Hugging Face's logo

Datasets:
nvidia
/
LIBERO_LeRobot_v3

Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
ArXiv:
Tags:
robotics
robot-learning
libero
lerobot
LeRobotDataset-v3
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
harrim-nv commited on
Commit
8995889
·
verified ·
1 Parent(s): f8d15e9

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. libero_10/Untitled +1 -0
  2. libero_10/meta/info.json +140 -0
  3. libero_10/meta/stats.json +319 -0
  4. libero_90/meta/episodes/chunk-000/file-000.parquet +3 -0
  5. libero_90/meta/episodes/chunk-000/file-001.parquet +3 -0
  6. libero_90/meta/episodes/chunk-000/file-002.parquet +3 -0
  7. libero_90/meta/episodes/chunk-000/file-003.parquet +3 -0
  8. libero_90/meta/episodes/chunk-000/file-004.parquet +3 -0
  9. libero_90/meta/episodes/chunk-000/file-005.parquet +3 -0
  10. libero_90/meta/episodes/chunk-000/file-006.parquet +3 -0
  11. libero_90/meta/episodes/chunk-000/file-007.parquet +3 -0
  12. libero_90/meta/episodes/chunk-000/file-008.parquet +3 -0
  13. libero_90/meta/episodes/chunk-000/file-009.parquet +3 -0
  14. libero_90/meta/info.json +196 -0
  15. libero_90/meta/stats.json +418 -0
  16. libero_90/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  17. libero_90/videos/observation.images.image/chunk-000/file-001.mp4 +3 -0
  18. libero_90/videos/observation.images.image/chunk-000/file-002.mp4 +3 -0
  19. libero_90/videos/observation.images.image/chunk-000/file-005.mp4 +3 -0
  20. libero_90/videos/observation.images.image/chunk-000/file-007.mp4 +3 -0
  21. libero_90/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
  22. libero_90/videos/observation.images.wrist_image/chunk-000/file-001.mp4 +3 -0
  23. libero_90/videos/observation.images.wrist_image/chunk-000/file-002.mp4 +3 -0
  24. libero_90/videos/observation.images.wrist_image/chunk-000/file-003.mp4 +3 -0
  25. libero_90/videos/observation.images.wrist_image/chunk-000/file-004.mp4 +3 -0
  26. libero_90/videos/observation.images.wrist_image/chunk-000/file-005.mp4 +3 -0
  27. libero_90/videos/observation.images.wrist_image/chunk-000/file-006.mp4 +3 -0
  28. libero_90/videos/observation.images.wrist_image/chunk-000/file-007.mp4 +3 -0
  29. libero_90/videos/observation.images.wrist_image/chunk-000/file-008.mp4 +3 -0
  30. libero_90/videos/observation.images.wrist_image/chunk-000/file-009.mp4 +3 -0
  31. libero_goal/meta/info.json +144 -0
  32. libero_goal/meta/stats.json +319 -0
  33. libero_goal/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  34. libero_goal/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
  35. libero_object/data/chunk-000/file-000.parquet +3 -0
  36. libero_object/data/chunk-000/file-001.parquet +3 -0
  37. libero_object/meta/episodes/chunk-000/file-000.parquet +3 -0
  38. libero_object/meta/episodes/chunk-000/file-001.parquet +3 -0
  39. libero_object/meta/info.json +141 -0
  40. libero_object/meta/stats.json +319 -0
  41. libero_object/meta/tasks.parquet +3 -0
  42. libero_object/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  43. libero_object/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
  44. libero_spatial/meta/.info.json.swp +0 -0
  45. libero_spatial/meta/episodes/chunk-000/file-000.parquet +3 -0
  46. libero_spatial/meta/info.json +144 -0
  47. libero_spatial/meta/stats.json +319 -0
  48. libero_spatial/meta/tasks.parquet +3 -0
  49. libero_spatial/videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  50. libero_spatial/videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
libero_10/Untitled ADDED
@@ -0,0 +1 @@
 
 
1
+ libero_10_no_noops_1.0.0_lerobot_aligned
libero_10/meta/info.json ADDED
@@ -0,0 +1,140 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 379,
5
+ "total_frames": 101469,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:379"
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.images.wrist_image": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "rgb"
28
+ ],
29
+ "info": {
30
+ "video.height": 256,
31
+ "video.width": 256,
32
+ "video.codec": "av1",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 20,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "observation.images.image": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 256,
44
+ 256,
45
+ 3
46
+ ],
47
+ "names": [
48
+ "height",
49
+ "width",
50
+ "rgb"
51
+ ],
52
+ "info": {
53
+ "video.height": 256,
54
+ "video.width": 256,
55
+ "video.codec": "av1",
56
+ "video.pix_fmt": "yuv420p",
57
+ "video.is_depth_map": false,
58
+ "video.fps": 20,
59
+ "video.channels": 3,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "observation.state": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 8
67
+ ],
68
+ "names": {
69
+ "motors": [
70
+ "x",
71
+ "y",
72
+ "z",
73
+ "axis_angle1",
74
+ "axis_angle2",
75
+ "axis_angle3",
76
+ "gripper",
77
+ "gripper"
78
+ ]
79
+ },
80
+ "fps": 20
81
+ },
82
+ "action": {
83
+ "dtype": "float32",
84
+ "shape": [
85
+ 7
86
+ ],
87
+ "names": {
88
+ "motors": [
89
+ "x",
90
+ "y",
91
+ "z",
92
+ "axis_angle1",
93
+ "axis_angle2",
94
+ "axis_angle3",
95
+ "gripper"
96
+ ]
97
+ },
98
+ "fps": 20
99
+ },
100
+ "timestamp": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "frame_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "episode_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "task_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ }
135
+ },
136
+ "data_files": [
137
+ "data/chunk-000/file-000.parquet",
138
+ "data/chunk-000/file-001.parquet"
139
+ ]
140
+ }
libero_10/meta/stats.json ADDED
@@ -0,0 +1,319 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 101468
8
+ ],
9
+ "mean": [
10
+ 50734.0
11
+ ],
12
+ "std": [
13
+ 29291.57723077859
14
+ ],
15
+ "count": [
16
+ 101469
17
+ ]
18
+ },
19
+ "observation.images.wrist_image": {
20
+ "min": [
21
+ [
22
+ [
23
+ 0.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 0.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 0.0
34
+ ]
35
+ ]
36
+ ],
37
+ "max": [
38
+ [
39
+ [
