Hugging Face's logo

Datasets:
typoverflow
/
pnp202

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
lerobot
robotics
xarm
manipulation
pick-and-place
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
typoverflow commited on
Commit
9dc7926
·
verified ·
1 Parent(s): d9041c7

Upload folder using huggingface_hub

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .omc/sessions/b7869d89-fcd8-4044-b3dc-c23c848ae05d.json +8 -0
  2. .omc/state/agent-replay-b7869d89-fcd8-4044-b3dc-c23c848ae05d.jsonl +104 -0
  3. .omc/state/idle-notif-cooldown.json +3 -0
  4. .omc/state/last-tool-error.json +7 -0
  5. README.md +319 -0
  6. cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt +3 -0
  7. cache/text/2e2afa825b5d434b2b3b6feca2bf49751542015a2e8618e1b165927624dbaef6.t5_len128.wan22ti2v5b.pt +3 -0
  8. cache/text/70bd64278b57ad9dc705a518653bffa92e68a48958c3f099330973a3a47edcfe.t5_len128.wan22ti2v5b.pt +3 -0
  9. cache/text/f276d4bbc945c9d40962f15cd40c3d32f7408b03b032debb6d8873aa2518f745.t5_len128.wan22ti2v5b.pt +3 -0
  10. data/chunk-000/file-000.parquet +3 -0
  11. meta/episodes/chunk-000/file-000.parquet +3 -0
  12. meta/info.json +272 -0
  13. meta/stats.json +1398 -0
  14. meta/tasks.parquet +3 -0
  15. split_manifest.json +213 -0
  16. train/cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt +3 -0
  17. train/cache/text/2e2afa825b5d434b2b3b6feca2bf49751542015a2e8618e1b165927624dbaef6.t5_len128.wan22ti2v5b.pt +3 -0
  18. train/cache/text/70bd64278b57ad9dc705a518653bffa92e68a48958c3f099330973a3a47edcfe.t5_len128.wan22ti2v5b.pt +3 -0
  19. train/cache/text/f276d4bbc945c9d40962f15cd40c3d32f7408b03b032debb6d8873aa2518f745.t5_len128.wan22ti2v5b.pt +3 -0
  20. train/data/chunk-000/file-000.parquet +3 -0
  21. train/meta/episodes/chunk-000/file-000.parquet +3 -0
  22. train/meta/info.json +272 -0
  23. train/meta/stats.json +1398 -0
  24. train/meta/tasks.parquet +3 -0
  25. train/videos/observation.images.right_3pv_camera/chunk-000/file-000.mp4 +3 -0
  26. train/videos/observation.images.right_3pv_camera/chunk-000/file-001.mp4 +3 -0
  27. train/videos/observation.images.right_3pv_camera/chunk-000/file-002.mp4 +3 -0
  28. train/videos/observation.images.right_3pv_camera/chunk-000/file-003.mp4 +3 -0
  29. train/videos/observation.images.wrist_camera/chunk-000/file-000.mp4 +3 -0
  30. train/videos/observation.images.wrist_camera/chunk-000/file-001.mp4 +3 -0
  31. train/videos/observation.images.wrist_camera/chunk-000/file-002.mp4 +3 -0
  32. val/cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt +3 -0
  33. val/cache/text/2e2afa825b5d434b2b3b6feca2bf49751542015a2e8618e1b165927624dbaef6.t5_len128.wan22ti2v5b.pt +3 -0
  34. val/cache/text/70bd64278b57ad9dc705a518653bffa92e68a48958c3f099330973a3a47edcfe.t5_len128.wan22ti2v5b.pt +3 -0
  35. val/cache/text/f276d4bbc945c9d40962f15cd40c3d32f7408b03b032debb6d8873aa2518f745.t5_len128.wan22ti2v5b.pt +3 -0
  36. val/data/chunk-000/file-000.parquet +3 -0
  37. val/meta/episodes/chunk-000/file-000.parquet +3 -0
  38. val/meta/info.json +272 -0
  39. val/meta/stats.json +1398 -0
  40. val/meta/tasks.parquet +3 -0
  41. val/videos/observation.images.right_3pv_camera/chunk-000/file-000.mp4 +3 -0
  42. val/videos/observation.images.right_3pv_camera/chunk-000/file-001.mp4 +3 -0
  43. val/videos/observation.images.right_3pv_camera/chunk-000/file-002.mp4 +3 -0
  44. val/videos/observation.images.right_3pv_camera/chunk-000/file-003.mp4 +3 -0
  45. val/videos/observation.images.wrist_camera/chunk-000/file-000.mp4 +3 -0
  46. val/videos/observation.images.wrist_camera/chunk-000/file-001.mp4 +3 -0
  47. val/videos/observation.images.wrist_camera/chunk-000/file-002.mp4 +3 -0
  48. videos/observation.images.right_3pv_camera/chunk-000/file-000.mp4 +3 -0
  49. videos/observation.images.right_3pv_camera/chunk-000/file-001.mp4 +3 -0
  50. videos/observation.images.right_3pv_camera/chunk-000/file-002.mp4 +3 -0
.omc/sessions/b7869d89-fcd8-4044-b3dc-c23c848ae05d.json ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "session_id": "b7869d89-fcd8-4044-b3dc-c23c848ae05d",
3
+ "ended_at": "2026-07-04T04:57:45.680Z",
4
+ "reason": "prompt_input_exit",
5
+ "agents_spawned": 1,
6
+ "agents_completed": 1,
7
+ "modes_used": []
8
+ }
.omc/state/agent-replay-b7869d89-fcd8-4044-b3dc-c23c848ae05d.jsonl ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_start","parent_mode":"none"}
2
+ {"t":0,"agent":"a62d5ed","agent_type":"unknown","event":"agent_stop","success":true}
3
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":111505}
4
+ {"t":0,"agent":"a6f6267","agent_type":"unknown","event":"agent_stop","success":true}
5
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":120072}
6
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":128918}
7
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":133822}
8
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":136664}
9
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":138164}
10
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":140001}
11
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":143321}
12
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":145109}
13
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_start","parent_mode":"none"}
14
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":48385}
15
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":58104}
16
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":60803}
17
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":62653}
18
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":65603}
19
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":68794}
20
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":70218}
21
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":73658}
22
+ {"t":0,"agent":"af0706b","agent_type":"Explore","event":"agent_stop","success":true,"duration_ms":75221}
23
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
24
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
25
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
26
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
27
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
28
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
29
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
30
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
31
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
32
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
33
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
34
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
35
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
36
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
37
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
38
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
39
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
40
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
41
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
42
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
43
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
44
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
45
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
46
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
47
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
48
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
49
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
50
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
51
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
52
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
53
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
54
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
55
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
56
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
57
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
58
+ {"t":0,"agent":"a887af9","agent_type":"unknown","event":"agent_stop","success":true}
59
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
60
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
61
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
62
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
63
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
64
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
65
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
66
+ {"t":0,"agent":"a3f1696","agent_type":"unknown","event":"agent_stop","success":true}
67
+ {"t":0,"agent":"ac2a553","agent_type":"unknown","event":"agent_stop","success":true}
68
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
69
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
70
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
71
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
72
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
73
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
74
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
75
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
76
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
77
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
78
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
79
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
80
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
81
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
82
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
83
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
84
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
85
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
86
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
87
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
88
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
89
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
90
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
91
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
92
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
93
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
94
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
95
+ {"t":0,"agent":"ac81b2e","agent_type":"unknown","event":"agent_stop","success":true}
96
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
97
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
98
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
99
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
100
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
101
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
102
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
103
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
104
+ {"t":0,"agent":"a8c0ed0","agent_type":"unknown","event":"agent_stop","success":true}
.omc/state/idle-notif-cooldown.json ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "lastSentAt": "2026-07-04T04:55:43.619Z"
3
+ }
.omc/state/last-tool-error.json ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ {
2
+ "tool_name": "Bash",
3
+ "tool_input_preview": "{\"command\":\"python -c \\\"\\nimport json\\nfor split in ['train','val']:\\n s = json.load(open(f'/scratch/cgao304/dev/datasets/teleop/pnp202/{split}/meta/stats.json'))\\n print('===', split, '===')\\n ...",
4
+ "error": "Exit code 2\n=== train ===\n action.body_eef_xyz: q01/q99 present\n action.body_eef_rot6d: q01/q99 present\n action.gripper_state: q01/q99 present\n state.joint_pos: q01/q99 present\n state.gripper_state: q01/q99 present\n joint_pos: MISSING\n gripper_state: MISSING\n=== val ===\n action.body_eef_xyz: q01/q99 present\n action.body_eef_rot6d: q01/q99 present\n action.gripper_state: q01/q99 present\n state.joint_pos: q01/q99 present\n state.gripper_state: q01/q99 present\n joint_pos: MISSING\n gripp...",
5
+ "timestamp": "2026-07-04T04:16:34.165Z",
