Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e906e858c83c65165a88a435e5f9c75fd8721f23593130f4e795a3598c58ba92
+size 150905

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54399d42bb2be120c6f6c49d34ef928c0dedf8d18bd9c0fdc7e388f3a57c678a
+size 140644

meta/episodes.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "tasks": ["push the red block on the right to the blue zone on the left."], "length": 183}
+{"episode_index": 1, "tasks": ["push the red block on the right to the blue zone on the left."], "length": 172}

meta/episodes_stats.jsonl

@@ -0,0 +1,2 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.4651798903942108, -0.004264789167791605, -0.022613517940044403, 0.6364239454269409, -0.27221250534057617, -0.057342104613780975, -0.4395979642868042, -0.02860560081899166, -0.01648438535630703, 0.7066332101821899, -0.36323341727256775, -0.03197885677218437, -0.033869147300720215, -0.05232372507452965, 0.06854938715696335, -0.3096711337566376, 0.1900303214788437, -0.46472135186195374, -0.4882458746433258, -0.5013269782066345, 0.3129335343837738, -0.030675575137138367, -0.001434048288501799, -4.7897050535539165e-05, -0.012169066816568375, -0.003782889572903514, -0.0002084615989588201, 0.000389912718674168, 0.00011451495083747432, -0.9899150729179382, -0.45246610045433044, -0.5703164935112, -0.1303234100341797, 0.17533670365810394, -0.8480355143547058, -0.038602862507104874, -0.00047530775191262364, -0.00022632429318036884, -0.002927042543888092, -0.0019854754209518433, -0.00029675624682568014, -0.0025243673007935286, -0.00015035629621706903], "max": [-0.38668984174728394, 0.06326301395893097, 0.026841571554541588, 0.6761626601219177, -0.18346573412418365, -0.021265601739287376, -0.33482998609542847, 0.03482398763298988, 0.035208381712436676, 0.7555346488952637, -0.30887651443481445, 0.0014276821166276932, 0.017536409199237823, 0.016877684742212296, 0.13400624692440033, 0.1322426199913025, 0.6137078404426575, 0.7743939161300659, 0.41189056634902954, -0.20904366672039032, 0.9035208225250244, 0.021319251507520676, 7.665405428269878e-05, 9.179160770145245e-06, 0.00018389341130387038, 8.655391866341233e-06, -0.00018938608991447836, 0.0013687859755009413, 0.00016335207328666002, 0.009889602661132812, -0.15897567570209503, 1.6267118453979492, 1.1734040975570679, 1.5565752983093262, 0.559150218963623, 0.06629128009080887, 0.0012989124516025186, 7.729174831183627e-05, 0.04740879684686661, 0.019312536343932152, -0.00020543948630802333, -0.00015859468840062618, -5.932357453275472e-05], "mean": [-0.44290854500942545, 0.03284908387659861, -0.0010000530584547364, 0.6563015544349379, -0.22376661360915243, -0.03948556636892707, -0.4115206436381314, 0.004054169879785403, 0.004916048407562936, 0.7357574509141224, -0.3331845863595035, -0.01743824682644316, -0.012793358829180338, -0.013202373921642807, 0.09351456104243389, -0.11115393969433922, 0.39075634722175495, 0.358822005281805, -0.16051758877784167, -0.3603788902525042, 0.7059155187971605, 0.0005420912412808549, -6.978551989983276e-05, -1.1936221547834303e-05, -0.0001408027403146526, -7.67768393354882e-05, -0.0001990028772798311, 0.0009016520542517569, 0.00013628531482911673, -0.4869826248983084, -0.19833523873748676, 0.7336463712237246, 0.7209179774193918, 0.7793128576760735, -0.2987111455816877, 0.0007515580327933834, 0.00013371864071349656, 2.415785367032787e-06, 0.0049881743657973, 