Datasets:

Modalities:
Video
ArXiv:
Libraries:
Datasets
License:
Cosmos3-DROID / failure /meta /stats.json
ychao-nvidia's picture
Upload folder using huggingface_hub
a72e93a verified
Raw
History Blame Contribute Delete
34.4 kB
{
"episode_index": {
"min": [
0
],
"max": [
3388
],
"mean": [
917.3388333681315
],
"std": [
833.8260085885049
],
"count": [
3721431
],
"q01": [
917.3388333681315
],
"q10": [
917.3388333681315
],
"q50": [
917.3388333681315
],
"q90": [
917.3388333681315
],
"q99": [
917.3388333681315
]
},
"observation.state.joint_torques_computed": {
"min": [
-31.730894088745117,
-65.33416748046875,
-29.33966636657715,
-31.34511947631836,
-10.397489547729492,
-10.170881271362305,
-6.691669940948486
],
"max": [
34.050804138183594,
43.900146484375,
34.684295654296875,
44.41936492919922,
10.750353813171387,
10.960123062133789,
5.724480152130127
],
"mean": [
-0.08220729581909055,
-0.9186292234027114,
-0.027100469282136018,
0.7704433964420326,
0.01781747061550924,
0.12945700397695814,
-0.010108040086173501
],
"std": [
1.5518250479214046,
2.230785181811991,
1.4584823353422385,
1.6693228135801528,
0.7828001827859802,
0.8163214580303335,
0.38201093308003625
],
"count": [
3721431
],
"q01": [
-2.8269082616515915,
-4.943441493436721,
-2.55832040465657,
-2.3956052290274896,
-1.3751450302405803,
-1.2830947162389066,
-0.6722181957208568
],
"q10": [
-1.3235994556806432,
-2.902307103153147,
-1.1520005670618185,
-0.7256928679664725,
-0.8536852576199183,
-0.6944682310181846,
-0.417990323495512
],
"q50": [
-0.07238100728288108,
-0.8837656918372121,
-0.03267761138751214,
0.8630900962859521,
0.006681780856704703,
0.1483115427343906,
0.0015168480145812944
],
"q90": [
1.137070469778822,
1.0080986405520092,
1.1027628743037914,
2.114664304470693,
0.9035835292563774,
0.9164040937674439,
0.38145267265631505
],
"q99": [
2.6641663492141556,
3.379570965054802,
2.545627636808533,
3.2922290936357004,
1.4071396696094292,
1.5254458909623345,
0.6396477082649971
]
},
"action.gripper_velocity": {
"min": [
-1.0
],
"max": [
1.0
],
"mean": [
0.12938980913548195
],
"std": [
0.4083391035497158
],
"count": [
3721431
],
"q01": [
-0.7413909477319842
],
"q10": [
-0.09597150670667233
],
"q50": [
0.08583609594036368
],
"q90": [
0.4694249554645279
],
"q99": [
0.8359508206598446
]
},
"frame_index": {
"min": [
0
],
"max": [
11400
],
"mean": [
306.7808047495707
],
"std": [
618.8440791165406
],
"count": [
3721431
],
"q01": [
5.639977792165404
],
"q10": [
60.922163305336355
],
"q50": [
306.56479512888967
],
"q90": [
552.5498534199834
],
"q99": [
607.9125038940772
]
},
"observation.state.cartesian_position": {
"min": [
-0.2824079692363739,
-0.8556680083274841,
-0.23339571058750153,
-3.141592502593994,
-1.5681626796722412,
-3.141592025756836
],
"max": [
0.8558081388473511,
0.8407337069511414,
1.0439032316207886,
3.141592502593994,
1.567728042602539,
3.14158034324646
],
"mean": [
0.521762944632236,
0.007272482932377361,
0.3176517393329257,
0.3582885917530585,
-0.06316400322260793,
-0.014779015548853443
],
"std": [
0.13066787890378226,
0.1795349547645054,
0.17337855482772002,
2.8824353466361323,
0.3811261509692099,
0.8267355638898796
],
"count": [
3721431
],
"q01": [
0.3422011971167704,
-0.1530068375897676,
0.18437315277373045,
-2.5056285736066055,
-0.4374227973780845,
-0.7442822041345794
],
"q10": [
0.40705541781194815,
-0.10869402025626532,
0.20769739084374517,
-1.9776550130093429,
-0.32509475437244617,
-0.5359339521427067
],
"q50": [
0.5351052473473015,
0.006769345419127327,
