Upload folder using huggingface_hub

data/chunk-000/episode_000046.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b27aca0b31e1c5f2555516efd900dfa88e28607e3063286684fb1e9c9529ff7
+size 176766303

data/chunk-000/episode_000047.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d99578e6705279337d442a636a4bc59749ee81683db891d391558be74d3ee922
+size 162604656

data/chunk-000/episode_000048.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53f12a73490fff78ac9d0b576896922e7a65e60f7d8138b527b655b54e1e0ec
+size 559870505

data/chunk-000/episode_000049.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f7858b7cd6a1c2cc05101d145a19f946bbe4e81f31faa5e290523cdccbaf817
+size 126154812

meta/episodes.jsonl

@@ -44,3 +44,7 @@
 {"episode_index": 43, "tasks": ["pick"], "length": 403}
 {"episode_index": 44, "tasks": ["pick"], "length": 312}
 {"episode_index": 45, "tasks": ["pick"], "length": 291}
+{"episode_index": 46, "tasks": ["pick"], "length": 269}
+{"episode_index": 47, "tasks": ["pick"], "length": 245}
+{"episode_index": 48, "tasks": ["pick"], "length": 900}
+{"episode_index": 49, "tasks": ["pick"], "length": 192}

meta/episodes_stats.jsonl

@@ -44,3 +44,7 @@
 {"episode_index": 43, "stats": {"observation.image.ego_global": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4695843164488017]], [[0.36632706699346407]], [[0.32232253267973854]]], "std": [[[0.2325697272353276]], [[0.25869394791206457]], [[0.27911411573871886]]], "count": [100]}, "observation.image.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5363841693899782]], [[0.4335632734204793]], [[0.39516428649237473]]], "std": [[[0.25966430869766505]], [[0.25711626289168016]], [[0.2654444609412128]]], "count": [100]}, "observation.state": {"min": [0.06999793648719788, -0.0016255791997537017, 0.2714155912399292, -0.9392250180244446, -0.9715809226036072, -0.6634459495544434, -0.9596600532531738, -0.3838282823562622, -0.7451215982437134, 1.399999976158142], "max": [0.3837573528289795, 0.17647559940814972, 0.4245454668998718, 0.5329604744911194, 0.2540963888168335, -0.040620967745780945, 0.13663378357887268, 0.9986644387245178, 0.29366689920425415, 68.52999877929688], "mean": [0.16121818125247955, 0.08974580466747284, 0.34163448214530945, -0.2829056680202484, -0.4538591206073761, -0.34239131212234497, -0.41801902651786804, 0.4240715205669403, -0.22573409974575043, 33.05128479003906], "std": [0.09468105435371399, 0.037851233035326004, 0.04023641720414162, 0.6031027436256409, 0.4374648928642273, 0.20404930412769318, 0.3709685206413269, 0.5866464376449585, 0.33570200204849243, 25.484577178955078], "count": [403]}, "action": {"min": [0.08090532571077347, -0.07030249387025833, 0.18400788307189941, -0.9770650863647461, -0.9729562401771545, -0.7021077275276184, -0.9669161438941956, -0.4239893853664398, -0.8022063374519348, -1.0], "max": [0.5315638184547424, 0.2562502920627594, 0.6543634533882141, 0.5816662907600403, 0.34797513484954834, -0.005487264133989811, 0.19915889203548431, 0.9986644387245178, 0.33878952264785767, 1.0], "mean": [0.18836882710456848, 0.11271261423826218, 0.4018608033657074, -0.27125099301338196, -0.4497821629047394, -0.34786370396614075, -0.40456637740135193, 0.4222099781036377, -0.24469763040542603, 0.0], "std": [0.11153391003608704, 0.06931641697883606, 0.11939235031604767, 0.6062335968017578, 0.43478524684906006, 0.21576015651226044, 0.37046220898628235, 0.5850454568862915, 0.3444819450378418, 0.23364625871181488], "count": [403]}, "joints": {"min": [-0.03014400042593479, 0.6353440880775452, -1.8985835313796997, -0.4270051121711731, 0.7884365320205688, -0.9529201984405518], "max": [1.0465096235275269, 1.907009243965149, -0.5718812346458435, 0.14089877903461456, 1.2844867706298828, 0.4423038959503174], "mean": [0.6324886679649353, 