0.0021062254183751446, -0.00021667345815027753, -0.0006852767120441168, -9.842589581060818e-05], "std": [0.01470469607107943, 0.02163388168647229, 0.012877993624075884, 0.00828328212179067, 0.018407582051260217, 0.009269156655610372, 0.018371377917050576, 0.01992008036869511, 0.012722385760903948, 0.010561582616332497, 0.01523631121563599, 0.008717466465136305, 0.013363292189508953, 0.01643404957968432, 0.018918454517296592, 0.07194571080267498, 0.1180701872257566, 0.354014868116702, 0.2189064965953222, 0.0831856752000157, 0.1560445575598749, 0.006087448326305256, 0.0001926448360656665, 1.1496659194912472e-05, 0.0009589189863795901, 0.0002988606349830337, 3.804322567319969e-06, 0.00011732879364199555, 1.0919095182342553e-05, 0.33400188516754714, 0.05571335506847731, 0.8050094544922722, 0.40132135915702627, 0.5338622731582306, 0.3694964921869992, 0.0239461728551129, 0.00022835995977221564, 3.181502022687156e-05, 0.012529864632439311, 0.0052289183952085256, 1.5627184767089762e-05, 0.0002316230902833763, 1.9311350585052517e-05], "count": [183]}, "observation.eef_state": {"min": [0.15168690455164938, 0.11152775800164277, 0.06435032406204214, 0.9056421802246158, -0.06984698144800917, 0.13512366632700562, -0.23358124280678041, 0.17256817706769384, -0.2995501504047732, 0.004802756057900898, 0.9293807512933764, -0.08804382177172955, 0.050466615188987866, -0.2977571004301625], "max": [0.22021525159654878, 0.38234851652858215, 0.17788501613446966, 0.9843904010283712, 0.007721317644759558, 0.24337064549920773, 0.3453959121559569, 0.303669069540875, -0.05344904492822843, 0.1821587700187339, 0.9959517821947158, 0.19280385367454425, 0.21715659424840741, 0.3447086238789495], "mean": [0.20275517253789826, 0.26276512702645977, 0.13906262336554787, 0.9590895036898094, -0.03465267638683635, 0.18815426193246962, 0.1074977229003072, 0.24012630783110273, -0.1455679532270412, 0.047669804536155734, 0.9648604247647421, -0.004999842858901607, 0.13423459300592536, 0.11673122335234093], "std": [0.01616487956652237, 0.08037229333603334, 0.026343377507628135, 0.020053975247231418, 0.017479110062157553, 0.021111908464349495, 0.1755999297504756, 0.03270812890130919, 0.06962016419074073, 0.03213314525593187, 0.021216021459858864, 0.03746192085594242, 0.028208437134361452, 0.18634652350667147], "count": [183]}, "action": {"min": [-0.4206138253211975, 0.008733922615647316, -0.015588773414492607, 0.5940513610839844, -0.4088139832019806, -0.009623853489756584, -0.40867504477500916, -0.0569966584444046, -0.02284891903400421, 0.6484392881393433, -0.4420456886291504, -0.02450861781835556, -0.03139448165893555, -0.035080403089523315, 0.010712526738643646, -0.38431304168442776, 0.190001, -0.4300238092407858, -0.5962138966861411, -0.5225554184642786, 0.13082303146252217, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, -1.0637328422940344, -0.5588937610486345, -0.589469365943169, -0.21752391528038395, 0.17129960086324894, -0.8486239846659115, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "max": [-0.3358381986618042, 0.05689135566353798, 0.03640551120042801, 0.6731860637664795, 0.07987414300441742, 0.022078800946474075, -0.3183612525463104, -0.00033167749643325806, 0.03655458241701126, 0.7184014320373535, 0.13184021413326263, 0.008524401113390923, 0.015658417716622353, 0.0424407534301281, 0.08357031643390656, 0.1158526404031471, 0.6967618878927191, 0.8246597068038137, 0.32710343459786434, -0.2081602068880661, 0.818303935295842, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, -0.023727452321245047, -0.190001, 