| { |
| "observation.images.wrist": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 0.9725490212440491 |
| ] |
| ], |
| [ |
| [ |
| 0.9764705896377563 |
| ] |
| ], |
| [ |
| [ |
| 0.9803921580314636 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.2535235291241501 |
| ] |
| ], |
| [ |
| [ |
| 0.2397347410600368 |
| ] |
| ], |
| [ |
| [ |
| 0.23223954803423746 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.1472051764748016 |
| ] |
| ], |
| [ |
| [ |
| 0.1535024935284571 |
| ] |
| ], |
| [ |
| [ |
| 0.15841747988817045 |
| ] |
| ] |
| ], |
| "count": [ |
| 10002 |
| ], |
| "q01": [ |
| [ |
| [ |
| 0.05009910703253875 |
| ] |
| ], |
| [ |
| [ |
| 0.04615416019641135 |
| ] |
| ], |
| [ |
| [ |
| 0.04385493298600338 |
| ] |
| ] |
| ], |
| "q10": [ |
| [ |
| [ |
| 0.16313868419353422 |
| ] |
| ], |
| [ |
| [ |
| 0.14619914893742392 |
| ] |
| ], |
| [ |
| [ |
| 0.13383934306309672 |
| ] |
| ] |
| ], |
| "q50": [ |
| [ |
| [ |
| 0.21187288314290809 |
| ] |
| ], |
| [ |
| [ |
| 0.1933990178532641 |
| ] |
| ], |
| [ |
| [ |
| 0.18243685670155219 |
| ] |
| ] |
| ], |
| "q90": [ |
| [ |
| [ |
| 0.40143764773565327 |
| ] |
| ], |
| [ |
| [ |
| 0.39531606908056194 |
| ] |
| ], |
| [ |
| [ |
| 0.39526028043767014 |
| ] |
| ] |
| ], |
| "q99": [ |
| [ |
| [ |
| 0.8956564888657104 |
| ] |
| ], |
| [ |
| [ |
| 0.9179121285333842 |
| ] |
| ], |
| [ |
| [ |
| 0.9291099669486506 |
| ] |
| ] |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 99.0 |
| ], |
| "mean": [ |
| 51.81641164370051 |
| ], |
| "std": [ |
| 29.510560665603833 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 51.81641164370051 |
| ], |
| "q10": [ |
| 51.81641164370051 |
| ], |
| "q50": [ |
| 51.81641164370052 |
| ], |
| "q90": [ |
| 51.816411643700526 |
| ], |
| "q99": [ |
| 51.81641164370053 |
| ] |
| }, |
| "next.reward": { |
| "min": [ |
| -0.07460739463567734 |
| ], |
| "max": [ |
| 2.3855504989624023 |
| ], |
| "mean": [ |
| 0.008926276739488165 |
| ], |
| "std": [ |
| 0.1037386355120587 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| -0.0009249312991834174 |
| ], |
| "q10": [ |
| -0.00020586719035439667 |
| ], |
| "q50": [ |
| 7.104272070073946e-05 |
| ], |
| "q90": [ |
| 0.007851122413039422 |
| ], |
| "q99": [ |
| 0.11436330096765723 |
| ] |
| }, |
| "observation.eef_pos": { |
| "min": [ |
| 0.31823158264160156, |
| -0.11793708801269531, |
| 0.2054150104522705 |
| ], |
| "max": [ |
| 0.41991424560546875, |
| 0.1202545166015625, |
| 0.4703909754753113 |
| ], |
| "mean": [ |
| 0.3716486386914263, |
| -0.011553409010220297, |
| 0.2595072639063406 |
| ], |
| "std": [ |
| 0.0296953576766344, |
| 0.07173180834547567, |
| 0.05395972292372284 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 0.3513178831083168, |
| -0.06897524610165558, |
| 0.2083003145812689 |
| ], |
| "q10": [ |
| 0.35577836201680235, |
| -0.06890996260770892, |
| 0.20979211455794275 |
| ], |
| "q50": [ |
| 0.3717077624907755, |
| -0.045927322198563804, |
| 0.24481409596614787 |
| ], |
| "q90": [ |
| 0.3873682826495224, |
| 0.07428082078625477, |
| 0.3154959769212575 |
| ], |
| "q99": [ |
| 0.38847548147032473, |
| 0.07440656486698115, |
| 0.45567430118504765 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -0.190264493227005, |
| -0.7265247106552124, |