1.037638783454895, -1.0595444440841675, -0.1407170444726944, 1.1215513944625854, -0.2642097473144531], "std": [0.3214532732963562, 0.3719125986099243, 0.4044812023639679, 0.1873912364244461, 0.15612633526325226, 0.5861682295799255], "count": [403]}, "timestamp": {"min": [0.0], "max": [13.4], "mean": [6.699999999999998], "std": [3.8778573694474345], "count": [403]}, "frame_index": {"min": [0], "max": [402], "mean": [201.0], "std": [116.33572108342304], "count": [403]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [403]}, "index": {"min": [11628], "max": [12030], "mean": [11829.0], "std": [116.33572108342304], "count": [403]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [403]}}}
 {"episode_index": 44, "stats": {"observation.image.ego_global": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47125281862745094]], [[0.36071319989106754]], [[0.31238171840958606]]], "std": [[[0.23104490285349438]], [[0.26076029992198085]], [[0.28330886514798553]]], "count": [100]}, "observation.image.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5080466639433552]], [[0.43534236655773423]], [[0.40844870642701525]]], "std": [[[0.21240885598172185]], [[0.22126168626730847]], [[0.23163478320410927]]], "count": [100]}, "observation.state": {"min": [0.10324010252952576, 0.004195984918624163, 0.30939096212387085, -0.7906505465507507, -0.9607076048851013, -0.9400056600570679, -0.9598650336265564, 0.04039689525961876, -0.46431976556777954, 14.0], "max": [0.3594239056110382, 0.17809854447841644, 0.5183905363082886, 0.054155610501766205, 0.16789349913597107, -0.2723430395126343, -0.01220738049596548, 0.9996544122695923, 0.2755848169326782, 68.52999877929688], "mean": [0.17273665964603424, 0.09032115340232849, 0.4065646529197693, -0.4201899766921997, -0.36104699969291687, -0.6972655653953552, -0.4903697967529297, 0.7501558661460876, -0.06577612459659576, 33.928871154785156], "std": [0.07828066498041153, 0.040850963443517685, 0.06883177161216736, 0.21560069918632507, 0.34986063838005066, 0.1949877142906189, 0.2655671536922455, 0.29236745834350586, 0.1909780651330948, 25.645057678222656], "count": [312]}, "action": {"min": [0.07149239629507065, -0.004249820951372385, 0.147059366106987, -0.762734591960907, -0.9615005254745483, -0.9920734167098999, -0.9535398483276367, -0.004700204823166132, -0.575146496295929, -1.0], "max": [0.4478902220726013, 0.3099916875362396, 0.6102121472358704, 0.12869788706302643, 0.3003568947315216, -0.2574581801891327, -0.12484440952539444, 0.9921609163284302, 0.379815012216568, 1.0], "mean": [0.21528363227844238, 0.12482662498950958, 0.3701643943786621, -0.29774558544158936, -0.32445022463798523, -0.7480802536010742, -0.49814707040786743, 0.7303543090820312, -0.07643060386180878, 0.0], "std": [0.08483342826366425, 0.0645373985171318, 0.09168829768896103, 0.2234245389699936, 0.3844471275806427, 0.22076521813869476, 0.25020062923431396, 0.3045254647731781, 0.2392783910036087, 0.17902871966362], "count": [312]}, "joints": {"min": [0.02023555524647236, 0.8846251964569092, -1.557841181755066, -0.34843534231185913, 0.47305843234062195, -0.6608129739761353], "max": [0.897185206413269, 1.7143003940582275, -0.8679483532905579, 0.0884956642985344, 1.1611545085906982, 0.3651994466781616], "mean": [0.5120210647583008, 1.0769329071044922, -1.25044846534729, -0.07067734748125076, 0.97983318567276, -0.06563180685043335], "std": [0.1919482946395874, 0.2546088993549347, 0.22462597489356995, 0.10451184958219528, 0.2114950567483902, 0.3332662284374237], "count": [312]}, "timestamp": {"min": [0.0], "max": [10.366666666666667], "mean": [5.183333333333334], "std": [3.0022059790661833], "count": [312]}, "frame_index": {"min": [0], "max": [311], "mean": [155.5], "std": [90.0661793719855], "count": [312]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [312]}, "index": {"min": [12031], "max": [12342], "mean": [12186.5], "std": [90.0661793719855], "count": [312]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [312]}}}