1.5825780828157923, 1.1993983100226595, 1.5647423463148038, 0.6496845933080534, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "mean": [-0.3863126757692118, 0.03820474420373883, 0.009833522639720817, 0.6256433901239614, -0.20002470120706192, 0.006897514738152669, -0.3740916151166614, -0.022524311100361776, 0.0034546909925064753, 0.685325521588977, -0.19444775145724824, -0.012730272454998451, -0.011065912684088552, 0.0050024181181982244, 0.035179543629532954, -0.16389523582861248, 0.44025644383823476, 0.41656202577099233, -0.27598871441041983, -0.36112979229648884, 0.602491746100978, 0.0, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, 0.0, 0.0, 9.999999999999978e-07, -0.5401677063366832, -0.21175986492911594, 0.6981392703079369, 0.6684294355236854, 0.7824869030815642, -0.35528295006456256, 0.0, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, 0.0, 0.0, 9.999999999999978e-07], "std": [0.017694355658027724, 0.015089319572424008, 0.01490592927428776, 0.015868225857869966, 0.10106806557900408, 0.008887448100085476, 0.01831915988081106, 0.0163388555510249, 0.013338046854667393, 0.013367219354978399, 0.12458000101924097, 0.0072073977511088955, 0.01323087229328006, 0.027626965014670817, 0.01726742295497809, 0.08006456501588631, 0.1437656538026994, 0.35961908159421174, 0.22883707400315292, 0.0861508206311416, 0.1614741970862905, 0.0, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 0.0, 0.0, 2.117582368135751e-21, 0.34505182283665126, 0.06189417121149168, 0.8097837348018465, 0.44374596102158576, 0.5556962682855345, 0.36992347035912293, 0.0, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 0.0, 0.0, 2.117582368135751e-21], "count": [183]}, "action.eef": {"min": [0.1490492802309126, 0.11324763385494743, 0.11947126054879861, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.18504702479528493, -0.3067203037860893, -0.0918080278554199, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "max": [0.22584454786054603, 0.38800238589175934, 0.24337420947807714, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.4261921611066577, -0.006606667687561046, 0.21838039863137879, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "mean": [0.1893601372555914, 0.26959665084589785, 0.20543496181185467, 0.9999999945841576, 3.0002631766273937e-05, 2.747162600812348e-05, -9.579582400921965e-05, 0.2785988939099877, -0.1298125555452477, 0.06985124785522995, 0.9999999945841576, -3.0002631766273937e-05, 2.747162600812348e-05, 9.579582400921965e-05], "std": [0.01850873500867176, 0.08616716894686259, 0.027383496805407193, 1.5543122344752192e-15, 6.776263578034403e-21, 2.371692252312041e-20, 1.0842021724855044e-19, 0.06324931837409681, 0.08795680465350413, 0.06467783579217894, 1.5543122344752192e-15, 6.776263578034403e-21, 2.371692252312041e-20, 1.0842021724855044e-19], "count": [183]}, "observation.img_state_delta": {"min": [0.008736133575439453], "max": [0.2191472053527832], "mean": [0.11713505536317825], "std": [0.04442112147808075], "count": [183]}, "teleop.navigate_command": {"min": [0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0], "count": [183]}, "teleop.base_height_command": {"min": [0.74], "max": [0.74], "mean": [0.7399999999999998], "std": [2.220446049250313e-16], "count": [183]}, "timestamp": {"min": [0.0], "max": [9.1], "mean": [4.55], "std": [2.6413380447543373], "count": [183]}, "frame_index": {"min": [0], "max": [182], "mean": [91.0], "std": [52.82676089508675], "count": [183]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [183]}, "index": {"min": [0], "max": [182], "mean": [91.0], "std": [52.82676089508675], "count": [183]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [183]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [-0.38705188035964966, 