40
+ 1.0
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 1.0
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 1.0
51
+ ]
52
+ ]
53
+ ],
54
+ "mean": [
55
+ [
56
+ [
57
+ 0.42383804087577415
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.3673966255130251
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.3188305260929261
68
+ ]
69
+ ]
70
+ ],
71
+ "std": [
72
+ [
73
+ [
74
+ 0.241981951960931
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.2324922531543837
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.22189874595427886
85
+ ]
86
+ ]
87
+ ],
88
+ "count": [
89
+ 37906
90
+ ]
91
+ },
92
+ "action": {
93
+ "min": [
94
+ -0.9375,
95
+ -0.9375,
96
+ -0.9375,
97
+ -0.23642857372760773,
98
+ -0.3053571283817291,
99
+ -0.3675000071525574,
100
+ 0.0
101
+ ],
102
+ "max": [
103
+ 0.9375,
104
+ 0.9375,
105
+ 0.9375,
106
+ 0.30000001192092896,
107
+ 0.29357144236564636,
108
+ 0.375,
109
+ 1.0
110
+ ],
111
+ "mean": [
112
+ 0.018203219580245917,
113
+ 0.05858386677049721,
114
+ -0.05592356325431262,
115
+ 0.004626933903665416,
116
+ 0.0028960781014207345,
117
+ -0.0076731359981381505,
118
+ 0.5457824565452817
119
+ ],
120
+ "std": [
121
+ 0.28252488092180783,
122
+ 0.3590113909029878,
123
+ 0.3674089836402496,
124
+ 0.03770618379976311,
125
+ 0.05429303163570244,
126
+ 0.08724782772335003,
127
+ 0.49789958116623895
128
+ ],
129
+ "count": [
130
+ 101469
131
+ ]
132
+ },
133
+ "frame_index": {
134
+ "min": [
135
+ 0
136
+ ],
137
+ "max": [
138
+ 504
139
+ ],
140
+ "mean": [
141
+ 139.37621342478982
142
+ ],
143
+ "std": [
144
+ 88.4117068656417
145
+ ],
146
+ "count": [
147
+ 101469
148
+ ]
149
+ },
150
+ "task_index": {
151
+ "min": [
152
+ 0
153
+ ],
154
+ "max": [
155
+ 9
156
+ ],
157
+ "mean": [
158
+ 4.459618208516887
159
+ ],
160
+ "std": [
161
+ 2.748792869568648
162
+ ],
163
+ "count": [
164
+ 101469
165
+ ]
166
+ },
167
+ "episode_index": {
168
+ "min": [
169
+ 0
170
+ ],
171
+ "max": [
172
+ 378
173
+ ],
174
+ "mean": [
175
+ 187.3446471336073
176
+ ],
177
+ "std": [
178
+ 109.93407782349435
179
+ ],
180
+ "count": [
181
+ 101469
182
+ ]
183
+ },
184
+ "observation.images.image": {
185
+ "min": [
186
+ [
187
+ [
188
+ 0.0
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.0
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.0
199
+ ]
200
+ ]
201
+ ],
202
+ "max": [
203
+ [
204
+ [
205
+ 1.0
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 1.0
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 1.0
216
+ ]
217
+ ]
218
+ ],
219
+ "mean": [
220
+ [
221
+ [
222
+ 0.40565344712473544
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.3622734584518655
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.3191169762835281
233
+ ]
234
+ ]
235
+ ],
236
+ "std": [
237
+ [
238
+ [
239
+ 0.24465104744671567
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.24123842330511033
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.23621162600478948
250
+ ]
251
+ ]
252
+ ],
253
+ "count": [
254
+ 37906
255
+ ]
256
+ },
257
+ "timestamp": {
258
+ "min": [
259
+ 0.0
260
+ ],
261
+ "max": [
262
+ 25.2
263
+ ],
264
+ "mean": [
265
+ 6.968810671239492
266
+ ],
267
+ "std": [
268
+ 4.4205853432820845
269
+ ],
270
+ "count": [
271
+ 101469
272
+ ]
273
+ },
274
+ "observation.state": {
275
+ "min": [
276
+ -0.4828203022480011,
277
+ -0.3255046010017395,
278
+ 0.445506751537323,
279
+ 1.1321442127227783,
280
+ -3.641430377960205,
281
+ -1.842738389968872,
282
+ -0.0010040868073701859,
283
+ -0.04111652821302414
284
+ ],
285
+ "max": [
286
+ 0.21031762659549713,
287
+ 0.39128610491752625,
288
+ 1.3332009315490723,
289
+ 3.6714255809783936,
290
+ 3.560650587081909,
291
+ 1.386339545249939,
292
+ 0.04160946607589722,
293
+ 0.0013633022317662835
294
+ ],
295
+ "mean": [
296
+ -0.0419064655693921,
297
+ 0.0353943785769225,
298
+ 0.8257066448085474,
299
+ 2.908315654671235,
300
+ -0.5562158603122547,
301
+ -0.1664910329554594,
302
+ 0.02831534785236664,
303
+ -0.028561558922556265
304
+ ],
305
+ "std": [
306
+ 0.10743443931273489,
307
+ 0.1442475967164441,
308
+ 0.2572337413645642,
309
+ 0.34413808792923967,
310
+ 1.2344301693194124,
311
+ 0.3579880702551748,
312
+ 0.01330878669640957,
313
+ 0.013174591556403457
314
+ ],
315
+ "count": [
316
+ 101469
317
+ ]
318
+ }
319
+ }
libero_90/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27fa1957b9700e1243ee9c98be3a3c0bda9c901052488ec9ed269f387bfb63f7
3
+ size 518781
libero_90/meta/episodes/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b8b15e813e5f089b64ce99828db36aa1c37d6baf98ba0095cc094b8355717828
3
+ size 513473
libero_90/meta/episodes/chunk-000/file-002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:406ee889f704d69d51fb6ceaa7a8b7da240afa7652c039c56b833c9387aa6f34
3
+ size 527393
libero_90/meta/episodes/chunk-000/file-003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:026028c895605f721413ff4a3fda7abb9e32d5fb8ab430474c54b6f7a575a2a8
3
+ size 516816
libero_90/meta/episodes/chunk-000/file-004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cecd6eb009bd72b124aa4feafa99d78ef00fcf11f4b6c9f37b47aa87d259b420
3
+ size 508164
libero_90/meta/episodes/chunk-000/file-005.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c2e5c479f645373609b0dccfcd50489f7979c874e562bd24cc61d865dde1b2b6
3
+ size 518136
libero_90/meta/episodes/chunk-000/file-006.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cdca775a130849316cf2d0f4c8408c6d8e732901aafd6d303fb93b8f79d864bb
3
+ size 527267
libero_90/meta/episodes/chunk-000/file-007.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:923c55860ce81b39771140c40e22401b89e5ab99ccff2164b4895a4b44fb6063
3
+ size 516562
libero_90/meta/episodes/chunk-000/file-008.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9aaa8aa4482be164583addb934028618a939b1d4c02fb1579de024b413ba4f56
3
+ size 529856
libero_90/meta/episodes/chunk-000/file-009.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d02a2d59505d05d6ffdf2e0d434378db6f1238a74b745fffa19d41b3784eb09