 {"episode_index": 45, "stats": {"observation.image.ego_global": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[1.0]], [[1.0]]], "mean": [[[0.4479106726579521]], [[0.35194063725490193]], [[0.3088136710239652]]], "std": [[[0.24640193961855586]], [[0.262894548206673]], [[0.2803199983879431]]], "count": [100]}, "observation.image.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5036138916122004]], [[0.4086810566448802]], [[0.40200541394335515]]], "std": [[[0.25473791323194]], [[0.26108620181337855]], [[0.259843445949346]]], "count": [100]}, "observation.state": {"min": [0.14416301250457764, 0.01915237121284008, 0.28690382838249207, -0.9041609168052673, -0.5704035758972168, -0.6316689252853394, -0.6285499930381775, 0.6933027505874634, -0.1875513792037964, 14.770000457763672], "max": [0.4064553380012512, 0.18704402446746826, 0.4229574501514435, -0.7083587050437927, 0.0005436596693471074, -0.11018615961074829, -0.026520926505327225, 0.9980098009109497, 0.38405731320381165, 68.5999984741211], "mean": [0.2343110591173172, 0.1472371220588684, 0.32631343603134155, -0.8211824893951416, -0.4271472692489624, -0.3224574327468872, -0.4465911388397217, 0.8631235361099243, 0.03858614340424538, 43.98072814941406], "std": [0.08803887665271759, 0.040888331830501556, 0.026615774258971214, 0.03888687118887901, 0.14431768655776978, 0.12994536757469177, 0.1567741334438324, 0.08498986065387726, 0.14927712082862854, 26.096534729003906], "count": [291]}, "action": {"min": [0.14416301250457764, 0.045057132840156555, 0.27643927931785583, -0.8906984329223633, -0.6068573594093323, -0.6488633751869202, -0.6293634176254272, 0.6681457161903381, -0.31356340646743774, -1.0], "max": [0.592300534248352, 0.23445597290992737, 0.6329706907272339, -0.6969398856163025, -0.15967223048210144, -0.06282487511634827, -0.19102858006954193, 0.9812076091766357, 0.42341145873069763, 1.0], "mean": [0.27004992961883545, 0.16350938379764557, 0.4064233899116516, -0.811503529548645, -0.44658181071281433, -0.3150152564048767, -0.4526226222515106, 0.8554478883743286, 0.012959049083292484, 0.006872852332890034], "std": [0.12939774990081787, 0.04275885596871376, 0.08090823143720627, 0.03560735657811165, 0.13258296251296997, 0.15474501252174377, 0.1529792696237564, 0.08668197691440582, 0.1796029806137085, 0.2620716094970703], "count": [291]}, "joints": {"min": [0.08861777931451797, 1.0761651992797852, -2.042884111404419, -0.23160989582538605, 1.0458991527557373, -0.09297888725996017], "max": [0.7595311403274536, 2.004488706588745, -0.9101290106773376, 0.39635521173477173, 1.26180899143219, 0.18325388431549072], "mean": [0.5687927007675171, 1.4470970630645752, -1.3296936750411987, 0.013869193382561207, 1.211063265800476, 0.08531180769205093], "std": [0.16726484894752502, 0.2909550666809082, 0.36353427171707153, 0.17644242942333221, 0.05179348960518837, 0.09569359570741653], "count": [291]}, "timestamp": {"min": [0.0], "max": [9.666666666666666], "mean": [4.833333333333333], "std": [2.80013227200801], "count": [291]}, "frame_index": {"min": [0], "max": [290], "mean": [145.0], "std": [84.0039681602403], "count": [291]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [291]}, "index": {"min": [12343], "max": [12633], "mean": [12488.0], "std": [84.0039681602403], "count": [291]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [291]}}}
