Hugging Face's logo

Datasets:
kagyvro48
/
EVAL_PI0-C4

Modalities:
Tabular
Time-series
Video
Size:
10K - 100K
Dataset card Data Studio Files
xet
Community
kagyvro48 commited on
Commit
cf71701
·
verified ·
1 Parent(s): 2caac38

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-C4-0-1/data/chunk-000/file-000.parquet +3 -0
  2. eval_Pi0-C4-0-1/meta/episodes/chunk-000/file-000.parquet +3 -0
  3. eval_Pi0-C4-0-1/meta/info.json +127 -0
  4. eval_Pi0-C4-0-1/meta/stats.json +632 -0
  5. eval_Pi0-C4-0-1/meta/tasks.parquet +3 -0
  6. eval_Pi0-C4-0-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  7. eval_Pi0-C4-0-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  8. eval_Pi0-C4-0-2/data/chunk-000/file-000.parquet +3 -0
  9. eval_Pi0-C4-0-2/meta/episodes/chunk-000/file-000.parquet +3 -0
  10. eval_Pi0-C4-0-2/meta/info.json +127 -0
  11. eval_Pi0-C4-0-2/meta/stats.json +632 -0
  12. eval_Pi0-C4-0-2/meta/tasks.parquet +3 -0
  13. eval_Pi0-C4-0-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  14. eval_Pi0-C4-0-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  15. eval_Pi0-C4-0-3/data/chunk-000/file-000.parquet +3 -0
  16. eval_Pi0-C4-0-3/meta/episodes/chunk-000/file-000.parquet +3 -0
  17. eval_Pi0-C4-0-3/meta/info.json +127 -0
  18. eval_Pi0-C4-0-3/meta/stats.json +632 -0
  19. eval_Pi0-C4-0-3/meta/tasks.parquet +3 -0
  20. eval_Pi0-C4-0-3/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  21. eval_Pi0-C4-0-3/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  22. eval_Pi0-C4-1-1/data/chunk-000/file-000.parquet +3 -0
  23. eval_Pi0-C4-1-1/meta/episodes/chunk-000/file-000.parquet +3 -0
  24. eval_Pi0-C4-1-1/meta/info.json +127 -0
  25. eval_Pi0-C4-1-1/meta/stats.json +632 -0
  26. eval_Pi0-C4-1-1/meta/tasks.parquet +3 -0
  27. eval_Pi0-C4-1-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  28. eval_Pi0-C4-1-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  29. eval_Pi0-C4-1-2/data/chunk-000/file-000.parquet +3 -0
  30. eval_Pi0-C4-1-2/meta/episodes/chunk-000/file-000.parquet +3 -0
  31. eval_Pi0-C4-1-2/meta/info.json +127 -0
  32. eval_Pi0-C4-1-2/meta/stats.json +632 -0
  33. eval_Pi0-C4-1-2/meta/tasks.parquet +3 -0
  34. eval_Pi0-C4-1-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  35. eval_Pi0-C4-1-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  36. eval_Pi0-C4-2-1/data/chunk-000/file-000.parquet +3 -0
  37. eval_Pi0-C4-2-1/meta/episodes/chunk-000/file-000.parquet +3 -0
  38. eval_Pi0-C4-2-1/meta/info.json +127 -0
  39. eval_Pi0-C4-2-1/meta/stats.json +632 -0
  40. eval_Pi0-C4-2-1/meta/tasks.parquet +3 -0
  41. eval_Pi0-C4-2-1/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  42. eval_Pi0-C4-2-1/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  43. eval_Pi0-C4-2-2/data/chunk-000/file-000.parquet +3 -0
  44. eval_Pi0-C4-2-2/meta/episodes/chunk-000/file-000.parquet +3 -0
  45. eval_Pi0-C4-2-2/meta/info.json +127 -0
  46. eval_Pi0-C4-2-2/meta/stats.json +632 -0
  47. eval_Pi0-C4-2-2/meta/tasks.parquet +3 -0
  48. eval_Pi0-C4-2-2/videos/observation.images.base_0_rgb/chunk-000/file-000.mp4 +3 -0
  49. eval_Pi0-C4-2-2/videos/observation.images.left_wrist_0_rgb/chunk-000/file-000.mp4 +3 -0
  50. eval_Pi0-C4-2-3/data/chunk-000/file-000.parquet +3 -0
eval_Pi0-C4-0-1/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:242a9203049b6ef904321e8723afe7f6efeb6659fb7277d30079e90feb5a87eb
3
+ size 16948
eval_Pi0-C4-0-1/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:14131b44312fdd213e583fbcd7ce2a74aa30c1ab7ed3f72ef2e85bd378c291e8
3
+ size 52922
eval_Pi0-C4-0-1/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": 187,
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-C4-0-1/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -13.614322662353516,
5
+ -95.53770446777344,
6
+ 15.93679428100586,
7
+ -9.019221305847168,
8
+ -44.25196838378906,
9
+ 2.0061728954315186
10
+ ],
11
+ "max": [
12
+ 4.364043235778809,
13
+ 39.580543518066406,
14
+ 99.27764892578125,
15
+ 90.34007263183594,
16
+ -2.309711217880249,
17
+ 75.30863952636719
18
+ ],
19
+ "mean": [
20
+ -2.8569023609161377,
21
+ -24.291336059570312,
22
+ 58.92564010620117,
23
+ 35.58376693725586,
24
+ -16.099761962890625,
25
+ 24.11863899230957
26
+ ],
27
+ "std": [
28
+ 5.922811508178711,
29
+ 49.76324462890625,
30
+ 29.586257934570312,
31
+ 33.21857452392578,
32
+ 15.609057426452637,
33
+ 27.851713180541992
34
+ ],
35
+ "count": [
36
+ 187
37
+ ],
38
+ "q01": [
39
+ -13.614322662353516,
40
+ -95.53770446777344,
41
+ 15.93679428100586,
42
+ -9.019221305847168,
43
+ -44.25196838378906,
44
+ 2.0061728954315186
45
+ ],
46
+ "q10": [
47
+ -13.614322662353516,
48
+ -95.53770446777344,
49
+ 18.465355491638185,
50
+ -6.46171293258667,
51
+ -42.35743656158447,
52
+ 2.0061728954315186
53
+ ],
54
+ "q50": [
55
+ -2.0524344444274902,
56
+ -16.371917724609375,
57
+ 63.06604766845703,
58
+ 25.294508934020996,
59
+ -7.766401290893555,
60
+ 4.010995626449585
61
+ ],
62
+ "q90": [
63
+ 3.394291877746582,
64
+ 37.69699554443359,
65
+ 99.18680725097656,
66
+ 83.6363037109375,
67
+ -2.942621421813965,
68
+ 72.83944816589356
69
+ ],
70
+ "q99": [
71
+ 4.290567445755005,
72
+ 39.57633357365926,
73
+ 99.27570148468017,
74
+ 90.33635751342773,
75
+ -2.3149402101834613,
76
+ 75.30315530395508
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
+ 0.38226718137254906
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.395263239379085
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.3942109191176471
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
+ 0.0038220857695913466
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.003859227120991154
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.06678105741864827
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.07441513010478425
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.027563374671486073
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.32547276809283715
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.34901118949745835
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.3606932013702752
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9961954005541089
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9961822268504125
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.999815088579704
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.999979946210278
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999797388211282
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999815088583233
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
+ 0.6414150040849673
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5570477859477124
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.519768137254902
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
+ 0.11369454926594438
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09402686238500269
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09815412915819753
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.2430069453961886
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.1960640284117352
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.19605159235644945
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.6940973704536111
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.4901456575682304
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.42343226997398087
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9255183377206815
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765179834346369