3
+ size 190512
libero_90/meta/info.json ADDED
@@ -0,0 +1,196 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 3921,
5
+ "total_frames": 569249,
6
+ "total_tasks": 73,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:3921"
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.images.image": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "rgb"
28
+ ],
29
+ "info": {
30
+ "video.height": 256,
31
+ "video.width": 256,
32
+ "video.codec": "av1",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 20,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "observation.images.wrist_image": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 256,
44
+ 256,
45
+ 3
46
+ ],
47
+ "names": [
48
+ "height",
49
+ "width",
50
+ "rgb"
51
+ ],
52
+ "info": {
53
+ "video.height": 256,
54
+ "video.width": 256,
55
+ "video.codec": "av1",
56
+ "video.pix_fmt": "yuv420p",
57
+ "video.is_depth_map": false,
58
+ "video.fps": 20,
59
+ "video.channels": 3,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "observation.state": {
64
+ "dtype": "float32",
65
+ "shape": [
66
+ 8
67
+ ],
68
+ "names": {
69
+ "motors": [
70
+ "x",
71
+ "y",
72
+ "z",
73
+ "roll",
74
+ "pitch",
75
+ "yaw",
76
+ "gripper",
77
+ "gripper"
78
+ ]
79
+ },
80
+ "fps": 20
81
+ },
82
+ "observation.states.ee_state": {
83
+ "dtype": "float32",
84
+ "shape": [
85
+ 6
86
+ ],
87
+ "names": {
88
+ "motors": [
89
+ "x",
90
+ "y",
91
+ "z",
92
+ "roll",
93
+ "pitch",
94
+ "yaw"
95
+ ]
96
+ },
97
+ "fps": 20
98
+ },
99
+ "observation.states.joint_state": {
100
+ "dtype": "float32",
101
+ "shape": [
102
+ 7
103
+ ],
104
+ "names": {
105
+ "motors": [
106
+ "joint_0",
107
+ "joint_1",
108
+ "joint_2",
109
+ "joint_3",
110
+ "joint_4",
111
+ "joint_5",
112
+ "joint_6"
113
+ ]
114
+ },
115
+ "fps": 20
116
+ },
117
+ "observation.states.gripper_state": {
118
+ "dtype": "float32",
119
+ "shape": [
120
+ 2
121
+ ],
122
+ "names": {
123
+ "motors": [
124
+ "gripper",
125
+ "gripper"
126
+ ]
127
+ },
128
+ "fps": 20
129
+ },
130
+ "action": {
131
+ "dtype": "float32",
132
+ "shape": [
133
+ 7
134
+ ],
135
+ "names": {
136
+ "motors": [
137
+ "x",
138
+ "y",
139
+ "z",
140
+ "roll",
141
+ "pitch",
142
+ "yaw",
143
+ "gripper"
144
+ ]
145
+ },
146
+ "fps": 20
147
+ },
148
+ "timestamp": {
149
+ "dtype": "float32",
150
+ "shape": [
151
+ 1
152
+ ],
153
+ "names": null
154
+ },
155
+ "frame_index": {
156
+ "dtype": "int64",
157
+ "shape": [
158
+ 1
159
+ ],
160
+ "names": null
161
+ },
162
+ "episode_index": {
163
+ "dtype": "int64",
164
+ "shape": [
165
+ 1
166
+ ],
167
+ "names": null
168
+ },
169
+ "index": {
170
+ "dtype": "int64",
171
+ "shape": [
172
+ 1
173
+ ],
174
+ "names": null
175
+ },
176
+ "task_index": {
177
+ "dtype": "int64",
178
+ "shape": [
179
+ 1
180
+ ],
181
+ "names": null
182
+ }
183
+ },
184
+ "data_files": [
185
+ "data/chunk-000/file-000.parquet",
186
+ "data/chunk-000/file-001.parquet",
187
+ "data/chunk-000/file-002.parquet",
188
+ "data/chunk-000/file-003.parquet",
189
+ "data/chunk-000/file-004.parquet",
190
+ "data/chunk-000/file-005.parquet",
191
+ "data/chunk-000/file-006.parquet",
192
+ "data/chunk-000/file-007.parquet",
193
+ "data/chunk-000/file-008.parquet",
194
+ "data/chunk-000/file-009.parquet"
195
+ ]
196
+ }
libero_90/meta/stats.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -0.4862295389175415,
5
+ -0.3970998525619507,
6
+ 0.4455491304397583,
7
+ -0.7480751872062683,
8
+ -4.363129138946533,
9
+ -3.212415933609009,
10
+ -0.0025667562149465084,
11
+ -0.04255744442343712
12
+ ],
13
+ "max": [
14
+ 0.20274211466312408,
15
+ 0.48814651370048523,
16
+ 1.358458399772644,
17
+ 4.843389987945557,
18
+ 4.042375564575195,
19
+ 2.4014885425567627,
20
+ 0.04639676958322525,
21
+ 0.0017311422852799296
22
+ ],
23
+ "mean": [
24
+ -0.0825997887256212,
25
+ 0.011313840428682609,
26
+ 0.9470745365258489,
27
+ 2.9744658389258882,
28
+ -0.11296036791914292,
29
+ -0.09882136356393592,
30
+ 0.026603144836392832,
31
+ -0.02699279035311912
32
+ ],
33
+ "std": [
34
+ 0.11324275886887689,
35
+ 0.14208204334766503,
36
+ 0.23517219825474925,
37
+ 0.43263655569940074,
38
+ 0.9947666871774667,
39
+ 0.32279094117245155,
40
+ 0.014571427133748711,
41
+ 0.014435169324294202
42
+ ],
43
+ "count": [
44
+ 569249
45
+ ]
46
+ },
47
+ "observation.images.wrist_image": {
48
+ "min": [
49
+ [
50
+ [
51
+ 0.0
52
+ ]
53
+ ],
54
+ [
55
+ [
56
+ 0.0
57
+ ]
58
+ ],
59
+ [
60
+ [
61
+ 0.0
62
+ ]
63
+ ]
64
+ ],
65
+ "max": [
66
+ [
67
+ [
68
+ 1.0
69
+ ]
70
+ ],
71
+ [
72
+ [
73
+ 1.0
74
+ ]
75
+ ],
76
+ [
77
+ [
78
+ 1.0
79
+ ]
80
+ ]
81
+ ],
82
+ "mean": [
83
+ [
84
+ [
85
+ 0.46778298088453524
86
+ ]
87
+ ],
88
+ [
89
+ [
90
+ 0.4102728369320954
91
+ ]
92
+ ],
93
+ [
94
+ [
95
+ 0.35822027121714656
96
+ ]
97
+ ]
98
+ ],
99
+ "std": [
100
+ [
101
+ [
102
+ 0.2541905732376529
103
+ ]
104
+ ],
105
+ [
106
+ [
107
+ 0.24173065655805762
108
+ ]
109
+ ],
110
+ [
111
+ [
112
+ 0.2301797084249007
113
+ ]
114
+ ]
115
+ ],
116
+ "count": [
117
+ 385861
118
+ ]
119
+ },
120
+ "action": {
121
+ "min": [
122
+ -0.9375,
123
+ -0.9375,
124
+ -0.9375,
125
+ -0.3257142901420593,
126
+ -0.375,
127
+ -0.375,
128
+ 0.0
129
+ ],
130
+ "max": [
131
+ 0.9375,
132
+ 0.9375,
133
+ 0.9375,
134
+ 0.375,
135
+ 0.375,
136
+ 0.375,
137
+ 1.0
138
+ ],
139
+ "mean": [
140
+ 0.04545569857710171,
141
+ 0.03713448073621578,
142
+ -0.09759348984344508,
143
+ 0.005008922125417156,
144
+ 0.0022301488079950536,
145
+ -0.006186346841993473,
146
+ 0.529086568799561
147
+ ],
148
+ "std": [
149
+ 0.2987056736019829,
150
+ 0.36144811780620645,
151
+ 0.40698586522198377,
152
+ 0.04843024639969649,
153
+ 0.058260686903956235,
154
+ 0.08735455637624114,
155
+ 0.49915324636414826
156
+ ],
157
+ "count": [
158
+ 569249
159
+ ]
160
+ },
161
+ "frame_index": {
162
+ "min": [
163
+ 0
164
+ ],
165
+ "max": [
166
+ 343
167
+ ],
168
+ "mean": [
169
+ 78.49815985623164
170
+ ],
171
+ "std": [
172
+ 53.04969115260927
173
+ ],
174
+ "count": [
175
+ 569249
176
+ ]
