| { | |
| "dataset_name": "gr1_unified.PosttrainPnPNovelFromPlateToPanSplitA_GR1ArmsAndWaistFourierHands", | |
| "dataset_statistics": { | |
| "state": { | |
| "left_arm": { | |
| "max": [ | |
| 1.0460233688354492, | |
| 0.9478156566619873, | |
| 0.5362815260887146, | |
| -0.1075710579752922, | |
| 0.7285888195037842, | |
| 0.7732104063034058, | |
| 0.6222354173660278 | |
| ], | |
| "min": [ | |
| -0.46584653854370117, | |
| -0.003097016364336014, | |
| -0.960850179195404, | |
| -1.9602693319320679, | |
| -0.27534663677215576, | |
| -0.3150876760482788, | |
| -0.45485639572143555 | |
| ], | |
| "mean": [ | |
| -0.10590314120054245, | |
| 0.25476112961769104, | |
| -0.06374488025903702, | |
| -1.50490403175354, | |
| 0.10086891800165176, | |
| 0.11703872680664062, | |
| 0.11321073025465012 | |
| ], | |
| "std": [ | |
| 0.11081696301698685, | |
| 0.12759838998317719, | |
| 0.1341981589794159, | |
| 0.09812884777784348, | |
| 0.14670969545841217, | |
| 0.10254095494747162, | |
| 0.11857497692108154 | |
| ], | |
| "q01": [ | |
| -0.2871525526046753, | |
| 0.03102926764637232, | |
| -0.35262962222099303, | |
| -1.6364316248893738, | |
| -0.19553728818893432, | |
| -0.09540146604180336, | |
| -0.15017945289611817 | |
| ], | |
| "q99": [ | |
| 0.10416466414928433, | |
| 0.5785486948490143, | |
| 0.19458520919084543, | |
| -1.2643910169601442, | |
| 0.4213222730159759, | |
| 0.3747094357013702, | |
| 0.2610374391078949 | |
| ] | |
| }, | |
| "left_hand": { | |
| "max": [ | |
| 1.4533840417861938, | |
| 1.3376821279525757, | |
| 1.904958963394165, | |
| 0.8672846555709839, | |
| 0.6901317238807678, | |
| 1.0812801122665405 | |
| ], | |
| "min": [ | |
| -1.0760133266448975, | |
| -1.042328953742981, | |
| -1.1583181619644165, | |
| -1.5559934377670288, | |
| -0.009324947372078896, | |
| -0.006017323117703199 | |
| ], | |
| "mean": [ | |
| 0.0005511760246008635, | |
| 0.0015863269800320268, | |
| 0.0017990220803767443, | |
| 0.0012261989759281278, | |
| 0.006924938876181841, | |
| 0.006703501101583242 | |
| ], | |
| "std": [ | |
| 0.027799170464277267, | |
| 0.01595790684223175, | |
| 0.026283619925379753, | |
| 0.023407109081745148, | |
| 0.0076745194382965565, | |
| 0.008668029680848122 | |
| ], | |
| "q01": [ | |
| -0.06481538742780685, | |
| -0.00039522828941699115, | |
| -0.0004723687400110066, | |
| -0.00048375851183664055, | |
| -0.0009228054736740887, | |
| -0.0006965299660805612 | |
| ], | |
| "q99": [ | |
| 0.03742823883891101, | |
| 0.00398967887274921, | |
| 0.004703836198896168, | |
| 0.0038953826949000357, | |
| 0.021412463039159772, | |
| 0.017988605424761772 | |
| ] | |
| }, | |
| "left_leg": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "neck": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "right_arm": { | |
| "max": [ | |
| 1.2888151407241821, | |
| 0.0017884812550619245, | |
| 2.1180787086486816, | |
| 0.0009232814190909266, | |
| 2.9739105701446533, | |
| 1.4111393690109253, | |
| 1.3881384134292603 | |
| ], | |
| "min": [ | |
| -1.8931553363800049, | |
| -1.4606236219406128, | |
| -1.5536601543426514, | |
| -2.4828195571899414, | |
| -1.1544902324676514, | |
| -1.4878300428390503, | |
| -1.197873830795288 | |
| ], | |
| "mean": [ | |
| -0.4489128291606903, | |
| -0.4080626964569092, | |
| 0.1465584635734558, | |
| -1.1995590925216675, | |
| 0.5305655598640442, | |
| 0.0864824503660202, | |
| 0.14217881858348846 | |
| ], | |
| "std": [ | |
| 0.3345620036125183, | |
| 0.2831282913684845, | |
| 0.4496026635169983, | |
| 0.5426390767097473, | |
| 0.4866023659706116, | |
| 0.43374374508857727, | |
| 0.5814999341964722 | |
| ], | |
| "q01": [ | |
| -1.1805086135864258, | |
| -1.046319646835327, | |
| -0.8913936340808868, | |
| -2.2378566217422486, | |
| -0.4650833582878113, | |
| -1.0831406235694885, | |
| -0.9043503427505493 | |
| ], | |
| "q99": [ | |
| 0.3557070106267929, | |
| -0.0000998061329301006, | |
| 1.1041181254386903, | |
| -0.13368861615657845, | |
| 1.5043509531021106, | |
| 0.884916509389877, | |
| 1.2076314854621888 | |
| ] | |
| }, | |
| "right_hand": { | |
| "max": [ | |
| 1.9049043655395508, | |
| 1.8201583623886108, | |