0.0217035710811615, 0.0241041649132967, 0.6881980895996094, -0.3614403307437897, -0.039499323815107346, -0.47506383061408997, -0.014108310453593731, -0.0048642647452652454, 0.6560990214347839, -0.25642892718315125, -0.02836374007165432, -0.04153808578848839, -0.05539621412754059, 0.05760396271944046, -0.30958518385887146, 0.17615625262260437, -0.1487535834312439, -0.9896590113639832, -1.1920748949050903, 0.2160169929265976, -0.008860990405082703, -0.0013759235152974725, -5.0313115934841335e-05, -0.0013231664197519422, -5.5173517466755584e-05, -0.0020325833465903997, 0.00026456257910467684, 0.0001254578382940963, -1.1601289510726929, -0.5188856720924377, -0.5773022770881653, -0.3397732973098755, 0.1731419712305069, -0.4246610999107361, -0.02317177504301071, -0.0001793579285731539, -9.21080936677754e-06, -0.004915536846965551, -0.002557761501520872, -0.0002143141027772799, -0.0012441047001630068, -0.0001304964389419183], "max": [-0.3304229974746704, 0.07645279914140701, 0.061056047677993774, 0.7125371098518372, -0.312755823135376, -0.015095408074557781, -0.4328809082508087, 0.03644184395670891, 0.02310563623905182, 0.700419008731842, -0.20635052025318146, -0.002883794018998742, 0.017176765948534012, 0.027198661118745804, 0.1354851871728897, 0.10029762983322144, 0.9715455174446106, 0.7347920536994934, 0.7489497065544128, -0.19296899437904358, 1.1004290580749512, 0.013602443970739841, 3.934663254767656e-05, 5.612401764665265e-06, 4.642043131752871e-05, 4.778371931024594e-06, -0.00019105906540062279, 0.015486001037061214, 0.007510197814553976, -0.05809493362903595, -0.1730741709470749, 1.6670907735824585, 1.0902410745620728, 1.5506972074508667, 0.7148916721343994, 0.009337242692708969, 0.0005702474154531956, 9.281106758862734e-05, 0.002202036324888468, 0.0008595217950642109, -0.00019751634681597352, -0.00024135551939252764, -9.272011084249243e-05], "mean": [-0.3618983009526896, 0.05372398297930526, 0.0484683143927954, 0.7033558702746103, -0.34244656909343807, -0.027035597581849542, -0.45273279485314394, 0.016390000279057477, 0.010904451475991749, 0.6761401836262193, -0.22739346715253453, -0.01566951865936781, -0.015819633964531742, -0.00848457692725703, 0.10771824343693118, -0.07202324151241851, 0.5538942363373068, 0.47337076155100627, -0.1490121562269768, -0.5691514241314212, 0.713395947027345, 0.0011788079499490058, -7.836690266365854e-05, -1.3935802890288941e-05, -8.867252922171836e-05, -1.3451858564445877e-05, -0.0002801493982862963, 0.001012622652037968, 0.00023716966681477483, -0.6998210909754731, -0.2170732763790807, 0.8757145859539336, 0.5610831054766814, 0.8756619736898777, -0.08101648635665486, -0.0062424814810837295, 7.090305327271253e-05, 1.3084451219164516e-05, -8.389692766187171e-05, -2.9072338068625563e-05, -0.00020810066831303587, -0.0006764962145521273, -0.0001036458486132053], "std": [0.012158814193469309, 0.015057589445585091, 0.009047178226336551, 0.005144841711877715, 0.01035597417686873, 0.006611894855343746, 0.009616363621071074, 0.013908807766923903, 0.0062020548372265435, 0.013559392052989682, 0.011936004069287458, 0.006333711314772331, 0.018429622972622683, 