177
+ },
178
+ "observation.states.ee_state": {
179
+ "min": [
180
+ -0.4862295389175415,
181
+ -0.3970998525619507,
182
+ 0.4455491304397583,
183
+ -0.7480751872062683,
184
+ -4.363129138946533,
185
+ -3.212415933609009
186
+ ],
187
+ "max": [
188
+ 0.20274211466312408,
189
+ 0.48814651370048523,
190
+ 1.358458399772644,
191
+ 4.843389987945557,
192
+ 4.042375564575195,
193
+ 2.4014885425567627
194
+ ],
195
+ "mean": [
196
+ -0.0825997887256212,
197
+ 0.011313840428682609,
198
+ 0.9470745365258489,
199
+ 2.9744658389258882,
200
+ -0.11296036791914292,
201
+ -0.09882136356393592
202
+ ],
203
+ "std": [
204
+ 0.11324275886887689,
205
+ 0.14208204334766503,
206
+ 0.23517219825474925,
207
+ 0.43263655569940074,
208
+ 0.9947666871774667,
209
+ 0.32279094117245155
210
+ ],
211
+ "count": [
212
+ 569249
213
+ ]
214
+ },
215
+ "observation.states.gripper_state": {
216
+ "min": [
217
+ -0.0025667562149465084,
218
+ -0.04255744442343712
219
+ ],
220
+ "max": [
221
+ 0.04639676958322525,
222
+ 0.0017311422852799296
223
+ ],
224
+ "mean": [
225
+ 0.026603144836392832,
226
+ -0.02699279035311912
227
+ ],
228
+ "std": [
229
+ 0.014571427133748711,
230
+ 0.014435169324294202
231
+ ],
232
+ "count": [
233
+ 569249
234
+ ]
235
+ },
236
+ "episode_index": {
237
+ "min": [
238
+ 0
239
+ ],
240
+ "max": [
241
+ 49
242
+ ],
243
+ "mean": [
244
+ 21.544201219501485
245
+ ],
246
+ "std": [
247
+ 13.046737665843953
248
+ ],
249
+ "count": [
250
+ 569249
251
+ ]
252
+ },
253
+ "index": {
254
+ "min": [
255
+ 0
256
+ ],
257
+ "max": [
258
+ 10592
259
+ ],
260
+ "mean": [
261
+ 3389.1714364012937
262
+ ],
263
+ "std": [
264
+ 2169.498325686562
265
+ ],
266
+ "count": [
267
+ 569249
268
+ ]
269
+ },
270
+ "observation.states.joint_state": {
271
+ "min": [
272
+ -0.8077070713043213,
273
+ -0.9043296575546265,
274
+ -0.8325522541999817,
275
+ -3.0762147903442383,
276
+ -2.391453504562378,
277
+ 0.7828186750411987,
278
+ -2.5959928035736084
279
+ ],
280
+ "max": [
281
+ 0.9594117999076843,
282
+ 1.7651755809783936,
283
+ 0.6099457144737244,
284
+ -0.06324207037687302,
285
+ 2.904754638671875,
286
+ 3.755373477935791,
287
+ 2.910945177078247
288
+ ],
289
+ "mean": [
290
+ 0.0009644510458646533,
291
+ 0.3400639631762736,
292
+ 0.006226009370842393,
293
+ -2.0358853986361787,
294
+ 0.03803482686555091,
295
+ 2.3081116196368097,
296
+ 0.8102893006986936
297
+ ],
298
+ "std": [
299
+ 0.12195968412583046,
300
+ 0.3533929598095164,
301
+ 0.1726886689137878,
302
+ 0.42803325383647417,
303
+ 0.4062879296499598,
304
+ 0.3086505674792321,
305
+ 0.6354936353781788
306
+ ],
307
+ "count": [
308
+ 569249
309
+ ]
310
+ },
311
+ "task_index": {
312
+ "min": [
313
+ 0
314
+ ],
315
+ "max": [
316
+ 0
317
+ ],
318
+ "mean": [
319
+ 0.0
320
+ ],
321
+ "std": [
322
+ 0.0
323
+ ],
324
+ "count": [
325
+ 569249
326
+ ]
327
+ },
328
+ "observation.images.image": {
329
+ "min": [
330
+ [
331
+ [
332
+ 0.0
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.0
343
+ ]
344
+ ]
345
+ ],
346
+ "max": [
347
+ [
348
+ [
349
+ 1.0
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 1.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 1.0
360
+ ]
361
+ ]
362
+ ],
363
+ "mean": [
364
+ [
365
+ [
366
+ 0.42937046213228963
367
+ ]
368
+ ],
369
+ [
370
+ [
371
+ 0.3847550499262228
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.3419852108000792
377
+ ]
378
+ ]
379
+ ],
380
+ "std": [
381
+ [
382
+ [
383
+ 0.25980902535509093
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.2501668263071207
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.24248432920767066
394
+ ]
395
+ ]
396
+ ],
397
+ "count": [
398
+ 385861
399
+ ]
400
+ },
401
+ "timestamp": {
402
+ "min": [
403
+ 0.0
404
+ ],
405
+ "max": [
406
+ 17.15
407
+ ],
408
+ "mean": [
409
+ 3.924907992811582
410
+ ],
411
+ "std": [
412
+ 2.6524845576304634
413
+ ],
414
+ "count": [
415
+ 569249
416
+ ]
417
+ }
418
+ }
libero_90/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1166fb2559838853caf5079a0a1a2fca7b7ed47f8f6d717e6908a4459cd0beae
3
+ size 159728219
libero_90/videos/observation.images.image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c51f4cff5cb4936015e7c682a0bbb13f7b1e3de3ad4f3f5146ab3e45b3cf96e
3
+ size 159733121
libero_90/videos/observation.images.image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:01408697f6da79eae4aa9d9a988a559c713fb84e3ad5700cd49c9ffddfc4b184
3
+ size 158539714
libero_90/videos/observation.images.image/chunk-000/file-005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:09b1c854d09d9edff0a0d448f828d33b58622b75b9b589ef22ec09c3437f09d3
3
+ size 158986117
libero_90/videos/observation.images.image/chunk-000/file-007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7f16ca7fb5b425bf341cfc7b12f04f079ece5a81ca674525f1ed32454f3ddd8
3
+ size 158510117
libero_90/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0930ac062433033285a0f815f9e8d8d8d5dc5eeefa80cdecdeb33c593eb43ce
3
+ size 110061493
libero_90/videos/observation.images.wrist_image/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6196ab6604b33e5331f86ddc6503d42f9c0aea3a7e8089becb9ed9414321150
3
+ size 111228621
libero_90/videos/observation.images.wrist_image/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84968fd07e1bba78294174fa831e063df896874596e184e6d37706554909668f
3
+ size 110507671
libero_90/videos/observation.images.wrist_image/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3cb8fed663525e863c7b18226d2cc4364c98a238552f927e0480e01ba5e2c97d
3
+ size 110243415
libero_90/videos/observation.images.wrist_image/chunk-000/file-004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:032426f11e0a40728db2880fd17acbb9e48b402f2e7cae8f196f6d11935785ef
3
+ size 112664580
libero_90/videos/observation.images.wrist_image/chunk-000/file-005.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb0b7776c2a659e6be67878f9bef525d8ce48ea71d413a25928bc56d7dcebca3
3
+ size 109959172