| -0.2808423340320587, |
| -2.9691426753997803, |
| -0.15310366451740265, |
| 1.8923397064208984, |
| -0.5511496067047119, |
| -1.3726694780835658e-10 |
| ], |
| "max": [ |
| 0.23030418157577515, |
| 0.07443910837173462, |
| 0.26865553855895996, |
| -2.4791641235351562, |
| 0.1420726478099823, |
| 2.767517566680908, |
| 0.5999776721000671, |
| 0.9434041380882263 |
| ], |
| "mean": [ |
| 0.0019667100662155487, |
| -0.21248624367574284, |
| -0.034061174800815094, |
| -2.766291650616011, |
| -0.008692602470351585, |
| 2.5542208334799468, |
| 0.010461168994042917, |
| 0.670367905973639 |
| ], |
| "std": [ |
| 0.09424680208032553, |
| 0.1598200065801483, |
| 0.1252643584536842, |
| 0.1036577948178902, |
| 0.051110827415400024, |
| 0.17796337494933565, |
| 0.24077171509988401, |
| 0.4087432283117888 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| -0.07432029786845772, |
| -0.6065762535272042, |
| -0.13376316229636062, |
| -2.840982254839795, |
| -0.06147904814868403, |
| 1.9368560047477121, |
| -0.1402697344448343, |
| -1.1794297821649657e-10 |
| ], |
| "q10": [ |
| -0.06870680433036246, |
| -0.4016770247564946, |
| -0.13288232253603408, |
| -2.836844124141602, |
| -0.054429804148523754, |
| 2.3587598832828336, |
| -0.13097929102618783, |
| -1.1794297821649657e-10 |
| ], |
| "q50": [ |
| -0.03385118275548194, |
| -0.188325837911396, |
| -0.08277955727924553, |
| -2.767528815162056, |
| -0.019488133511263054, |
| 2.601376044915946, |
| -0.055574338047742006, |
| 0.9070513570443463 |
| ], |
| "q90": [ |
| 0.10367671478570904, |
| -0.0545451951408576, |
| 0.10686288280583249, |
| -2.697747612907403, |
| 0.046719802265552564, |
| 2.7234461865903397, |
| 0.20666441756154935, |
| 0.9260131123493482 |
| ], |
| "q99": [ |
| 0.10642701716779525, |
| -0.04330872841697428, |
| 0.10917599088108974, |
| -2.5340981028239695, |
| 0.04961917448076807, |
| 2.7298448856510635, |
| 0.21203516418092427, |
| 0.9319173155290948 |
| ] |
| }, |
| "observation.images.front": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 0.9882352948188782 |
| ] |
| ], |
| [ |
| [ |
| 0.9882352948188782 |
| ] |
| ], |
| [ |
| [ |
| 0.9960784316062927 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.34734879794346774 |
| ] |
| ], |
| [ |
| [ |
| 0.3282409547907285 |
| ] |
| ], |
| [ |
| [ |
| 0.31677569887848334 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.20208969985592126 |
| ] |
| ], |
| [ |
| [ |
| 0.20945418596228613 |
| ] |
| ], |
| [ |
| [ |
| 0.21668847490699886 |
| ] |
| ] |
| ], |
| "count": [ |
| 10002 |
| ], |
| "q01": [ |
| [ |
| [ |
| 0.14908869940307054 |
| ] |
| ], |
| [ |
| [ |
| 0.13544772328608576 |
| ] |
| ], |
| [ |
| [ |
| 0.12131698985742434 |
| ] |
| ] |
| ], |
| "q10": [ |
| [ |
| [ |
| 0.1884709802673523 |
| ] |
| ], |
| [ |
| [ |
| 0.1649982068578124 |
| ] |
| ], |
| [ |
| [ |
| 0.14632103346556996 |
| ] |
| ] |
| ], |
| "q50": [ |
| [ |
| [ |
| 0.2726509761339246 |
| ] |
| ], |
| [ |
| [ |
| 0.24683577395922635 |
| ] |
| ], |
| [ |
| [ |
| 0.23072505358441844 |
| ] |
| ] |
| ], |
| "q90": [ |
| [ |
| [ |
| 0.6773220453307764 |
| ] |
| ], |
| [ |
| [ |
| 0.6734563199432568 |
| ] |
| ], |
| [ |
| [ |
| 0.6754527147353909 |
| ] |
| ] |
| ], |
| "q99": [ |
| [ |
| [ |
| 0.9379187131714213 |
| ] |
| ], |