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842331928560891
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9998076248688855
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803496831312387
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843839663555526
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -13.54991340637207,
398
+ -96.37657928466797,
399
+ 13.637928009033203,
400
+ -11.150816917419434,
401
+ -44.74394989013672,
402
+ 1.2475253343582153
403
+ ],
404
+ "max": [
405
+ 5.345612525939941,
406
+ 39.54591369628906,
407
+ 100.1016845703125,
408
+ 89.98258972167969,
409
+ -1.8451670408248901,
410
+ 76.59452056884766
411
+ ],
412
+ "mean": [
413
+ -2.6238701343536377,
414
+ -25.449460983276367,
415
+ 57.179229736328125,
416
+ 34.47418212890625,
417
+ -16.028507232666016,
418
+ 24.19723129272461
419
+ ],
420
+ "std": [
421
+ 6.0115742683410645,
422
+ 48.89021682739258,
423
+ 30.180795669555664,
424
+ 32.716888427734375,
425
+ 15.583870887756348,
426
+ 28.558513641357422
427
+ ],
428
+ "count": [
429
+ 187
430
+ ],
431
+ "q01": [
432
+ -13.50505560874939,
433
+ -96.2170043182373,
434
+ 13.637928009033203,
435
+ -10.566872758865356,
436
+ -44.582048416137695,
437
+ 1.2907745325565338
438
+ ],
439
+ "q10": [
440
+ -12.674294376373291,
441
+ -95.40201263427734,
442
+ 17.2988037109375,
443
+ -6.686788272857666,
444
+ -42.67880134582519,
445
+ 1.5391181528568267
446
+ ],
447
+ "q50": [
448
+ -1.5493645668029785,
449
+ -18.26192855834961,
450
+ 60.994131088256836,
451
+ 22.637853622436523,
452
+ -7.657949447631836,
453
+ 3.594584107398987
454
+ ],
455
+ "q90": [
456
+ 3.736848068237305,
457
+ 36.04726867675781,
458
+ 99.24224700927735,
459
+ 82.4238784790039,
460
+ -2.701853370666504,
461
+ 72.30953788757324
462
+ ],
463
+ "q99": [
464
+ 5.327208824157715,
465
+ 39.46788269042969,
466
+ 100.06935562133789,
467
+ 89.70204643249512,
468
+ -1.9126877975463867,
469
+ 76.47592071533204
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 6.2
478
+ ],
479
+ "mean": [
480
+ 3.1
481
+ ],
482
+ "std": [
483
+ 1.799382610168771
484
+ ],
485
+ "count": [
486
+ 187
487
+ ],
488
+ "q01": [
489
+ 0.0333187999010748
490
+ ],
491
+ "q10": [
492
+ 0.5997879999193481
493
+ ],
494
+ "q50": [
495
+ 3.10062000000002
496
+ ],
497
+ "q90": [
498
+ 5.600212000080653
499
+ ],
500
+ "q99": [
501
+ 6.1666812000989255
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 186
510
+ ],
511
+ "mean": [
512
+ 93.0
513
+ ],
514
+ "std": [
515
+ 53.98147830506312
516
+ ],
517
+ "count": [
518
+ 187
519
+ ],
520
+ "q01": [
521
+ 0.9995639999010746
522
+ ],
523
+ "q10": [
524
+ 17.99363999991935
525
+ ],
526
+ "q50": [
527
+ 93.0186
528
+ ],
529
+ "q90": [
530
+ 168.00636000008063
531
+ ],
532
+ "q99": [
533
+ 185.00043600009892
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
+ 187
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
+ 186
574
+ ],
575
+ "mean": [
576
+ 93.0
577
+ ],
578
+ "std": [
579
+ 53.98147830506312
580
+ ],
581
+ "count": [
582
+ 187
583
+ ],
584
+ "q01": [
585
+ 0.9995639999010746
586
+ ],
587
+ "q10": [
588
+ 17.99363999991935
589
+ ],
590
+ "q50": [
591
+ 93.0186
592
+ ],
593
+ "q90": [
594
+ 168.00636000008063
595
+ ],
596
+ "q99": [
597
+ 185.00043600009892
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
+ 187
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-C4-0-1/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-C4-0-1/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:cdbf4d97c24772d8b26f02c17e7365f6108c7ce83715965f44eee05b617f4169
3
+ size 3093467
eval_Pi0-C4-0-1/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 sha256:28cd484e49811d24ae0614d8c668339e669f97766732b724e39ed0eb24bd1743
3
+ size 2092563
eval_Pi0-C4-0-2/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76e7f7c126ba44a20baf32f29e59497fdec43f64028bcb9bfb873966eb143bdc
3
+ size 15082
eval_Pi0-C4-0-2/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e851a755eb9d0aeb736365d284d5eecb8fb5cf85ba0fe8fa180688a6b4b03b7
3
+ size 52922
eval_Pi0-C4-0-2/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": 161,
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-C4-0-2/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -11.45095157623291,
5
+ -91.78938293457031,
6
+ 24.06320571899414,
7
+ -11.582059860229492,
8
+ -44.72441101074219,
9
+ 1.8518518209457397
10
+ ],
11
+ "max": [
12
+ 5.333830833435059,
13
+ 34.93975830078125,
14
+ 99.27764892578125,
15
+ 77.82158660888672,
16
+ -1.52230966091156,
17
+ 76.23456573486328
18
+ ],
19
+ "mean": [
20
+ -0.9538020491600037,
21
+ -22.457534790039062,
22
+ 60.00896072387695,
23
+ 30.74274253845215,
24
+ -15.048663139343262,
25
+ 25.432294845581055
26
+ ],
27
+ "std": [
28
+ 5.91973876953125,
29
+ 46.254005432128906,
30
+ 27.086219787597656,
31
+ 31.392820358276367,
32
+ 15.378707885742188,
33
+ 27.691177368164062
34
+ ],
35
+ "count": [
36
+ 161
37
+ ],
38
+ "q01": [
39
+ -11.301197814941407,
40
+ -91.78938293457031,
41
+ 24.06320571899414,
42
+ -11.582059860229492,
43
+ -44.66993398666382,
44
+ 1.8518518209457397
45
+ ],
46
+ "q10": [
47
+ -10.331223487854004,
48
+ -91.70405248006185,
49
+ 27.043202590942382,
50
+ -8.343859672546387,
51
+ -42.25962233543396,
52
+ 2.0061822175979613
53
+ ],
54
+ "q50": [
55
+ 0.7096233367919922,
56
+ -13.5087890625,
57
+ 60.715206146240234,
58
+ 21.631397247314453,
59
+ -8.240236282348633,
60
+ 6.634660243988037
61
+ ],
62
+ "q90": [
63
+ 5.186090278625488,
64
+ 31.81968536376953,
65
+ 99.17686157226562,
66
+ 75.76441078186035,
67
+ -1.633336067199707,
68
+ 74.23292922973633
69
+ ],
70
+ "q99": [
71
+ 5.333230315314399,
72
+ 34.92615656534831,
73
+ 99.27592048645019,
74
+ 77.81747520446777,
75
+ -1.524627786676089,
76
+ 76.2305736541748
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
+ 0.38203232434640527
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.39264531045751633
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.39215105596405225
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
+ 0.0038141313243201837
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.003948614841786896
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.08231639702634491
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.08627609369585187
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.03937142857106729
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3294363962277517
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.3490053875285527
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.36075977198686143
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9960025008303104
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9960260936235512
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.996188879568993
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.999977950296685
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999777673566181
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.999979902864234
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
+ 0.6409736519607844
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5569616503267973
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5177935191993465
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
+ 0.11376795252195226
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09402524714797056
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09815629629598112
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.23939496967514343
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.1960713052009392