libero_90/videos/observation.images.wrist_image/chunk-000/file-006.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8415d7f2f0cadf50f04267b2f97f2af9d8cd0f4f99e6a4e3dd2acc6769b161cf
3
+ size 111952229
libero_90/videos/observation.images.wrist_image/chunk-000/file-007.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ff793f2d4d48b5de6b0ed9b5c1d56b88f561b78922629bf491adb3dea310ba7
3
+ size 111856064
libero_90/videos/observation.images.wrist_image/chunk-000/file-008.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e93a306156525b135d006ea2f5a9dc2d0d1df7556a442e989771f9b9b71613e7
3
+ size 112998907
libero_90/videos/observation.images.wrist_image/chunk-000/file-009.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42f11173187271468a64c26572d1dd5140366d4e203ccd1ed9e40f2d4c71b71a
3
+ size 28852139
libero_goal/meta/info.json ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 428,
5
+ "total_frames": 52042,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "fps": 20,
9
+ "splits": {
10
+ "train": "0:428"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.images.wrist_image": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 256,
19
+ 256,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "rgb"
26
+ ],
27
+ "info": {
28
+ "video.height": 256,
29
+ "video.width": 256,
30
+ "video.codec": "av1",
31
+ "video.pix_fmt": "yuv420p",
32
+ "video.is_depth_map": false,
33
+ "video.fps": 20,
34
+ "video.channels": 3,
35
+ "has_audio": false
36
+ }
37
+ },
38
+ "observation.images.image": {
39
+ "dtype": "video",
40
+ "shape": [
41
+ 256,
42
+ 256,
43
+ 3
44
+ ],
45
+ "names": [
46
+ "height",
47
+ "width",
48
+ "rgb"
49
+ ],
50
+ "info": {
51
+ "video.height": 256,
52
+ "video.width": 256,
53
+ "video.codec": "av1",
54
+ "video.pix_fmt": "yuv420p",
55
+ "video.is_depth_map": false,
56
+ "video.fps": 20,
57
+ "video.channels": 3,
58
+ "has_audio": false
59
+ }
60
+ },
61
+ "observation.state": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 8
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "x",
69
+ "y",
70
+ "z",
71
+ "axis_angle1",
72
+ "axis_angle2",
73
+ "axis_angle3",
74
+ "gripper",
75
+ "gripper"
76
+ ]
77
+ },
78
+ "fps": 20
79
+ },
80
+ "action": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 7
84
+ ],
85
+ "names": {
86
+ "motors": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "axis_angle1",
91
+ "axis_angle2",
92
+ "axis_angle3",
93
+ "gripper"
94
+ ]
95
+ },
96
+ "fps": 20
97
+ },
98
+ "timestamp": {
99
+ "dtype": "float32",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null,
104
+ "fps": 20
105
+ },
106
+ "frame_index": {
107
+ "dtype": "int64",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null,
112
+ "fps": 20
113
+ },
114
+ "episode_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null,
120
+ "fps": 20
121
+ },
122
+ "index": {
123
+ "dtype": "int64",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null,
128
+ "fps": 20
129
+ },
130
+ "task_index": {
131
+ "dtype": "int64",
132
+ "shape": [
133
+ 1
134
+ ],
135
+ "names": null,
136
+ "fps": 20
137
+ }
138
+ },
139
+ "data_files_size_in_mb": 100,
140
+ "video_files_size_in_mb": 200,
141
+ "data_files": [
142
+ "data/chunk-000/file-000.parquet"
143
+ ]
144
+ }
libero_goal/meta/stats.json ADDED
@@ -0,0 +1,319 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode_index": {
3
+ "min": [
4
+ 0
5
+ ],
6
+ "max": [
7
+ 427
8
+ ],
9
+ "mean": [
10
+ 212.42240882364246
11
+ ],
12
+ "std": [
13
+ 124.10882454623933
14
+ ],
15
+ "count": [
16
+ 52042
17
+ ]
18
+ },
19
+ "index": {
20
+ "min": [
21
+ 0
22
+ ],
23
+ "max": [
24
+ 52041
25
+ ],
26
+ "mean": [
27
+ 26020.5
28
+ ],
29
+ "std": [
30
+ 15023.231351809769
31
+ ],
32
+ "count": [
33
+ 52042
34
+ ]
35
+ },
36
+ "observation.images.wrist_image": {
37
+ "min": [
38
+ [
39
+ [
40
+ 0.0
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.0
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.0
51
+ ]
52
+ ]
53
+ ],
54
+ "max": [
55
+ [
56
+ [
57
+ 1.0
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 1.0
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 1.0
68
+ ]
69
+ ]
70
+ ],
71
+ "mean": [
72
+ [
73
+ [
74
+ 0.4932573309459596
75
+ ]
76
+ ],
77
+ [
78
+ [
79
+ 0.4586794218463269
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.4189813780632173
85
+ ]
86
+ ]
87
+ ],
88
+ "std": [
89
+ [
90
+ [
91
+ 0.27719654959591106
92
+ ]
93
+ ],
94
+ [
95
+ [
96
+ 0.2549415293298629
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 0.23035408453638218
102
+ ]
103
+ ]
104
+ ],
105
+ "count": [
106
+ 41346
107
+ ]
108
+ },
109
+ "task_index": {
110
+ "min": [
111
+ 0
112
+ ],
113
+ "max": [
114
+ 9
115
+ ],
116
+ "mean": [
117
+ 4.411398485838362
118
+ ],
119
+ "std": [
120
+ 2.918245915886953
121
+ ],
122
+ "count": [
123
+ 52042
124
+ ]
125
+ },
126
+ "timestamp": {
127
+ "min": [
128
+ 0.0
129
+ ],
130
+ "max": [
131
+ 13.45
132
+ ],
133
+ "mean": [
134
+ 3.3057520848545408
135
+ ],
136
+ "std": [
137
+ 2.2847889553667877
138
+ ],
139
+ "count": [
140
+ 52042
141
+ ]
142
+ },
143
+ "action": {
144
+ "min": [
145
+ -0.9375,
146
+ -0.9375,
147
+ -0.9375,
148
+ -0.2582142949104309,
149
+ -0.375,
150
+ -0.2871428430080414,
151
+ 0.0
152
+ ],
153
+ "max": [
154
+ 0.9375,
155
+ 0.9375,
156
+ 0.9375,
157
+ 0.3557142913341522,
158
+ 0.375,
159
+ 0.375,
160
+ 1.0
161
+ ],
162
+ "mean": [
163
+ 0.047211096701152255,
164
+ 0.02883543362958861,
165
+ -0.14858464033184013,
166
+ -0.0025010017009024304,
167
+ 0.0264079907080678,
168
+ 0.027379877362350667,
169
+ 0.6299911628230209
170
+ ],
171
+ "std": [
172
+ 0.39686355589813355,
173
+ 0.3473365614632467,
174
+ 0.4923872320771255,
175
+ 0.055335653295733186,
176
+ 0.07844452724492627,
177
+ 0.10007748067584618,
178
+ 0.48280668932485654
179
+ ],
180
+ "count": [
181
+ 52042
182
+ ]
183
+ },
184
+ "observation.images.image": {
185
+ "min": [
186
+ [
187
+ [
188
+ 0.0
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.0
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.0
199
+ ]
200
+ ]
201
+ ],
202
+ "max": [
203
+ [