| [ |
| [ |
| 0.9395168533059713 |
| ] |
| ], |
| [ |
| [ |
| 0.9426685004577955 |
| ] |
| ] |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 31.333333333333332 |
| ], |
| "mean": [ |
| 12.042030414893718 |
| ], |
| "std": [ |
| 7.275359512226954 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 0.21221444822744123 |
| ], |
| "q10": [ |
| 2.379000704327941 |
| ], |
| "q50": [ |
| 12.032785969322017 |
| ], |
| "q90": [ |
| 21.701048553146585 |
| ], |
| "q99": [ |
| 23.871846381559987 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 35486.0 |
| ], |
| "mean": [ |
| 17743.0 |
| ], |
| "std": [ |
| 10244.214497298786 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 17565.552760501374 |
| ], |
| "q10": [ |
| 17598.05455434263 |
| ], |
| "q50": [ |
| 17742.860085704626 |
| ], |
| "q90": [ |
| 17887.88527207267 |
| ], |
| "q99": [ |
| 17920.447239498626 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 3.999999999999416e-16 |
| ], |
| "q10": [ |
| 3.999999999999417e-15 |
| ], |
| "q50": [ |
| 1.999999999999708e-14 |
| ], |
| "q90": [ |
| 3.5999999999994735e-14 |
| ], |
| "q99": [ |
| 3.9599999999994235e-14 |
| ] |
| }, |
| "observation.eef_quat": { |
| "min": [ |
| -0.12176284939050674, |
| 0.6936162710189819, |
| -0.12194494158029556, |
| 0.6936116814613342 |
| ], |
| "max": [ |
| 0.12270043045282364, |
| 0.7100638747215271, |
| 0.12235470861196518, |
| 0.7103729248046875 |
| ], |
| "mean": [ |
| 0.012525840005609976, |
| 0.7037009380187369, |
| -0.012223206485276555, |
| 0.7033412061818747 |
| ], |
| "std": [ |
| 0.06994309836936158, |
| 0.003320879103300321, |
| 0.0699685529068297, |
| 0.003365917172444611 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| -0.004709997936263184, |
| 0.7017421367186294, |
| -0.02446840162587143, |
| 0.701056096259886 |
| ], |
| "q10": [ |
| 0.012296294800926817, |
| 0.7029486771852689, |
| -0.01261169380309145, |
| 0.7024323243711323 |
| ], |
| "q50": [ |
| 0.012686179063084337, |
| 0.7037405107364881, |
| -0.012392703954367043, |
| 0.7031842699666527 |
| ], |
| "q90": [ |
| 0.013021388959322179, |
| 0.7045866862292569, |
| -0.012032118359217057, |
| 0.7040764127018513 |
| ], |
| "q99": [ |
| 0.024676858992726963, |
| 0.7066279947187748, |
| 0.004636545193525956, |
| 0.7074983585224056 |
| ] |
| }, |
| "action": { |
| "min": [ |
| -0.19235049188137054, |
| -0.7431169748306274, |
| -0.2809159457683563, |
| -2.970069169998169, |
| -0.15409798920154572, |
| 1.9173485040664673, |
| -0.5534359216690063, |
| 0.0 |
| ], |
| "max": [ |
| 0.23244333267211914, |
| 0.07889784127473831, |
| 0.2693467140197754, |
| -2.4672274589538574, |
| 0.1428595632314682, |
| 2.775412082672119, |
| 0.6000922322273254, |
| 1.0 |
| ], |
| "mean": [ |
| 0.002828734549001181, |
| -0.2080147790454309, |
| -0.03295429678765017, |
| -2.768903779624755, |
| -0.008936499447128998, |
| 2.561808463058271, |
| 0.012667010406974467, |
| 0.7277312819282593 |
| ], |
| "std": [ |
| 0.09516131497325678, |
| 0.15552085092029716, |
| 0.12654060559079447, |
| 0.10150365348457296, |
| 0.05152569278538638, |
| 0.1667787741957439, |
| 0.24300636376470924, |
| 0.4451274737054139 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| -0.07441947178544549, |
| -0.5783488756537567, |
| -0.13377197411162647, |