0.2995766702348531,
0.5520113641455179,
-0.06367647699362727,
-0.01499400069853259
],
"q90": [
0.6096512822458312,
0.12302979129163095,
0.4614533682143945,
2.3892025113083597,
0.19892122554753336,
0.5048898538218906
],
"q99": [
0.6321340367225652,
0.16909472579059084,
0.5335878554079443,
2.7283156693733654,
0.3230801663024947,
0.7186396229523302
]
},
"observation.state.joint_velocities": {
"min": [
-1.192430019378662,
-1.171223521232605,
-1.295780062675476,
-1.1078734397888184,
-1.4671096801757812,
-1.4252568483352661,
-1.571319580078125
],
"max": [
1.240002989768982,
1.2287012338638306,
1.2827019691467285,
1.114782452583313,
1.4609808921813965,
1.8509398698806763,
1.476969838142395
],
"mean": [
0.0015294251027068667,
0.04450771512185638,
-0.000613273553877591,
0.02711821066754637,
-0.0032822904852875734,
0.01784116370549439,
0.005133559575949373
],
"std": [
0.12724982085963363,
0.20115919523873824,
0.12951509755833068,
0.1777231702448965,
0.17424863459486445,
0.20247208976056894,
0.20009008692644165
],
"count": [
3721431
],
"q01": [
-0.3121257757086894,
-0.3778945478412151,
-0.3175399137515465,
-0.37491402872905744,
-0.45182662637958165,
-0.46494193043619186,
-0.49995123952812515
],
"q10": [
-0.100212649724459,
-0.14336500616316245,
-0.1021640428099071,
-0.1334916434808901,
-0.1503571292139747,
-0.15656635076175984,
-0.17234165704062487
],
"q50": [
0.0004624179822128176,
0.015088020069543098,
-0.0003264191363385574,
0.008851139183723941,
-0.0003274755586650323,
0.0014627590625783525,
0.001335262135891707
],
"q90": [
0.10516833342872785,
0.2722646590841433,
0.10004151176041035,
0.216363925683664,
0.13589483174275,
0.22634234608833978,
0.19003709578447084
],
"q99": [
0.309790197446224,
0.5149451783696325,
0.3230390322768549,
0.43113657950103934,
0.4409245470623113,
0.5657548399276335,
0.49948925226174307
]
},
"observation.state.motor_torques_measured": {
"min": [
-31.068716049194336,
-89.95671844482422,
-47.711158752441406,
-33.68055725097656,
-12.356505393981934,
-14.526703834533691,
-6.521732807159424
],
"max": [
33.1854362487793,
84.02229309082031,
43.964088439941406,
53.555110931396484,
12.694707870483398,
14.711215019226074,
11.406265258789062
],
"mean": [
-0.09715926912106722,
-34.238372185080664,
-0.150080440580272,
20.903304925717173,
0.5206713393718979,
2.1804335245116597,
-0.01687753726652156
],
"std": [
1.3916980078817154,
16.494865664684944,
4.765142509500931,
4.374133427306919,
0.7606623228777419,
1.1834473783632282,
0.26239947538501446
],
"count": [
3721431
],
"q01": [
-2.3171057204317598,
-47.80125426545338,
-5.61157450571135,
15.302353708674707,
-0.6319939590385243,
0.5010107296772807,
-0.3919492014510159
],
"q10": [
-1.0322828673843314,
-44.8901395679834,
-3.444170646648607,
17.46247177115738,
-0.20311929407754306,
1.1662453398059156,
-0.26982063402786555
],
"q50": [
-0.09459897103911365,
-36.63021416922684,
-0.12364951342200718,
21.03195782784098,
0.5275848412006487,
2.2284002035589396,
-0.009394770777016054
],
"q90": [
0.8242377788336346,
-18.968201372187337,
3.110614439596133,
24.13816495774608,
1.2272776659448736,
3.097866070998943,
0.22480677925185052
],
"q99": [
2.149455451377498,
-9.621527255307438,
5.201111550106127,
25.49239949523247,
1.630739421616893,
3.616768429093581,
0.3438383795337425
]
},
"observation.image.wrist_image_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.40806274983186114
]
],
[
[
0.3887384390307452
]
],
[
[
0.32657890682221535
]
]
],
"std": [
[
[
0.08124657193997238
]