204
+ [
205
+ 1.0
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 1.0
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 1.0
216
+ ]
217
+ ]
218
+ ],
219
+ "mean": [
220
+ [
221
+ [
222
+ 0.49087840010256384
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.4597523137445373
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.4191400739979415
233
+ ]
234
+ ]
235
+ ],
236
+ "std": [
237
+ [
238
+ [
239
+ 0.22691290610960593
240
+ ]
241
+ ],
242
+ [
243
+ [
244
+ 0.20953042831497679
245
+ ]
246
+ ],
247
+ [
248
+ [
249
+ 0.1926672197447001
250
+ ]
251
+ ]
252
+ ],
253
+ "count": [
254
+ 41346
255
+ ]
256
+ },
257
+ "frame_index": {
258
+ "min": [
259
+ 0
260
+ ],
261
+ "max": [
262
+ 269
263
+ ],
264
+ "mean": [
265
+ 66.11504169709082
266
+ ],
267
+ "std": [
268
+ 45.69577910733575
269
+ ],
270
+ "count": [
271
+ 52042
272
+ ]
273
+ },
274
+ "observation.state": {
275
+ "min": [
276
+ -0.46141114830970764,
277
+ -0.30129560828208923,
278
+ 0.9083037972450256,
279
+ 0.35277295112609863,
280
+ -1.4858465194702148,
281
+ -1.5227035284042358,
282
+ -0.0013586411951109767,
283
+ -0.042040832340717316
284
+ ],
285
+ "max": [
286
+ 0.13579000532627106,
287
+ 0.33316105604171753,
288
+ 1.3660105466842651,
289
+ 3.473310708999634,
290
+ 2.6688623428344727,
291
+ 0.8255361318588257,
292
+ 0.04233968257904053,
293
+ 0.0010111660230904818
294
+ ],
295
+ "mean": [
296
+ -0.09923512069309792,
297
+ 0.013597917973276903,
298
+ 1.069453625088994,
299
+ 2.828961918880056,
300
+ 0.30799127495292183,
301
+ -0.2742857184020598,
302
+ 0.0280919992633198,
303
+ -0.027339309687895455
304
+ ],
305
+ "std": [
306
+ 0.11654021934225117,
307
+ 0.11478191409383517,
308
+ 0.10487845709822845,
309
+ 0.5570301363544043,
310
+ 0.722167169127819,
311
+ 0.36479648833006917,
312
+ 0.015074710777168003,
313
+ 0.014991056901017596
314
+ ],
315
+ "count": [
316
+ 52042
317
+ ]
318
+ }
319
+ }
libero_goal/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:477f644fa3d9103c4bb6ee2383155fce7bd8159c85fa2593b49ef4dfe39cc478
3
+ size 177125809
libero_goal/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b9e7c3e75f027348a3b3accb91066fb91ed79b557b2f27d1bf8caef7266213fd
3
+ size 153250080
libero_object/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5b11680d99d155bfdce8c1630d1f33d24cac24fd0d9667463249becab229b7b2
3
+ size 3328387
libero_object/data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d52b974939dcc5149cfd21ee4c862f5d567d34c3f4e2c9e2357028d35437e670
3
+ size 678477
libero_object/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:25097291857a4ed37dbf136a4cebf40a9b27a0d0adcf2f89fb37c2fc05be9813
3
+ size 280812
libero_object/meta/episodes/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8e1d80ce56a124c703cd21ca3ec97f71987f9120664342e4d8bc94e8e3e92d00
3
+ size 98770
libero_object/meta/info.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 454,
5
+ "total_frames": 66984,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "fps": 20,
9
+ "splits": {
10
+ "train": "0:454"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.images.wrist_image": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 256,
19
+ 256,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "rgb"
26
+ ],
27
+ "info": {
28
+ "video.height": 256,
29
+ "video.width": 256,
30
+ "video.codec": "av1",
31
+ "video.pix_fmt": "yuv420p",
32
+ "video.is_depth_map": false,
33
+ "video.fps": 20,
34
+ "video.channels": 3,
35
+ "has_audio": false
36
+ }
37
+ },
38
+ "observation.images.image": {
39
+ "dtype": "video",
40
+ "shape": [
41
+ 256,
42
+ 256,
43
+ 3
44
+ ],
45
+ "names": [
46
+ "height",
47
+ "width",
48
+ "rgb"
49
+ ],
50
+ "info": {
51
+ "video.height": 256,
52
+ "video.width": 256,
53
+ "video.codec": "av1",
54
+ "video.pix_fmt": "yuv420p",
55
+ "video.is_depth_map": false,
56
+ "video.fps": 20,
57
+ "video.channels": 3,
58
+ "has_audio": false
59
+ }
60
+ },
61
+ "observation.state": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 8
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "x",
69
+ "y",
70
+ "z",
71
+ "axis_angle1",
72
+ "axis_angle2",
73
+ "axis_angle3",
74
+ "gripper",
75
+ "gripper"
76
+ ]
77
+ },
78
+ "fps": 20
79
+ },
80
+ "action": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 7
84
+ ],
85
+ "names": {
86
+ "motors": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "axis_angle1",
91
+ "axis_angle2",
92
+ "axis_angle3",
93
+ "gripper"
94
+ ]
95
+ },
96
+ "fps": 20
97
+ },
98
+ "timestamp": {
99
+ "dtype": "float32",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null,
104
+ "fps": 20
105
+ },
106
+ "frame_index": {
107
+ "dtype": "int64",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null,
112
+ "fps": 20
113
+ },
114
+ "episode_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null,
120
+ "fps": 20
121
+ },
122
+ "index": {
123
+ "dtype": "int64",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null,
128
+ "fps": 20
129
+ },
130
+ "task_index": {
131
+ "dtype": "int64",
132
+ "shape": [
133
+ 1
134
+ ],
135
+ "names": null,
136
+ "fps": 20
137
+ }
138
+ },
139
+ "data_files_size_in_mb": 100,
140
+ "video_files_size_in_mb": 200
141
+ }
libero_object/meta/stats.json ADDED
@@ -0,0 +1,319 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "min": [
4
+ -0.8839285969734192,
5
+ -0.9375,
6
+ -0.9375,
7
+ -0.15000000596046448,
8
+ -0.29035714268684387,
9
+ -0.32892856001853943,
10
+ 0.0
11
+ ],
12
+ "max": [
13
+ 0.9375,
14
+ 0.8919642567634583,
15
+ 0.9375,
16
+ 0.17678570747375488,
17
+ 0.35035714507102966,
18
+ 0.1810714304447174,
19
+ 1.0
20
+ ],
21
+ "mean": [
22
+ 0.07096490746267721,
23
+ 0.13498889685796536,
24
+ -0.046013733641776924,
25
+ 0.0012352044345171392,
26
+ 0.006998803721298765,
27
+ -0.015027527802288103,
28
+ 0.46428998075465666
29
+ ],
30
+ "std": [
31
+ 0.2681190133390369,
32
+ 0.43844438219812626,
33
+ 0.44751172403475165,
34
+ 0.024448219855795927,
35
+ 0.049362090374190384,
36
+ 0.04210349671134614,
37
+ 0.4987231536711118