| -2.8409038201079526, |
| -0.06260561871898823, |
| 1.9790181663144049, |
| -0.13427498597396947, |
| -1.000000013351432e-10 |
| ], |
| "q10": [ |
| -0.06901699496900104, |
| -0.3855559518656664, |
| -0.1328413098071603, |
| -2.837172608043341, |
| -0.0555320244376114, |
| 2.3956315722553834, |
| -0.1309073250614042, |
| -1.000000013351432e-10 |
| ], |
| "q50": [ |
| -0.031113044782872107, |
| -0.18526686962642538, |
| -0.08080423155631003, |
| -2.768871092309826, |
| -0.018735747240358227, |
| 2.604814722018771, |
| -0.05215184247033613, |
| 0.9870138310464782 |
| ], |
| "q90": [ |
| 0.10386095492226911, |
| -0.054070224760372966, |
| 0.10722462984677295, |
| -2.7067912605819453, |
| 0.04596252953275081, |
| 2.724210450472205, |
| 0.20725192803811573, |
| 0.9999721958017072 |
| ], |
| "q99": [ |
| 0.10754460879309884, |
| -0.03852474143297357, |
| 0.10937676742293254, |
| -2.556167509188014, |
| 0.04922304421204013, |
| 2.735576432070576, |
| 0.21173023350953474, |
| 0.9999972195801705 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 470.0 |
| ], |
| "mean": [ |
| 180.63045622340582 |
| ], |
| "std": [ |
| 109.1303926834043 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 3.1832167247869334 |
| ], |
| "q10": [ |
| 35.68501056604256 |
| ], |
| "q50": [ |
| 180.48599973511412 |
| ], |
| "q90": [ |
| 325.51572829607574 |
| ], |
| "q99": [ |
| 358.07769572202466 |
| ] |
| }, |
| "observation.held_part_pose": { |
| "min": [ |
| 0.3194236755371094, |
| -0.11804580688476562, |
| -0.0030016154050827026, |
| -0.9060370922088623, |
| -0.5364090800285339, |
| -0.13611525297164917, |
| 0.18319419026374817 |
| ], |
| "max": [ |
| 0.4222145080566406, |
| 0.11981582641601562, |
| 0.09453156590461731, |
| 0.9586735367774963, |
| 0.8350531458854675, |
| 0.490121454000473, |
| 1.0000001192092896 |
| ], |
| "mean": [ |
| 0.37292761122192436, |
| -0.013439133703913985, |
| 0.026697672280136604, |
| 0.0004998926304585162, |
| 0.0028817172182699145, |
| 0.006939662739660756, |
| 0.9981962492215575 |
| ], |
| "std": [ |
| 0.029869017475049997, |
| 0.07293698180083712, |
| 0.028165853137267098, |
| 0.03010699824936755, |
| 0.020149139749383666, |
| 0.041419285892346426, |
| 0.022801180929104974 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 0.35709028198735854, |
| -0.06906204672882903, |
| -3.0203862263456205e-06, |
| -0.018551068376308624, |
| -0.02302473541186327, |
| -0.01742745161477092, |
| 0.9675003382020021 |
| ], |
| "q10": [ |
| 0.3573110600203589, |
| -0.06889119972736432, |
| -8.409277858857333e-07, |
| -0.0055191374458741635, |
| -0.007414140805938288, |
| -0.012341302416799703, |
| 0.9983109818103028 |
| ], |
| "q50": [ |
| 0.3730138959568393, |
| -0.04846909943888344, |
| 0.01831142254716398, |
| 0.0002870080920901045, |
| 0.0024237113583919965, |
| 0.004495301835185127, |
| 0.9989350253474034 |
| ], |
| "q90": [ |
| 0.3882450744182062, |
| 0.0742115917897537, |
| 0.07429570455775159, |
| 0.005581757008127495, |
| 0.012942039211153859, |
| 0.027121340616635597, |
| 0.9997211579070113 |
| ], |
| "q99": [ |
| 0.3888715925900875, |
| 0.07492651114140285, |
| 0.07992043044422427, |
| 0.029597139844329674, |
| 0.03245428326644272, |
| 0.037672292495693385, |
| 0.999733726250055 |
| ] |
| }, |