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.1921994841127847
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.6940669288735211
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.4901428215163927
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.4196626578008428
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9255293707405461
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765185133128355
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.984231204202728
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9998055400824297
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803503944929508
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843837600427564
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -11.534717559814453,
398
+ -93.16552734375,
399
+ 21.5162353515625,
400
+ -13.269981384277344,
401
+ -45.326171875,
402
+ 0.8359732627868652
403
+ ],
404
+ "max": [
405
+ 6.432895660400391,
406
+ 34.503517150878906,
407
+ 101.29354858398438,
408
+ 78.09668731689453,
409
+ -1.1687288284301758,
410
+ 77.09246826171875
411
+ ],
412
+ "mean": [
413
+ -0.7378740906715393,
414
+ -24.195812225341797,
415
+ 58.516456604003906,
416
+ 29.625961303710938,
417
+ -15.145697593688965,
418
+ 24.700307846069336
419
+ ],
420
+ "std": [
421
+ 6.173318862915039,
422
+ 45.473655700683594,
423
+ 28.083459854125977,
424
+ 31.326953887939453,
425
+ 15.602932929992676,
426
+ 28.12258529663086
427
+ ],
428
+ "count": [
429
+ 161
430
+ ],
431
+ "q01": [
432
+ -11.492996711730957,
433
+ -92.89461471557617,
434
+ 21.557879734039307,
435
+ -12.83854787826538,
436
+ -45.29429187774658,
437
+ 0.8359732627868652
438
+ ],
439
+ "q10": [
440
+ -10.172413063049316,
441
+ -92.26928939819337,
442
+ 24.884432983398437,
443
+ -7.713060760498047,
444
+ -42.667009353637695,
445
+ 1.4475502729415894
446
+ ],
447
+ "q50": [
448
+ 0.5664701461791992,
449
+ -13.946887969970703,
450
+ 59.30674934387207,
451
+ 19.75906753540039,
452
+ -8.518733024597168,
453
+ 5.5715014934539795
454
+ ],
455
+ "q90": [
456
+ 5.891891098022461,
457
+ 28.78138961791992,
458
+ 99.79214324951172,
459
+ 75.13457870483398,
460
+ -1.6504852294921875,
461
+ 74.00331535339356
462
+ ],
463
+ "q99": [
464
+ 6.333678741455078,
465
+ 34.2836710357666,
466
+ 101.23595039367676,
467
+ 77.93934967041015,
468
+ -1.1758370351791383,
469
+ 76.9764069366455
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 5.333333333333333
478
+ ],
479
+ "mean": [
480
+ 2.666666666666666
481
+ ],
482
+ "std": [
483
+ 1.5491933384829677
484
+ ],
485
+ "count": [
486
+ 161
487
+ ],
488
+ "q01": [
489
+ 0.03371733323459773
490
+ ],
491
+ "q10": [
492
+ 0.533439999920004
493
+ ],
494
+ "q50": [
495
+ 2.6672000000000198
496
+ ],
497
+ "q90": [
498
+ 4.799893333413329
499
+ ],
500
+ "q99": [
501
+ 5.299616000098736
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 160
510
+ ],
511
+ "mean": [
512
+ 80.0
513
+ ],
514
+ "std": [
515
+ 46.475800154489
516
+ ],
517
+ "count": [
518
+ 161
519
+ ],
520
+ "q01": [
521
+ 1.0115199999012643
522
+ ],
523
+ "q10": [
524
+ 16.003199999920003
525
+ ],
526
+ "q50": [
527
+ 80.016
528
+ ],
529
+ "q90": [
530
+ 143.99680000008001
531
+ ],
532
+ "q99": [
533
+ 158.98848000009872
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
+ 161
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
+ 3.959999999999423e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 160
574
+ ],
575
+ "mean": [
576
+ 80.0
577
+ ],
578
+ "std": [
579
+ 46.475800154489
580
+ ],
581
+ "count": [
582
+ 161
583
+ ],
584
+ "q01": [
585
+ 1.0115199999012643
586
+ ],
587
+ "q10": [
588
+ 16.003199999920003
589
+ ],
590
+ "q50": [
591
+ 80.016
592
+ ],
593
+ "q90": [
594
+ 143.99680000008001
595
+ ],
596
+ "q99": [
597
+ 158.98848000009872
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
+ 161
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
+ 3.959999999999423e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C4-0-2/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-C4-0-2/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 sha256:8d75216b703573bf69834b2fa628cdb017b115c08a3a5836091d6f9a043c25a1
3
+ size 2652676
eval_Pi0-C4-0-2/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 sha256:24226f9e1e571c6f30548e02746c0b429074dabb034d2472925883e466ad8db6
3
+ size 1878917
eval_Pi0-C4-0-3/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c3213789f8de486d519045f0f59f3b5ca8d388219141a56a2342a48f4b0ddd22
3
+ size 33203
eval_Pi0-C4-0-3/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b72649a171ab788187156d11eb73008ed9d8869548818c50df8d294e94dfc981
3
+ size 52920
eval_Pi0-C4-0-3/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": 590,
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-C4-0-3/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -11.45095157623291,
5
+ -99.1075439453125,
6
+ 99.18736267089844,
7
+ 74.07589721679688,
8
+ -2.3622047901153564,
9
+ 1.8518518209457397
10
+ ],
11
+ "max": [
12
+ -9.362177848815918,
13
+ -89.55823516845703,
14
+ 99.27764892578125,
15
+ 93.00148010253906,
16
+ -1.9422571659088135,
17
+ 5.246913433074951
18
+ ],
19
+ "mean": [
20
+ -10.26253890991211,
21
+ -98.65998077392578,
22
+ 99.20049285888672,
23
+ 92.5597152709961,
24
+ -1.9927935600280762,
25
+ 1.8984097242355347
26
+ ],
27
+ "std": [
28
+ 0.6109692454338074,
29
+ 0.8040425181388855,
30
+ 0.0,
31
+ 1.883055567741394,
32
+ 0.10420200973749161,
33
+ 0.24393203854560852
34
+ ],
35
+ "count": [
36
+ 590
37
+ ],
38
+ "q01": [
39
+ -11.45095157623291,
40
+ -99.1075439453125,
41
+ 99.18736267089844,
42
+ 83.34148635864258,
43
+ -2.3622047901153564,
44
+ 1.8518518209457397
45
+ ],
46
+ "q10": [
47
+ -11.301621470731847,
48
+ -99.1075439453125,
49
+ 99.18736267089844,
50
+ 92.01680864606585,
51
+ -2.2046679948505603,
52
+ 1.8518518209457397
53
+ ],
54
+ "q50": [
55
+ -10.182967129875632,
56
+ -98.92840791359926,
57
+ 99.18736267089844,
58
+ 92.99927391082402,
59
+ -1.9423095814521418,
60
+ 1.8518518209457397
61
+ ],
62
+ "q90": [
63
+ -9.511345715589925,
64
+ -98.213937178902,
65
+ 99.2776383343865,
66
+ 93.00103886419605,
67
+ -1.942267649017479,
68
+ 2.0060102780659994
69
+ ],
70
+ "q99": [
71
+ -9.362224348536078,
72
+ -95.98472595214844,
73
+ 99.27764786664177,
74
+ 93.00143597870476,
75
+ -1.94225821421968,
76
+ 2.469447469711304
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
+ 0.38405103119679246
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.38019681475531386
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.3740443321936618
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
+ 119
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.05882966002310063
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.04700382852051657
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.1177015358281918
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.09817060629599629
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.04713253919233706
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.35280472934615364
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.352853008505002
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.35691977073743264
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.8392718050723694
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.8470199379710298
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.8785552776391162
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999597760646152
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999559666978943