38
+ ],
39
+ "count": [
40
+ 66984
41
+ ]
42
+ },
43
+ "frame_index": {
44
+ "min": [
45
+ 0
46
+ ],
47
+ "max": [
48
+ 253
49
+ ],
50
+ "mean": [
51
+ 74.43390959034994
52
+ ],
53
+ "std": [
54
+ 44.74163683092862
55
+ ],
56
+ "count": [
57
+ 66984
58
+ ]
59
+ },
60
+ "observation.images.image": {
61
+ "min": [
62
+ [
63
+ [
64
+ 0.0
65
+ ]
66
+ ],
67
+ [
68
+ [
69
+ 0.0
70
+ ]
71
+ ],
72
+ [
73
+ [
74
+ 0.0
75
+ ]
76
+ ]
77
+ ],
78
+ "max": [
79
+ [
80
+ [
81
+ 1.0
82
+ ]
83
+ ],
84
+ [
85
+ [
86
+ 1.0
87
+ ]
88
+ ],
89
+ [
90
+ [
91
+ 1.0
92
+ ]
93
+ ]
94
+ ],
95
+ "mean": [
96
+ [
97
+ [
98
+ 0.5631042470530828
99
+ ]
100
+ ],
101
+ [
102
+ [
103
+ 0.5422362238796734
104
+ ]
105
+ ],
106
+ [
107
+ [
108
+ 0.5123862756651856
109
+ ]
110
+ ]
111
+ ],
112
+ "std": [
113
+ [
114
+ [
115
+ 0.16164147960751477
116
+ ]
117
+ ],
118
+ [
119
+ [
120
+ 0.15749930420863187
121
+ ]
122
+ ],
123
+ [
124
+ [
125
+ 0.15520412316686685
126
+ ]
127
+ ]
128
+ ],
129
+ "count": [
130
+ 45400
131
+ ]
132
+ },
133
+ "observation.images.wrist_image": {
134
+ "min": [
135
+ [
136
+ [
137
+ 0.0
138
+ ]
139
+ ],
140
+ [
141
+ [
142
+ 0.0
143
+ ]
144
+ ],
145
+ [
146
+ [
147
+ 0.0
148
+ ]
149
+ ]
150
+ ],
151
+ "max": [
152
+ [
153
+ [
154
+ 1.0
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 1.0
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 1.0
165
+ ]
166
+ ]
167
+ ],
168
+ "mean": [
169
+ [
170
+ [
171
+ 0.5687772020081472
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.5421967999399911
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.5144961687615053
182
+ ]
183
+ ]
184
+ ],
185
+ "std": [
186
+ [
187
+ [
188
+ 0.27015504100877713
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.2628982834180639
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.25543068912377187
199
+ ]
200
+ ]
201
+ ],
202
+ "count": [
203
+ 45400
204
+ ]
205
+ },
206
+ "episode_index": {
207
+ "min": [
208
+ 0
209
+ ],
210
+ "max": [
211
+ 453
212
+ ],
213
+ "mean": [
214
+ 226.51474979099487
215
+ ],
216
+ "std": [
217
+ 130.73377314554017
218
+ ],
219
+ "count": [
220
+ 66984
221
+ ]
222
+ },
223
+ "observation.state": {
224
+ "min": [
225
+ -0.1765444278717041,
226
+ -0.29457300901412964,
227
+ 0.008128180168569088,
228
+ 2.2890501022338867,
229
+ -1.883241891860962,
230
+ -1.0600427389144897,
231
+ 0.0006495157140307128,
232
+ -0.041782498359680176
233
+ ],
234
+ "max": [
235
+ 0.14580604434013367,
236
+ 0.33216384053230286,
237
+ 0.3857804834842682,
238
+ 3.4003844261169434,
239
+ 0.7954911589622498,
240
+ 0.6642207503318787,
241
+ 0.04104341194033623,
242
+ -0.00018117300351150334
243
+ ],
244
+ "mean": [
245
+ -0.029990377887890714,
246
+ -0.007947119348036638,
247
+ 0.20293400450543442,
248
+ 3.108609864126749,
249
+ -0.2140478258736818,
250
+ -0.11307033080181891,
251
+ 0.02938040086729137,
252
+ -0.03055662046031239
253
+ ],
254
+ "std": [
255
+ 0.06694907600218707,
256
+ 0.17608516042386863,
257
+ 0.07807079955067303,
258
+ 0.08684872929210075,
259
+ 0.3354058781366154,
260
+ 0.20728470898014106,
261
+ 0.009565783222346653,
262
+ 0.009197498835720836
263
+ ],
264
+ "count": [
265
+ 66984
266
+ ]
267
+ },
268
+ "index": {
269
+ "min": [
270
+ 0
271
+ ],
272
+ "max": [
273
+ 66983
274
+ ],
275
+ "mean": [
276
+ 33491.5
277
+ ],
278
+ "std": [
279
+ 19336.61521354414
280
+ ],
281
+ "count": [
282
+ 66984
283
+ ]
284
+ },
285
+ "timestamp": {
286
+ "min": [
287
+ 0.0
288
+ ],
289
+ "max": [
290
+ 12.65
291
+ ],
292
+ "mean": [
293
+ 3.721695479517497
294
+ ],
295
+ "std": [
296
+ 2.237081841546431
297
+ ],
298
+ "count": [
299
+ 66984
300
+ ]
301
+ },
302
+ "task_index": {
303
+ "min": [
304
+ 0
305
+ ],
306
+ "max": [
307
+ 9
308
+ ],
309
+ "mean": [
310
+ 4.581586647557626
311
+ ],
312
+ "std": [
313
+ 2.902528294947754
314
+ ],
315
+ "count": [
316
+ 66984
317
+ ]
318
+ }
319
+ }
libero_object/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:57b13fe30df9417eacc9ea8b0198f5a2f0ad44b1d89a5b656d5ad0012776ad4c
3
+ size 2564
libero_object/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11a549a2b46eeeadada537b18e1be57f1210641754d25529eb302d1fecf97c8d
3
+ size 209312912
libero_object/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:609e4cbca077254358c6ee31a0f7379144217d2129a2c93f296f671e65dc7f66
3
+ size 209101091
libero_spatial/meta/.info.json.swp ADDED
Binary file (1.02 kB). View file
 
libero_spatial/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cc48e038d2f840a49aa3a3557b2708bffa4eea18cb74399259049cabdd19b4a1
3
+ size 302144
libero_spatial/meta/info.json ADDED
@@ -0,0 +1,144 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "franka",
4
+ "total_episodes": 432,
5
+ "total_frames": 52970,
6
+ "total_tasks": 10,
7
+ "chunks_size": 1000,
8
+ "fps": 20,
9
+ "splits": {
10
+ "train": "0:432"
11
+ },
12
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
13
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
14
+ "features": {
15
+ "observation.images.wrist_image": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 256,
19
+ 256,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "rgb"
26
+ ],
27
+ "info": {
28
+ "video.height": 256,
29
+ "video.width": 256,
30
+ "video.codec": "av1",
31
+ "video.pix_fmt": "yuv420p",
32
+ "video.is_depth_map": false,
33
+ "video.fps": 20,
34
+ "video.channels": 3,
35
+ "has_audio": false
36
+ }
37
+ },
38
+ "observation.images.image": {
39
+ "dtype": "video",
40
+ "shape": [
41
+ 256,
42
+ 256,
43
+ 3
44
+ ],
45
+ "names": [
46
+ "height",
47
+ "width",
48
+ "rgb"
49
+ ],
50
+ "info": {
51
+ "video.height": 256,
52
+ "video.width": 256,
53
+ "video.codec": "av1",
54
+ "video.pix_fmt": "yuv420p",
55
+ "video.is_depth_map": false,
56
+ "video.fps": 20,
57
+ "video.channels": 3,
58
+ "has_audio": false
59
+ }
60
+ },
61
+ "observation.state": {
62
+ "dtype": "float32",
63
+ "shape": [
64
+ 8
65
+ ],
66
+ "names": {
67
+ "motors": [
68
+ "x",
69
+ "y",
70
+ "z",
71
+ "axis_angle1",
72
+ "axis_angle2",
73