+{"episode_index": 46, "stats": {"observation.image.ego_global": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9803921568627451]], [[1.0]], [[1.0]]], "mean": [[[0.4530475626361656]], [[0.35404599673202614]], [[0.31488513071895424]]], "std": [[[0.24434911570948983]], [[0.2615195519025729]], [[0.2784674355936788]]], "count": [100]}, "observation.image.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5031117211328977]], [[0.41306162309368194]], [[0.4022164678649237]]], "std": [[[0.26115573233121386]], [[0.2684440208055111]], [[0.26843566600994345]]], "count": [100]}, "observation.state": {"min": [0.12729555368423462, -0.012343511916697025, 0.302559494972229, -0.9121814966201782, -0.6080766916275024, -0.5944496989250183, -0.7229246497154236, 0.6663315296173096, -0.042898304760456085, 14.630000114440918], "max": [0.385759562253952, 0.1625073105096817, 0.41975754499435425, -0.6534242630004883, 0.01354675367474556, -0.3561685085296631, 0.04209280014038086, 0.9997548460960388, 0.27157095074653625, 68.52999877929688], "mean": [0.22152042388916016, 0.11425156891345978, 0.34224510192871094, -0.8156285881996155, -0.281093567609787, -0.4663228392601013, -0.37471359968185425, 0.8816433548927307, 0.14316228032112122, 40.4238166809082], "std": [0.08553379774093628, 0.04227127134799957, 0.02554568462073803, 0.06921669840812683, 0.17488446831703186, 0.05388692766427994, 0.20430319011211395, 0.11255484074354172, 0.08596789091825485, 26.248661041259766], "count": [269]}, "action": {"min": [0.12101545184850693, -0.005486368667334318, 0.22929060459136963, -0.9133490324020386, -0.5963597297668457, -0.6607229709625244, -0.7184857726097107, 0.6480904221534729, -0.10431196540594101, -1.0], "max": [0.4880151152610779, 0.2082459032535553, 0.5520966649055481, -0.6686145067214966, 0.007655954919755459, -0.35301822423934937, 0.03854851424694061, 0.9990664720535278, 0.3357192575931549, 1.0], "mean": [0.2541123032569885, 0.1281244158744812, 0.36019662022590637, -0.787178635597229, -0.2725163996219635, -0.517478346824646, -0.3900753855705261, 0.8727800846099854, 0.1528448611497879, 0.0], "std": [0.10538538545370102, 0.04454578831791878, 0.07110393047332764, 0.060940150171518326, 0.17571896314620972, 0.06090785562992096, 0.1978016197681427, 0.11628399789333344, 0.10043544322252274, 0.2112099975347519], "count": [269]}, "joints": {"min": [-0.058090001344680786, 0.9846516847610474, -1.828177809715271, -0.08132600039243698, 0.991891086101532, -0.06684710830450058], "max": [0.7818251252174377, 1.8630492687225342, -0.9189558625221252, 0.3045625686645508, 1.2710371017456055, 0.18721377849578857], "mean": [0.4489150941371918, 1.2989692687988281, -1.2348757982254028, 0.12360291182994843, 1.0994195938110352, 0.046754948794841766], "std": [0.2033633589744568, 0.291319876909256, 0.3319408595561981, 0.11425502598285675, 0.07990758866071701, 0.10095308721065521], "count": [269]}, "timestamp": {"min": [0.0], "max": [8.933333333333334], "mean": [4.466666666666667], "std": [2.5884358211089573], "count": [269]}, "frame_index": {"min": [0], "max": [268], "mean": [134.0], "std": [77.6530746332687], "count": [269]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [269]}, "index": {"min": [12634], "max": [12902], "mean": [12768.0], "std": [77.6530746332687], "count": [269]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [269]}}}
+{"episode_index": 47, "stats": {"observation.image.ego_global": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[1.0]], [[1.0]]], "mean": [[[0.46958136982570803]], [[0.3613732434640523]], [[0.31844965686274507]]], "std": [[[0.229714633951242]], [[0.25673341732628535]], [[0.2750927837972047]]], "count": [100]}, "observation.image.