+ "observation.images.left_wrist_0_rgb": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.3859941993464052
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.3971073182189543
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.39581541666666664
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.0
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.0
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.0
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 100
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.0039029651224949872
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.0038195504672919774
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.05096395515542933
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.04717451081323906
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.003954285713896658
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3098705248408897
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.3333766318312895
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.34919258533386827
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9998286769761837
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9998258384928064
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9998325922054666
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999828676979713
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999825838496336
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999832592208996
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "observation.images.base_0_rgb": {
238
+ "min": [
239
+ [
240
+ [
241
+ 0.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 0.0
247
+ ]
248
+ ],
249
+ [
250
+ [
251
+ 0.0
252
+ ]
253
+ ]
254
+ ],
255
+ "max": [
256
+ [
257
+ [
258
+ 1.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 1.0
264
+ ]
265
+ ],
266
+ [
267
+ [
268
+ 1.0
269
+ ]
270
+ ]
271
+ ],
272
+ "mean": [
273
+ [
274
+ [
275
+ 0.6651750714869281
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5854001348039216
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5536901531862745
286
+ ]
287
+ ]
288
+ ],
289
+ "std": [
290
+ [
291
+ [
292
+ 0.0
293
+ ]
294
+ ],
295
+ [
296
+ [
297
+ 0.0
298
+ ]
299
+ ],
300
+ [
301
+ [
302
+ 0.0
303
+ ]
304
+ ]
305
+ ],
306
+ "count": [
307
+ 100
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.12940359999970932
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.10186407253463295
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.11364909090878787
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.27852299112783635
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.2234235250323533
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.22344964205555823
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7255869555816828
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.5295568759185618
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.45887256772871193
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9177776753072225
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765281138921147
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.984309810285732
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9960572934977528
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803176921587616
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843927729357357
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -10.16276741027832,
398
+ -92.36967468261719,
399
+ 19.585948944091797,
400
+ -18.181795120239258,
401
+ -45.0208740234375,
402
+ 0.5181655883789062
403
+ ],
404
+ "max": [
405
+ -0.031941499561071396,
406
+ 38.102210998535156,
407
+ 100.46666717529297,
408
+ 93.1817398071289,
409
+ -3.5238394737243652,
410
+ 75.1474609375
411
+ ],
412
+ "mean": [
413
+ -3.7733356952667236,
414
+ -23.34602928161621,
415
+ 58.553340911865234,
416
+ 34.01402282714844,
417
+ -20.476335525512695,
418
+ 26.973291397094727
419
+ ],
420
+ "std": [