+ "axis_angle3",
74
+ "gripper",
75
+ "gripper"
76
+ ]
77
+ },
78
+ "fps": 20
79
+ },
80
+ "action": {
81
+ "dtype": "float32",
82
+ "shape": [
83
+ 7
84
+ ],
85
+ "names": {
86
+ "motors": [
87
+ "x",
88
+ "y",
89
+ "z",
90
+ "axis_angle1",
91
+ "axis_angle2",
92
+ "axis_angle3",
93
+ "gripper"
94
+ ]
95
+ },
96
+ "fps": 20
97
+ },
98
+ "timestamp": {
99
+ "dtype": "float32",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null,
104
+ "fps": 20
105
+ },
106
+ "frame_index": {
107
+ "dtype": "int64",
108
+ "shape": [
109
+ 1
110
+ ],
111
+ "names": null,
112
+ "fps": 20
113
+ },
114
+ "episode_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null,
120
+ "fps": 20
121
+ },
122
+ "index": {
123
+ "dtype": "int64",
124
+ "shape": [
125
+ 1
126
+ ],
127
+ "names": null,
128
+ "fps": 20
129
+ },
130
+ "task_index": {
131
+ "dtype": "int64",
132
+ "shape": [
133
+ 1
134
+ ],
135
+ "names": null,
136
+ "fps": 20
137
+ }
138
+ },
139
+ "data_files_size_in_mb": 100,
140
+ "video_files_size_in_mb": 200,
141
+ "data_files": [
142
+ "data/chunk-000/file-000.parquet"
143
+ ]
144
+ }
libero_spatial/meta/stats.json ADDED
@@ -0,0 +1,319 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist_image": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.5846596441867226
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.5453226857018393
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.49830541633479514
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.24875102462076606
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.2252864323219699
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.20095594997710015
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 42695
73
+ ]
74
+ },
75
+ "action": {
76
+ "min": [
77
+ -0.9375,
78
+ -0.9375,
79
+ -0.9375,
80
+ -0.1875,
81
+ -0.3675000071525574,
82
+ -0.36000001430511475,
83
+ 0.0
84
+ ],
85
+ "max": [
86
+ 0.9375,
87
+ 0.9375,
88
+ 0.9375,
89
+ 0.1971428543329239,
90
+ 0.33642858266830444,
91
+ 0.375,
92
+ 1.0
93
+ ],
94
+ "mean": [
95
+ 0.15312488430795423,
96
+ 0.13707241597825376,
97
+ -0.15526779033841448,
98
+ -0.005176474488725037,
99
+ -0.011208756940533639,
100
+ -0.02019425420384803,
101
+ 0.4578818200364616
102
+ ],
103
+ "std": [
104
+ 0.4127313215829766,
105
+ 0.34726656846708326,
106
+ 0.5086747214221364,
107
+ 0.03726436053640721,
108
+ 0.07244919040999799,
109
+ 0.057623360068868625,
110
+ 0.49822288770971956
111
+ ],
112
+ "count": [
113
+ 52970
114
+ ]
115
+ },
116
+ "frame_index": {
117
+ "min": [
118
+ 0
119
+ ],
120
+ "max": [
121
+ 192
122
+ ],
123
+ "mean": [
124
+ 62.563828582216345
125
+ ],
126
+ "std": [
127
+ 38.38003743933667
128
+ ],
129
+ "count": [
130
+ 52970
131
+ ]
132
+ },
133
+ "task_index": {
134
+ "min": [
135
+ 0
136
+ ],
137
+ "max": [
138
+ 9
139
+ ],
140
+ "mean": [
141
+ 4.55723994713989
142
+ ],
143
+ "std": [
144
+ 2.9873401892124782
145
+ ],
146
+ "count": [
147
+ 52970
148
+ ]
149
+ },
150
+ "index": {
151
+ "min": [
152
+ 0
153
+ ],
154
+ "max": [
155
+ 52969
156
+ ],
157
+ "mean": [
158
+ 26484.5
159
+ ],
160
+ "std": [
161
+ 15291.121876762345
162
+ ],
163
+ "count": [
164
+ 52970
165
+ ]
166
+ },
167
+ "timestamp": {
168
+ "min": [
169
+ 0.0
170
+ ],
171
+ "max": [
172
+ 9.6
173
+ ],
174
+ "mean": [
175
+ 3.1281914291108173
176
+ ],
177
+ "std": [
178
+ 1.9190018719668336
179
+ ],
180
+ "count": [
181
+ 52970
182
+ ]
183
+ },
184
+ "episode_index": {
185
+ "min": [
186
+ 0
187
+ ],
188
+ "max": [
189
+ 431
190
+ ],
191
+ "mean": [
192
+ 215.03815367188975
193
+ ],
194
+ "std": [
195
+ 124.62774852005703
196
+ ],
197
+ "count": [
198
+ 52970
199
+ ]
200
+ },
201
+ "observation.state": {
202
+ "min": [
203
+ -0.3095473051071167,
204
+ -0.29250794649124146,
205
+ 0.9095591306686401,
206
+ 2.497488260269165,
207
+ -1.8006486892700195,
208
+ -0.7207611203193665,
209
+ -0.0004703797458205372,
210
+ -0.041536275297403336
211
+ ],
212
+ "max": [
213
+ 0.1759040206670761,
214
+ 0.3904820382595062,
215
+ 1.3290715217590332,
216
+ 3.4566118717193604,
217
+ 1.2268599271774292,
218
+ 1.0429412126541138,
219
+ 0.041053611785173416,
220
+ 0.000775813648942858
221
+ ],
222
+ "mean": [
223
+ -0.024462566693947342,
224
+ 0.10653030478388664,
225
+ 1.0580495716300307,
226
+ 3.062855007870368,
227
+ -0.10464045916348884,
228
+ 0.08307320236969534,
229
+ 0.019954609054627596,
230
+ -0.02016269208612657
231
+ ],
232
+ "std": [
233
+ 0.11014790171807007,
234
+ 0.13784701831750223,
235
+ 0.10442821034433838,
236
+ 0.10451106017474115,
237
+ 0.41121126296974436,
238
+ 0.217669782061163,
239
+ 0.01726087684311731,
240
+ 0.01711165613303983
241
+ ],
242
+ "count": [
243
+ 52970
244
+ ]
245
+ },
246
+ "observation.images.image": {
247
+ "min": [
248
+ [
249
+ [
250
+ 0.0
251
+ ]
252
+ ],
253
+ [
254
+ [
255
+ 0.0
256
+ ]
257
+ ],
258
+ [
259
+ [
260
+ 0.0
261
+ ]
262
+ ]
263
+ ],
264
+ "max": [
265
+ [
266
+ [
267
+ 1.0
268
+ ]
269
+ ],
270
+ [
271
+ [
272
+ 1.0
273
+ ]
274
+ ],
275
+ [
276
+ [
277
+ 1.0
278
+ ]
279
+ ]
280
+ ],
281
+ "mean": [
282
+ [
283
+ [
284
+ 0.49465999363758456
285
+ ]
286
+ ],
287
+ [
288
+ [
289
+ 0.46759409514760075
290
+ ]
291
+ ],
292
+ [
293
+ [
294
+ 0.4307482421582366
295
+ ]
296
+ ]
297
+ ],
298
+ "std": [
299
+ [
300
+ [
301
+ 0.22094010046605658
302
+ ]
303
+ ],
304
+ [
305
+ [
306
+ 0.20259253787959647
307
+ ]
308
+ ],
309
+ [
310
+ [
311
+ 0.18565729345932921
312
+ ]
313
+ ]
314
+ ],
315
+ "count": [
316
+ 42695
317
+ ]
318
+ }
319
+ }
libero_spatial/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:272418b7063e8ea1784bbac6fceb880247e321a85a8d0096a9dc9378c92c502c
3
+ size 2691
libero_spatial/videos/observation.images.image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f065c8289979d0db7b5e451b2e7b3c7d61585f33d0482ada1e307310a8f30954
3
+ size 179391660
libero_spatial/videos/observation.images.wrist_image/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:270d138f74ba5737da6064be061fcd01637f9ab403c0d1a47271eb7e7337927e
3
+ size 182827851