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999647907296036
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
+ 0.6542857571950348
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5666656248283628
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5246268759954962
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
+ 119
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.11762046768891306
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09414181252399127
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09818295774616372
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.27453677920508157
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.21577002864443257
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.2079737891279432
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7019084028155346
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.4980791311836172
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.42340793705405405
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9255159932255937
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765204283514958
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.984233499561655
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9961456748854706
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803525069184387
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843838593159692
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -11.188974380493164,
398
+ -100.26020812988281,
399
+ 98.9346694946289,
400
+ 83.11012268066406,
401
+ -2.619460105895996,
402
+ -0.055977821350097656
403
+ ],
404
+ "max": [
405
+ -9.051046371459961,
406
+ -96.83277893066406,
407
+ 101.91168212890625,
408
+ 93.4932861328125,
409
+ -1.8208894729614258,
410
+ 1.9119300842285156
411
+ ],
412
+ "mean": [
413
+ -10.039238929748535,
414
+ -99.0108642578125,
415
+ 99.71298217773438,
416
+ 92.44168853759766,
417
+ -2.1519408226013184,
418
+ 0.646475613117218
419
+ ],
420
+ "std": [
421
+ 0.6030318737030029,
422
+ 0.45714807510375977,
423
+ 0.49113228917121887,
424
+ 1.1310601234436035,
425
+ 0.14674293994903564,
426
+ 0.3107849657535553
427
+ ],
428
+ "count": [
429
+ 590
430
+ ],
431
+ "q01": [
432
+ -11.169775772094727,
433
+ -100.08616561889649,
434
+ 99.07904090881348,
435
+ 86.14387359619141,
436
+ -2.5638954639434814,
437
+ 0.15140030831098555
438
+ ],
439
+ "q10": [
440
+ -11.06668472290039,
441
+ -99.52194213867188,
442
+ 99.30322265625,
443
+ 91.84651184082031,
444
+ -2.355612277984619,
445
+ 0.3537406027317047
446
+ ],
447
+ "q50": [
448
+ -10.022948265075684,
449
+ -99.06814575195312,
450
+ 99.60836791992188,
451
+ 92.69793701171875,
452
+ -2.135366678237915,
453
+ 0.5842481851577759
454
+ ],
455
+ "q90": [
456
+ -9.229349136352539,
457
+ -98.37718200683594,
458
+ 100.19811248779297,
459
+ 93.1402587890625,
460
+ -1.9820411205291748,
461
+ 0.9582818746566772
462
+ ],
463
+ "q99": [
464
+ -9.082997822761536,
465
+ -97.83831787109375,
466
+ 101.55807342529297,
467
+ 93.41665802001953,
468
+ -1.883481502532959,
469
+ 1.7391871333122253
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 19.633333333333333
478
+ ],
479
+ "mean": [
480
+ 9.816666666666668
481
+ ],
482
+ "std": [
483
+ 5.677269492360642
484
+ ],
485
+ "count": [
486
+ 590
487
+ ],
488
+ "q01": [
489
+ 0.16845399990171595
490
+ ],
491
+ "q10": [
492
+ 1.9358466665863865
493
+ ],
494
+ "q50": [
495
+ 9.800959999999838
496
+ ],
497
+ "q90": [
498
+ 17.670000000079998
499
+ ],
500
+ "q99": [
501
+ 19.464879333431615
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 589
510
+ ],
511
+ "mean": [
512
+ 294.5
513
+ ],
514
+ "std": [
515
+ 170.31808477081933
516
+ ],
517
+ "count": [
518
+ 590
519
+ ],
520
+ "q01": [
521
+ 5.053619999901716
522
+ ],
523
+ "q10": [
524
+ 58.075399999919725
525
+ ],
526
+ "q50": [
527
+ 294.0287999999999
528
+ ],
529
+ "q90": [
530
+ 530.1000000000801
531
+ ],
532
+ "q99": [
533
+ 583.9463800000983
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
+ 590
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
+ 589
574
+ ],
575
+ "mean": [
576
+ 294.5
577
+ ],
578
+ "std": [
579
+ 170.31808477081933
580
+ ],
581
+ "count": [
582
+ 590
583
+ ],
584
+ "q01": [
585
+ 5.053619999901716
586
+ ],
587
+ "q10": [
588
+ 58.075399999919725
589
+ ],
590
+ "q50": [
591
+ 294.0287999999999
592
+ ],
593
+ "q90": [
594
+ 530.1000000000801
595
+ ],
596
+ "q99": [
597
+ 583.9463800000983
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
+ 590
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-C4-0-3/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-C4-0-3/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 sha256:760c54e0fea3b880b50434130223771fa6a5394d200721e00edd69af0a357516
3
+ size 9275101
eval_Pi0-C4-0-3/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:ee09c3cbbecdb1389bdd01a629b415f4662e3f0f578977bb0301555d976f7c09
3
+ size 11547905
eval_Pi0-C4-1-1/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eea363feb1268fae9fe43e9ccba5a0b9ade17e18b78b335ec226f2f8e4451879
3
+ size 19227
eval_Pi0-C4-1-1/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e77e54f4fd29e0f3793074c7a23e100410c36559300e6585d9bc5296682151d1
3
+ size 52911
eval_Pi0-C4-1-1/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": 228,
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-C4-1-1/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -11.52554988861084,
5
+ -98.83980560302734,
6
+ 25.417606353759766,
7
+ -21.24199104309082,
8
+ -46.929134368896484,
9
+ 1.6975308656692505
10
+ ],
11
+ "max": [
12
+ 6.005221843719482,
13
+ 32.79785919189453,
14
+ 99.18736267089844,
15
+ 95.95860290527344,
16
+ -1.6272965669631958,
17
+ 65.12345886230469
18
+ ],
19
+ "mean": [
20
+ -3.2378580570220947,
21
+ -37.34079360961914,
22
+ 68.3656005859375,
23
+ 41.74945068359375,
24
+ -13.88957691192627,
25
+ 18.73038673400879
26
+ ],
27
+ "std": [
28
+ 6.488349437713623,
29
+ 51.9423828125,
30
+ 27.102741241455078,
31
+ 41.39144515991211,
32
+ 15.432458877563477,
33
+ 22.42327117919922
34
+ ],
35
+ "count": [
36
+ 228
37
+ ],
38
+ "q01": [
39
+ -11.378041835361056,
40
+ -98.83980560302734,
41
+ 25.417606353759766,
42
+ -21.24199104309082,
43
+ -46.828203201293945,
44
+ 1.6975308656692505
45
+ ],
46
+ "q10": [
47
+ -11.152495002746582,
48
+ -98.5550093277641,
49
+ 29.92936477661133,
50
+ -16.21267921447754,
51
+ -44.45595614115397,
52
+ 1.6975308656692505
53
+ ],
54
+ "q50": [
55
+ -3.768183469772339,
56
+ -34.83757019042969,
57
+ 69.31060791015625,
58
+ 39.585121154785156,
59
+ -5.405467987060547,
60
+ 9.879475593566895
61
+ ],
62
+ "q90": [
63
+ 5.929050350189209,
64
+ 32.16864013671875,
65
+ 99.17895217895507,
66
+ 92.9948373413086,
67
+ -1.7320068904331751,
68
+ 59.10053253173828
69
+ ],
70
+ "q99": [
71
+ 6.004751602621639,
72
+ 32.78928593226841,
73
+ 99.1865216217041,
74
+ 95.8582827758789,
75
+ -1.673424312046596,
76
+ 64.9698838297526
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
+ 0.37932400122549015
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.38524091094771246
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.3867594607843137
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
+ -3.9215686274509807e-13
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.00390711840508808
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.08228314235313204
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.0785273871203208
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.03528126432203772