| "observation.fixed_part_pose": { |
| "min": [ |
| 0.3201026916503906, |
| 0.021404266357421875, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "max": [ |
| 0.41918373107910156, |
| 0.11974716186523438, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "mean": [ |
| 0.3724268526548491, |
| 0.07422145564138168, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "std": [ |
| 0.03049442978073896, |
| 0.02652782733689437, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| 0.37242697873965963, |
| 0.07422146173839914, |
| 3.999578446212128e-16, |
| 3.999578446212128e-16, |
| 3.999578446212128e-16, |
| 3.999578446212128e-16, |
| 1.0 |
| ], |
| "q10": [ |
| 0.37242697873965963, |
| 0.07422146173839914, |
| 3.999578446212129e-15, |
| 3.999578446212129e-15, |
| 3.999578446212129e-15, |
| 3.999578446212129e-15, |
| 1.0 |
| ], |
| "q50": [ |
| 0.37242697873965963, |
| 0.07422146173839914, |
| 1.9997892231060632e-14, |
| 1.9997892231060632e-14, |
| 1.9997892231060632e-14, |
| 1.9997892231060632e-14, |
| 1.0 |
| ], |
| "q90": [ |
| 0.37242697873965963, |
| 0.07422146173839914, |
| 3.5996206015909134e-14, |
| 3.5996206015909134e-14, |
| 3.5996206015909134e-14, |
| 3.5996206015909134e-14, |
| 1.0 |
| ], |
| "q99": [ |
| 0.37242697873965963, |
| 0.07422146173839914, |
| 3.959582661750005e-14, |
| 3.959582661750005e-14, |
| 3.959582661750005e-14, |
| 3.959582661750005e-14, |
| 1.0 |
| ] |
| }, |
| "observation.joint_vel": { |
| "min": [ |
| -0.16799074411392212, |
| -0.40306198596954346, |
| -0.19147780537605286, |
| -0.2964746952056885, |
| -0.12815769016742706, |
| -0.21638178825378418, |
| -0.5127387046813965 |
| ], |
| "max": [ |
| 0.14471913874149323, |
| 0.2773737907409668, |
| 0.13898421823978424, |
| 0.21716678142547607, |
| 0.09438318759202957, |
| 0.23147036135196686, |
| 0.33747631311416626 |
| ], |
| "mean": [ |
| 0.003018688624892609, |
| 0.021043943641985224, |
| 0.004793639696257234, |
| -0.012540311405919302, |
| -0.004768522513733282, |
| 0.030072277685491464, |
| 0.009027367432054534 |
| ], |
| "std": [ |
| 0.028830542136833448, |
| 0.06328128401352827, |
| 0.03533881002016174, |
| 0.03972489594594489, |
| 0.01839433965860502, |
| 0.0694018777844694, |
| 0.055675374719375184 |
| ], |
| "count": [ |
| 35487 |
| ], |
| "q01": [ |
| -0.08320104739988231, |
| -0.15757155378071183, |
| -0.10318481870032152, |
| -0.1637392184595627, |
| -0.057202657581501115, |
| -0.07041966912407531, |
| -0.16637918683439473 |
| ], |
| "q10": [ |
| -0.005462928965379233, |
| -0.04204239701434696, |
| -0.009805709828458553, |
| -0.062255191349565316, |
| -0.019032308578904922, |
| -0.03889971168761574, |
| -0.010244296577792564 |
| ], |
| "q50": [ |
| -0.0015172661580309475, |
| 0.01473671849148637, |
| 0.0016430428181961078, |
| -0.004435224331949556, |
| -0.005934715211609907, |
| 0.011342685392170567, |
| 0.002587457235906637 |
| ], |
| "q90": [ |
| 0.023855652857544613, |
| 0.1050354124149345, |
| 0.03260794552115426, |
| 0.008773320087809998, |
| 0.015148539790149648, |
| 0.15697314844435847, |
| 0.05586126883518762 |
| ], |
| "q99": [ |
| 0.09115415930165931, |
| 0.19287466640395928, |
| 0.10307070003772209, |
| 0.06386168145646878, |
| 0.042586186157385846, |
| 0.19893653874772319, |
| 0.1629526817240127 |
| ] |
| } |
| } |