6
+ "retry_count": 1
7
+ }
README.md ADDED
@@ -0,0 +1,319 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ - lerobot
8
+ - robotics
9
+ - xarm
10
+ - manipulation
11
+ - pick-and-place
12
+ configs:
13
+ - config_name: default
14
+ data_files: data/*/*.parquet
15
+ ---
16
+
17
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
18
+
19
+
20
+ <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=edgeyyzhang/pick_n_drop_202_unified">
21
+ <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
22
+ <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
23
+ </a>
24
+
25
+
26
+ ## Dataset Description
27
+
28
+
29
+
30
+ - **Homepage:** [More Information Needed]
31
+ - **Paper:** [More Information Needed]
32
+ - **License:** apache-2.0
33
+
34
+ ## Dataset Structure
35
+
36
+ [meta/info.json](meta/info.json):
37
+ ```json
38
+ {
39
+ "codebase_version": "v3.0",
40
+ "robot_type": "xarm_robot",
41
+ "total_episodes": 202,
42
+ "total_frames": 43185,
43
+ "total_tasks": 4,
44
+ "chunks_size": 1000,
45
+ "data_files_size_in_mb": 100,
46
+ "video_files_size_in_mb": 200,
47
+ "fps": 30,
48
+ "splits": {
49
+ "train": "0:202"
50
+ },
51
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
52
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
53
+ "features": {
54
+ "observation.state": {
55
+ "dtype": "float32",
56
+ "shape": [
57
+ 17
58
+ ],
59
+ "names": [
60
+ "joint_0",
61
+ "joint_1",
62
+ "joint_2",
63
+ "joint_3",
64
+ "joint_4",
65
+ "joint_5",
66
+ "joint_6",
67
+ "x",
68
+ "y",
69
+ "z",
70
+ "rot1",
71
+ "rot2",
72
+ "rot3",
73
+ "rot4",
74
+ "rot5",
75
+ "rot6",
76
+ "gripper"
77
+ ]
78
+ },
79
+ "action": {
80
+ "dtype": "float32",
81
+ "shape": [
82
+ 10
83
+ ],
84
+ "names": [
85
+ "x",
86
+ "y",
87
+ "z",
88
+ "rot1",
89
+ "rot2",
90
+ "rot3",
91
+ "rot4",
92
+ "rot5",
93
+ "rot6",
94
+ "gripper"
95
+ ]
96
+ },
97
+ "state.joint_pos": {
98
+ "dtype": "float32",
99
+ "shape": [
100
+ 7
101
+ ],
102
+ "names": [
103
+ "joint_0",
104
+ "joint_1",
105
+ "joint_2",
106
+ "joint_3",
107
+ "joint_4",
108
+ "joint_5",
109
+ "joint_6"
110
+ ]
111
+ },
112
+ "state.eef_xyz": {
113
+ "dtype": "float32",
114
+ "shape": [
115
+ 3
116
+ ],
117
+ "names": [
118
+ "x",
119
+ "y",
120
+ "z"
121
+ ]
122
+ },
123
+ "state.eef_rot6d": {
124
+ "dtype": "float32",
125
+ "shape": [
126
+ 6
127
+ ],
128
+ "names": [
129
+ "rot1",
130
+ "rot2",
131
+ "rot3",
132
+ "rot4",
133
+ "rot5",
134
+ "rot6"
135
+ ]
136
+ },
137
+ "state.gripper_state": {
138
+ "dtype": "float32",
139
+ "shape": [
140
+ 1
141
+ ],
142
+ "names": [
143
+ "gripper"
144
+ ]
145
+ },
146
+ "action.body_eef_xyz": {
147
+ "dtype": "float32",
148
+ "shape": [
149
+ 3
150
+ ],
151
+ "names": [
152
+ "x",
153
+ "y",
154
+ "z"
155
+ ]
156
+ },
157
+ "action.body_eef_rot6d": {
158
+ "dtype": "float32",
159
+ "shape": [
160
+ 6
161
+ ],
162
+ "names": [
163
+ "rot1",
164
+ "rot2",
165
+ "rot3",
166
+ "rot4",
167
+ "rot5",
168
+ "rot6"
169
+ ]
170
+ },
171
+ "action.world_eef_xyz": {
172
+ "dtype": "float32",
173
+ "shape": [
174
+ 3
175
+ ],
176
+ "names": [
177
+ "x",
178
+ "y",
179
+ "z"
180
+ ]
181
+ },
182
+ "action.world_eef_rot6d": {
183
+ "dtype": "float32",
184
+ "shape": [
185
+ 6
186
+ ],
187
+ "names": [
188
+ "rot1",
189
+ "rot2",
190
+ "rot3",
191
+ "rot4",
192
+ "rot5",
193
+ "rot6"
194
+ ]
195
+ },
196
+ "action.diff_eef_xyz": {
197
+ "dtype": "float32",
198
+ "shape": [
199
+ 3
200
+ ],
201
+ "names": [
202
+ "x",
203
+ "y",
204
+ "z"
205
+ ]
206
+ },
207
+ "action.diff_eef_rpy": {
208
+ "dtype": "float32",
209
+ "shape": [
210
+ 3
211
+ ],
212
+ "names": [
213
+ "roll",
214
+ "pitch",
215
+ "yaw"
216
+ ]
217
+ },
218
+ "action.gripper_state": {
219
+ "dtype": "float32",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": [
224
+ "gripper"
225
+ ]
226
+ },
227
+ "timestamp": {
228
+ "dtype": "float32",
229
+ "shape": [
230
+ 1
231
+ ],
232
+ "names": null
233
+ },
234
+ "frame_index": {
235
+ "dtype": "int64",
236
+ "shape": [
237
+ 1
238
+ ],
239
+ "names": null
240
+ },
241
+ "episode_index": {
242
+ "dtype": "int64",
243
+ "shape": [
244
+ 1
245
+ ],
246
+ "names": null
247
+ },
248
+ "index": {
249
+ "dtype": "int64",
250
+ "shape": [
251
+ 1
252
+ ],
253
+ "names": null
254
+ },
255
+ "task_index": {
256
+ "dtype": "int64",
257
+ "shape": [
258
+ 1
259
+ ],
260
+ "names": null
261
+ },
262
+ "observation.images.wrist_camera": {
263
+ "dtype": "video",
264
+ "shape": [
265
+ 480,
266
+ 640,
267
+ 3
268
+ ],
269
+ "names": [
270
+ "height",
271
+ "width",
272
+ "rgb"
273
+ ],
274
+ "info": {
275
+ "video.height": 480,
276
+ "video.width": 640,
277
+ "video.codec": "av1",
278
+ "video.pix_fmt": "yuv420p",
279
+ "video.is_depth_map": false,
280
+ "video.fps": 30,
281
+ "video.channels": 3,
282
+ "has_audio": false
283
+ }
284
+ },
285
+ "observation.images.right_3pv_camera": {
286
+ "dtype": "video",
287
+ "shape": [
288
+ 480,
289
+ 640,
290
+ 3
291
+ ],
292
+ "names": [
293
+ "height",
294
+ "width",
295
+ "rgb"
296
+ ],
297
+ "info": {
298
+ "video.height": 480,
299
+ "video.width": 640,
300
+ "video.codec": "av1",
301
+ "video.pix_fmt": "yuv420p",
302
+ "video.is_depth_map": false,
303
+ "video.fps": 30,
304
+ "video.channels": 3,
305
+ "has_audio": false
306
+ }
307
+ }
308
+ }
309
+ }
310
+ ```
311
+
312
+
313
+ ## Citation
314
+
315
+ **BibTeX:**
316
+
317
+ ```bibtex
318
+ [More Information Needed]
319
+ ```
cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ea0127837797544d198de857a30eaae88cad124d7739473cb3139f4111a8d76d
3
+ size 1051869
cache/text/2e2afa825b5d434b2b3b6feca2bf49751542015a2e8618e1b165927624dbaef6.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c075262083ae2a9abda86f52179d8f4d627fc350bf7215c6319affaf1446ae4
3
+ size 1051869
cache/text/70bd64278b57ad9dc705a518653bffa92e68a48958c3f099330973a3a47edcfe.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f170062ca9aefba925952dfdce6849516c0b88fe0643445009338460b6ee079f
3
+ size 1051869
cache/text/f276d4bbc945c9d40962f15cd40c3d32f7408b03b032debb6d8873aa2518f745.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9316ef808d8bce5ece96df21505ec10c25f0e855aa5f81ebf248341636dc8ba6
3
+ size 1051869
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10a6b06bff9a8104cc5a2809af1060c163ef5e52cd4f4186d6b5172d5a7c042a
3
+ size 15323517
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:31103c3084ae00eaccfea864d9f135bc5f76cf093585be9b9559ee4c8ebda0b3
3
+ size 1218850
meta/info.json ADDED
@@ -0,0 +1,272 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "xarm_robot",
4
+ "total_episodes": 202,
5
+ "total_frames": 43185,
6
+ "total_tasks": 4,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:202"
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.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 17
21
+ ],
22
+ "names": [
23
+ "joint_0",
24
+ "joint_1",
25
+ "joint_2",
26
+ "joint_3",
27
+ "joint_4",
28
+ "joint_5",
29
+ "joint_6",
30
+ "x",
31
+ "y",
32
+ "z",
33
+ "rot1",
34
+ "rot2",
35
+ "rot3",
36
+ "rot4",
37
+ "rot5",
38
+ "rot6",
39
+ "gripper"
40
+ ]
41
+ },
42
+ "action": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 10
46
+ ],
47
+ "names": [
48
+ "x",
49
+ "y",
50
+ "z",
51
+ "rot1",
52
+ "rot2",
53
+ "rot3",
54
+ "rot4",
55
+ "rot5",
56
+ "rot6",
57
+ "gripper"
58
+ ]
59
+ },
60
+ "state.joint_pos": {
61
+ "dtype": "float32",
62
+ "shape": [
63
+ 7
64
+ ],
65
+ "names": [
66
+ "joint_0",
67
+ "joint_1",
68
+ "joint_2",
69
+ "joint_3",
70
+ "joint_4",
71
+ "joint_5",
72
+ "joint_6"
73
+ ]
74
+ },
75
+ "state.eef_xyz": {
76
+ "dtype": "float32",
77
+ "shape": [
78
+ 3
79
+ ],
80
+ "names": [
81
+ "x",
82
+ "y",
83
+ "z"
84
+ ]
85
+ },
86
+ "state.eef_rot6d": {
87
+ "dtype": "float32",
88
+ "shape": [
89
+ 6
90
+ ],
91
+ "names": [
92
+ "rot1",
93
+ "rot2",
94
+ "rot3",
95
+ "rot4",
96
+ "rot5",
97
+ "rot6"
98
+ ]
99
+ },
100
+ "state.gripper_state": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": [
106
+ "gripper"
107
+ ]
108
+ },
109
+ "action.body_eef_xyz": {
110
+ "dtype": "float32",
111
+ "shape": [
112
+ 3
113
+ ],
114
+ "names": [
115
+ "x",
116
+ "y",
117
+ "z"
118
+ ]
119
+ },
120
+ "action.body_eef_rot6d": {
121
+ "dtype": "float32",
122
+ "shape": [
123
+ 6
124
+ ],
125
+ "names": [
126
+ "rot1",
127
+ "rot2",
128
+ "rot3",
129
+ "rot4",
130
+ "rot5",
131
+ "rot6"
132
+ ]
133
+ },
134
+ "action.world_eef_xyz": {
135
+ "dtype": "float32",
136
+ "shape": [
137
+ 3
138
+ ],
139
+ "names": [
140
+ "x",
141
+ "y",
142
+ "z"
143
+ ]
144
+ },
145
+ "action.world_eef_rot6d": {
146
+ "dtype": "float32",
147
+ "shape": [
148
+ 6
149
+ ],
150
+ "names": [
151
+ "rot1",
152
+ "rot2",
153
+ "rot3",
154
+ "rot4",
155
+ "rot5",
156
+ "rot6"
157
+ ]
158
+ },
159
+ "action.diff_eef_xyz": {
160
+ "dtype": "float32",
161
+ "shape": [
162
+ 3
163
+ ],
164
+ "names": [
165
+ "x",
166
+ "y",
167
+ "z"
168
+ ]
169
+ },
170
+ "action.diff_eef_rpy": {
171
+ "dtype": "float32",
172
+ "shape": [
173
+ 3
174
+ ],
175
+ "names": [
176
+ "roll",
177
+ "pitch",
178
+ "yaw"
179
+ ]
180
+ },
181
+ "action.gripper_state": {
182
+ "dtype": "float32",
183
+ "shape": [
184
+ 1
185
+ ],
186
+ "names": [
187
+ "gripper"
188
+ ]
189
+ },
190
+ "timestamp": {
191
+ "dtype": "float32",
192
+ "shape": [
193
+ 1
194
+ ],
195
+ "names": null
196
+ },
197
+ "frame_index": {
198
+ "dtype": "int64",
199
+ "shape": [
200
+ 1
201
+ ],
202
+ "names": null
203
+ },
204
+ "episode_index": {
205
+ "dtype": "int64",
206
+ "shape": [
207
+ 1
208
+ ],
209
+ "names": null
210
+ },
211
+ "index": {
212
+ "dtype": "int64",
213
+ "shape": [
214
+ 1
215
+ ],
216
+ "names": null
217
+ },
218
+ "task_index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "observation.images.wrist_camera": {
226
+ "dtype": "video",
227
+ "shape": [
228
+ 480,
229
+ 640,
230
+ 3
231
+ ],
232
+ "names": [
233
+ "height",
234
+ "width",
235
+ "rgb"
236
+ ],
237
+ "info": {
238
+ "video.height": 480,
239
+ "video.width": 640,
240
+ "video.codec": "av1",
241
+ "video.pix_fmt": "yuv420p",
242
+ "video.is_depth_map": false,
243
+ "video.fps": 30,
244
+ "video.channels": 3,
245
+ "has_audio": false
246
+ }
247
+ },
248
+ "observation.images.right_3pv_camera": {
249
+ "dtype": "video",
250
+ "shape": [
251
+ 480,
252
+ 640,
253
+ 3
254
+ ],
255
+ "names": [
256
+ "height",
257
+ "width",
258
+ "rgb"
259
+ ],
260
+ "info": {
261
+ "video.height": 480,
262
+ "video.width": 640,
263
+ "video.codec": "av1",
264
+ "video.pix_fmt": "yuv420p",
265
+ "video.is_depth_map": false,
266
+ "video.fps": 30,
267
+ "video.channels": 3,
268
+ "has_audio": false
269
+ }
270
+ }
271
+ }
272
+ }
meta/stats.json ADDED
@@ -0,0 +1,1398 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action.gripper_state": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 1.0
8
+ ],
9
+ "mean": [
10
+ 0.559615607085404
11
+ ],
12
+ "std": [
13
+ 0.49643325836710983
14
+ ],
15
+ "count": [
16
+ 43185
17
+ ],
18
+ "q01": [
19
+ -1.000000013351432e-10
20
+ ],
21
+ "q10": [
22
+ -1.000000013351432e-10
23
+ ],
24
+ "q50": [
25
+ 0.8732278397639909
26
+ ],
27
+ "q90": [
28
+ 0.9999639900122919
29
+ ],
30
+ "q99": [
31
+ 0.999996399001229
32
+ ]
33
+ },
34
+ "state.eef_xyz": {
35
+ "min": [
36
+ 0.1533278077840805,
37
+ -0.37596869468688965,
38
+ -0.019803395494818687
39
+ ],
40
+ "max": [
41
+ 0.6333661079406738,
42
+ 0.39440229535102844,
43
+ 0.2149888575077057
44
+ ],
45
+ "mean": [
46
+ 0.3553798204448552,
47
+ 0.03509203872424625,
48
+ 0.10052583320360707
49
+ ],
50
+ "std": [
51
+ 0.07756953243208878,
52
+ 0.18251956085600676,
53
+ 0.061781902282095735
54
+ ],
55
+ "count": [
56
+ 43185
57
+ ],
58
+ "q01": [
59
+ 0.284802680017571,
60
+ -0.12620191955127252,
61
+ 0.003514360731240035
62
+ ],
63
+ "q10": [
64
+ 0.2954029875981997,