0.024682736582896145, 0.023259168185812848, 0.11786149939329614, 0.1908790013428416, 0.2666304453399175, 0.47667264218687067, 0.26751533097569674, 0.23650776861070288, 0.003986632633657232, 0.00019194572251748386, 1.137285048488272e-05, 0.00019597196693561905, 1.2063520014218007e-05, 0.00021405926367948746, 0.0013598715379104498, 0.0006778937130616111, 0.39337989684730706, 0.07857916731030869, 0.7900574027616875, 0.3689279586473723, 0.5338443719346372, 0.3747158521139045, 0.005832324565523844, 0.0001510274170737819, 2.2912740186710498e-05, 0.0006264574118303869, 0.00034387387850680405, 3.219447909742826e-06, 0.0001162969659066419, 8.833370329327832e-06], "count": [172]}, "observation.eef_state": {"min": [0.134903757012496, 0.15350237966539032, 0.05867550919287519, 0.8902936201107278, -0.07535640768559108, 0.08424060334979139, -0.42927562285238974, 0.20371115650010194, -0.3374602139129919, 0.0312025072651616, 0.8555868397545869, -0.11395422587346793, 0.12272012296775175, -0.28605585242663617], "max": [0.23167579244762138, 0.4133290689420467, 0.23446596915721427, 0.9854874965257578, 0.05171446980009369, 0.2263147375667793, 0.37689806239418927, 0.3249347925908927, -0.012292008643426285, 0.15732939711649882, 0.9889451019342375, 0.14570419800104753, 0.18477218609746926, 0.48752628020294175], "mean": [0.19025364851955692, 0.2941953164672678, 0.15915697757581715, 0.952311189832178, -0.037974220687208675, 0.18657183490028015, 0.11184559804779884, 0.2671962744781879, -0.10137778826836273, 0.08734053837266278, 0.9376157940396515, -0.007836248112805, 0.15388166490037278, 0.22497950473283995], "std": [0.023440589486788628, 0.08120694984048166, 0.04452851973425314, 0.025771609501960453, 0.02209070688405099, 0.030721771466481446, 0.20554042540068737, 0.02899411627121712, 0.08712298993978228, 0.034587590194320374, 0.039170390395797804, 0.03157241857248832, 0.012639112919374461, 0.20935373740848273], "count": [172]}, "action": {"min": [-0.3772517442703247, 0.03638281673192978, 0.030289767310023308, 0.6381269693374634, -0.40400272607803345, -0.025005387142300606, -0.4049775004386902, -0.030806943774223328, 0.0002811029553413391, 0.6241276264190674, -0.3718918561935425, -0.040399689227342606, -0.03922262042760849, -0.03927050903439522, 0.006001729518175125, -0.38106381843670406, 0.190001, -0.12455355238673611, -1.047199, -1.261352447061974, 0.13531440446369697, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, -1.2380679708298057, -0.6395739001839683, -0.6422008826890565, -0.449734179052208, 0.17067236973647323, -0.5324855437815429, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "max": [-0.3088311553001404, 0.07171028852462769, 0.07301322370767593, 0.686612606048584, -0.04964540898799896, 0.01900479383766651, -0.34019139409065247, 0.00245547853410244, 0.025638114660978317, 0.6736701726913452, 0.04851563274860382, -0.015155544504523277, 0.01669488288462162, 0.05213121324777603, 0.06688966602087021, 0.06632323768241802, 1.0216971745741423, 0.8061659583159086, 0.6421937013656217, -0.19454429092895018, 1.002164924501062, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06, -0.097148467569181, -0.190001, 1.6000496549452206, 1.0409831862033425, 1.5771258404134012, 0.6512126631937558, 0.0, -1e-06, -1e-06, -1e-06, -1e-06, 0.0, 0.0, 1e-06], "mean": [-0.3297965450342311, 0.05936077813249688, 0.06018689901806241, 0.6693116474983304, -0.15736058843863565, -0.0054305426547639505, -0.3792827574666156, -0.010567167465206842, 