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.525821424291939]], [[0.42674244825708063]], [[0.40028172930283223]]], "std": [[[0.25240599116849527]], [[0.24829065484856913]], [[0.25241364744959577]]], "count": [100]}, "observation.state": {"min": [0.21800516545772552, -0.018019095063209534, 0.31142354011535645, -0.9745821952819824, -0.6422480940818787, -0.76129150390625, -0.6378448009490967, 0.7562921643257141, -0.16678737103939056, 13.930000305175781], "max": [0.4145587384700775, 0.17666253447532654, 0.4423988461494446, -0.6286106705665588, 0.14436006546020508, -0.21243159472942352, 0.13519339263439178, 0.9987190365791321, 0.2935870885848999, 68.45999908447266], "mean": [0.2746279239654541, 0.09822161495685577, 0.3427746593952179, -0.8318332433700562, -0.21895739436149597, -0.43527668714523315, -0.26562896370887756, 0.9307172298431396, 0.07158873230218887, 38.04426956176758], "std": [0.06865688413381577, 0.0501055046916008, 0.025983277708292007, 0.10310308635234833, 0.19653600454330444, 0.1462489515542984, 0.1875791847705841, 0.0684056431055069, 0.13496923446655273, 26.49602699279785], "count": [245]}, "action": {"min": [0.21800516545772552, -0.010768892243504524, 0.13962310552597046, -0.9863560199737549, -0.7077308893203735, -0.8346490263938904, -0.6692525744438171, 0.7007946372032166, -0.28085091710090637, -1.0], "max": [0.42507418990135193, 0.2813548147678375, 0.5859083533287048, -0.5171028971672058, 0.046188779175281525, -0.1270989179611206, 0.028427068144083023, 0.998869001865387, 0.38070112466812134, 1.0], "mean": [0.3003460764884949, 0.1172412857413292, 0.3835349380970001, -0.7952731251716614, -0.22585003077983856, -0.47001099586486816, -0.27535638213157654, 0.9245076179504395, 0.06538359075784683, 0.008163264952600002], "std": [0.07663481682538986, 0.07359432429075241, 0.07378622144460678, 0.14072272181510925, 0.18968790769577026, 0.19959285855293274, 0.1785503625869751, 0.07651077955961227, 0.16569697856903076, 0.20186568796634674], "count": [245]}, "joints": {"min": [-0.08471022546291351, 1.1843032836914062, -1.9998834133148193, -0.24441410601139069, 0.8713499903678894, -0.23588377237319946], "max": [0.4812747836112976, 1.9514402151107788, -1.0080621242523193, 0.28451889753341675, 1.2304961681365967, 0.25256067514419556], "mean": [0.30076658725738525, 1.451124906539917, -1.3701021671295166, 0.054829683154821396, 1.1138511896133423, 0.020143495872616768], "std": [0.14476199448108673, 0.25551193952560425, 0.3343663513660431, 0.15527798235416412, 0.11244073510169983, 0.12488489598035812], "count": [245]}, "timestamp": {"min": [0.0], "max": [8.133333333333333], "mean": [4.066666666666666], "std": [2.357493961344923], "count": [245]}, "frame_index": {"min": [0], "max": [244], "mean": [122.0], "std": [70.7248188403477], "count": [245]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [245]}, "index": {"min": [12903], "max": [13147], "mean": [13025.0], "std": [70.7248188403477], "count": [245]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [245]}}}
+{"episode_index": 48, "stats": {"observation.image.ego_global": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[1.0]], [[1.0]]], "mean": [[[0.4664185364525214]], [[0.3600648364020405]], [[0.3141460143339178]]], "std": [[[0.22917589453004322]], [[0.25428997604470743]], [[0.27703819006506103]]], "count": [164]}, "observation.image.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48726039341888516]], [[0.41207188380094584]], [[0.3931726164381742]]], "std": [[[0.20310835543822453]], [[0.22834854624230222]], [[0.23969274415715325]]], "count": [164]}, "observation.state": {"min": [0.16263964772224426, -0.08074548095464706, 0.2986779808998108, -0.9292393922805786, -0.6278906464576721, -0.9001926779747009, -0.6198585033416748, 0.6311365962028503, -0.26715150475502014, 14.630000114440918], "max": [0.4876493215560913, 0.267605185508728, 0.5675624012947083, -0.3636881411075592, 0.757133960723877, -0.08638308197259903, 0.4894462823867798, 0.9969953298568726, 0.7100104689598083, 68.52999877929688], "mean": [0.28765058517456055, 0.08101476728916168, 