65
+ -0.11790078825882624,
66
+ 0.009540730407477431
67
+ ],
68
+ "q50": [
69
+ 0.3580407422809285,
70
+ -0.02142841438946282,
71
+ 0.12142796173206086
72
+ ],
73
+ "q90": [
74
+ 0.40964520776735575,
75
+ 0.32202788982327724,
76
+ 0.170494902427876
77
+ ],
78
+ "q99": [
79
+ 0.4166590937853738,
80
+ 0.3399374034822452,
81
+ 0.1857899704372584
82
+ ]
83
+ },
84
+ "index": {
85
+ "min": [
86
+ 0
87
+ ],
88
+ "max": [
89
+ 9250
90
+ ],
91
+ "mean": [
92
+ 3282.5750376288065
93
+ ],
94
+ "std": [
95
+ 2373.6282589545376
96
+ ],
97
+ "count": [
98
+ 43185
99
+ ],
100
+ "q01": [
101
+ 3172.697382479003
102
+ ],
103
+ "q10": [
104
+ 3192.882417394848
105
+ ],
106
+ "q50": [
107
+ 3282.3201439573922
108
+ ],
109
+ "q90": [
110
+ 3372.175419724522
111
+ ],
112
+ "q99": [
113
+ 3392.4438452621107
114
+ ]
115
+ },
116
+ "action.body_eef_xyz": {
117
+ "min": [
118
+ -0.012378751300275326,
119
+ -0.024840453639626503,
120
+ -0.011722967959940434
121
+ ],
122
+ "max": [
123
+ 0.022084916010499,
124
+ 0.018407650291919708,
125
+ 0.010481431148946285
126
+ ],
127
+ "mean": [
128
+ 0.0006659166631772238,
129
+ -0.0014270978262464946,
130
+ 0.0001973095925453385
131
+ ],
132
+ "std": [
133
+ 0.0021203987971526645,
134
+ 0.0036366859449726984,
135
+ 0.002253759639115434
136
+ ],
137
+ "count": [
138
+ 43185
139
+ ],
140
+ "q01": [
141
+ -0.003099521337048528,
142
+ -0.009211978658546387,
143
+ -0.005621585358528862
144
+ ],
145
+ "q10": [
146
+ -0.0015942082803604358,
147
+ -0.006514524688662894,
148
+ -0.0028494408514384193
149
+ ],
150
+ "q50": [
151
+ 0.000401149101565753,
152
+ -0.0004139918260974548,
153
+ 0.00021866112366443206
154
+ ],
155
+ "q90": [
156
+ 0.003306716012068527,
157
+ 0.002453044959482746,
158
+ 0.0029234698328075366
159
+ ],
160
+ "q99": [
161
+ 0.0052302131265529826,
162
+ 0.004463877066355675,
163
+ 0.004602068791743483
164
+ ]
165
+ },
166
+ "action.diff_eef_rpy": {
167
+ "min": [
168
+ -0.03589010238647461,
169
+ -0.036000728607177734,
170
+ -0.12492179870605469
171
+ ],
172
+ "max": [
173
+ 0.05176115036010742,
174
+ 0.0665276050567627,
175
+ 0.14889836311340332
176
+ ],
177
+ "mean": [
178
+ -0.0005198886778331413,
179
+ 0.0004567978301893655,
180
+ 0.0015041459929123631
181
+ ],
182
+ "std": [
183
+ 0.006155930381276694,
184
+ 0.008676774817342933,
185
+ 0.016220471396770915
186
+ ],
187
+ "count": [
188
+ 43185
189
+ ],
190
+ "q01": [
191
+ -0.011883670058954347,
192
+ -0.015610197122031827,
193
+ -0.02635797840087577
194
+ ],
195
+ "q10": [
196
+ -0.007382527456470004,
197
+ -0.009625799492960203,
198
+ -0.01468634200410496
199
+ ],
200
+ "q50": [
201
+ -0.00018640051782393814,
202
+ -8.306677840977699e-05,
203
+ 0.0017146476723938786
204
+ ],
205
+ "q90": [
206
+ 0.005756152488292593,
207
+ 0.01119754223498696,
208
+ 0.01777437682728343
209
+ ],
210
+ "q99": [
211
+ 0.013479303002957221,
212
+ 0.02180293525496227,
213
+ 0.03365457700668887
214
+ ]
215
+ },
216
+ "observation.images.right_3pv_camera": {
217
+ "min": [
218
+ [
219
+ [
220
+ 0.0
221
+ ]
222
+ ],
223
+ [
224
+ [
225
+ 0.0
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ]
233
+ ],
234
+ "max": [
235
+ [
236
+ [
237
+ 1.0
238
+ ]
239
+ ],
240
+ [
241
+ [
242
+ 1.0
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 1.0
248
+ ]
249
+ ]
250
+ ],
251
+ "mean": [
252
+ [
253
+ [
254
+ 0.4696931635442957
255
+ ]
256
+ ],
257
+ [
258
+ [
259
+ 0.4434815649166019
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.393705419922507
265
+ ]
266
+ ]
267
+ ],
268
+ "std": [
269
+ [
270
+ [
271
+ 0.004052697728475949
272
+ ]
273
+ ],
274
+ [
275
+ [
276
+ 0.004658303363278333
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.004702494902826053
282
+ ]
283
+ ]
284
+ ],
285
+ "count": [
286
+ 20200
287
+ ],
288
+ "q01": [
289
+ [
290
+ [
291
+ 0.00280191694254759
292
+ ]
293
+ ],
294
+ [
295
+ [
296
+ 0.024749031101959855
297
+ ]
298
+ ],
299
+ [
300
+ [
301
+ 0.010756983137049007
302
+ ]
303
+ ]
304
+ ],
305
+ "q10": [
306
+ [
307
+ [
308
+ 0.07883119977638194
309
+ ]
310
+ ],
311
+ [
312
+ [
313
+ 0.11521849546654271
314
+ ]
315
+ ],
316
+ [
317
+ [
318
+ 0.10586785334636013
319
+ ]
320
+ ]
321
+ ],
322
+ "q50": [
323
+ [
324
+ [
325
+ 0.5362894547148347
326
+ ]
327
+ ],
328
+ [
329
+ [
330
+ 0.56370070731957
331
+ ]
332
+ ],
333
+ [
334
+ [
335
+ 0.45187602276462324
336
+ ]
337
+ ]
338
+ ],
339
+ "q90": [
340
+ [
341
+ [
342
+ 0.7511807147383247
343
+ ]
344
+ ],
345
+ [
346
+ [
347
+ 0.6422866134830497
348
+ ]
349
+ ],
350
+ [
351
+ [
352
+ 0.6514470420297539
353
+ ]
354
+ ]
355
+ ],
356
+ "q99": [
357
+ [
358
+ [
359
+ 0.7771952795261432
360
+ ]
361
+ ],
362
+ [
363
+ [
364
+ 0.7083061436512718
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.7216672041478202
370
+ ]
371
+ ]
372
+ ]
373
+ },
374
+ "observation.images.wrist_camera": {
375
+ "min": [
376
+ [
377
+ [
378
+ 0.0
379
+ ]
380
+ ],
381
+ [
382
+ [
383
+ 0.0
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.0
389
+ ]
390
+ ]
391
+ ],
392
+ "max": [
393
+ [
394
+ [
395
+ 1.0
396
+ ]
397
+ ],
398
+ [
399
+ [
400
+ 1.0
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 1.0
406
+ ]
407
+ ]
408
+ ],
409
+ "mean": [
410
+ [
411
+ [
412
+ 0.4165890910947712
413
+ ]
414
+ ],
415
+ [
416
+ [
417
+ 0.4515028730161619
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.4486898440128939
423
+ ]
424
+ ]
425
+ ],
426
+ "std": [
427
+ [
428
+ [
429
+ 0.020447469812976907
430
+ ]
431
+ ],
432
+ [
433
+ [
434
+ 0.015859329596277418
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.013363596039944215
440
+ ]
441
+ ]
442
+ ],
443
+ "count": [
444
+ 20200
445
+ ],
446
+ "q01": [
447
+ [
448
+ [
449
+ 0.001315237889299148
450
+ ]
451
+ ],
452
+ [
453
+ [
454
+ 0.034345502520932984
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.022183002159787586
460
+ ]
461
+ ]
462
+ ],
463
+ "q10": [
464
+ [
465
+ [
466
+ 0.11811161384670224
467
+ ]
468
+ ],
469
+ [
470
+ [
471
+ 0.20832826868356094
472
+ ]
473
+ ],
474
+ [
475
+ [
476
+ 0.1962391500868945
477
+ ]
478
+ ]
479
+ ],
480
+ "q50": [
481
+ [
482
+ [
483
+ 0.474649542058194
484
+ ]
485
+ ],
486
+ [
487
+ [
488
+ 0.48849318463004093
489
+ ]
490
+ ],
491
+ [
492
+ [
493
+ 0.4724887889274994
494
+ ]
495
+ ]
496
+ ],
497
+ "q90": [
498
+ [
499
+ [
500
+ 0.5682500499671661
501
+ ]
502
+ ],
503
+ [
504
+ [
505
+ 0.6003573271524203
506
+ ]
507
+ ],
508
+ [
509
+ [
510
+ 0.6143052524152114
511
+ ]
512
+ ]
513
+ ],
514
+ "q99": [
515
+ [
516
+ [
517
+ 0.7460571410068185
518
+ ]
519
+ ],
520
+ [
521
+ [
522
+ 0.7601748360523884
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.8654208083625552
528
+ ]
529
+ ]
530
+ ]
531
+ },
532
+ "timestamp": {
533
+ "min": [
534
+ 0.0
535
+ ],
536
+ "max": [
537
+ 12.2
538
+ ],
539
+ "mean": [
540
+ 3.718828296862336
541
+ ],
542
+ "std": [
543
+ 2.3614779586780816
544
+ ],
545
+ "count": [
546
+ 43185
547
+ ],
548
+ "q01": [
549
+ 0.05623979177366461
550
+ ],
551
+ "q10": [
552
+ 0.7290742889860073
553
+ ],
554
+ "q50": [
555
+ 3.710254931110094
556
+ ],
557
+ "q90": [
558
+ 6.705507700130495
559
+ ],
560
+ "q99": [
561
+ 7.381121884734373
562
+ ]
563
+ },
564
+ "action": {
565
+ "min": [
566
+ -0.012378751300275326,
567
+ -0.024840453639626503,
568
+ -0.011722967959940434,
569
+ 0.9885883331298828,
570
+ -0.12461885064840317,
571
+ -0.06748466193675995,
572
+ -0.14866970479488373,
573
+ 0.9888138771057129,
574
+ -0.049362968653440475,
575
+ 0.0
576
+ ],
577
+ "max": [
578
+ 0.022084916010499,
579
+ 0.018407650291919708,
580
+ 0.010481431148946285,
581
+ 1.0000001192092896,
582
+ 0.14831510186195374,
583
+ 0.036014802753925323,
584
+ 0.12457390129566193,
585
+ 1.0000001192092896,
586
+ 0.0356079563498497,
587
+ 1.0
588
+ ],
589
+ "mean": [
590
+ 0.0006659166631772238,
591
+ -0.0014270978262464946,
592
+ 0.0001973095925453385,
593
+ 0.9998296799794438,
594
+ 0.001502851079958554,
595
+ -0.0004576747043045768,
596
+ -0.0015079803461037706,
597
+ 0.9998482827678162,
598
+ 0.000524334675871448,
599
+ 0.559615607085404
600
+ ],
601
+ "std": [
602
+ 0.0021203987971526645,
603
+ 0.0036366859449726984,
604
+ 0.002253759639115434,
605
+ 0.0005372172529388901,
606
+ 0.016212628789924806,
607
+ 0.008674578213350631,
608
+ 0.016231896639176794,
609
+ 0.0005057716885655065,
610
+ 0.006116769790792108,
611
+ 0.4964332583671098
612
+ ],
613
+ "count": [
614
+ 43185
615
+ ],
616
+ "q01": [
617
+ -0.003099521337048528,
618
+ -0.009211978658546387,
619
+ -0.005621585358528862,
620
+ 0.9987566902675439,
621
+ -0.026360101707019166,
622
+ -0.021872154830168463,
623
+ -0.0335607462061316,
624
+ 0.9988342335738559,
625
+ -0.013308731733344929,
626
+ -1.000000013351432e-10
627
+ ],
628
+ "q10": [
629
+ -0.0015942082803604358,
630
+ -0.006514524688662894,
631
+ -0.0028494408514384193,
632
+ 0.9995204989597093,
633
+ -0.014693658823135336,
634
+ -0.011226797595918195,
635
+ -0.017857417996440098,
636
+ 0.9995446994519419,
637
+ -0.005729857131073639,
638
+ -1.000000013351432e-10
639
+ ],
640
+ "q50": [
641
+ 0.000401149101565753,
642
+ -0.0004139918260974548,
643
+ 0.00021866112366443206,
644
+ 0.9999287750310344,
645
+ 0.0017244825692665396,
646
+ 8.048507225778394e-05,
647
+ -0.0017692486863240626,
648
+ 0.9999544402124211,
649
+ 0.00018610092762376786,
650
+ 0.8732278397639909
651
+ ],
652
+ "q90": [
653
+ 0.003306716012068527,
654
+ 0.002453044959482746,
655
+ 0.0029234698328075366,
656
+ 0.9999990532058047,
657
+ 0.017782689347920096,
658
+ 0.00960269228160855,
659
+ 0.014671898653511428,
660
+ 0.9999992180276739,
661
+ 0.0073436751370374006,
662
+ 0.9999639900122919
663
+ ],
664
+ "q99": [
665
+ 0.0052302131265529826,
666
+ 0.004463877066355675,
667
+ 0.004602068791743483,
668
+ 1.0000000056520035,
669
+ 0.033481132192414054,
670
+ 0.01560755296536864,
671
+ 0.026319185770301453,
672
+ 1.00000006834304,
673
+ 0.01185852159912458,
674
+ 0.999996399001229
675
+ ]
676
+ },
677
+ "action.diff_eef_xyz": {
678
+ "min": [
679
+ -0.011660009622573853,
680
+ -0.019786477088928223,
681
+ -0.010708101093769073
682
+ ],
683
+ "max": [
684
+ 0.010261833667755127,
685
+ 0.024294555187225342,
686
+ 0.011621981859207153
687
+ ],
688
+ "mean": [
689
+ 2.6732728354922945e-05,
690
+ 0.0015456681817892822,
691
+ -0.00019042921529651522
692
+ ],
693
+ "std": [
694
+ 0.001796379339905074,
695
+ 0.0038141991895062318,
696
+ 0.002262483328383685
697
+ ],
698
+ "count": [
699
+ 43185
700
+ ],
701
+ "q01": [
702
+ -0.0036045736617336885,
703
+ -0.004527821358793664,
704
+ -0.004618979078537293
705
+ ],
706
+ "q10": [
707
+ -0.0020652727843407286,
708
+ -0.0025328562942690596,
709
+ -0.0029393138068871455
710
+ ],
711
+ "q50": [
712
+ -1.7765504174516165e-05,
713
+ 0.0004114819900710951,
714
+ -0.00022137260503546054
715
+ ],
716
+ "q90": [
717
+ 0.0021448427454570707,
718
+ 0.006940094651290978,
719
+ 0.0028728412059038154
720
+ ],
721
+ "q99": [
722
+ 0.0037262996372157448,
723
+ 0.009715263504069784,
724
+ 0.00563062567246934
725
+ ]
726
+ },
727
+ "observation.state": {
728
+ "min": [
729
+ -0.40074700117111206,
730
+ -0.9356060028076172,
731
+ -0.8608640432357788,
732
+ 0.21322399377822876,
733
+ -0.36535999178886414,
734
+ 0.7368500232696533,
735
+ -1.2840169668197632,
736
+ 0.1533278077840805,
737
+ -0.37596869468688965,
738
+ -0.019803395494818687,
739
+ -0.21898755431175232,
740
+ -0.9596584439277649,
741
+ -0.12312590330839157,
742
+ -0.9596740007400513,
743
+ -1.0,
744
+ -0.07880933582782745,
745
+ 0.0
746
+ ],
747
+ "max": [
748
+ 0.6398729681968689,
749
+ 0.7278839945793152,
750
+ 0.6895659565925598,
751
+ 1.9845010042190552,
752
+ 0.2771790027618408,
753
+ 1.506822943687439,
754
+ 0.9813160300254822,
755
+ 0.6333661079406738,
756
+ 0.39440229535102844,
757
+ 0.2149888575077057,
758
+ 1.0,
759
+ 0.999998927116394,
760
+ 0.0435519739985466,