| 1.8773956298828125, | |
| 1.9508285522460938, | |
| 1.4302417039871216, | |
| 2.025191307067871 | |
| ], | |
| "min": [ | |
| -0.7067430019378662, | |
| -0.7195010781288147, | |
| -1.1523118019104004, | |
| -1.4843486547470093, | |
| -0.5528396368026733, | |
| -0.0019467781530693173 | |
| ], | |
| "mean": [ | |
| 0.5433464050292969, | |
| 0.5069717168807983, | |
| 0.4702245593070984, | |
| 0.5065674781799316, | |
| 0.08968040347099304, | |
| 1.6541566848754883 | |
| ], | |
| "std": [ | |
| 0.5698460340499878, | |
| 0.5216749310493469, | |
| 0.47717535495758057, | |
| 0.5200644135475159, | |
| 0.14944764971733093, | |
| 0.21797144412994385 | |
| ], | |
| "q01": [ | |
| 0.0023319493141025303, | |
| 0.0028990522865206003, | |
| 0.0026377696730196477, | |
| 0.002467460110783577, | |
| -0.07080230042338372, | |
| 0.5720495426654816 | |
| ], | |
| "q99": [ | |
| 1.4736108779907227, | |
| 1.4675086498260494, | |
| 1.4372683715820305, | |
| 1.4691092586517334, | |
| 0.6340843081474303, | |
| 1.824062411785125 | |
| ] | |
| }, | |
| "right_leg": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "waist": { | |
| "max": [ | |
| 1.019915223121643, | |
| 0.3439323604106903, | |
| 0.09990356117486954 | |
| ], | |
| "min": [ | |
| -0.2845390737056732, | |
| -0.16502082347869873, | |
| -0.08033417165279388 | |
| ], | |
| "mean": [ | |
| 0.013231584802269936, | |
| 0.0026477223727852106, | |
| -0.000013911941096012015 | |
| ], | |
| "std": [ | |
| 0.038293980062007904, | |
| 0.014026081189513206, | |
| 0.005106220953166485 | |
| ], | |
| "q01": [ | |
| -0.08180049419403077, | |
| -0.0327081436663866, | |
| -0.017718090601265432 | |
| ], | |
| "q99": [ | |
| 0.1448117321729657, | |
| 0.0446622534841299, | |
| 0.012502851299941524 | |
| ] | |
| } | |
| }, | |
| "action": { | |
| "left_arm": { | |
| "max": [ | |
| 0.792155385017395, | |
| 0.8828226923942566, | |
| 0.465969979763031, | |
| -0.12914025783538818, | |
| 0.671830952167511, | |
| 0.7506622076034546, | |
| 0.49254459142684937 | |
| ], | |
| "min": [ | |
| -0.47482016682624817, | |
| -0.00015485081530641764, | |
| -0.8180564641952515, | |
| -2.084230899810791, | |
| -0.29992684721946716, | |
| -0.31747251749038696, | |
| -0.5391448736190796 | |
| ], | |
| "mean": [ | |
| -0.10578612983226776, | |
| 0.24873654544353485, | |
| -0.05987080931663513, | |
| -1.5077362060546875, | |
| 0.09617942571640015, | |
| 0.11207571625709534, | |
| 0.11619630455970764 | |
| ], | |
| "std": [ | |
| 0.1102672815322876, | |
| 0.12626761198043823, | |
| 0.13522258400917053, | |
| 0.10328718274831772, | |
| 0.14725619554519653, | |
| 0.101809561252594, | |
| 0.12065146863460541 | |
| ], | |
| "q01": [ | |
| -0.2973028814792633, | |
| 0.023194748610258102, | |
| -0.35491594672203064, | |
| -1.6714663290977478, | |
| -0.19979078203439712, | |
| -0.10111598134040832, | |
| -0.1656988874077797 | |
| ], | |
| "q99": [ | |
| 0.12548663318157188, | |
| 0.572574827671051, | |
| 0.20087207198143003, | |
| -1.2466580533981324, | |
| 0.42361593246459944, | |
| 0.36242102026939366, | |
| 0.28870682001113884 | |
| ] | |
| }, | |
| "left_hand": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "left_leg": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "neck": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "right_arm": { | |
| "max": [ | |
| 1.3807834386825562, | |
| 0.00008942405838752165, | |
| 2.202986001968384, | |
| 0.00003451318480074406, | |
| 2.9983065128326416, | |
| 1.4950493574142456, | |
| 1.4913736581802368 | |
| ], | |
| "min": [ | |
| -1.9295979738235474, | |
| -1.54124116897583, | |
| -1.589691400527954, | |
| -2.718683958053589, | |
| -1.2248326539993286, | |
| -1.4993915557861328, | |
| -1.4504923820495605 | |
| ], | |
| "mean": [ | |
| -0.44919338822364807, | |
| -0.4100815951824188, | |
| 0.13576927781105042, | |
| -1.1817448139190674, | |
| 0.5408922433853149, | |
| 0.09530364722013474, | |
| 0.1435943990945816 | |
| ], | |
| "std": [ | |
| 0.3454661965370178, | |
| 0.29317179322242737, | |
| 0.46631622314453125, | |
| 0.5607854127883911, | |
| 0.48110607266426086, | |
| 0.46192219853401184, | |
| 0.6337687373161316 | |