0.015047177528897516, 0.6476251243851906, -0.11894677518758663, -0.02937648211454236, -0.014909023232893412, 0.018534685296905336, 0.043636498106426974, -0.1166261443306033, 0.6140305910653423, 0.5455703044440239, -0.2518193695679771, -0.5706892153545532, 0.6147018421196383, 0.0, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, 0.0, 0.0, 9.999999999999978e-07, -0.7668527169043436, -0.22951771359997306, 0.8241670871822353, 0.4991263320337342, 0.8771311642278797, -0.152848713232305, 0.0, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, -9.999999999999978e-07, 0.0, 0.0, 9.999999999999978e-07], "std": [0.020930042753237933, 0.00953010248213739, 0.010395769920444916, 0.010309988010390028, 0.08444542337472527, 0.011957407073214415, 0.014098312650015352, 0.01031738831150689, 0.006290436054096121, 0.011152505342790395, 0.08706750580730487, 0.007798805228770508, 0.01894962127599339, 0.0332051676339811, 0.017593378662099694, 0.1273794953414698, 0.20688231604387972, 0.2745417350417384, 0.46981653829860326, 0.2746155178670185, 0.23535922484672325, 0.0, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 0.0, 0.0, 2.117582368135751e-21, 0.4038212279717295, 0.10313461399262897, 0.787810104751394, 0.3962953484352721, 0.5407807111543651, 0.3876156277387184, 0.0, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 2.117582368135751e-21, 0.0, 0.0, 2.117582368135751e-21], "count": [172]}, "action.eef": {"min": [0.11719574267067684, 0.14828824773139762, 0.12415373449461158, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.21645708303558972, -0.36180909335854033, 0.029121627449280027, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "max": [0.2409061706618769, 0.43838759178916925, 0.26034690769476526, 0.999999994584156, 3.000263176627393e-05, 2.7471626008123504e-05, -9.579582400921954e-05, 0.3919249653405571, 0.20032107054502457, 0.22588275073996833, 0.999999994584156, -3.000263176627393e-05, 2.7471626008123504e-05, 9.579582400921954e-05], "mean": [0.1702206873951961, 0.3036437747484137, 0.2256774518543712, 0.9999999945841576, 3.0002631766273924e-05, 2.7471626008123497e-05, -9.579582400921954e-05, 0.30272636946396436, -0.05416588599317818, 0.12500225941961168, 0.9999999945841576, -3.0002631766273924e-05, 2.7471626008123497e-05, 9.579582400921954e-05], "std": [0.029728652764942676, 0.08757795837686513, 0.031941239831830816, 1.5543122344752192e-15, 6.776263578034403e-21, 6.776263578034403e-21, 0.0, 0.05942487578894026, 0.14290743765902658, 0.047386450712547414, 1.5543122344752192e-15, 6.776263578034403e-21, 6.776263578034403e-21, 0.0], "count": [172]}, "observation.img_state_delta": {"min": [0.002266407012939453], "max": [0.24980831146240234], "mean": [0.11848106235265732], "std": [0.04796291142702103], "count": [172]}, "teleop.navigate_command": {"min": [0.0, 0.0, 0.0], "max": [0.0, 0.0, 0.0], "mean": [0.0, 0.0, 0.0], "std": [0.0, 0.0, 0.0], "count": [172]}, "teleop.base_height_command": {"min": [0.74], "max": [0.74], "mean": [0.74], "std": [0.0], "count": [172]}, "timestamp": {"min": [0.0], "max": [8.55], "mean": [4.2749999999999995], "std": [2.4825641985656683], "count": [172]}, "frame_index": {"min": [0], "max": [171], "mean": [85.5], "std": [49.65128397131337], "count": [172]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [172]}, "index": {"min": [183], "max": [354], "mean": [268.5], "std": [49.65128397131337], "count": [172]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [172]}}}