761
+ 0.9999988675117493,
762
+ 0.21898755431175232,
763
+ 0.07168912887573242,
764
+ 1.0
765
+ ],
766
+ "mean": [
767
+ 0.050924177947240655,
768
+ -0.21880632971435832,
769
+ 0.0255780165784921,
770
+ 0.924928461831795,
771
+ 0.011838026527278264,
772
+ 1.145722918854387,
773
+ -0.03886317362801568,
774
+ 0.3553798204448552,
775
+ 0.03509203872424625,
776
+ 0.10052583320360707,
777
+ 0.8988029657862757,
778
+ 0.09489718729445415,
779
+ -0.006935689123347915,
780
+ 0.09501669223860428,
781
+ -0.8989169803098547,
782
+ 0.0036675941264897056,
783
+ 0.5682297102683421
784
+ ],
785
+ "std": [
786
+ 0.20810104420718242,
787
+ 0.28511296537550784,
788
+ 0.26338929972979097,
789
+ 0.2969183293735687,
790
+ 0.08027601139519297,
791
+ 0.17908913979876542,
792
+ 0.4164355775160589,
793
+ 0.07756953243208878,
794
+ 0.18251956085600676,
795
+ 0.061781902282095735,
796
+ 0.19432939482642772,
797
+ 0.38082657799360087,
798
+ 0.017522002417903772,
799
+ 0.3807974050168161,
800
+ 0.19437786198410126,
801
+ 0.010836291101190571,
802
+ 0.4953228324123853
803
+ ],
804
+ "count": [
805
+ 43185
806
+ ],
807
+ "q01": [
808
+ -0.1351097308744253,
809
+ -0.5652036663100471,
810
+ -0.20364024597069005,
811
+ 0.6544475830795521,
812
+ -0.07093164902992091,
813
+ 0.8752787029388895,
814
+ -0.38447270999088873,
815
+ 0.284802680017571,
816
+ -0.12620191955127252,
817
+ 0.003514360731240035,
818
+ 0.7126648805391551,
819
+ -0.15976292368401332,
820
+ -0.03332080194755328,
821
+ -0.15959956975355255,
822
+ -0.9999897869212191,
823
+ -0.013319625226964244,
824
+ -1.000000013351432e-10
825
+ ],
826
+ "q10": [
827
+ -0.12103766413994017,
828
+ -0.4946927629964859,
829
+ -0.18802291633502635,
830
+ 0.6860691442965476,
831
+ -0.05645966627906845,
832
+ 0.8942705188114168,
833
+ -0.3601348429519784,
834
+ 0.2954029875981997,
835
+ -0.11790078825882624,
836
+ 0.009540730407477431,
837
+ 0.730109316675223,
838
+ -0.12413087462184094,
839
+ -0.025049123109842898,
840
+ -0.12397699378777444,
841
+ -0.9961704423110618,
842
+ -0.004943550718256411,
843
+ -1.000000013351432e-10
844
+ ],
845
+ "q50": [
846
+ -0.013700732416014515,
847
+ -0.23301966960751916,
848
+ -0.04001927339791519,
849
+ 0.899225840062095,
850
+ 0.007565010723746218,
851
+ 1.1921602178436561,
852
+ -0.09278726065200193,
853
+ 0.3580407422809285,
854
+ -0.02142841438946282,
855
+ 0.12142796173206086,
856
+ 0.9279975620021836,
857
+ 0.020774105222530044,
858
+ -0.0047227749902881075,
859
+ 0.02086996662609355,
860
+ -0.9282619698128551,
861
+ 0.0030039531306903385,
862
+ 0.9481718480890011
863
+ ],
864
+ "q90": [
865
+ 0.3587045347584766,
866
+ 0.06537594565034562,
867
+ 0.40330707128308757,
868
+ 1.2348834099454353,
869
+ 0.08657396587899996,
870
+ 1.3610103787235242,
871
+ 0.4480834787516531,
872
+ 0.40964520776735575,
873
+ 0.32202788982327724,
874
+ 0.170494902427876,
875
+ 0.9960557674991005,
876
+ 0.4157419568746722,
877
+ 0.007366891848315895,
878
+ 0.4158950932617785,
879
+ -0.7307352969186702,
880
+ 0.013879114394851283,
881
+ 0.9999645311045421
882
+ ],
883
+ "q99": [
884
+ 0.37926273789427284,
885
+ 0.09958505219974503,
886
+ 0.4285315200220026,
887
+ 1.281967071800766,
888
+ 0.09887849578052342,
889
+ 1.4145170301037198,
890
+ 0.5190865555231746,
891
+ 0.4166590937853738,
892
+ 0.3399374034822452,
893
+ 0.1857899704372584,
894
+ 0.9999764617434836,
895
+ 0.42708462866576913,
896
+ 0.015560869585638844,
897
+ 0.42736374196599336,
898
+ -0.7131359937432363,
899
+ 0.019973690651052232,
900
+ 0.9999964531104542
901
+ ]
902
+ },
903
+ "task_index": {
904
+ "min": [
905
+ 0
906
+ ],
907
+ "max": [
908
+ 0
909
+ ],
910
+ "mean": [
911
+ 0.0
912
+ ],
913
+ "std": [
914
+ 0.0
915
+ ],
916
+ "count": [
917
+ 43185
918
+ ],
919
+ "q01": [
920
+ 3.999999999999417e-16
921
+ ],
922
+ "q10": [
923
+ 3.999999999999417e-15
924
+ ],
925
+ "q50": [
926
+ 1.999999999999709e-14
927
+ ],
928
+ "q90": [
929
+ 3.5999999999994766e-14
930
+ ],
931
+ "q99": [
932
+ 3.959999999999423e-14
933
+ ]
934
+ },
935
+ "episode_index": {
936
+ "min": [
937
+ 0
938
+ ],
939
+ "max": [
940
+ 49
941
+ ],
942
+ "mean": [
943
+ 15.03691096445525
944
+ ],
945
+ "std": [
946
+ 11.463020431745278
947
+ ],
948
+ "count": [
949
+ 43185
950
+ ],
951
+ "q01": [
952
+ 15.03691096445525
953
+ ],
954
+ "q10": [
955
+ 15.036910964455256
956
+ ],
957
+ "q50": [
958
+ 15.03691096445527
959
+ ],
960
+ "q90": [
961
+ 15.036910964455288
962
+ ],
963
+ "q99": [
964
+ 15.036910964455288
965
+ ]
966
+ },
967
+ "action.body_eef_rot6d": {
968
+ "min": [
969
+ 0.9885883331298828,
970
+ -0.12461885064840317,
971
+ -0.06748466193675995,
972
+ -0.14866970479488373,
973
+ 0.9888138771057129,
974
+ -0.049362968653440475
975
+ ],
976
+ "max": [
977
+ 1.0000001192092896,
978
+ 0.14831510186195374,
979
+ 0.036014802753925323,
980
+ 0.12457390129566193,
981
+ 1.0000001192092896,
982
+ 0.0356079563498497
983
+ ],
984
+ "mean": [
985
+ 0.9998296799794438,
986
+ 0.001502851079958554,
987
+ -0.0004576747043045768,
988
+ -0.0015079803461037706,
989
+ 0.9998482827678162,
990
+ 0.000524334675871448
991
+ ],
992
+ "std": [
993
+ 0.0005372172529388901,
994
+ 0.016212628789924806,
995
+ 0.008674578213350631,
996
+ 0.016231896639176794,
997
+ 0.0005057716885655065,
998
+ 0.006116769790792108
999
+ ],
1000
+ "count": [
1001
+ 43185
1002
+ ],
1003
+ "q01": [
1004
+ 0.9987566902675439,
1005
+ -0.026360101707019166,
1006
+ -0.021872154830168463,
1007
+ -0.0335607462061316,
1008
+ 0.9988342335738559,
1009
+ -0.013308731733344929
1010
+ ],
1011
+ "q10": [
1012
+ 0.9995204989597093,
1013
+ -0.014693658823135336,
1014
+ -0.011226797595918195,
1015
+ -0.017857417996440098,
1016
+ 0.9995446994519419,
1017
+ -0.005729857131073639
1018
+ ],
1019
+ "q50": [
1020
+ 0.9999287750310344,
1021
+ 0.0017244825692665396,
1022
+ 8.048507225778394e-05,
1023
+ -0.0017692486863240626,
1024
+ 0.9999544402124211,
1025
+ 0.00018610092762376786
1026
+ ],
1027
+ "q90": [
1028
+ 0.9999990532058047,
1029
+ 0.017782689347920096,
1030
+ 0.00960269228160855,
1031
+ 0.014671898653511428,
1032
+ 0.9999992180276739,
1033
+ 0.0073436751370374006
1034
+ ],
1035
+ "q99": [
1036
+ 1.0000000056520035,
1037
+ 0.033481132192414054,
1038
+ 0.01560755296536864,
1039
+ 0.026319185770301453,
1040
+ 1.00000006834304,
1041
+ 0.01185852159912458
1042
+ ]
1043
+ },
1044
+ "action.world_eef_rot6d": {
1045
+ "min": [
1046
+ 0.9887765645980835,
1047
+ -0.14828093349933624,
1048
+ -0.03925260528922081,
1049
+ -0.12456114590167999,
1050
+ 0.9886277914047241,
1051
+ -0.05110419541597366
1052
+ ],
1053
+ "max": [
1054
+ 1.0000001192092896,
1055
+ 0.12459775060415268,
1056
+ 0.06764670461416245,
1057
+ 0.14867615699768066,
1058
+ 1.0000001192092896,
1059
+ 0.03588832542300224
1060
+ ],
1061
+ "mean": [
1062
+ 0.9998304547087054,
1063
+ -0.0015055012134104042,
1064
+ 0.0004407697197859028,
1065
+ 0.0015041280315175988,
1066
+ 0.9998477522291987,
1067
+ 0.0011551729738123915
1068
+ ],
1069
+ "std": [
1070
+ 0.0005204812350900181,
1071
+ 0.016201826338400845,
1072
+ 0.008607365511359799,
1073
+ 0.01621301158541427,
1074
+ 0.0005302621493872212,
1075
+ 0.006165659186780388
1076
+ ],
1077
+ "count": [
1078
+ 43185
1079
+ ],
1080
+ "q01": [
1081
+ 0.9987591123485422,
1082
+ -0.03347754823326723,
1083
+ -0.015340833430027071,
1084
+ -0.0263303927646161,
1085
+ 0.9988308171997249,
1086
+ -0.012763297259246024
1087
+ ],
1088
+ "q10": [
1089
+ 0.9995194188198455,
1090
+ -0.017803619147881714,
1091
+ -0.009375072683669855,
1092
+ -0.014672141068504927,
1093
+ 0.9995443708795605,
1094
+ -0.005185046611120236
1095
+ ],
1096
+ "q50": [
1097
+ 0.999930290971233,
1098
+ -0.0017635240118588729,
1099
+ -9.001383869415085e-05,
1100
+ 0.0017136621713811971,
1101
+ 0.9999527707955608,
1102
+ 0.0002648565494077276
1103
+ ],
1104
+ "q90": [
1105
+ 0.9999991183281325,
1106
+ 0.014624365157376263,
1107
+ 0.01127410634053761,
1108
+ 0.017767301500324892,
1109
+ 0.9999992477950875,
1110
+ 0.008784536447103955
1111
+ ],
1112
+ "q99": [
1113
+ 1.000000010852504,
1114
+ 0.02626451092214298,
1115
+ 0.021625348292885736,
1116
+ 0.03354593131752249,
1117
+ 1.0000000694873135,
1118
+ 0.013760045796332679
1119
+ ]
1120
+ },
1121
+ "frame_index": {
1122
+ "min": [
1123
+ 0
1124
+ ],
1125
+ "max": [
1126
+ 366
1127
+ ],
1128
+ "mean": [
1129
+ 111.5648489058701
1130
+ ],
1131
+ "std": [
1132
+ 70.84433876034247
1133
+ ],
1134
+ "count": [
1135
+ 43185
1136
+ ],
1137
+ "q01": [
1138
+ 1.687193756066822
1139
+ ],
1140
+ "q10": [
1141
+ 21.872228671912175
1142
+ ],
1143
+ "q50": [
1144
+ 111.31016436262567
1145
+ ],
1146
+ "q90": [
1147
+ 201.16523100158543
1148
+ ],
1149
+ "q99": [
1150
+ 221.43365653917456
1151
+ ]
1152
+ },
1153
+ "action.world_eef_xyz": {
1154
+ "min": [
1155
+ -0.011660009622573853,
1156
+ -0.019786477088928223,
1157
+ -0.010708101093769073
1158
+ ],
1159
+ "max": [
1160
+ 0.010261833667755127,
1161
+ 0.024294555187225342,
1162
+ 0.011621981859207153
1163
+ ],
1164
+ "mean": [
1165
+ 2.6732728354922945e-05,
1166
+ 0.0015456681817892822,
1167
+ -0.00019042921529651522
1168
+ ],
1169
+ "std": [
1170
+ 0.001796379339905074,
1171
+ 0.0038141991895062318,
1172
+ 0.002262483328383685
1173
+ ],
1174
+ "count": [
1175
+ 43185
1176
+ ],
1177
+ "q01": [
1178
+ -0.0036045736617336885,
1179
+ -0.004527821358793664,
1180
+ -0.004618979078537293
1181
+ ],
1182
+ "q10": [
1183
+ -0.0020652727843407286,
1184
+ -0.0025328562942690596,
1185
+ -0.0029393138068871455
1186
+ ],
1187
+ "q50": [
1188
+ -1.7765504174516165e-05,
1189
+ 0.0004114819900710951,
1190
+ -0.00022137260503546054
1191
+ ],
1192
+ "q90": [
1193
+ 0.0021448427454570707,
1194
+ 0.006940094651290978,
1195
+ 0.0028728412059038154
1196
+ ],
1197
+ "q99": [
1198
+ 0.0037262996372157448,
1199
+ 0.009715263504069784,
1200
+ 0.00563062567246934
1201
+ ]
1202
+ },
1203
+ "state.joint_pos": {
1204
+ "min": [
1205
+ -0.40074700117111206,
1206
+ -0.9356060028076172,
1207
+ -0.8608640432357788,
1208
+ 0.21322399377822876,
1209
+ -0.36535999178886414,
1210
+ 0.7368500232696533,
1211
+ -1.2840169668197632
1212
+ ],
1213
+ "max": [
1214
+ 0.6398729681968689,
1215
+ 0.7278839945793152,
1216
+ 0.6895659565925598,
1217
+ 1.9845010042190552,
1218
+ 0.2771790027618408,
1219
+ 1.506822943687439,
1220
+ 0.9813160300254822
1221
+ ],
1222
+ "mean": [
1223
+ 0.050924177947240655,
1224
+ -0.21880632971435832,
1225
+ 0.0255780165784921,
1226
+ 0.924928461831795,
1227
+ 0.011838026527278264,
1228
+ 1.145722918854387,
1229
+ -0.03886317362801568
1230
+ ],
1231
+ "std": [
1232
+ 0.20810104420718242,
1233
+ 0.28511296537550784,
1234
+ 0.26338929972979097,
1235
+ 0.2969183293735687,
1236
+ 0.08027601139519297,
1237
+ 0.17908913979876542,
1238
+ 0.4164355775160589
1239
+ ],
1240
+ "count": [
1241
+ 43185
1242
+ ],
1243
+ "q01": [
1244
+ -0.1351097308744253,
1245
+ -0.5652036663100471,
1246
+ -0.20364024597069005,
1247
+ 0.6544475830795521,
1248
+ -0.07093164902992091,
1249
+ 0.8752787029388895,
1250
+ -0.38447270999088873
1251
+ ],
1252
+ "q10": [
1253
+ -0.12103766413994017,
1254
+ -0.4946927629964859,
1255
+ -0.18802291633502635,
1256
+ 0.6860691442965476,
1257
+ -0.05645966627906845,
1258
+ 0.8942705188114168,
1259
+ -0.3601348429519784
1260
+ ],
1261
+ "q50": [
1262
+ -0.013700732416014515,
1263
+ -0.23301966960751916,
1264
+ -0.04001927339791519,
1265
+ 0.899225840062095,
1266
+ 0.007565010723746218,
1267
+ 1.1921602178436561,
1268
+ -0.09278726065200193
1269
+ ],
1270
+ "q90": [
1271
+ 0.3587045347584766,
1272
+ 0.06537594565034562,
1273
+ 0.40330707128308757,
1274
+ 1.2348834099454353,
1275
+ 0.08657396587899996,
1276
+ 1.3610103787235242,
1277
+ 0.4480834787516531
1278
+ ],
1279
+ "q99": [
1280
+ 0.37926273789427284,
1281
+ 0.09958505219974503,
1282
+ 0.4285315200220026,
1283
+ 1.281967071800766,
1284