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.32559725781989896
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.34119263195592986
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.3569194755432033
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9764221359227038
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9687067028989182
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9883688558450752
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999758787913164
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999753572876401
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999775894674416
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
+ 0.6443216401143791
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5593075939542484
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5195297426470588
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
+ 0.11376430868136908
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09407881530202634
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09813194029819226
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.24717816009538113
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.2000112305157875
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.20001519012128563
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.694155290220851
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.4941374169954722
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.4197707633198463
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9255251195974801
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765212552403628
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842355842048631
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9998205104238752
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803541436367731
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843841993235274
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -11.628303527832031,
398
+ -100.0995864868164,
399
+ 22.681411743164062,
400
+ -22.787172317504883,
401
+ -47.446006774902344,
402
+ 0.20101070404052734
403
+ ],
404
+ "max": [
405
+ 6.605646133422852,
406
+ 32.467201232910156,
407
+ 100.2996826171875,
408
+ 96.40760803222656,
409
+ -1.373727798461914,
410
+ 68.2118911743164
411
+ ],
412
+ "mean": [
413
+ -3.2148332595825195,
414
+ -38.65196990966797,
415
+ 67.03390502929688,
416
+ 40.900657653808594,
417
+ -14.02292537689209,
418
+ 17.169885635375977
419
+ ],
420
+ "std": [
421
+ 6.559008598327637,
422
+ 50.91490173339844,
423
+ 27.95052719116211,
424
+ 41.42875671386719,
425
+ 15.596575736999512,
426
+ 23.719810485839844
427
+ ],
428
+ "count": [
429
+ 228
430
+ ],
431
+ "q01": [
432
+ -11.525172500610351,
433
+ -99.8005142211914,
434
+ 22.73232963562012,
435
+ -22.637463684082032,
436
+ -47.38813980102539,
437
+ 0.24562584280967711
438
+ ],
439
+ "q10": [
440
+ -11.389803314208985,
441
+ -98.4318962097168,
442
+ 27.785589599609374,
443
+ -16.35542221069336,
444
+ -44.70102119445801,
445
+ 0.44516975730657576
446
+ ],
447
+ "q50": [
448
+ -3.765824794769287,
449
+ -36.81220245361328,
450
+ 67.66896057128906,
451
+ 36.142723083496094,
452
+ -5.022651672363281,
453
+ 2.469173491001129
454
+ ],
455
+ "q90": [
456
+ 6.088530349731445,
457
+ 29.609056091308595,
458
+ 99.63371658325195,
459
+ 92.64343643188477,
460
+ -1.9708213806152342,
461
+ 59.550025939941406
462
+ ],
463
+ "q99": [
464
+ 6.593684463500977,
465
+ 32.38023162841797,
466
+ 100.21213226318359,
467
+ 96.25789855957031,
468
+ -1.5974520874023437,
469
+ 65.82770355224609
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 7.566666666666666
478
+ ],
479
+ "mean": [
480
+ 3.7833333333333328
481
+ ],
482
+ "std": [
483
+ 2.193909920835572
484
+ ],
485
+ "count": [
486
+ 228
487
+ ],
488
+ "q01": [
489
+ 0.0670103999017712
490
+ ],
491
+ "q10": [
492
+ 0.7336639999193919
493
+ ],
494
+ "q50": [
495
+ 3.766686666666226
496
+ ],
497
+ "q90": [
498
+ 6.833002666747274
499
+ ],
500
+ "q99": [
501
+ 7.4996562667648945
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 227
510
+ ],
511
+ "mean": [
512
+ 113.5
513
+ ],
514
+ "std": [
515
+ 65.81729762506714
516
+ ],
517
+ "count": [
518
+ 228
519
+ ],
520
+ "q01": [
521
+ 2.010311999901771
522
+ ],
523
+ "q10": [
524
+ 22.00991999991939
525
+ ],
526
+ "q50": [
527
+ 113.00059999999954
528
+ ],
529
+ "q90": [
530
+ 204.99008000008058
531
+ ],
532
+ "q99": [
533
+ 224.9896880000982
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
+ 228
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
+ 227
574
+ ],
575
+ "mean": [
576
+ 113.5
577
+ ],
578
+ "std": [
579
+ 65.81729762506714
580
+ ],
581
+ "count": [
582
+ 228
583
+ ],
584
+ "q01": [
585
+ 2.010311999901771
586
+ ],
587
+ "q10": [
588
+ 22.00991999991939
589
+ ],
590
+ "q50": [
591
+ 113.00059999999954
592
+ ],
593
+ "q90": [
594
+ 204.99008000008058
595
+ ],
596
+ "q99": [
597
+ 224.9896880000982
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
+ 228
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-C4-1-1/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-C4-1-1/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:dc048359456a45889a7c71132761bb3372a4207a485e7d8322e3e37e0ee2c321
3
+ size 3769180
eval_Pi0-C4-1-1/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 sha256:00a5f42089c470e82e09d83be596cccb1e2b14fc992338769f3aedf9288b912d
3
+ size 2800092
eval_Pi0-C4-1-2/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eac4a4de8fcf15137932c07178998bf5b51e858febeb77f8652654526d2e3899
3
+ size 19669
eval_Pi0-C4-1-2/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:956214d147fd9d5cfc23ae21bfc3b8d1df59595b622c0d1effc6f2e554601d03
3
+ size 52919
eval_Pi0-C4-1-2/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": 243,
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-C4-1-2/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -11.376352310180664,
5
+ -98.83980560302734,
6
+ 21.44469451904297,
7
+ -13.849186897277832,
8
+ -43.359580993652344,
9
+ 1.8518518209457397
10
+ ],
11
+ "max": [
12
+ 5.7068257331848145,
13
+ 35.47523498535156,
14
+ 99.18736267089844,
15
+ 95.95860290527344,
16
+ -2.047244071960449,
17
+ 68.67283630371094
18
+ ],
19
+ "mean": [
20
+ -3.4541187286376953,
21
+ -42.68355941772461,
22
+ 70.27410125732422,
23
+ 49.79301452636719,
24
+ -13.400084495544434,
25
+ 19.41206169128418
26
+ ],
27
+ "std": [
28
+ 7.045226573944092,
29
+ 52.726318359375,
30
+ 28.66147232055664,
31
+ 40.525089263916016,
32
+ 14.710190773010254,
33
+ 24.26585578918457
34
+ ],
35
+ "count": [
36
+ 243
37
+ ],
38
+ "q01": [
39
+ -11.376352310180664,
40
+ -98.75866753387452,
41
+ 21.715704650878905,
42
+ -13.849186897277832,
43
+ -43.359580993652344,
44
+ 1.8518518209457397
45
+ ],
46
+ "q10": [
47
+ -11.376352310180664,
48
+ -98.75027473449707,
49
+ 27.046832275390624,
50
+ -7.539630985260009,
51
+ -42.52372751235962,
52
+ 1.8518518209457397
53
+ ],
54
+ "q50": [
55
+ -4.96076500415802,
56
+ -55.388893127441406,
57
+ 76.33491134643555,
58
+ 52.09039306640625,
59
+ -3.9387206453265566,
60
+ 3.702793002128601
61
+ ],
62
+ "q90": [
63
+ 5.558564746379853,
64
+ 32.524061584472655,
65
+ 99.1818868222444,
66
+ 95.94748697280883,
67
+ -2.306959533691406,
68
+ 64.51456604003906
69
+ ],
70
+ "q99": [
71
+ 5.706187103344844,
72
+ 35.38886848449707,
73
+ 99.18681508603304,
74
+ 95.95749131202697,
75
+ -2.097891159057617,
76
+ 68.51627593994141
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
+ 0.38327918709150327
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.3907527757352941