],
[
[
0.0683911400935883
]
],
[
[
0.08850264783653404
]
]
],
"count": [
1386778
],
"q01": [
[
[
0.0015703243142981365
]
],
[
[
0.0028288744666533244
]
],
[
[
0.0019656238548761557
]
]
],
"q10": [
[
[
0.03834919463370156
]
],
[
[
0.038782098688518674
]
],
[
[
0.028136738489537197
]
]
],
"q50": [
[
[
0.4203719165865772
]
],
[
[
0.386014512418153
]
],
[
[
0.3007472972258291
]
]
],
"q90": [
[
[
0.7664639753888025
]
],
[
[
0.7485353701655502
]
],
[
[
0.6720718982540824
]
]
],
"q99": [
[
[
0.9132831543634544
]
],
[
[
0.915328972526188
]
],
[
[
0.8759654166047905
]
]
]
},
"action.joint_position": {
"min": [
-2.7371766567230225,
-1.6589616537094116,
-2.771268129348755,
-2.9442992210388184,
-2.781944513320923,
0.18265485763549805,
-2.8973453044891357
],
"max": [
2.753600597381592,
1.6550288200378418,
2.7425270080566406,
-0.19440315663814545,
2.7721316814422607,
4.400084018707275,
2.8976993560791016
],
"mean": [
0.024777822394387295,
0.28103262184238414,
-0.012464188048712164,
-1.953814481240378,
-0.06688249760731547,
2.2768911381762917,
0.08088947488590635
],
"std": [
0.36598157627145295,
0.5859853107056301,
0.331486364426166,
0.5957185137361607,
0.5803589138830828,
0.5247007869664664,
0.8035565521189242
],
"count": [
3721431
],
"q01": [
-0.3034019297690904,
-0.591708471143306,
-0.33752754735802376,
-2.5640664787903806,
-0.5712459698115677,
1.6515107986899327,
-0.5685564954328398
],
"q10": [
-0.2020219248763292,
-0.2542825744383086,
-0.21906032918242432,
-2.4028448441193966,
-0.42085994542891464,
1.8614549206963815,
-0.3899745018579278
],
"q50": [
0.02183262035849665,
0.35553058528047715,
-0.011127441793749984,
-1.9352952666765149,
-0.06536679664791079,
2.298150713303611,
0.08018634374665354
],
"q90": [
0.2548258422114512,
0.6737320254536366,
0.19425561452531365,
-1.5478790004789726,
0.2857050872408817,
2.650388022456505,
0.5510854142426171
],
"q99": [
0.36650384482758236,
0.7615624967863631,
0.3036554020151768,
-1.4330055438630513,
0.4277712019548524,
2.773046570762624,
0.7267130860271753
]
},
"observation.image.exterior_image_2_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4064748395727252
]
],
[
[
0.4000104428561763
]
],
[
[
0.35782323604805594
]
]
],
"std": [
[
[
0.056507641976410686
]
],
[
[
0.05303758121087746
]
],
[
[
0.06800548256242167
]
]
],
"count": [
1386778
],
"q01": [
[
[
0.01340598007559158
]
],
[
[
0.016563547802972613
]
],
[
[
0.008045664388787807
]
]
],
"q10": [
[
[
0.08258253631527811
]
],
[
[
0.08505615756686435
]
],
[
[
0.06775947327459986
]
]
],
"q50": [
[
[
0.38250391168845677
]
],
[
[
0.36986954121566223
]
],
[
[
0.31518596578976366
]
]
],
"q90": [
[
[
0.7715698955204827
]
],
[
[
0.7638864811456625
]
],
[
[
0.7172235547262287
]
]
],
"q99": [
[
[
0.9274306764598466
]
],
[
[
0.9386199265578595
]
],
[
[
0.9265394621328371
]
]
]
},
"action.cartesian_position": {
"min": [
-0.2824200689792633,
-0.8714114427566528,
-0.2945109009742737,
-3.141592502593994,
-1.5696635246276855,
-3.1415891647338867
],
"max": [
0.9253901839256287,
0.836814284324646,
1.0989590883255005,
3.141592502593994,
1.5665814876556396,
3.141580104827881
],
"mean": [
0.5256055175657854,
0.007261769032806151,
0.3172508676851973,
0.34873709181594564,
-0.06638874669305983,
-0.014205991718133864
],
"std": [
0.13240490870409516,
0.18085248779465132,
0.17453050869744116,
2.8796273242986445,
0.3849086543540958,
0.8347298581356644
],
"count": [
3721431
],
"q01": [
0.34203682995473783,
-0.15488257930917543,
0.18016035534400432,
-2.5655708204468266,