+ 0.09887849578052342,
1285
+ 1.4145170301037198,
1286
+ 0.5190865555231746
1287
+ ]
1288
+ },
1289
+ "state.gripper_state": {
1290
+ "min": [
1291
+ 0.0
1292
+ ],
1293
+ "max": [
1294
+ 1.0
1295
+ ],
1296
+ "mean": [
1297
+ 0.5682297102683421
1298
+ ],
1299
+ "std": [
1300
+ 0.4953228324123853
1301
+ ],
1302
+ "count": [
1303
+ 43185
1304
+ ],
1305
+ "q01": [
1306
+ -1.000000013351432e-10
1307
+ ],
1308
+ "q10": [
1309
+ -1.000000013351432e-10
1310
+ ],
1311
+ "q50": [
1312
+ 0.948171848089001
1313
+ ],
1314
+ "q90": [
1315
+ 0.9999645311045421
1316
+ ],
1317
+ "q99": [
1318
+ 0.9999964531104542
1319
+ ]
1320
+ },
1321
+ "state.eef_rot6d": {
1322
+ "min": [
1323
+ -0.21898755431175232,
1324
+ -0.9596584439277649,
1325
+ -0.12312590330839157,
1326
+ -0.9596740007400513,
1327
+ -1.0,
1328
+ -0.07880933582782745
1329
+ ],
1330
+ "max": [
1331
+ 1.0,
1332
+ 0.999998927116394,
1333
+ 0.0435519739985466,
1334
+ 0.9999988675117493,
1335
+ 0.21898755431175232,
1336
+ 0.07168912887573242
1337
+ ],
1338
+ "mean": [
1339
+ 0.8988029657862757,
1340
+ 0.09489718729445415,
1341
+ -0.006935689123347915,
1342
+ 0.09501669223860428,
1343
+ -0.8989169803098547,
1344
+ 0.0036675941264897056
1345
+ ],
1346
+ "std": [
1347
+ 0.19432939482642772,
1348
+ 0.38082657799360087,
1349
+ 0.017522002417903772,
1350
+ 0.3807974050168161,
1351
+ 0.19437786198410126,
1352
+ 0.010836291101190571
1353
+ ],
1354
+ "count": [
1355
+ 43185
1356
+ ],
1357
+ "q01": [
1358
+ 0.7126648805391551,
1359
+ -0.15976292368401332,
1360
+ -0.03332080194755328,
1361
+ -0.15959956975355255,
1362
+ -0.9999897869212191,
1363
+ -0.013319625226964244
1364
+ ],
1365
+ "q10": [
1366
+ 0.730109316675223,
1367
+ -0.12413087462184094,
1368
+ -0.025049123109842898,
1369
+ -0.12397699378777444,
1370
+ -0.9961704423110618,
1371
+ -0.004943550718256411
1372
+ ],
1373
+ "q50": [
1374
+ 0.9279975620021836,
1375
+ 0.020774105222530044,
1376
+ -0.0047227749902881075,
1377
+ 0.02086996662609355,
1378
+ -0.9282619698128551,
1379
+ 0.0030039531306903385
1380
+ ],
1381
+ "q90": [
1382
+ 0.9960557674991005,
1383
+ 0.4157419568746722,
1384
+ 0.007366891848315895,
1385
+ 0.4158950932617785,
1386
+ -0.7307352969186702,
1387
+ 0.013879114394851283
1388
+ ],
1389
+ "q99": [
1390
+ 0.9999764617434836,
1391
+ 0.42708462866576913,
1392
+ 0.015560869585638844,
1393
+ 0.42736374196599336,
1394
+ -0.7131359937432363,
1395
+ 0.019973690651052232
1396
+ ]
1397
+ }
1398
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ee0db38a86cbaeb2dc272f0b5606fcd3295a721db4ea0208e587027873a5fedd
3
+ size 2364
split_manifest.json ADDED
@@ -0,0 +1,213 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "seed": 42,
3
+ "val_ratio": 0.1,
4
+ "total_episodes": 202,
5
+ "splits": {
6
+ "train": [
7
+ 0,
8
+ 1,
9
+ 4,
10
+ 5,
11
+ 6,
12
+ 7,
13
+ 8,
14
+ 9,
15
+ 10,
16
+ 11,
17
+ 12,
18
+ 14,
19
+ 15,
20
+ 16,
21
+ 17,
22
+ 18,
23
+ 19,
24
+ 20,
25
+ 21,
26
+ 22,
27
+ 23,
28
+ 24,
29
+ 25,
30
+ 26,
31
+ 27,
32
+ 28,
33
+ 29,
34
+ 31,
35
+ 32,
36
+ 33,
37
+ 34,
38
+ 35,
39
+ 36,
40
+ 37,
41
+ 38,
42
+ 39,
43
+ 40,
44
+ 41,
45
+ 42,
46
+ 43,
47
+ 46,
48
+ 47,
49
+ 48,
50
+ 49,
51
+ 50,
52
+ 51,
53
+ 52,
54
+ 53,
55
+ 54,
56
+ 55,
57
+ 56,
58
+ 57,
59
+ 58,
60
+ 59,
61
+ 60,
62
+ 61,
63
+ 62,
64
+ 63,
65
+ 65,
66
+ 67,
67
+ 68,
68
+ 69,
69
+ 70,
70
+ 71,
71
+ 72,
72
+ 73,
73
+ 74,
74
+ 75,
75
+ 77,
76
+ 78,
77
+ 79,
78
+ 80,
79
+ 81,
80
+ 82,
81
+ 83,
82
+ 84,
83
+ 85,
84
+ 86,
85
+ 87,
86
+ 88,
87
+ 89,
88
+ 90,
89
+ 91,
90
+ 92,
91
+ 93,
92
+ 94,
93
+ 95,
94
+ 96,
95
+ 97,
96
+ 98,
97
+ 99,
98
+ 100,
99
+ 102,
100
+ 103,
101
+ 104,
102
+ 105,
103
+ 106,
104
+ 107,
105
+ 108,
106
+ 109,
107
+ 110,
108
+ 112,
109
+ 113,
110
+ 114,
111
+ 115,
112
+ 116,
113
+ 117,
114
+ 118,
115
+ 119,
116
+ 120,
117
+ 122,
118
+ 123,
119
+ 124,
120
+ 125,
121
+ 126,
122
+ 127,
123
+ 129,
124
+ 131,
125
+ 132,
126
+ 133,
127
+ 134,
128
+ 135,
129
+ 137,
130
+ 138,
131
+ 139,
132
+ 140,
133
+ 141,
134
+ 142,
135
+ 143,
136
+ 144,
137
+ 145,
138
+ 146,
139
+ 147,
140
+ 148,
141
+ 149,
142
+ 150,
143
+ 151,
144
+ 152,
145
+ 153,
146
+ 154,
147
+ 155,
148
+ 156,
149
+ 157,
150
+ 158,
151
+ 160,
152
+ 161,
153
+ 162,
154
+ 163,
155
+ 164,
156
+ 165,
157
+ 166,
158
+ 167,
159
+ 169,
160
+ 170,
161
+ 172,
162
+ 173,
163
+ 174,
164
+ 175,
165
+ 176,
166
+ 177,
167
+ 178,
168
+ 179,
169
+ 180,
170
+ 181,
171
+ 182,
172
+ 183,
173
+ 184,
174
+ 185,
175
+ 186,
176
+ 187,
177
+ 188,
178
+ 189,
179
+ 190,
180
+ 191,
181
+ 192,
182
+ 194,
183
+ 196,
184
+ 197,
185
+ 198,
186
+ 199,
187
+ 200,
188
+ 201
189
+ ],
190
+ "val": [
191
+ 2,
192
+ 3,
193
+ 13,
194
+ 30,
195
+ 44,
196
+ 45,
197
+ 64,
198
+ 66,
199
+ 76,
200
+ 101,
201
+ 111,
202
+ 121,
203
+ 128,
204
+ 130,
205
+ 136,
206
+ 159,
207
+ 168,
208
+ 171,
209
+ 193,
210
+ 195
211
+ ]
212
+ }
213
+ }
train/cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ea0127837797544d198de857a30eaae88cad124d7739473cb3139f4111a8d76d
3
+ size 1051869
train/cache/text/2e2afa825b5d434b2b3b6feca2bf49751542015a2e8618e1b165927624dbaef6.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c075262083ae2a9abda86f52179d8f4d627fc350bf7215c6319affaf1446ae4
3
+ size 1051869
train/cache/text/70bd64278b57ad9dc705a518653bffa92e68a48958c3f099330973a3a47edcfe.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f170062ca9aefba925952dfdce6849516c0b88fe0643445009338460b6ee079f
3
+ size 1051869
train/cache/text/f276d4bbc945c9d40962f15cd40c3d32f7408b03b032debb6d8873aa2518f745.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9316ef808d8bce5ece96df21505ec10c25f0e855aa5f81ebf248341636dc8ba6
3
+ size 1051869
train/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76c63791834c6690a045a8eb8dcdfad27cada9b07b367fa97314a54cf0e7ffb4
3
+ size 14021870
train/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a1a3c420a1ebc0288fc72912371cd78ec60933f085d53a0d3d5ff614c888582
3
+ size 2051772
train/meta/info.json ADDED
@@ -0,0 +1,272 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "xarm_robot",
4
+ "total_episodes": 182,
5
+ "total_frames": 39122,
6
+ "total_tasks": 4,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:182"
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.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 17
21
+ ],
22
+ "names": [
23
+ "joint_0",
24
+ "joint_1",
25
+ "joint_2",
26
+ "joint_3",
27
+ "joint_4",
28
+ "joint_5",
29
+ "joint_6",
30
+ "x",
31
+ "y",
32
+ "z",
33
+ "rot1",
34
+ "rot2",
35
+ "rot3",
36
+ "rot4",
37
+ "rot5",
38
+ "rot6",
39
+ "gripper"
40
+ ]
41
+ },
42
+ "action": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 10
46
+ ],
47
+ "names": [
48
+ "x",
49
+ "y",
50
+ "z",
51
+ "rot1",
52
+ "rot2",
53
+ "rot3",
54
+ "rot4",
55
+ "rot5",
56
+ "rot6",
57
+ "gripper"
58
+ ]
59
+ },
60
+ "state.joint_pos": {
61
+ "dtype": "float32",
62
+ "shape": [
63
+ 7
64
+ ],
65
+ "names": [
66
+ "joint_0",
67
+ "joint_1",
68
+ "joint_2",
69
+ "joint_3",
70
+ "joint_4",
71
+ "joint_5",
72
+ "joint_6"
73
+ ]
74
+ },
75
+ "state.eef_xyz": {
76
+ "dtype": "float32",
77
+ "shape": [
78
+ 3
79
+ ],
80
+ "names": [
81
+ "x",
82
+ "y",
83
+ "z"
84
+ ]
85
+ },
86
+ "state.eef_rot6d": {
87
+ "dtype": "float32",
88
+ "shape": [
89
+ 6
90
+ ],
91
+ "names": [
92
+ "rot1",
93
+ "rot2",
94
+ "rot3",
95
+ "rot4",
96
+ "rot5",
97
+ "rot6"
98
+ ]
99
+ },
100
+ "state.gripper_state": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": [
106
+ "gripper"
107
+ ]
108
+ },
109
+ "action.body_eef_xyz": {
110
+ "dtype": "float32",
111
+ "shape": [
112
+ 3
113
+ ],
114
+ "names": [
115
+ "x",
116
+ "y",
117
+ "z"
118
+ ]
119
+ },
120
+ "action.body_eef_rot6d": {
121
+ "dtype": "float32",
122
+ "shape": [
123
+ 6
124
+ ],
125
+ "names": [
126
+ "rot1",
127
+ "rot2",
128
+ "rot3",
129
+ "rot4",
130
+ "rot5",
131
+ "rot6"
132
+ ]
133
+ },
134
+ "action.world_eef_xyz": {
135
+ "dtype": "float32",
136
+ "shape": [
137
+ 3
138
+ ],
139
+ "names": [
140
+ "x",
141
+ "y",
142
+ "z"
143
+ ]
144
+ },
145
+ "action.world_eef_rot6d": {
146
+ "dtype": "float32",
147
+ "shape": [
148
+ 6
149
+ ],
150
+ "names": [
151
+ "rot1",
152
+ "rot2",
153
+ "rot3",
154
+ "rot4",
155
+ "rot5",
156
+ "rot6"
157
+ ]
158
+ },
159
+ "action.diff_eef_xyz": {
160
+ "dtype": "float32",
161
+ "shape": [
162
+ 3
163
+ ],
164
+ "names": [
165
+ "x",
166
+ "y",
167
+ "z"
168
+ ]
169
+ },
170
+ "action.diff_eef_rpy": {
171
+ "dtype": "float32",
172
+ "shape": [
173
+ 3
174
+ ],
175
+ "names": [
176
+ "roll",
177
+ "pitch",
178
+ "yaw"
179
+ ]
180
+ },
181
+ "action.gripper_state": {
182
+ "dtype": "float32",
183
+ "shape": [
184
+ 1
185
+ ],
186
+ "names": [
187
+ "gripper"
188
+ ]
189
+ },
190
+ "timestamp": {
191
+ "dtype": "float32",
192
+ "shape": [
193
+ 1
194
+ ],
195
+ "names": null
196
+ },
197
+ "frame_index": {
198
+ "dtype": "int64",
199
+ "shape": [
200
+ 1
201
+ ],
202
+ "names": null
203
+ },
204
+ "episode_index": {
205
+ "dtype": "int64",
206
+ "shape": [
207
+ 1
208
+ ],
209
+ "names": null
210
+ },
211
+ "index": {
212
+ "dtype": "int64",
213
+ "shape": [
214
+ 1
215
+ ],
216
+ "names": null
217
+ },
218
+ "task_index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "observation.images.wrist_camera": {
226
+ "dtype": "video",
227
+ "shape": [
228
+ 480,
229
+ 640,
230
+ 3
231
+ ],
232
+ "names": [
233
+ "height",
234
+ "width",
235
+ "rgb"
236
+ ],
237
+ "info": {
238
+ "video.height": 480,
239
+ "video.width": 640,
240
+ "video.codec": "av1",
241
+ "video.pix_fmt": "yuv420p",
242
+ "video.is_depth_map": false,
243
+ "video.fps": 30,
244
+ "video.channels": 3,
245
+ "has_audio": false
246
+ }
247
+ },
248
+ "observation.images.right_3pv_camera": {
249
+ "dtype": "video",
250
+ "shape": [
251
+ 480,
252
+ 640,
253
+ 3
254
+ ],
255
+ "names": [
256
+ "height",
257
+ "width",
258
+ "rgb"
259
+ ],
260
+ "info": {
261
+ "video.height": 480,
262
+ "video.width": 640,
263
+ "video.codec": "av1",
264
+ "video.pix_fmt": "yuv420p",
265
+ "video.is_depth_map": false,
266
+ "video.fps": 30,
267
+ "video.channels": 3,
268
+ "has_audio": false
269
+ }
270
+ }
271
+ }
272
+ }
train/meta/stats.json ADDED
@@ -0,0 +1,1398 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist_camera": {
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
+ 0.41791688187935405
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.4526096780619302
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.44956755888413047
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.01880242549740391
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.014706605640314794
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.012653447208465734
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 18200
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.0012878105471304027
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.03437179124840765
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.022163310643578
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.11988602991550011
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.21045322242064676
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.19776400711663394
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.4759798542219702
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.4892325333636882
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.47319346440141447
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.5677124666848689
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.5997961715848596
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.6136352922025794
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.7456047539447236
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.759246878039806
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.8651746789397982