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.3892227205882353
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
+ 0.0038644528075217283
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.003942176082661443
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.08232529509283405
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.07855010640780376
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.031323450391722414
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3333846954463507
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.3491392482993702
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.36071907179104373
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9843175911255778
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9882485411994851
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9960458409147813
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999762640626989
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999757181795085
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.999978116915333
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
+ 0.6455778125
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5602445506535948
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.519797945261438
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
+ 0.11378115941998693
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09407319367219123
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.09813676975913498
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.2508733106830813
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.20007607325104063
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.20009329105119672
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.6980043191561064
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.4941781524136195
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.4197555063232085
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9255205702309416
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765219300916047
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842359484138272
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9998189533242958
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803547015451315
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843842211395399
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -11.374518394470215,
398
+ -99.44876098632812,
399
+ 19.28878402709961,
400
+ -17.096832275390625,
401
+ -44.328819274902344,
402
+ 0.49709033966064453
403
+ ],
404
+ "max": [
405
+ 6.244701385498047,
406
+ 35.12455368041992,
407
+ 99.833251953125,
408
+ 95.54411315917969,
409
+ -1.7286828756332397,
410
+ 70.53135681152344
411
+ ],
412
+ "mean": [
413
+ -3.375387191772461,
414
+ -43.86201858520508,
415
+ 69.05418395996094,
416
+ 48.76274490356445,
417
+ -13.373002052307129,
418
+ 17.532976150512695
419
+ ],
420
+ "std": [
421
+ 7.077724933624268,
422
+ 51.873538970947266,
423
+ 29.43720054626465,
424
+ 40.56983184814453,
425
+ 14.61864185333252,
426
+ 25.205490112304688
427
+ ],
428
+ "count": [
429
+ 243
430
+ ],
431
+ "q01": [
432
+ -11.33071722984314,
433
+ -99.33531555175782,
434
+ 20.085046348571776,
435
+ -16.208546199798583,
436
+ -43.498713722229006,
437
+ 0.5141086661815644
438
+ ],
439
+ "q10": [
440
+ -11.234797716140747,
441
+ -99.06791648864746,
442
+ 26.123786544799806,
443
+ -7.357896232604981,
444
+ -42.54557723999024,
445
+ 0.7162975907325745
446
+ ],
447
+ "q50": [
448
+ -5.368126392364502,
449
+ -54.8982629776001,
450
+ 74.20802307128906,
451
+ 53.9458122253418,
452
+ -4.195228576660156,
453
+ 1.9187859296798706
454
+ ],
455
+ "q90": [
456
+ 5.789068984985351,
457
+ 29.545147705078126,
458
+ 99.37978515625,
459
+ 95.1481782913208,
460
+ -2.693999862670898,
461
+ 65.51270446777343
462
+ ],
463
+ "q99": [
464
+ 6.207948417663574,
465
+ 34.170966796875,
466
+ 99.66064392089844,
467
+ 95.42662292480469,
468
+ -1.809025535583496,
469
+ 70.24519744873047
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 8.066666666666666
478
+ ],
479
+ "mean": [
480
+ 4.033333333333333
481
+ ],
482
+ "std": [
483
+ 2.33824879074221
484
+ ],
485
+ "count": [
486
+ 243
487
+ ],
488
+ "q01": [
489
+ 0.0668403999016572
490
+ ],
491
+ "q10": [
492
+ 0.799083999919812
493
+ ],
494
+ "q50": [
495
+ 4.03414000000002
496
+ ],
497
+ "q90": [
498
+ 7.267582666746854
499
+ ],
500
+ "q99": [
501
+ 7.99982626676501
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 242
510
+ ],
511
+ "mean": [
512
+ 121.0
513
+ ],
514
+ "std": [
515
+ 70.14746372226631
516
+ ],
517
+ "count": [
518
+ 243
519
+ ],
520
+ "q01": [
521
+ 2.005211999901657
522
+ ],
523
+ "q10": [
524
+ 23.97251999991981
525
+ ],
526
+ "q50": [
527
+ 121.02420000000001
528
+ ],
529
+ "q90": [
530
+ 218.02748000008017
531
+ ],
532
+ "q99": [
533
+ 239.99478800009834
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
+ 243
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
+ 242
574
+ ],
575
+ "mean": [
576
+ 121.0
577
+ ],
578
+ "std": [
579
+ 70.14746372226631
580
+ ],
581
+ "count": [
582
+ 243
583
+ ],
584
+ "q01": [
585
+ 2.005211999901657
586
+ ],
587
+ "q10": [
588
+ 23.97251999991981
589
+ ],
590
+ "q50": [
591
+ 121.02420000000001
592
+ ],
593
+ "q90": [
594
+ 218.02748000008017
595
+ ],
596
+ "q99": [
597
+ 239.99478800009834
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
+ 243
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-C4-1-2/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-C4-1-2/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:fa76296d81c7d970e50043cbe1f2beb8a55b10793dc0344ab4ca089ed40f2789
3
+ size 4010331
eval_Pi0-C4-1-2/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 sha256:15363480fd1880c203513a5f4d12b8f1d75fe6518c556c19dca62c859d15dfa3
3
+ size 3010534
eval_Pi0-C4-2-1/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b278df62a3d1c41e1393e3c12c442aeed5842f9184f9f05c5900bb4587bee9af
3
+ size 34081
eval_Pi0-C4-2-1/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6d322496555c4064bfb5769a42d777775abdf5f08bebc5c4c412bba2a2425dfd
3
+ size 52925
eval_Pi0-C4-2-1/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": 601,
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-C4-2-1/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -11.674748420715332,
5
+ -99.2860336303711,
6
+ 98.55530548095703,
7
+ 65.99310302734375,
8
+ -2.5196850299835205,
9
+ 1.6975308656692505
10
+ ],
11
+ "max": [
12
+ -4.9608354568481445,
13
+ -87.86256408691406,
14
+ 99.27764892578125,
15
+ 95.76145935058594,
16
+ -2.467191696166992,
17
+ 8.024691581726074
18
+ ],
19
+ "mean": [
20
+ -6.102667331695557,
21
+ -99.02688598632812,
22
+ 99.09191131591797,
23
+ 93.60931396484375,
24
+ -2.508941888809204,
25
+ 1.8302769660949707
26
+ ],
27
+ "std": [
28
+ 1.3037413358688354,
29
+ 0.8755578398704529,
30
+ 0.0,
31
+ 2.8712611198425293,
32
+ 0.02150655724108219,
33
+ 0.41184982657432556
34
+ ],
35
+ "count": [
36
+ 601
37
+ ],
38
+ "q01": [
39
+ -10.257434806823731,
40
+ -99.2860336303711,
41
+ 98.64570844650268,
42
+ 81.3655381011963,
43
+ -2.5196850299835205,
44
+ 1.6975308656692505
45
+ ],
46
+ "q10": [
47
+ -7.720857715606689,
48
+ -99.2860336303711,
49
+ 99.0068719329834,
50
+ 92.50793075561523,
51
+ -2.5196850299835205,
52
+ 1.6975308656692505
53
+ ],
54
+ "q50": [
55
+ -5.706087026703224,
56
+ -99.10679442345062,
57
+ 99.09713013432606,
58
+ 94.18485450744629,
59
+ -2.5196850299835205,
60
+ 1.8509596742841663