-0.4478545201322224,
-0.7553488864350582
],
"q10": [
0.4145507113338707,
-0.10829102220967757,
0.20676126431127978,
-1.9952416009613165,
-0.3313287673212471,
-0.5358173286200154
],
"q50": [
0.5367947895731419,
0.006834934695632827,
0.30091035090038326,
0.5491989465792827,
-0.06663515233776758,
-0.014462846706155011
],
"q90": [
0.6149272494564453,
0.12242851631249303,
0.45818425756002684,
2.40539457834617,
0.19740239378927563,
0.5066351746224617
],
"q99": [
0.6408535938600055,
0.17061491166682385,
0.5357681935726142,
2.7610988191206918,
0.327662639692054,
0.7353555581445398
]
},
"observation.image.exterior_image_1_left": {
"min": [
[
[
0.0
]
],
[
[
0.0
]
],
[
[
0.0
]
]
],
"max": [
[
[
1.0
]
],
[
[
1.0
]
],
[
[
1.0
]
]
],
"mean": [
[
[
0.4020911600567399
]
],
[
[
0.39356117266364127
]
],
[
[
0.3520368097286231
]
]
],
"std": [
[
[
0.05726366884505599
]
],
[
[
0.05557117170816595
]
],
[
[
0.0702374961558097
]
]
],
"count": [
1386778
],
"q01": [
[
[
0.012759363702259705
]
],
[
[
0.01569873362176902
]
],
[
[
0.007987644073606344
]
]
],
"q10": [
[
[
0.08205408942690105
]
],
[
[
0.08519220439459857
]
],
[
[
0.06835221940492962
]
]
],
"q50": [
[
[
0.3689013404592517
]
],
[
[
0.35759054919134975
]
],
[
[
0.3069835260885656
]
]
],
"q90": [
[
[
0.775399117392248
]
],
[
[
0.7603114121120907
]
],
[
[
0.7145895499406287
]
]
],
"q99": [
[
[
0.9271866895835522
]
],
[
[
0.9363465276104048
]
],
[
[
0.9203294796741027
]
]
]
},
"action.gripper_position": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.3252343392135178
],
"std": [
0.4189105381263817
],
"count": [
3721431
],
"q01": [
0.0003497111545449233
],
"q10": [
0.004127932679279997
],
"q50": [
0.2682507859788621
],
"q90": [
0.7256071569790739
],
"q99": [
0.7877306951834335
]
},
"timestamp": {
"min": [
0.0
],
"max": [
760.0
],
"mean": [
20.4520536499714
],
"std": [
41.25627194110263
],
"count": [
3721431
],
"q01": [
0.3759985193858741
],
"q10": [
4.061477553614106
],
"q50": [
20.4376562862922
],
"q90": [
36.83665689474038
],
"q99": [
40.52750025969694
]
},
"action.joint_velocity": {
"min": [
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0,
-1.0
],
"max": [
1.0,
1.0,
1.0,
1.0,
1.0,
1.0,
1.0
],
"mean": [
-0.003027320230512694,
0.038140695308454355,
0.0019641354069358107,
0.05220554737197906,
-0.0003127255307321183,
0.003850531924849648,
0.00022811217452942863
],
"std": [
0.1538596964581578,
0.2786113155346208,
0.15200276817302094,
0.2827406073680471,
0.2049322596807751,
0.23590007395064194,
0.2440550653923451
],
"count": [
3721431
],
"q01": [
-0.3479140402439584,
-0.556583135361106,
-0.33646084483304434,
-0.5553022417620522,
-0.467744363905147,
-0.5040384400531807,
-0.5574832121836201
],
"q10": [
-0.15375015488570207,
-0.2801740145229825,
-0.14248528318636366,
-0.25475458950925584,
-0.21821906240668448,
-0.24982249168397594,
-0.2658011307264714
],
"q50": [
-0.0021347816545675483,
0.03563510942447731,
0.000934663694999032,
0.04675738445979209,
-7.773683044679881e-05,
-0.004569429471756974,
0.001937151662067903
],
"q90": [
0.1461279359134511,
0.3490088341586048,
0.147144272386716,
0.3589443142400573,
0.21489754949012824,
0.2735921678183171,
0.2643217790781967
],
"q99": [
0.3339369512499411,
0.6108072810286925,
0.34724119201652276,
0.6000178405176747,
0.4680483304293566,
0.5517135831823342,
0.5365852744555476
]
},
"observation.state.gripper_position": {
"min": [
0.0
],
"max": [
1.0
],
"mean": [
0.2920989417863032
],
"std": [
0.38577684260328043
],
"count": [
3721431
],
"q01": [