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "state.eef_rot6d": {
161
+ "min": [
162
+ -0.21898755431175232,
163
+ -0.9596584439277649,
164
+ -0.12312590330839157,
165
+ -0.9596740007400513,
166
+ -1.0,
167
+ -0.07880933582782745
168
+ ],
169
+ "max": [
170
+ 1.0,
171
+ 0.999998927116394,
172
+ 0.0435519739985466,
173
+ 0.9999988675117493,
174
+ 0.21898755431175232,
175
+ 0.07168912887573242
176
+ ],
177
+ "mean": [
178
+ 0.8995549772592735,
179
+ 0.08985564642415547,
180
+ -0.006933231907012831,
181
+ 0.08997821902457927,
182
+ -0.8996695362773813,
183
+ 0.003640691764951767
184
+ ],
185
+ "std": [
186
+ 0.19353229097504884,
187
+ 0.3806758085522783,
188
+ 0.0176093959324242,
189
+ 0.3806471286582411,
190
+ 0.19358215597259243,
191
+ 0.010922109682462693
192
+ ],
193
+ "count": [
194
+ 39122
195
+ ],
196
+ "q01": [
197
+ 0.18234082981944086,
198
+ -0.8162864547967911,
199
+ -0.06886471666395665,
200
+ -0.8162856870889663,
201
+ -0.9999997615814209,
202
+ -0.017430134210735557
203
+ ],
204
+ "q10": [
205
+ 0.7288239882628471,
206
+ -0.13130040794008122,
207
+ -0.02508440669438575,
208
+ -0.13113116158470386,
209
+ -0.9962735540808326,
210
+ -0.005014822239362462
211
+ ],
212
+ "q50": [
213
+ 0.9291934533135782,
214
+ 0.01321058420051782,
215
+ -0.004670584595575285,
216
+ 0.013307744755052716,
217
+ -0.9294573788007656,
218
+ 0.0030086309228128535
219
+ ],
220
+ "q90": [
221
+ 0.996155152541848,
222
+ 0.41976560787629136,
223
+ 0.00723811675219446,
224
+ 0.41991457522914644,
225
+ -0.7294726644275615,
226
+ 0.013859183912764108
227
+ ],
228
+ "q99": [
229
+ 0.9999997019767761,
230
+ 0.982714951634407,
231
+ 0.02189819620922209,
232
+ 0.9827114999294282,
233
+ -0.18234841510653482,
234
+ 0.04133901890367274
235
+ ]
236
+ },
237
+ "state.gripper_state": {
238
+ "min": [
239
+ 0.0
240
+ ],
241
+ "max": [
242
+ 1.0
243
+ ],
244
+ "mean": [
245
+ 0.5658453058271062
246
+ ],
247
+ "std": [
248
+ 0.4956454355024859
249
+ ],
250
+ "count": [
251
+ 39122
252
+ ],
253
+ "q01": [
254
+ 0.0
255
+ ],
256
+ "q10": [
257
+ -1.000000013351432e-10
258
+ ],
259
+ "q50": [
260
+ 0.9428069990584682
261
+ ],
262
+ "q90": [
263
+ 0.9999643961770367
264
+ ],
265
+ "q99": [
266
+ 1.0
267
+ ]
268
+ },
269
+ "action.gripper_state": {
270
+ "min": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 1.0
275
+ ],
276
+ "mean": [
277
+ 0.5574357137461088
278
+ ],
279
+ "std": [
280
+ 0.49669018447077473
281
+ ],
282
+ "count": [
283
+ 39122
284
+ ],
285
+ "q01": [
286
+ 0.0
287
+ ],
288
+ "q10": [
289
+ -1.000000013351432e-10
290
+ ],
291
+ "q50": [
292
+ 0.8655489659163007
293
+ ],
294
+ "q90": [
295
+ 0.999963857362584
296
+ ],
297
+ "q99": [
298
+ 1.0
299
+ ]
300
+ },
301
+ "episode_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 49
307
+ ],
308
+ "mean": [
309
+ 15.191580185062113
310
+ ],
311
+ "std": [
312
+ 11.289006704372873
313
+ ],
314
+ "count": [
315
+ 39122
316
+ ],
317
+ "q01": [
318
+ 15.191580185062113
319
+ ],
320
+ "q10": [
321
+ 15.191580185062117
322
+ ],
323
+ "q50": [
324
+ 15.191580185062135
325
+ ],
326
+ "q90": [
327
+ 15.191580185062145
328
+ ],
329
+ "q99": [
330
+ 15.191580185062152
331
+ ]
332
+ },
333
+ "index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 9250
339
+ ],
340
+ "mean": [
341
+ 3311.7612852103675
342
+ ],
343
+ "std": [
344
+ 2328.7155100468694
345
+ ],
346
+ "count": [
347
+ 39122
348
+ ],
349
+ "q01": [
350
+ 3201.4429651704963
351
+ ],
352
+ "q10": [
353
+ 3221.7017146372077
354
+ ],
355
+ "q50": [
356
+ 3311.5161468278716
357
+ ],
358
+ "q90": [
359
+ 3401.727659474545
360
+ ],
361
+ "q99": [
362
+ 3422.069838878377
363
+ ]
364
+ },
365
+ "task_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 0
371
+ ],
372
+ "mean": [
373
+ 0.0
374
+ ],
375
+ "std": [
376
+ 0.0
377
+ ],
378
+ "count": [
379
+ 39122
380
+ ],
381
+ "q01": [
382
+ 3.999999999999418e-16
383
+ ],
384
+ "q10": [
385
+ 3.9999999999994166e-15
386
+ ],
387
+ "q50": [
388
+ 1.9999999999997088e-14
389
+ ],
390
+ "q90": [
391
+ 3.599999999999476e-14
392
+ ],
393
+ "q99": [
394
+ 3.9599999999994235e-14
395
+ ]
396
+ },
397
+ "action.diff_eef_xyz": {
398
+ "min": [
399
+ -0.011660009622573853,
400
+ -0.019786477088928223,
401
+ -0.010708101093769073
402
+ ],
403
+ "max": [
404
+ 0.010261833667755127,
405
+ 0.024294555187225342,
406
+ 0.011621981859207153
407
+ ],
408
+ "mean": [
409
+ 2.7693027853780738e-05,
410
+ 0.0015366351816452298,
411
+ -0.00018978663522717284
412
+ ],
413
+ "std": [
414
+ 0.0017995639701860841,
415
+ 0.003871481789775289,
416
+ 0.002248381750395229
417
+ ],
418
+ "count": [
419
+ 39122
420
+ ],
421
+ "q01": [
422
+ -0.0050331389904022215,
423
+ -0.007119523882865905,
424
+ -0.00514714352786541
425
+ ],
426
+ "q10": [
427
+ -0.0020635749670244777,
428
+ -0.00261510890354171,
429
+ -0.002914982543479129
430
+ ],
431
+ "q50": [
432
+ -1.7784386268662422e-05,
433
+ 0.00038856897528056095,
434
+ -0.00022378006896997792
435
+ ],
436
+ "q90": [
437
+ 0.002144746152451107,
438
+ 0.007011651034169067,
439
+ 0.0028513044980382008
440
+ ],
441
+ "q99": [
442
+ 0.005127664804458623,
443
+ 0.011755603998899468,
444
+ 0.006396103948354722
445
+ ]
446
+ },
447
+ "action.world_eef_xyz": {
448
+ "min": [
449
+ -0.011660009622573853,
450
+ -0.019786477088928223,
451
+ -0.010708101093769073
452
+ ],
453
+ "max": [
454
+ 0.010261833667755127,
455
+ 0.024294555187225342,
456
+ 0.011621981859207153
457
+ ],
458
+ "mean": [
459
+ 2.7693027853780738e-05,
460
+ 0.0015366351816452298,
461
+ -0.00018978663522717284
462
+ ],
463
+ "std": [
464
+ 0.0017995639701860841,
465
+ 0.003871481789775289,
466
+ 0.002248381750395229
467
+ ],
468
+ "count": [
469
+ 39122
470
+ ],
471
+ "q01": [
472
+ -0.0050331389904022215,
473
+ -0.007119523882865905,
474
+ -0.00514714352786541
475
+ ],
476
+ "q10": [
477
+ -0.0020635749670244777,
478
+ -0.00261510890354171,
479
+ -0.002914982543479129
480
+ ],
481
+ "q50": [
482
+ -1.7784386268662422e-05,
483
+ 0.00038856897528056095,
484
+ -0.00022378006896997792
485
+ ],
486
+ "q90": [
487
+ 0.002144746152451107,
488
+ 0.007011651034169067,
489
+ 0.0028513044980382008
490
+ ],
491
+ "q99": [
492
+ 0.005127664804458623,
493
+ 0.011755603998899468,
494
+ 0.006396103948354722
495
+ ]
496
+ },
497
+ "action.body_eef_rot6d": {
498
+ "min": [
499
+ 0.9885883331298828,
500
+ -0.12461885064840317,
501
+ -0.06748466193675995,
502
+ -0.14866970479488373,
503
+ 0.9888138771057129,
504
+ -0.049362968653440475
505
+ ],
506
+ "max": [
507
+ 1.0000001192092896,
508
+ 0.14831510186195374,
509
+ 0.036014802753925323,
510
+ 0.12457390129566193,
511
+ 1.0000001192092896,
512
+ 0.0356079563498497
513
+ ],
514
+ "mean": [
515
+ 0.9998288592579333,
516
+ 0.001509735335430314,
517
+ -0.00048523570168212553,
518
+ -0.001515041798665215,
519
+ 0.9998466671320639,
520
+ 0.0004910327017418014
521
+ ],
522
+ "std": [
523
+ 0.0005418839825359028,
524
+ 0.016313068528567433,
525
+ 0.008577863104569686,
526
+ 0.01633189054631179,
527
+ 0.0005018827549280948,
528
+ 0.006116151628969752
529
+ ],
530
+ "count": [
531
+ 39122
532
+ ],
533
+ "q01": [
534
+ 0.9980124640464783,
535
+ -0.04062163617461919,
536
+ -0.025610944889485836,
537
+ -0.056883836202323436,
538
+ 0.9980401647090912,
539
+ -0.016788192186504604
540
+ ],
541
+ "q10": [
542
+ 0.9995197369014365,
543
+ -0.014949500630902501,
544
+ -0.01107801664174759,
545
+ -0.018053983233249717,
546
+ 0.9995427326549448,
547
+ -0.0057445653890310505
548
+ ],
549
+ "q50": [
550
+ 0.9999281506052264,
551
+ 0.0017524503648137975,
552
+ 7.958938364263152e-05,
553
+ -0.0017939951770059442,
554
+ 0.9999527201941517,
555
+ 0.00019135731024457592
556
+ ],
557
+ "q90": [
558
+ 0.9999990288274226,
559
+ 0.017977472057458026,
560
+ 0.009402982822202097,
561
+ 0.01492376825449899,
562
+ 0.9999991903600095,
563
+ 0.007229150848782528
564
+ ],
565
+ "q99": [
566
+ 1.0,
567
+ 0.05678748309612275,
568
+ 0.019834696203470243,
569
+ 0.04062076684087521,
570
+ 1.0000001192092896,
571
+ 0.017720550261437904
572
+ ]
573
+ },
574
+ "timestamp": {
575
+ "min": [
576
+ 0.0
577
+ ],
578
+ "max": [
579
+ 12.2
580
+ ],
581
+ "mean": [
582
+ 3.734131690608865
583
+ ],
584
+ "std": [
585
+ 2.368811903207778
586
+ ],
587
+ "count": [
588
+ 39122
589
+ ],
590
+ "q01": [
591
+ 0.05685435585126054
592
+ ],
593
+ "q10": [
594
+ 0.7321460047591539
595
+ ],
596
+ "q50": [
597
+ 3.725881568597145
598
+ ],
599
+ "q90": [
600
+ 6.733010832825749
601
+ ],
602
+ "q99": [
603
+ 7.411083479637712
604
+ ]
605
+ },
606
+ "state.eef_xyz": {
607
+ "min": [
608
+ 0.1533278077840805,
609
+ -0.37596869468688965,
610
+ -0.019803395494818687
611
+ ],
612
+ "max": [
613
+ 0.6333661079406738,
614
+ 0.39440229535102844,
615
+ 0.21234004199504852
616
+ ],
617
+ "mean": [
618
+ 0.354426916182288,
619
+ 0.030540384805715713,
620
+ 0.10029583849021612
621
+ ],
622
+ "std": [
623
+ 0.07676198405854022,
624
+ 0.18349873376960157,
625
+ 0.06163847293489363
626
+ ],
627
+ "count": [
628
+ 39122
629
+ ],
630
+ "q01": [
631
+ 0.22470806851983072,
632
+ -0.32173181384801863,
633
+ -0.0043303693505004045
634
+ ],
635
+ "q10": [
636
+ 0.2946921124988848,
637
+ -0.12240006441403437,
638
+ 0.009592789476860512
639
+ ],
640
+ "q50": [
641
+ 0.35743085067532776,
642
+ -0.02699736853220821,
643
+ 0.12101473837490424
644
+ ],
645
+ "q90": [
646
+ 0.40824961857494574,
647
+ 0.3214729838894453,
648
+ 0.1698337961415641
649
+ ],
650
+ "q99": [
651
+ 0.5897761726379395,
652
+ 0.358051500916481,
653
+ 0.18929835870862008
654
+ ]
655
+ },
656
+ "observation.state": {
657
+ "min": [
658
+ -0.40074700117111206,
659
+ -0.9356060028076172,
660
+ -0.8608640432357788,
661
+ 0.21322399377822876,
662
+ -0.36535999178886414,
663
+ 0.7368500232696533,
664
+ -1.2840169668197632,
665
+ 0.1533278077840805,
666
+ -0.37596869468688965,
667
+ -0.019803395494818687,
668
+ -0.21898755431175232,
669
+ -0.9596584439277649,
670
+ -0.12312590330839157,
671
+ -0.9596740007400513,
672
+ -1.0,
673
+ -0.07880933582782745,
674
+ 0.0
675
+ ],
676
+ "max": [
677
+ 0.6398729681968689,
678
+ 0.7278839945793152,
679
+ 0.6895659565925598,
680
+ 1.9088659286499023,
681
+ 0.2771790027618408,
682
+ 1.506822943687439,
683
+ 0.9813160300254822,
684
+ 0.6333661079406738,
685
+ 0.39440229535102844,
686
+ 0.21234004199504852,
687
+ 1.0,
688
+ 0.999998927116394,
689
+ 0.0435519739985466,
690
+ 0.9999988675117493,
691
+ 0.21898755431175232,
692
+ 0.07168912887573242,
693
+ 1.0
694
+ ],
695
+ "mean": [
696
+ 0.04566096349997398,
697
+ -0.22171991593716106,
698
+ 0.018749687327706682,
699
+ 0.9211337505387697,
700
+ 0.010844136581473913,
701
+ 1.1448384257226103,
702
+ -0.04435866564837107,
703
+ 0.354426916182288,
704
+ 0.030540384805715713,
705
+ 0.10029583849021612,
706
+ 0.8995549772592735,
707
+ 0.08985564642415547,
708
+ -0.006933231907012831,
709
+ 0.08997821902457927,
710
+ -0.8996695362773813,
711
+ 0.003640691764951767,
712
+ 0.5658453058271062
713
+ ],
714
+ "std": [
715
+ 0.20855014189866783,
716
+ 0.28342186525415175,
717
+ 0.2653895578527971,
718
+ 0.29340268173769596,
719
+ 0.08116385543674638,
720
+ 0.178315481132845,
721
+ 0.4172676121607387,
722
+ 0.07676198405854022,
723
+ 0.18349873376960157,
724
+ 0.06163847293489363,
725
+ 0.19353229097504884,
726
+ 0.3806758085522783,
727
+ 0.0176093959324242,
728
+ 0.3806471286582411,
729
+ 0.19358215597259243,
730
+ 0.010922109682462693,
731
+ 0.49564543550248596
732
+ ],
733
+ "count": [
734
+ 39122
735
+ ],
736
+ "q01": [
737
+ -0.34666680872440336,
738
+ -0.715049312710762,
739
+ -0.5884305030107498,
740
+ 0.3042949718236923,
741
+ -0.2420458574593067,
742
+ 0.8022738987207413,
743
+ -0.9036874413490296,
744
+ 0.22470806851983072,
745
+ -0.32173181384801863,
746
+ -0.0043303693505004045,
747
+ 0.18234082981944086,
748
+ -0.8162864547967911,
749
+ -0.06886471666395665,
750