| ], | |
| "q01": [ | |
| -1.1896371507644654, | |
| -1.061453104019165, | |
| -0.9142905533313751, | |
| -2.2720521068573, | |
| -0.48380154848098755, | |
| -1.1665002799034119, | |
| -1.0226160192489624 | |
| ], | |
| "q99": [ | |
| 0.4026778304576871, | |
| -5.7848208871292015e-6, | |
| 1.1179747390747052, | |
| -0.12331079587340354, | |
| 1.519510505199431, | |
| 0.9210465323925017, | |
| 1.4337085604667656 | |
| ] | |
| }, | |
| "right_hand": { | |
| "max": [ | |
| 1.5, | |
| 1.5, | |
| 1.5, | |
| 1.5, | |
| 3.0, | |
| 3.0 | |
| ], | |
| "min": [ | |
| -1.5, | |
| -1.5, | |
| -1.5, | |
| -1.5, | |
| -3.0, | |
| 3.0 | |
| ], | |
| "mean": [ | |
| -0.3721453845500946, | |
| -0.3721453845500946, | |
| -0.3721453845500946, | |
| -0.3721453845500946, | |
| -0.7442907691001892, | |
| 3.0 | |
| ], | |
| "std": [ | |
| 1.4512156248092651, | |
| 1.4512156248092651, | |
| 1.4512156248092651, | |
| 1.4512156248092651, | |
| 2.9024312496185303, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| -1.5, | |
| -1.5, | |
| -1.5, | |
| -1.5, | |
| -3.0, | |
| 3.0 | |
| ], | |
| "q99": [ | |
| 1.5, | |
| 1.5, | |
| 1.5, | |
| 1.5, | |
| 3.0, | |
| 3.0 | |
| ] | |
| }, | |
| "right_leg": { | |
| "max": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "min": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "mean": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "std": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q01": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| "q99": [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| }, | |
| "waist": { | |
| "max": [ | |
| 1.0477097034454346, | |
| 0.34797611832618713, | |
| 0.09457841515541077 | |
| ], | |
| "min": [ | |
| -0.33242228627204895, | |
| -0.18130820989608765, | |
| -0.08991173654794693 | |
| ], | |
| "mean": [ | |
| 0.01321605034172535, | |
| 0.0037725581787526608, | |
| 0.0005201855092309415 | |
| ], | |
| "std": [ | |
| 0.0408308170735836, | |
| 0.014051474630832672, | |
| 0.004049517214298248 | |
| ], | |
| "q01": [ | |
| -0.09581992775201797, | |
| -0.032945175170898434, | |
| -0.010918216444551945 | |
| ], | |
| "q99": [ | |
| 0.1510506349802017, | |
| 0.04681316167116161, | |
| 0.01146359276026485 | |
| ] | |
| } | |
| }, | |
| "total_trajectory_length": 2111187, | |
| "num_trajectories": 10072 | |
| }, | |
| "modalities": { | |
| "video": { | |
| "ego_view_bg_crop_pad_res256_freq20": { | |
| "resolution": [ | |
| 256, | |
| 256 | |
| ], | |
| "channels": 3, | |
| "fps": 20.0 | |
| } | |
| }, | |
| "state": { | |
| "left_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| }, | |
| "left_hand": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "left_leg": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "neck": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_hand": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_leg": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "waist": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| } | |
| }, | |
| "action": { | |
| "left_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| }, | |
| "left_hand": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "left_leg": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "neck": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_arm": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 7 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_hand": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "right_leg": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 6 | |
| ], | |
| "continuous": true | |
| }, | |
| "waist": { | |
| "absolute": true, | |
| "rotation_type": null, | |
| "shape": [ | |
| 3 | |
| ], | |
| "continuous": true | |
| } | |
| }, | |
| "annotation": { | |
| "human": [ | |
| "coarse_action" | |
| ] | |
| } | |
| }, | |
| "embodiment": { | |
| "robot_name": "GR1ArmsAndWaistFourierHands", | |
| "robot_type": "GR1ArmsAndWaistFourierHands", | |
| "record_frequency": 20.0, | |
| "body_controller_frequency": 20.0, | |
| "hand_controller_frequency": 20.0, | |
| "embodiment_tag": "gr1_unified" | |
| }, | |
| "processing": null, | |
| "version": null | |
| } |