0.000453699381326966
],
"q10": [
0.0037335858728252793
],
"q50": [
0.2455505605252752
],
"q90": [
0.6511778802028769
],
"q99": [
0.7216937285361555
]
},
"observation.state.joint_positions": {
"min": [
-2.672288417816162,
-1.6589547395706177,
-2.6684253215789795,
-2.8939685821533203,
-2.6673336029052734,
0.2529861629009247,
-2.7434961795806885
],
"max": [
2.677424192428589,
1.5454543828964233,
2.655714988708496,
-0.32534170150756836,
2.6555395126342773,
4.309162616729736,
2.7478504180908203
],
"mean": [
0.025282730679680954,
0.27041142000538615,
-0.012827159375045463,
-1.9660716045600513,
-0.06659991527159555,
2.2748449822056394,
0.08048401279006924
],
"std": [
0.362481336329589,
0.590350860452043,
0.3301245883716139,
0.5904006565317341,
0.5744563792402517,
0.5190888790820429,
0.7962242224659886
],
"count": [
3721431
],
"q01": [
-0.29532944897768426,
-0.5938822988368488,
-0.33175570981062935,
-2.5626510191698295,
-0.553865843723636,
1.6621780390616572,
-0.5522970331875224
],
"q10": [
-0.20001365127048804,
-0.28665094120629486,
-0.21969616946284656,
-2.4191978112365975,
-0.4163234536904757,
1.856387582678115,
-0.3896451189198553
],
"q50": [
0.0222602691113462,
0.35236244902270897,
-0.011549252307304402,
-1.9455070558190366,
-0.06527852658114242,
2.298797711906239,
0.08028871299515113
],
"q90": [
0.25396987962687795,
0.6681711093096874,
0.1940780543207067,
-1.5597426768102547,
0.2822954182270495,
2.6458152290543007,
0.5493700164451522
],
"q99": [
0.3596121451150199,
0.744606571414177,
0.29781889084516616,
-1.45828791355341,
0.41135848990899093,
2.7562028804371312,
0.7106737587145933
]
},
"task_index": {
"min": [
0
],
"max": [
17
],
"mean": [
0.025834148208041467
],
"std": [
0.3616907360189221
],
"count": [
3721431
],
"q01": [
0.025834148208041766
],
"q10": [
0.025834148208045263
],
"q50": [
0.02583414820806145
],
"q90": [
0.02583414820807749
],
"q99": [
0.025834148208081126
]
},
"action.cartesian_velocity": {
"min": [
-0.9999969005584717,
-0.9999222755432129,
-0.9999492764472961,
-0.9999887943267822,
-0.9999982118606567,
-0.9999985694885254
],
"max": [
0.9999992251396179,
0.9999496340751648,
0.9999909996986389,
0.9999746680259705,
0.9999896287918091,
0.9999984502792358
],
"mean": [
0.04357615627023889,
-0.000712725195250423,
0.002632476164805332,
0.002133578449422171,
-0.03217429305185934,
-0.00028987438212841075
],
"std": [
0.27717542656882255,
0.18594110820464071,
0.22910925375226984,
0.22081468723225214,
0.23308630383382148,
0.27646936403105277
],
"count": [
3721431
],
"q01": [
-0.49161127280315897,
-0.3982755586228641,
-0.4171359598853863,
-0.4828826363245809,
-0.546784269361945,
-0.5977946328467103
],
"q10": [
-0.2478171981037959,
-0.1871675365187063,
-0.2253450449240815,
-0.2375458626901709,
-0.28991823264369754,
-0.2973301924539062
],
"q50": [
0.04219589015059613,
2.7413449214296766e-05,
-0.0097642566250016,
-0.0006680644876043138,
-0.024579828091154284,
-0.0027056146742538098
],
"q90": [
0.3282638219053771,
0.18532280784013155,
0.2563333436068292,
0.24477513915941415,
0.21365492493965577,
0.3000549164697089
],
"q99": [
0.5491934309212794,
0.3941036016551698,
0.5136161229206608,
0.504797268730114,
0.47829170272952465,
0.6138222060261589
]
},
"index": {
"min": [
0
],
"max": [
850848
],
"mean": [
233028.1276468649
],
"std": [
192862.4738318735
],
"count": [
3721431
],
"q01": [
232726.98681990738
],
"q10": [
232782.26900542094
],
"q50": [
233027.93353644983
],
"q90": [
233273.8966955352
],
"q99": [
233329.2593460094
]
}
}