+ -0.8162856870889663,
751
+ -0.9999997615814209,
752
+ -0.017430134210735557,
753
+ 0.0
754
+ ],
755
+ "q10": [
756
+ -0.12646367868409122,
757
+ -0.4951783310248896,
758
+ -0.1957124282505096,
759
+ 0.6849493375051057,
760
+ -0.05860848827105025,
761
+ 0.893344836273806,
762
+ -0.3649942066115888,
763
+ 0.2946921124988848,
764
+ -0.12240006441403437,
765
+ 0.009592789476860512,
766
+ 0.7288239882628471,
767
+ -0.13130040794008122,
768
+ -0.02508440669438575,
769
+ -0.13113116158470386,
770
+ -0.9962735540808326,
771
+ -0.005014822239362462,
772
+ -1.000000013351432e-10
773
+ ],
774
+ "q50": [
775
+ -0.020683172320382193,
776
+ -0.23664166387488916,
777
+ -0.04784680539994134,
778
+ 0.8957366998347132,
779
+ 0.006204546385640716,
780
+ 1.1914246178548573,
781
+ -0.09891455440917211,
782
+ 0.35743085067532776,
783
+ -0.02699736853220821,
784
+ 0.12101473837490424,
785
+ 0.9291934533135782,
786
+ 0.01321058420051782,
787
+ -0.004670584595575285,
788
+ 0.013307744755052716,
789
+ -0.9294573788007656,
790
+ 0.0030086309228128535,
791
+ 0.9428069990584687
792
+ ],
793
+ "q90": [
794
+ 0.35843880052127897,
795
+ 0.06111595179040242,
796
+ 0.4023028281810374,
797
+ 1.2284315903806822,
798
+ 0.08747330922634836,
799
+ 1.3592211855360719,
800
+ 0.4449807171476619,
801
+ 0.40824961857494574,
802
+ 0.3214729838894453,
803
+ 0.1698337961415641,
804
+ 0.996155152541848,
805
+ 0.41976560787629136,
806
+ 0.00723811675219446,
807
+ 0.41991457522914644,
808
+ -0.7294726644275615,
809
+ 0.013859183912764108,
810
+ 0.9999643961770367
811
+ ],
812
+ "q99": [
813
+ 0.5149138909578325,
814
+ 0.5161418503522873,
815
+ 0.5941405951976777,
816
+ 1.6321448528766633,
817
+ 0.22112649142742166,
818
+ 1.4417368578910827,
819
+ 0.8120049214363099,
820
+ 0.5897761726379395,
821
+ 0.358051500916481,
822
+ 0.18929835870862008,
823
+ 0.9999997019767761,
824
+ 0.982714951634407,
825
+ 0.02189819620922209,
826
+ 0.9827114999294282,
827
+ -0.18234841510653482,
828
+ 0.04133901890367274,
829
+ 1.0
830
+ ]
831
+ },
832
+ "action.body_eef_xyz": {
833
+ "min": [
834
+ -0.012378751300275326,
835
+ -0.024840453639626503,
836
+ -0.011722967959940434
837
+ ],
838
+ "max": [
839
+ 0.022084916010499,
840
+ 0.018407650291919708,
841
+ 0.010481431148946285
842
+ ],
843
+ "mean": [
844
+ 0.0006684219238422117,
845
+ -0.0014183529053880377,
846
+ 0.0001966239813268307
847
+ ],
848
+ "std": [
849
+ 0.0021199919311938333,
850
+ 0.0036976018303482875,
851
+ 0.0022397000359509825
852
+ ],
853
+ "count": [
854
+ 39122
855
+ ],
856
+ "q01": [
857
+ -0.004496683091856539,
858
+ -0.011501017166301608,
859
+ -0.006384571241214871
860
+ ],
861
+ "q10": [
862
+ -0.0015852314519830052,
863
+ -0.006593931590024786,
864
+ -0.0028270075804471247
865
+ ],
866
+ "q50": [
867
+ 0.00040048057070669424,
868
+ -0.0003901335722631045,
869
+ 0.00022065641986708596
870
+ ],
871
+ "q90": [
872
+ 0.0033011421019628123,
873
+ 0.002541462634532989,
874
+ 0.0029002186981739735
875
+ ],
876
+ "q99": [
877
+ 0.006710933642461911,
878
+ 0.00708190967794508,
879
+ 0.005141219459474088
880
+ ]
881
+ },
882
+ "frame_index": {
883
+ "min": [
884
+ 0
885
+ ],
886
+ "max": [
887
+ 366
888
+ ],
889
+ "mean": [
890
+ 112.02395071826594
891
+ ],
892
+ "std": [
893
+ 71.06435709623334
894
+ ],
895
+ "count": [
896
+ 39122
897
+ ],
898
+ "q01": [
899
+ 1.705630678394416
900
+ ],
901
+ "q10": [
902
+ 21.964380145106443
903
+ ],
904
+ "q50": [
905
+ 111.7790431828636
906
+ ],
907
+ "q90": [
908
+ 201.99032498244316
909
+ ],
910
+ "q99": [
911
+ 222.33250438627502
912
+ ]
913
+ },
914
+ "state.joint_pos": {
915
+ "min": [
916
+ -0.40074700117111206,
917
+ -0.9356060028076172,
918
+ -0.8608640432357788,
919
+ 0.21322399377822876,
920
+ -0.36535999178886414,
921
+ 0.7368500232696533,
922
+ -1.2840169668197632
923
+ ],
924
+ "max": [
925
+ 0.6398729681968689,
926
+ 0.7278839945793152,
927
+ 0.6895659565925598,
928
+ 1.9088659286499023,
929
+ 0.2771790027618408,
930
+ 1.506822943687439,
931
+ 0.9813160300254822
932
+ ],
933
+ "mean": [
934
+ 0.04566096349997398,
935
+ -0.22171991593716106,
936
+ 0.018749687327706682,
937
+ 0.9211337505387697,
938
+ 0.010844136581473913,
939
+ 1.1448384257226103,
940
+ -0.04435866564837107
941
+ ],
942
+ "std": [
943
+ 0.20855014189866783,
944
+ 0.28342186525415175,
945
+ 0.2653895578527971,
946
+ 0.29340268173769596,
947
+ 0.08116385543674638,
948
+ 0.178315481132845,
949
+ 0.4172676121607387
950
+ ],
951
+ "count": [
952
+ 39122
953
+ ],
954
+ "q01": [
955
+ -0.34666680872440336,
956
+ -0.715049312710762,
957
+ -0.5884305030107498,
958
+ 0.3042949718236923,
959
+ -0.2420458574593067,
960
+ 0.8022738987207413,
961
+ -0.9036874413490296
962
+ ],
963
+ "q10": [
964
+ -0.12646367868409122,
965
+ -0.4951783310248896,
966
+ -0.1957124282505096,
967
+ 0.6849493375051057,
968
+ -0.05860848827105025,
969
+ 0.893344836273806,
970
+ -0.3649942066115888
971
+ ],
972
+ "q50": [
973
+ -0.020683172320382193,
974
+ -0.23664166387488916,
975
+ -0.04784680539994134,
976
+ 0.8957366998347132,
977
+ 0.006204546385640716,
978
+ 1.1914246178548573,
979
+ -0.09891455440917211
980
+ ],
981
+ "q90": [
982
+ 0.35843880052127897,
983
+ 0.06111595179040242,
984
+ 0.4023028281810374,
985
+ 1.2284315903806822,
986
+ 0.08747330922634836,
987
+ 1.3592211855360719,
988
+ 0.4449807171476619
989
+ ],
990
+ "q99": [
991
+ 0.5149138909578325,
992
+ 0.5161418503522873,
993
+ 0.5941405951976777,
994
+ 1.6321448528766633,
995
+ 0.22112649142742166,
996
+ 1.4417368578910827,
997
+ 0.8120049214363099
998
+ ]
999
+ },
1000
+ "action": {
1001
+ "min": [
1002
+ -0.012378751300275326,
1003
+ -0.024840453639626503,
1004
+ -0.011722967959940434,
1005
+ 0.9885883331298828,
1006
+ -0.12461885064840317,
1007
+ -0.06748466193675995,
1008
+ -0.14866970479488373,
1009
+ 0.9888138771057129,
1010
+ -0.049362968653440475,
1011
+ 0.0
1012
+ ],
1013
+ "max": [
1014
+ 0.022084916010499,
1015
+ 0.018407650291919708,
1016
+ 0.010481431148946285,
1017
+ 1.0000001192092896,
1018
+ 0.14831510186195374,
1019
+ 0.036014802753925323,
1020
+ 0.12457390129566193,
1021
+ 1.0000001192092896,
1022
+ 0.0356079563498497,
1023
+ 1.0
1024
+ ],
1025
+ "mean": [
1026
+ 0.0006684219238422117,
1027
+ -0.0014183529053880377,
1028
+ 0.0001966239813268307,
1029
+ 0.9998288592579333,
1030
+ 0.001509735335430314,
1031
+ -0.00048523570168212553,
1032
+ -0.001515041798665215,
1033
+ 0.9998466671320639,
1034
+ 0.0004910327017418014,
1035
+ 0.5574357137461088
1036
+ ],
1037
+ "std": [
1038
+ 0.0021199919311938333,
1039
+ 0.0036976018303482875,
1040
+ 0.0022397000359509825,
1041
+ 0.0005418839825359028,
1042
+ 0.016313068528567433,
1043
+ 0.008577863104569686,
1044
+ 0.01633189054631179,
1045
+ 0.0005018827549280948,
1046
+ 0.006116151628969752,
1047
+ 0.4966901844707746
1048
+ ],
1049
+ "count": [
1050
+ 39122
1051
+ ],
1052
+ "q01": [
1053
+ -0.004496683091856539,
1054
+ -0.011501017166301608,
1055
+ -0.006384571241214871,
1056
+ 0.9980124640464783,
1057
+ -0.04062163617461919,
1058
+ -0.025610944889485836,
1059
+ -0.056883836202323436,
1060
+ 0.9980401647090912,
1061
+ -0.016788192186504604,
1062
+ 0.0
1063
+ ],
1064
+ "q10": [
1065
+ -0.0015852314519830052,
1066
+ -0.006593931590024786,
1067
+ -0.0028270075804471247,
1068
+ 0.9995197369014365,
1069
+ -0.014949500630902501,
1070
+ -0.01107801664174759,
1071
+ -0.018053983233249717,
1072
+ 0.9995427326549448,
1073
+ -0.0057445653890310505,
1074
+ -1.000000013351432e-10
1075
+ ],
1076
+ "q50": [
1077
+ 0.00040048057070669424,
1078
+ -0.0003901335722631045,
1079
+ 0.00022065641986708596,
1080
+ 0.9999281506052264,
1081
+ 0.0017524503648137975,
1082
+ 7.958938364263152e-05,
1083
+ -0.0017939951770059442,
1084
+ 0.9999527201941517,
1085
+ 0.00019135731024457592,
1086
+ 0.8655489659163009
1087
+ ],
1088
+ "q90": [
1089
+ 0.0033011421019628123,
1090
+ 0.002541462634532989,
1091
+ 0.0029002186981739735,
1092
+ 0.9999990288274226,
1093
+ 0.017977472057458026,
1094
+ 0.009402982822202097,
1095
+ 0.01492376825449899,
1096
+ 0.9999991903600095,
1097
+ 0.007229150848782528,
1098
+ 0.9999638573625843
1099
+ ],
1100
+ "q99": [
1101
+ 0.006710933642461911,
1102
+ 0.00708190967794508,
1103
+ 0.005141219459474088,
1104
+ 1.0,
1105
+ 0.05678748309612275,
1106
+ 0.019834696203470243,
1107
+ 0.04062076684087521,
1108
+ 1.0000001192092896,
1109
+ 0.017720550261437904,
1110
+ 1.0
1111
+ ]
1112
+ },
1113
+ "action.world_eef_rot6d": {
1114
+ "min": [
1115
+ 0.9887765645980835,
1116
+ -0.14828093349933624,
1117
+ -0.03925260528922081,
1118
+ -0.12456114590167999,
1119
+ 0.9886277914047241,
1120
+ -0.05110419541597366
1121
+ ],
1122
+ "max": [
1123
+ 1.0000001192092896,
1124
+ 0.12459775060415268,
1125
+ 0.06764670461416245,
1126
+ 0.14867615699768066,
1127
+ 1.0000001192092896,
1128
+ 0.03588832542300224
1129
+ ],
1130
+ "mean": [
1131
+ 0.9998297634577435,
1132
+ -0.0015117186490718618,
1133
+ 0.0004576818439631824,
1134
+ 0.0015118134335954827,
1135
+ 0.9998460266967474,
1136
+ 0.0011433566717344243
1137
+ ],
1138
+ "std": [
1139
+ 0.0005093637666331676,
1140
+ 0.01630073656160504,
1141
+ 0.008499238864957714,
1142
+ 0.016312818060615523,
1143
+ 0.0005285938468936104,
1144
+ 0.006182564585841854
1145
+ ],
1146
+ "count": [
1147
+ 39122
1148
+ ],
1149
+ "q01": [
1150
+ 0.9980229169130326,
1151
+ -0.056816602498292915,
1152
+ -0.019724962878972293,
1153
+ -0.04053751412779092,
1154
+ 0.998018491268158,
1155
+ -0.01620363401249051
1156
+ ],
1157
+ "q10": [
1158
+ 0.9995192590333882,
1159
+ -0.018000393778075375,
1160
+ -0.009176843300170798,
1161
+ -0.0149267350275649,
1162
+ 0.9995421147759075,
1163
+ -0.005240717263698843
1164
+ ],
1165
+ "q50": [
1166
+ 0.9999297162459049,
1167
+ -0.0017897374975511344,
1168
+ -8.007925787762098e-05,
1169
+ 0.0017448088910613552,
1170
+ 0.9999511330524568,
1171
+ 0.00027800943375150765
1172
+ ],
1173
+ "q90": [
1174
+ 0.9999990947050428,
1175
+ 0.01487801886657094,
1176
+ 0.01105107972377332,
1177
+ 0.017966333754909275,
1178
+ 0.999999227616767,
1179
+ 0.00870670410584879
1180
+ ],
1181
+ "q99": [
1182
+ 1.0,
1183
+ 0.04051711890846494,
1184
+ 0.02613049060106278,
1185
+ 0.05687490366399289,
1186
+ 1.0000001192092896,
1187
+ 0.01813805565237999
1188
+ ]
1189
+ },
1190
+ "observation.images.right_3pv_camera": {
1191
+ "min": [
1192
+ [
1193
+ [
1194
+ 0.0
1195
+ ]
1196
+ ],
1197
+ [
1198
+ [
1199
+ 0.0
1200
+ ]
1201
+ ],
1202
+ [
1203
+ [
1204
+ 0.0
1205
+ ]
1206
+ ]
1207
+ ],
1208
+ "max": [
1209
+ [
1210
+ [
1211
+ 1.0
1212
+ ]
1213
+ ],
1214
+ [
1215
+ [
1216
+ 1.0
1217
+ ]
1218
+ ],
1219
+ [
1220
+ [
1221
+ 1.0
1222
+ ]
1223
+ ]
1224
+ ],
1225
+ "mean": [
1226
+ [
1227
+ [
1228
+ 0.4696923593716331
1229
+ ]
1230
+ ],
1231
+ [
1232
+ [
1233
+ 0.44349340009561505
1234
+ ]
1235
+ ],
1236
+ [
1237
+ [
1238
+ 0.3937145681269302
1239
+ ]
1240
+ ]
1241
+ ],
1242
+ "std": [
1243
+ [
1244
+ [
1245
+ 0.004060047149495423
1246
+ ]
1247
+ ],
1248
+ [
1249
+ [
1250
+ 0.004605356393276471
1251
+ ]
1252
+ ],
1253
+ [
1254
+ [
1255
+ 0.0046290753316724
1256
+ ]
1257
+ ]
1258
+ ],
1259
+ "count": [
1260
+ 18200
1261
+ ],
1262
+ "q01": [
1263
+ [
1264
+ [
1265
+ 0.0026776084074937173
1266
+ ]
1267
+ ],
1268
+ [
1269
+ [
1270
+ 0.024844132152718135
1271
+ ]
1272
+ ],
1273
+ [
1274
+ [
1275
+ 0.010843456957626663
1276
+ ]
1277
+ ]
1278
+ ],
1279
+ "q10": [
1280
+ [
1281
+ [
1282
+ 0.07874829254043307
1283
+ ]
1284
+ ],
1285
+ [
1286
+ [
1287
+ 0.11531627350165485
1288
+ ]
1289
+ ],
1290
+ [
1291
+ [
1292
+ 0.1060146515408789
1293
+ ]
1294
+ ]
1295
+ ],
1296
+ "q50": [
1297
+ [
1298
+ [
1299
+ 0.5363340285953445
1300
+ ]
1301
+ ],
1302
+ [
1303
+ [
1304
+ 0.5636778496246312
1305
+ ]
1306
+ ],
1307
+ [
1308
+ [
1309
+ 0.4518260232913458
1310
+ ]
1311
+ ]
1312
+ ],
1313
+ "q90": [
1314
+ [
1315
+ [
1316
+ 0.7511853737942026