61
+ ],
62
+ "q90": [
63
+ -5.408136540165654,
64
+ -98.92844153217885,
65
+ 99.09720334445728,
66
+ 95.36721486630647,
67
+ -2.467196821972607,
68
+ 1.8517357042553473
69
+ ],
70
+ "q99": [
71
+ -4.961145844092736,
72
+ -97.32122032165528,
73
+ 99.2776318434173,
74
+ 95.76051816438374,
75
+ -2.4671922087475537,
76
+ 1.851910310998863
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
+ 0.3793450024982445
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.38250272781288824
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.38642112805866147
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
+ 121
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.04708839380967678
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.039273646467906834
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.1098906788600528
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.09805838286077666
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.04718844372005415
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.3528340732211601
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.36074576364881955
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.3765401712937092
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.8234503586261502
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.8353581005589221
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.8822758520670148
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999626441128843
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999613354196245
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999675834069809
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
+ 0.6522356063982067
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5657005296953492
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5285504105223356
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
+ 121
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.10997196839543438
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.0980151858474287
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.10582809384133306
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.27442779715571247
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.21567697109044712
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.21567948668070247
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7018228601282893
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.5018092473275749
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.42749748909512253
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9255086177598577
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765217696755848
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.984236816510291
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.9998119551584316
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803546012634108
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843842885006425
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -10.12964153289795,
398
+ -102.10484313964844,
399
+ 96.15126037597656,
400
+ 79.24816131591797,
401
+ -2.917936325073242,
402
+ -0.1345996856689453
403
+ ],
404
+ "max": [
405
+ -4.683604717254639,
406
+ -96.69235229492188,
407
+ 101.50642395019531,
408
+ 96.19161987304688,
409
+ -2.159740447998047,
410
+ 1.4999370574951172
411
+ ],
412
+ "mean": [
413
+ -5.853667259216309,
414
+ -99.48377227783203,
415
+ 99.51264953613281,
416
+ 93.79946899414062,
417
+ -2.6146674156188965,
418
+ 0.5030533075332642
419
+ ],
420
+ "std": [
421
+ 1.2823764085769653,
422
+ 0.5863019824028015,
423
+ 0.5796011686325073,
424
+ 1.7435708045959473,
425
+ 0.13096682727336884,
426
+ 0.2338477224111557
427
+ ],
428
+ "count": [
429
+ 601
430
+ ],
431
+ "q01": [
432
+ -9.87148817062378,
433
+ -101.78332962036133,
434
+ 97.59716346740723,
435
+ 86.82870056152343,
436
+ -2.860615167617798,
437
+ 0.016434779465198515
438
+ ],
439
+ "q10": [
440
+ -7.2365978240966795,
441
+ -100.16598358154297,
442
+ 99.07421875,
443
+ 92.7162435913086,
444
+ -2.7904000759124754,
445
+ 0.21465722719828287
446
+ ],
447
+ "q50": [
448
+ -5.394312381744385,
449
+ -99.39345741271973,
450
+ 99.53385162353516,
451
+ 94.02455139160156,
452
+ -2.60897159576416,
453
+ 0.506629079580307
454
+ ],
455
+ "q90": [
456
+ -5.01483268737793,
457
+ -98.88668212890624,
458
+ 99.87727355957031,
459
+ 95.43221740722656,
460
+ -2.4549969673156737,
461
+ 0.7882434010505677
462
+ ],
463
+ "q99": [
464
+ -4.771841449737549,
465
+ -98.53152786254883,
466
+ 101.24829551696777,
467
+ 95.85951629638672,
468
+ -2.27786883354187,
469
+ 1.1579887354373932
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 20.0
478
+ ],
479
+ "mean": [
480
+ 10.0
481
+ ],
482
+ "std": [
483
+ 5.783117190965825
484
+ ],
485
+ "count": [
486
+ 601
487
+ ],
488
+ "q01": [
489
+ 0.20003999990200036
490
+ ],
491
+ "q10": [
492
+ 2.0003999999200035
493
+ ],
494
+ "q50": [
495
+ 10.002000000000018
496
+ ],
497
+ "q90": [
498
+ 17.999600000079997
499
+ ],
500
+ "q99": [
501
+ 19.799960000097997
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 600
510
+ ],
511
+ "mean": [
512
+ 300.0
513
+ ],
514
+ "std": [
515
+ 173.49351572897473
516
+ ],
517
+ "count": [
518
+ 601
519
+ ],
520
+ "q01": [
521
+ 6.001199999902002
522
+ ],
523
+ "q10": [
524
+ 60.011999999920015
525
+ ],
526
+ "q50": [
527
+ 299.94000000000005
528
+ ],
529
+ "q90": [
530
+ 539.98800000008
531
+ ],
532
+ "q99": [
533
+ 593.998800000098
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
+ 601
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
+ 3.5999999999994754e-14
563
+ ],
564
+ "q99": [
565
+ 3.9599999999994235e-14
566
+ ]
567
+ },
568
+ "index": {
569
+ "min": [
570
+ 0
571
+ ],
572
+ "max": [
573
+ 600
574
+ ],
575
+ "mean": [
576
+ 300.0
577
+ ],
578
+ "std": [
579
+ 173.49351572897473
580
+ ],
581
+ "count": [
582
+ 601
583
+ ],
584
+ "q01": [
585
+ 6.001199999902002
586
+ ],
587
+ "q10": [
588
+ 60.011999999920015
589
+ ],
590
+ "q50": [
591
+ 299.94000000000005
592
+ ],
593
+ "q90": [
594
+ 539.98800000008
595
+ ],
596
+ "q99": [
597
+ 593.998800000098
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
+ 601
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
+ 3.5999999999994754e-14
627
+ ],
628
+ "q99": [
629
+ 3.9599999999994235e-14
630
+ ]
631
+ }
632
+ }
eval_Pi0-C4-2-1/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-C4-2-1/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 sha256:33fa2fe103722ec4afd8e87f05960a50499e0cbce924bf19665e8c9ec323e136
3
+ size 9575609
eval_Pi0-C4-2-1/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 sha256:3006306cc81d03b5a217159108cf9e53b7c12629ff246395eb086179263c4d80
3
+ size 12097711
eval_Pi0-C4-2-2/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6780f8dc3d5a14f157c3b2658b867532420038d25b832abed88c061e45e9e6be
3
+ size 30067
eval_Pi0-C4-2-2/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5fae98b59ba216c80a5d16269002f1643d1b100400b785f184d4b02f015984a
3
+ size 52916
eval_Pi0-C4-2-2/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": 534,
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-C4-2-2/meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -4.9608354568481445,
5
+ -99.19678497314453,
6
+ 98.10383605957031,
7
+ 95.66288757324219,
8
+ -2.5196850299835205,
9
+ 1.6975308656692505
10
+ ],
11
+ "max": [
12
+ 2.200671434402466,
13
+ -98.21508026123047,
14
+ 99.0970687866211,
15
+ 95.95860290527344,
16
+ -2.2572178840637207,
17
+ 1.6975308656692505
18
+ ],
19
+ "mean": [