meta/info.json

@@ -0,0 +1,276 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 2,
+    "total_frames": 355,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:2"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {
+        "wbc_version": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "wbc_policy_class": "G1DecoupledWholeBodyPolicy",
+        "interface": "lo",
+        "simulator": "None",
+        "sim_sync_mode": false,
+        "control_frequency": 50,
+        "sim_frequency": 200,
+        "robot_variant": "g1_29dof",
+        "enable_waist": false,
+        "with_hands": true,
+        "high_elbow_pose": false,
+        "no_wrist": true,
+        "verbose": true,
+        "enable_offscreen": false,
+        "enable_onscreen": true,
+        "upper_body_joint_speed": 1000,
+        "env_name": "default",
+        "ik_indicator": false,
+        "verbose_timing": false,
+        "debug_lowlevel_io": false,
+        "keyboard_dispatcher_type": "raw",
+        "enable_gravity_compensation": false,
+        "gravity_compensation_joints": null,
+        "body_control_device": "dummy",
+        "hand_control_device": "dummy",
+        "body_streamer_ip": "10.112.210.229",
+        "body_streamer_keyword": "knee",
+        "enable_visualization": false,
+        "enable_real_device": true,
+        "teleop_frequency": 20,
+        "teleop_replay_path": null,
+        "robot_ip": "192.168.123.164",
+        "data_collection": true,
+        "data_collection_frequency": 20,
+        "root_output_dir": "outputs",
+        "enable_upper_body_operation": true,
+        "upper_body_operation_mode": "teleop"
+    },
+    "discarded_episode_indices": [2],
+    "data_collection_info": {
+        "lower_body_policy": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "teleoperator_username": "NEW_USER",
+        "support_operator_username": "NEW_USER",
+        "robot_type": "g1",
+        "robot_id": "sim"
+    }
+}

meta/info.json.save

@@ -0,0 +1,276 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 2,
+    "total_frames": 355,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:2"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {
+        "wbc_version": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "wbc_policy_class": "G1DecoupledWholeBodyPolicy",
+        "interface": "lo",
+        "simulator": "None",
+        "sim_sync_mode": false,
+        "control_frequency": 50,
+        "sim_frequency": 200,
+        "robot_variant": "g1_29dof",
+        "enable_waist": false,
+        "with_hands": true,
+        "high_elbow_pose": false,
+        "no_wrist": true,
+        "verbose": true,
+        "enable_offscreen": false,
+        "enable_onscreen": true,
+        "upper_body_joint_speed": 1000,
+        "env_name": "default",
+        "ik_indicator": false,
+        "verbose_timing": false,
+        "debug_lowlevel_io": false,
+        "keyboard_dispatcher_type": "raw",
+        "enable_gravity_compensation": false,
+        "gravity_compensation_joints": null,
+        "body_control_device": "dummy",
+        "hand_control_device": "dummy",
+        "body_streamer_ip": "10.112.210.229",
+        "body_streamer_keyword": "knee",
+        "enable_visualization": false,
+        "enable_real_device": true,
+        "teleop_frequency": 20,
+        "teleop_replay_path": null,
+        "robot_ip": "192.168.123.164",
+        "data_collection": true,
+        "data_collection_frequency": 20,
+        "root_output_dir": "outputs",
+        "enable_upper_body_operation": true,
+        "upper_body_operation_mode": "teleop"
+    },
+    "discarded_episode_indices": [2, 3, 4, 5],
+    "data_collection_info": {
+        "lower_body_policy": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "teleoperator_username": "NEW_USER",
+        "support_operator_username": "NEW_USER",
+        "robot_type": "g1",
+        "robot_id": "sim"
+    }
+}

meta/modality.json

@@ -0,0 +1,126 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        }
+    },
+    "action": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "push the red block on the right to the blue zone on the left."}

videos/chunk-000/observation.images.ego_view/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87c5b8e5d5414dd4cecd8541530c346c5dfc5990fc70297ca222f6f18f2e22d2
+size 845671

videos/chunk-000/observation.images.ego_view/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b591e161d6e4ca864c515a6612d5f53dec1fa08537930d95b05d80e33df38c
+size 676079

videos/chunk-000/observation.images.ego_view/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371ec933893a7e3056c2264606abae8f7e93e3057b0242c8f670cb2a9beaec06
+size 262192