0.41847753524780273, -0.7118800282478333, -0.09556863456964493, -0.5021831393241882, -0.20723144710063934, 0.8715721964836121, 0.1611190140247345, 23.566226959228516], "std": [0.08274751901626587, 0.08912862092256546, 0.07009734958410263, 0.1481194645166397, 0.40594974160194397, 0.21253305673599243, 0.31392544507980347, 0.10054284334182739, 0.2505999803543091, 19.82847785949707], "count": [900]}, "action": {"min": [0.13697083294391632, -0.14810548722743988, 0.24476756155490875, -0.9281490445137024, -0.6791982054710388, -0.9768261313438416, -0.6677418351173401, 0.5890902876853943, -0.44590669870376587, -1.0], "max": [0.6707057356834412, 0.3364289402961731, 0.7934558391571045, -0.20482251048088074, 0.7965884208679199, -0.013914357870817184, 0.5019024610519409, 0.9996803998947144, 0.7736754417419434, 1.0], "mean": [0.3032991886138916, 0.06346140056848526, 0.5596169829368591, -0.6855815052986145, -0.1010296642780304, -0.4994784891605377, -0.20926210284233093, 0.8675036430358887, 0.13888972997665405, -0.002222222276031971], "std": [0.10272455960512161, 0.11018146574497223, 0.13045531511306763, 0.18509770929813385, 0.42207685112953186, 0.24058666825294495, 0.31064727902412415, 0.10594335198402405, 0.2768207788467407, 0.11544805765151978], "count": [900]}, "joints": {"min": [-0.3210824429988861, 1.0164703130722046, -2.6746695041656494, -0.1892198920249939, 1.081660270690918, -0.3574715554714203], "max": [0.920473575592041, 2.2425007820129395, -0.9300505518913269, 0.5564079880714417, 1.3659523725509644, 0.5472322106361389], "mean": [0.25168371200561523, 1.588430404663086, -1.816652536392212, 0.11928699165582657, 1.2767130136489868, 0.10445186495780945], "std": [0.3451344072818756, 0.28538617491722107, 0.49849870800971985, 0.2087179571390152, 0.06480260193347931, 0.23070894181728363], "count": [900]}, "timestamp": {"min": [0.0], "max": [29.966666666666665], "mean": [14.983333333333333], "std": [8.66024869200691], "count": [900]}, "frame_index": {"min": [0], "max": [899], "mean": [449.5], "std": [259.80746076020733], "count": [900]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [900]}, "index": {"min": [13148], "max": [14047], "mean": [13597.5], "std": [259.80746076020733], "count": [900]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [900]}}}
+{"episode_index": 49, "stats": {"observation.image.ego_global": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9803921568627451]], [[1.0]], [[1.0]]], "mean": [[[0.4476047494553377]], [[0.355124183006536]], [[0.3110658632897603]]], "std": [[[0.24575596512627165]], [[0.26023800785308565]], [[0.2760974361054657]]], "count": [100]}, "observation.image.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5071505310457516]], [[0.4204116176470588]], [[0.4043380364923747]]], "std": [[[0.23632766988223833]], [[0.24186476800420895]], [[0.2455521425184546]]], "count": [100]}, "observation.state": {"min": [0.15079385042190552, 0.024624457582831383, 0.3124639689922333, -0.8610010147094727, -0.6993362903594971, -0.7102633714675903, -0.7241520285606384, 0.6881959438323975, -0.31625860929489136, 14.350000381469727], "max": [0.4144350588321686, 0.2049640268087387, 0.4428187906742096, -0.6256918907165527, -0.06798575818538666, -0.30115970969200134, -0.07059827446937561, 0.9974072575569153, 0.16421134769916534, 68.45999908447266], "mean": [0.26148146390914917, 0.14099320769309998, 0.3508720099925995, -0.7387964725494385, -0.3694649040699005, -0.516988217830658, -0.3902546167373657, 0.8855231404304504, -0.05401504412293434, 40.87746047973633], "std": [0.09554962813854218, 0.0478837825357914, 0.03310994431376457, 0.05716468766331673, 0.18198464810848236, 0.11837447434663773, 0.18495386838912964, 0.10377279669046402, 0.12512312829494476, 26.27387809753418], "count": [192]}, "action": {"min": [0.13073381781578064, 