20
+ -3.703270673751831,
21
+ -98.96986389160156,
22
+ 99.06839752197266,
23
+ 95.77098846435547,
24
+ -2.4770171642303467,
25
+ 1.6975237131118774
26
+ ],
27
+ "std": [
28
+ 1.6223266124725342,
29
+ 0.0,
30
+ 0.0,
31
+ 0.04419417306780815,
32
+ 0.06925680488348007,
33
+ 0.0036539623979479074
34
+ ],
35
+ "count": [
36
+ 534
37
+ ],
38
+ "q01": [
39
+ -4.9608354568481445,
40
+ -99.19678497314453,
41
+ 98.55527656555176,
42
+ 95.66288757324219,
43
+ -2.5196850299835205,
44
+ 1.6975308656692505
45
+ ],
46
+ "q10": [
47
+ -4.9608354568481445,
48
+ -99.10762294133504,
49
+ 99.00676051148581,
50
+ 95.76142416289359,
51
+ -2.5196850299835205,
52
+ 1.6975308656692505
53
+ ],
54
+ "q50": [
55
+ -4.215239667568077,
56
+ -99.10745318730672,
57
+ 99.09694085604903,
58
+ 95.76145238174504,
59
+ -2.5196850299835205,
60
+ 1.6975308656692505
61
+ ],
62
+ "q90": [
63
+ -0.11187306108145878,
64
+ -98.57218373616537,
65
+ 99.09704320050668,
66
+ 95.7614806005965,
67
+ -2.3096997880223973,
68
+ 1.6975308656692505
69
+ ],
70
+ "q99": [
71
+ 0.5601992511749267,
72
+ -98.21512840964577,
73
+ 99.09706622800965,
74
+ 95.95859495581651,
75
+ -2.309662163435523,
76
+ 1.6975308656692505
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
+ 0.39507106187069424
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.397499457177766
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.39240434000176644
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
+ 111
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.043149665873466574
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.035325508152416425
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ -3.9215686274509807e-13
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.10589985785702177
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.09406729908833115
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.035307925960717634
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.35293629310333285
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.3646908779670271
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.3724857715429861
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.9410065872463164
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.9372969155121891
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.9491873111785999
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.9999736514808891
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.9999715409323358
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.9999747091112593
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
+ 0.6521642304068774
276
+ ]
277
+ ],
278
+ [
279
+ [
280
+ 0.5647292660307366
281
+ ]
282
+ ],
283
+ [
284
+ [
285
+ 0.5233154441205912
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
+ 111
308
+ ],
309
+ "q01": [
310
+ [
311
+ [
312
+ 0.10993409678580414
313
+ ]
314
+ ],
315
+ [
316
+ [
317
+ 0.09407694691948015
318
+ ]
319
+ ],
320
+ [
321
+ [
322
+ 0.0980481275488134
323
+ ]
324
+ ]
325
+ ],
326
+ "q10": [
327
+ [
328
+ [
329
+ 0.27047175737864476
330
+ ]
331
+ ],
332
+ [
333
+ [
334
+ 0.21165596364990633
335
+ ]
336
+ ],
337
+ [
338
+ [
339
+ 0.20785801217015623
340
+ ]
341
+ ]
342
+ ],
343
+ "q50": [
344
+ [
345
+ [
346
+ 0.7018682104385218
347
+ ]
348
+ ],
349
+ [
350
+ [
351
+ 0.49819790667247993
352
+ ]
353
+ ],
354
+ [
355
+ [
356
+ 0.42345328693541157
357
+ ]
358
+ ]
359
+ ],
360
+ "q90": [
361
+ [
362
+ [
363
+ 0.9255128580137402
364
+ ]
365
+ ],
366
+ [
367
+ [
368
+ 0.9765224966235836
369
+ ]
370
+ ],
371
+ [
372
+ [
373
+ 0.9842359268118422
374
+ ]
375
+ ]
376
+ ],
377
+ "q99": [
378
+ [
379
+ [
380
+ 0.999811930815782
381
+ ]
382
+ ],
383
+ [
384
+ [
385
+ 0.9803554864087417
386
+ ]
387
+ ],
388
+ [
389
+ [
390
+ 0.9843841023129183
391
+ ]
392
+ ]
393
+ ]
394
+ },
395
+ "action": {
396
+ "min": [
397
+ -4.851929187774658,
398
+ -100.24285125732422,
399
+ 95.47991180419922,
400
+ 93.30524444580078,
401
+ -2.860093116760254,
402
+ 0.0557708740234375
403
+ ],
404
+ "max": [
405
+ 2.4010705947875977,
406
+ -97.59507751464844,
407
+ 100.51494598388672,
408
+ 96.3526382446289,
409
+ -1.9620685577392578,
410
+ 1.1982841491699219
411
+ ],
412
+ "mean": [
413
+ -3.5132064819335938,
414
+ -99.13787841796875,
415
+ 99.36701965332031,
416
+ 95.39680480957031,
417
+ -2.5490453243255615,
418
+ 0.5438699126243591
419
+ ],
420
+ "std": [
421
+ 1.5688010454177856,
422
+ 0.5077524185180664,
423
+ 0.38527587056159973,
424
+ 0.5163347125053406,
425
+ 0.13896556198596954,
426
+ 0.20198354125022888
427
+ ],
428
+ "count": [
429
+ 534
430
+ ],
431
+ "q01": [
432
+ -4.821945123672485,
433
+ -100.08115798950195,
434
+ 97.87088684082032,
435
+ 93.78389129638671,
436
+ -2.8396029257774353,
437
+ 0.16118715539574624
438
+ ],
439
+ "q10": [
440
+ -4.737767028808594,
441
+ -99.74962158203125,
442
+ 99.03706207275391,
443
+ 94.66889190673828,
444
+ -2.7244195461273195,
445
+ 0.2868784606456757
446
+ ],
447
+ "q50": [
448
+ -4.023636817932129,
449
+ -99.19062805175781,
450
+ 99.42334747314453,
451
+ 95.51399230957031,
452
+ -2.5612306594848633,
453
+ 0.5374544858932495
454
+ ],
455
+ "q90": [
456
+ 0.19993028640747074,
457
+ -98.46058349609375,
458
+ 99.64146575927734,
459
+ 95.96781158447266,
460
+ -2.354936408996582,
461
+ 0.8090527296066284
462
+ ],
463
+ "q99": [
464
+ 0.5118964767456055,
465
+ -97.74882858276368,
466
+ 100.24472900390624,
467
+ 96.25308837890626,
468
+ -2.21824622631073,
469
+ 1.064760949611664
470
+ ]
471
+ },
472
+ "timestamp": {
473
+ "min": [
474
+ 0.0
475
+ ],
476
+ "max": [
477
+ 17.766666666666666
478
+ ],
479
+ "mean": [
480
+ 8.883333333333335
481
+ ],
482
+ "std": [
483
+ 5.138408385944104
484
+ ],
485
+ "count": [
486
+ 534
487
+ ],
488
+ "q01": [
489
+ 0.1646614665685202
490
+ ],
491
+ "q10": [
492
+ 1.7674279999198956
493
+ ],
494
+ "q50": [
495
+ 8.869119999999837
496
+ ],
497
+ "q90": [
498
+ 15.999238666746768
499
+ ],
500
+ "q99": [
501
+ 17.602005200098144
502
+ ]
503
+ },
504
+ "frame_index": {
505
+ "min": [
506
+ 0
507
+ ],
508
+ "max": [
509
+ 533
510
+ ],
511
+ "mean": [
512
+ 266.5
513
+ ],
514
+ "std": [
515
+ 154.15225157832327
516
+ ],
517
+ "count": [
518
+ 534
519
+ ],
520
+ "q01": [
521
+ 4.939843999901854
522
+ ],
523
+ "q10": [
524
+ 53.02283999991991
525
+ ],
526
+ "q50": [
527
+ 266.0735999999999
528
+ ],
529
+ "q90": [
530
+ 479.97716000008023
531
+ ],
532
+ "q99": [
533
+ 528.0601560000982
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
+ 534
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
+ 533
574
+ ],
575
+ "mean": [
576
+ 266.5
577
+ ],
578
+ "std": [
579
+ 154.15225157832327
580
+ ],
581
+ "count": [
582
+ 534
583
+ ],
584
+ "q01": [
585
+ 4.939843999901854
586
+ ],
587
+ "q10": [
588
+ 53.02283999991991
589
+ ],
590
+ "q50": [
591
+ 266.0735999999999
592
+ ],
593
+ "q90": [
594
+ 479.97716000008023
595
+ ],
596
+ "q99": [
597
+ 528.0601560000982
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
+ 534
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-C4-2-2/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-C4-2-2/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:eddb525cb73bcbb0933d42ada5c7056ed82aca0348ae3a3beb001c8f1bff1eed
3
+ size 8543492
eval_Pi0-C4-2-2/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 sha256:850c6b3830b31eb6bef1eb563b5a8a818368e08026773159ab57b105c0f856e7
3
+ size 10848033
eval_Pi0-C4-2-3/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:08b867239f49521e14de334033d8ee0f6e6c32dd7e1e38b33c3611f9f13a238b
3
+ size 24493