421
+ 2.6188485622406006,
422
+ 52.008453369140625,
423
+ 30.458202362060547,
424
+ 40.70431900024414,
425
+ 16.352554321289062,
426
+ 31.71080780029297
427
+ ],
428
+ "count": [
429
+ 192
430
+ ],
431
+ "q01": [
432
+ -9.988678932189941,
433
+ -92.24129180908203,
434
+ 19.827296295166015,
435
+ -18.04994041442871,
436
+ -44.963443756103516,
437
+ 0.5181655883789062
438
+ ],
439
+ "q10": [
440
+ -8.069333267211913,
441
+ -91.42244720458984,
442
+ 22.80823745727539,
443
+ -13.967799186706543,
444
+ -42.87077331542969,
445
+ 1.0883334159851075
446
+ ],
447
+ "q50": [
448
+ -2.937462329864502,
449
+ 4.8840789794921875,
450
+ 46.211883544921875,
451
+ 11.552267074584961,
452
+ -17.549835205078125,
453
+ 3.0630245208740234
454
+ ],
455
+ "q90": [
456
+ -0.5388879776000977,
457
+ 34.835205078125,
458
+ 100.20677591959635,
459
+ 92.5558708190918,
460
+ -3.8192962646484374,
461
+ 73.12948455810547
462
+ ],
463
+ "q99": [
464
+ -0.056093292236328154,
465
+ 37.97382934570312,
466
+ 100.44304504394532,
467
+ 93.16035308837891,
468
+ -3.5318031883239747,
469
+ 74.99939392089844
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 6.366666666666666
478
+ ],
479
+ "mean": [
480
+ 3.1833333333333336
481
+ ],
482
+ "std": [
483
+ 1.8474958026314259
484
+ ],
485
+ "count": [
486
+ 192
487
+ ],
488
+ "q01": [
489
+ 0.03427813323441013
490
+ ],
491
+ "q10": [
492
+ 0.6331013332532213
493
+ ],
494
+ "q50": [
495
+ 3.1667799999994797
496
+ ],
497
+ "q90": [
498
+ 5.733565333413445
499
+ ],
500
+ "q99": [
501
+ 6.3323885334322565
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 191
510
+ ],
511
+ "mean": [
512
+ 95.5
513
+ ],
514
+ "std": [
515
+ 55.42487407894281
516
+ ],
517
+ "count": [
518
+ 192
519
+ ],
520
+ "q01": [
521
+ 1.0283439999010766
522
+ ],
523
+ "q10": [
524
+ 18.993039999919887
525
+ ],
526
+ "q50": [
527
+ 95.00339999999946
528
+ ],
529
+ "q90": [
530
+ 172.00696000008008
531
+ ],
532
+ "q99": [
533
+ 189.9716560000989
534
+ ]
535
+ },
536
+ "episode_index": {
537
+ "min": [
538
+ 0
539
+ ],
540
+ "max": [
541
+ 0
542
+ ],
543
+ "mean": [
544
+ 0.0
545
+ ],
546
+ "std": [
547
+ 0.0
548
+ ],
549
+ "count": [
550
+ 192
551
+ ],
552
+ "q01": [
553
+ 3.9999999999994176e-16
554
+ ],
555
+ "q10": [
556
+ 3.999999999999418e-15
557
+ ],
558
+ "q50": [
559
+ 1.9999999999997088e-14
560
+ ],
561
+ "q90": [
562
+ 3.599999999999476e-14
563
+ ],
564
+ "q99": [
565
+ 3.959999999999423e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 191
574
+ ],
575
+ "mean": [
576
+ 95.5
577
+ ],
578
+ "std": [
579
+ 55.42487407894281
580
+ ],
581
+ "count": [
582
+ 192
583
+ ],
584
+ "q01": [
585
+ 1.0283439999010766
586
+ ],
587
+ "q10": [
588
+ 18.993039999919887
589
+ ],
590
+ "q50": [
591
+ 95.00339999999946
592
+ ],
593
+ "q90": [
594
+ 172.00696000008008
595
+ ],
596
+ "q99": [
597
+ 189.9716560000989
598
+ ]
599
+ },
600
+ "task_index": {
601
+ "min": [
602
+ 0
603
+ ],
604
+ "max": [
605
+ 0
606
+ ],
607
+ "mean": [
608
+ 0.0
609
+ ],
610
+ "std": [
611
+ 0.0
612
+ ],
613
+ "count": [
614
+ 192
615
+ ],
616
+ "q01": [
617
+ 3.9999999999994176e-16
618
+ ],
619
+ "q10": [
620
+ 3.999999999999418e-15
621
+ ],
622
+ "q50": [
623
+ 1.9999999999997088e-14
624
+ ],
625
+ "q90": [
626
+ 3.599999999999476e-14
627
+ ],
628
+ "q99": [
629
+ 3.959999999999423e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C3-2-2/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0951c679746e8f2c8827b1e9ffc3655fd48da0d80d621e74014f1f3e3ef65ea5
3
+ size 2181
eval_Pi0-C3-2-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a9bf5816196396c6171dc24d6d5a29a57cd96ddb21045a2c654665848cf305b
3
+ size 3451920
eval_Pi0-C3-2-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4556e14ffff7b7e885ff14340e4798ba306067e850abe04c0a2f4db7cf5a4930
3
+ size 2122067
eval_Pi0-C3-2-3/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ab574527cc31295a89965b5d9d86c45235f79868ccf12e47c1f79ea35bbcea47
3
+ size 16574