0.10069407522678375, 0.22664590179920197, -0.8500099182128906, -0.7364391088485718, -0.8513115644454956, -0.7189274430274963, 0.6764795184135437, -0.43070805072784424, -1.0], "max": [0.5062704682350159, 0.30600959062576294, 0.673453152179718, -0.5118477940559387, -0.11129190772771835, -0.2892090380191803, -0.16674380004405975, 0.9858396649360657, 0.19847755134105682, 1.0], "mean": [0.2961956560611725, 0.17165197432041168, 0.40427282452583313, -0.7075598835945129, -0.376926064491272, -0.5456499457359314, -0.3912884294986725, 0.8783736228942871, -0.07243328541517258, 0.0052083334885537624], "std": [0.12258368730545044, 0.05195516347885132, 0.09756273776292801, 0.07472517341375351, 0.18320101499557495, 0.14284658432006836, 0.17823126912117004, 0.10654635727405548, 0.16428208351135254, 0.21644361317157745], "count": [192]}, "joints": {"min": [0.1494116634130478, 1.0759035348892212, -1.9692161083221436, -0.3755963444709778, 0.8346468806266785, 0.09053666889667511], "max": [0.9071111083030701, 1.9557838439941406, -0.9612237811088562, 0.12338455766439438, 1.2333920001983643, 0.21043233573436737], "mean": [0.5436301827430725, 1.4655619859695435, -1.4190753698349, -0.12968392670154572, 1.0712929964065552, 0.13602058589458466], "std": [0.20271040499210358, 0.3044770061969757, 0.3535442650318146, 0.13631968200206757, 0.12042723596096039, 0.041244443506002426], "count": [192]}, "timestamp": {"min": [0.0], "max": [6.366666666666666], "mean": [3.1833333333333336], "std": [1.847495802631427], "count": [192]}, "frame_index": {"min": [0], "max": [191], "mean": [95.5], "std": [55.42487407894281], "count": [192]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [192]}, "index": {"min": [14048], "max": [14239], "mean": [14143.5], "std": [55.42487407894281], "count": [192]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [192]}}}

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v2.1",
     "robot_type": null,
-    "total_episodes": 46,
-    "total_frames": 12634,
+    "total_episodes": 50,
+    "total_frames": 14240,
     "total_tasks": 1,
     "total_videos": 0,
     "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 30,
     "splits": {
-        "train": "0:46"
+        "train": "0:50"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": null,

teleop.yaml

@@ -0,0 +1,61 @@
+perception:
+  cam_type: realsense
+  cameras:
+    ego_global:
+      serial: '242522072024'
+      resolution:
+      - 640
+      - 360
+      resize:
+      - 640
+      - 360
+      extrinsics_path: /data/pulkitag/hamer_diffusion_policy_project/calibration/2025-09-11/22-34-29/extrinsics.npz
+      intrinsics_path: /data/pulkitag/hamer_diffusion_policy_project/calibration/2025-09-11/22-34-29/intrinsics.json
+      flip_hw: true
+      enable_depth: false
+      visualize_hands: false
+      hand_bbox_checkpoint: /home/richard/checkpoints/ego4d_model_0109999.pth
+      hand_3d_recon_checkpoint: null
+    wrist:
+      serial: '230322277032'
+      resolution:
+      - 360
+      - 640
+      resize:
+      - 360
+      - 640
+      extrinsics_path: None
+      intrinsics_path: None
+      flip_hw: false
+      enable_depth: false
+  framerate: 30
+randomize: true
+frequency: 30
+command_latency: 0.001
+ee_frame_name: gripper_base
+wrist: false
+teleop:
+  controller:
+    name: MultiSpacemouseControl
+    port: 8888
+  max_pos_speed: 2
+  max_rot_speed: 2
+  num_demos: 50
+  randomize: true
+  record_while_closing: true
+  ik_type: pink
+  render_ee_frame: false
+  print_tcp_frame_wrt_cam: true
+  gripper_force_in_nm: 5000
+  max_samples: 1200
+  robot: piper
+training:
+  image_keys:
+  - ego_global
+  - wrist
+  obs_dim: 10
+  action_dim: 10
+  repo: rli14/task_book_red
+  task: pick
+  split: train
+  joint_dim: 6