1317
+ ]
1318
+ ],
1319
+ [
1320
+ [
1321
+ 0.6422733072165103
1322
+ ]
1323
+ ],
1324
+ [
1325
+ [
1326
+ 0.6514100446606664
1327
+ ]
1328
+ ]
1329
+ ],
1330
+ "q99": [
1331
+ [
1332
+ [
1333
+ 0.7772338154179808
1334
+ ]
1335
+ ],
1336
+ [
1337
+ [
1338
+ 0.7077059419472873
1339
+ ]
1340
+ ],
1341
+ [
1342
+ [
1343
+ 0.7200874027891094
1344
+ ]
1345
+ ]
1346
+ ]
1347
+ },
1348
+ "action.diff_eef_rpy": {
1349
+ "min": [
1350
+ -0.03589010238647461,
1351
+ -0.036000728607177734,
1352
+ -0.12492179870605469
1353
+ ],
1354
+ "max": [
1355
+ 0.05176115036010742,
1356
+ 0.0665276050567627,
1357
+ 0.14889836311340332
1358
+ ],
1359
+ "mean": [
1360
+ -0.000485090123305654,
1361
+ 0.0004832500769534458,
1362
+ 0.0015111295869482775
1363
+ ],
1364
+ "std": [
1365
+ 0.006156033125902992,
1366
+ 0.008581530084534843,
1367
+ 0.016320286653272297
1368
+ ],
1369
+ "count": [
1370
+ 39122
1371
+ ],
1372
+ "q01": [
1373
+ -0.017803356647491456,
1374
+ -0.019832615852355958,
1375
+ -0.040603225231170645
1376
+ ],
1377
+ "q10": [
1378
+ -0.0072693162230257,
1379
+ -0.009426859490861568,
1380
+ -0.014942194213286316
1381
+ ],
1382
+ "q50": [
1383
+ -0.00018863875240094044,
1384
+ -8.229940425255644e-05,
1385
+ 0.0017437943895864385
1386
+ ],
1387
+ "q90": [
1388
+ 0.0057754001636488896,
1389
+ 0.011051947772838083,
1390
+ 0.01797195179905392
1391
+ ],
1392
+ "q99": [
1393
+ 0.01692765951156619,
1394
+ 0.02559957265853883,
1395
+ 0.0568055033683777
1396
+ ]
1397
+ }
1398
+ }
train/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:991181cb9113f3681a20ee4c5c2c5a3944a3adc58e5cf17c75124071092f9462
3
+ size 2360
train/videos/observation.images.right_3pv_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9bc25748e7a9c5b7c4e7b7c6c0f3572f8c1e1870b02132145f892be06f39edce
3
+ size 111296458
train/videos/observation.images.right_3pv_camera/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:27a91ad0afc02019fad62dfc7ab69e84b1d4e9c178d3625cc87339d12df3786f
3
+ size 129558145
train/videos/observation.images.right_3pv_camera/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:97ec68f9906151b6c554234fee70ed728c78c5d825a4a950c77ab5bb351ccb88
3
+ size 38801460
train/videos/observation.images.right_3pv_camera/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dfa6c56a64a10ec40601e81dcf8f934f91f0b9ef71f7b5bfe91ef29b1abb63e2
3
+ size 74743733
train/videos/observation.images.wrist_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:35577b52bf9840525a57cc756004c0dca83ee6be80ff3dffdd478262f6a40e85
3
+ size 91695273
train/videos/observation.images.wrist_camera/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b140dd6d13ae44c0df3679e83957ee39260a8ce3c2c37f92db652d02ce22635d
3
+ size 124797931
train/videos/observation.images.wrist_camera/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a6c3d7976a918167c5d281a0576709cd1061b1a0de1fb0c866f09857e6ec159f
3
+ size 50228124
val/cache/text/2a736e1cff0741daddfb923d6c1f9ef2d6d2bde5fc070e31887439c993df2f21.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ea0127837797544d198de857a30eaae88cad124d7739473cb3139f4111a8d76d
3
+ size 1051869
val/cache/text/2e2afa825b5d434b2b3b6feca2bf49751542015a2e8618e1b165927624dbaef6.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8c075262083ae2a9abda86f52179d8f4d627fc350bf7215c6319affaf1446ae4
3
+ size 1051869
val/cache/text/70bd64278b57ad9dc705a518653bffa92e68a48958c3f099330973a3a47edcfe.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f170062ca9aefba925952dfdce6849516c0b88fe0643445009338460b6ee079f
3
+ size 1051869
val/cache/text/f276d4bbc945c9d40962f15cd40c3d32f7408b03b032debb6d8873aa2518f745.t5_len128.wan22ti2v5b.pt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9316ef808d8bce5ece96df21505ec10c25f0e855aa5f81ebf248341636dc8ba6
3
+ size 1051869
val/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7703ff4ca863d091e896812bec0f84c2dd81fab547d4001fd9a0d211b21c0a1
3
+ size 1521323
val/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2971583230a16e936cd4ba7081c7d668022418ae3ccb2e3c09097bdf56c9a07
3
+ size 265399
val/meta/info.json ADDED
@@ -0,0 +1,272 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "xarm_robot",
4
+ "total_episodes": 20,
5
+ "total_frames": 4063,
6
+ "total_tasks": 4,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 30,
11
+ "splits": {
12
+ "train": "0:20"
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.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 17
21
+ ],
22
+ "names": [
23
+ "joint_0",
24
+ "joint_1",
25
+ "joint_2",
26
+ "joint_3",
27
+ "joint_4",
28
+ "joint_5",
29
+ "joint_6",
30
+ "x",
31
+ "y",
32
+ "z",
33
+ "rot1",
34
+ "rot2",
35
+ "rot3",
36
+ "rot4",
37
+ "rot5",
38
+ "rot6",
39
+ "gripper"
40
+ ]
41
+ },
42
+ "action": {
43
+ "dtype": "float32",
44
+ "shape": [
45
+ 10
46
+ ],
47
+ "names": [
48
+ "x",
49
+ "y",
50
+ "z",
51
+ "rot1",
52
+ "rot2",
53
+ "rot3",
54
+ "rot4",
55
+ "rot5",
56
+ "rot6",
57
+ "gripper"
58
+ ]
59
+ },
60
+ "state.joint_pos": {
61
+ "dtype": "float32",
62
+ "shape": [
63
+ 7
64
+ ],
65
+ "names": [
66
+ "joint_0",
67
+ "joint_1",
68
+ "joint_2",
69
+ "joint_3",
70
+ "joint_4",
71
+ "joint_5",
72
+ "joint_6"
73
+ ]
74
+ },
75
+ "state.eef_xyz": {
76
+ "dtype": "float32",
77
+ "shape": [
78
+ 3
79
+ ],
80
+ "names": [
81
+ "x",
82
+ "y",
83
+ "z"
84
+ ]
85
+ },
86
+ "state.eef_rot6d": {
87
+ "dtype": "float32",
88
+ "shape": [
89
+ 6
90
+ ],
91
+ "names": [
92
+ "rot1",
93
+ "rot2",
94
+ "rot3",
95
+ "rot4",
96
+ "rot5",
97
+ "rot6"
98
+ ]
99
+ },
100
+ "state.gripper_state": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": [
106
+ "gripper"
107
+ ]
108
+ },
109
+ "action.body_eef_xyz": {
110
+ "dtype": "float32",
111
+ "shape": [
112
+ 3
113
+ ],
114
+ "names": [
115
+ "x",
116
+ "y",
117
+ "z"
118
+ ]
119
+ },
120
+ "action.body_eef_rot6d": {
121
+ "dtype": "float32",
122
+ "shape": [
123
+ 6
124
+ ],
125
+ "names": [
126
+ "rot1",
127
+ "rot2",
128
+ "rot3",
129
+ "rot4",
130
+ "rot5",
131
+ "rot6"
132
+ ]
133
+ },
134
+ "action.world_eef_xyz": {
135
+ "dtype": "float32",
136
+ "shape": [
137
+ 3
138
+ ],
139
+ "names": [
140
+ "x",
141
+ "y",
142
+ "z"
143
+ ]
144
+ },
145
+ "action.world_eef_rot6d": {
146
+ "dtype": "float32",
147
+ "shape": [
148
+ 6
149
+ ],
150
+ "names": [
151
+ "rot1",
152
+ "rot2",
153
+ "rot3",
154
+ "rot4",
155
+ "rot5",
156
+ "rot6"
157
+ ]
158
+ },
159
+ "action.diff_eef_xyz": {
160
+ "dtype": "float32",
161
+ "shape": [
162
+ 3
163
+ ],
164
+ "names": [
165
+ "x",
166
+ "y",
167
+ "z"
168
+ ]
169
+ },
170
+ "action.diff_eef_rpy": {
171
+ "dtype": "float32",
172
+ "shape": [
173
+ 3
174
+ ],
175
+ "names": [
176
+ "roll",
177
+ "pitch",
178
+ "yaw"
179
+ ]
180
+ },
181
+ "action.gripper_state": {
182
+ "dtype": "float32",
183
+ "shape": [
184
+ 1
185
+ ],
186
+ "names": [
187
+ "gripper"
188
+ ]
189
+ },
190
+ "timestamp": {
191
+ "dtype": "float32",
192
+ "shape": [
193
+ 1
194
+ ],
195
+ "names": null
196
+ },
197
+ "frame_index": {
198
+ "dtype": "int64",
199
+ "shape": [
200
+ 1
201
+ ],
202
+ "names": null
203
+ },
204
+ "episode_index": {
205
+ "dtype": "int64",
206
+ "shape": [
207
+ 1
208
+ ],
209
+ "names": null
210
+ },
211
+ "index": {
212
+ "dtype": "int64",
213
+ "shape": [
214
+ 1
215
+ ],
216
+ "names": null
217
+ },
218
+ "task_index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null
224
+ },
225
+ "observation.images.wrist_camera": {
226
+ "dtype": "video",
227
+ "shape": [
228
+ 480,
229
+ 640,
230
+ 3
231
+ ],
232
+ "names": [
233
+ "height",
234
+ "width",
235
+ "rgb"
236
+ ],
237
+ "info": {
238
+ "video.height": 480,
239
+ "video.width": 640,
240
+ "video.codec": "av1",
241
+ "video.pix_fmt": "yuv420p",
242
+ "video.is_depth_map": false,
243
+ "video.fps": 30,
244
+ "video.channels": 3,
245
+ "has_audio": false
246
+ }
247
+ },
248
+ "observation.images.right_3pv_camera": {
249
+ "dtype": "video",
250
+ "shape": [
251
+ 480,
252
+ 640,
253
+ 3
254
+ ],
255
+ "names": [
256
+ "height",
257
+ "width",
258
+ "rgb"
259
+ ],
260
+ "info": {
261
+ "video.height": 480,
262
+ "video.width": 640,
263
+ "video.codec": "av1",
264
+ "video.pix_fmt": "yuv420p",
265
+ "video.is_depth_map": false,
266
+ "video.fps": 30,
267
+ "video.channels": 3,
268
+ "has_audio": false
269
+ }
270
+ }
271
+ }
272
+ }
val/meta/stats.json ADDED
@@ -0,0 +1,1398 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.wrist_camera": {
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
+ 0.4045061949550654
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.44143094709967323
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.4407026386846406
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.029045244373315487
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.02143728447779981
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.01661057236537895
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 2000
73
+ ],
74
+ "q01": [
75
+ [
76
+ [
77
+ 0.001564826703034737
78
+ ]
79
+ ],
80
+ [
81
+ [
82
+ 0.034106275100913616
83
+ ]
84
+ ],
85
+ [
86
+ [
87
+ 0.02236219495729477
88
+ ]
89
+ ]
90
+ ],
91
+ "q10": [
92
+ [
93
+ [
94
+ 0.10196442762064134
95
+ ]
96
+ ],
97
+ [
98
+ [
99
+ 0.1889911896760813
100
+ ]
101
+ ],
102
+ [
103
+ [
104
+ 0.18236295111626674
105
+ ]
106
+ ]
107
+ ],
108
+ "q50": [
109
+ [
110
+ [
111
+ 0.4625437013678285
112
+ ]
113
+ ],
114
+ [
115
+ [
116
+ 0.48176511115385057
117
+ ]
118
+ ],
119
+ [
120
+ [
121
+ 0.46607624211487325
122
+ ]
123
+ ]
124
+ ],
125
+ "q90": [
126
+ [
127
+ [
128
+ 0.5731420578360744
129
+ ]
130
+ ],
131
+ [
132
+ [
133
+ 0.6054638428172201
134
+ ]
135
+ ],
136
+ [
137
+ [
138
+ 0.6204018903501642
139
+ ]
140
+ ]
141
+ ],
142
+ "q99": [
143
+ [
144
+ [
145
+ 0.7501738632718813
146
+ ]
147
+ ],
148
+ [
149
+ [
150
+ 0.7686192539668902
151
+ ]
152
+ ],
153
+ [
154
+ [
155
+ 0.8676605861096452
156
+ ]
157
+ ]
158
+ ]
159
+ },
160
+ "state.eef_rot6d": {
161
+ "min": [
162
+ 0.046216048300266266,
163
+ -0.7867984771728516,
164
+ -0.07663512229919434,
165
+ -0.7867966890335083,
166
+ -0.9999999403953552,
167
+ -0.025429310277104378
168
+ ],
169
+ "max": [
170
+ 1.0,
171
+ 0.9989297986030579,
172
+ 0.031148554757237434,
173
+ 0.9989155530929565,
174
+ -0.04620504751801491,
175
+ 0.051557425409555435
176
+ ],
177
+ "mean": [
178
+ 0.8915619633627911,
179
+ 0.14344140632665314,
180
+ -0.006959349280242126,
181
+ 0.14353137328194324,
182
+ -0.8916707350325767,
183
+ 0.003926632814180384
184
+ ],
185
+ "std": [
186
+ 0.20170014179369775,
187
+ 0.37885763335653644,
188
+ 0.01665703813869754,
189
+ 0.37882759367996677,
190
+ 0.20173556332630602,
191
+ 0.009968521905834757
192
+ ],
193
+ "count": [
194
+ 4063
195
+ ],
196
+ "q01": [
197
+ 0.14784262865781783,
198
+ -0.7285425424575805,
199
+ -0.06633099555969238,
200
+ -0.728541886806488,
201
+ -0.9999997246265412,
202
+ -0.015136531367897988
203
+ ],
204
+ "q10": [
205
+ 0.7424855456067926,
206
+ -0.05509654469907556,
207
+ -0.024709382919223765,
208
+ -0.055090616098511694,
209
+ -0.9951775949920891,
210
+ -0.004257288240109471
211
+ ],
212
+ "q50": [
213
+ 0.9164825091140775,
214
+ 0.09360208194494272,
215
+ -0.005225308246983908,
216
+ 0.09368543402428679,
217
+ -0.9167515611431442,
218
+ 0.002958911392217034
219
+ ],
220
+ "q90": [
221
+ 0.9950988042595312,
222
+ 0.3769988423077664,
223
+ 0.008606847376364838,
224
+ 0.37719212168231225,
225
+ -0.7428929903267816,
226
+ 0.014071021931207262
227
+ ],
228
+ "q99": [
229
+ 0.9999994862079621,
230
+ 0.9890061974525453,
231
+ 0.026183354742825033,
232
+ 0.9890093529224396,
233
+ -0.14784408837556803,
234
+ 0.03777307912707332
235
+ ]
236
+ },
237
+ "state.gripper_state": {
238
+ "min": [
239
+ 0.0
240
+ ],
241
+ "max": [
242
+ 1.0
243
+ ],
244
+ "mean": [
245
+ 0.5911887726729766
246
+ ],
247
+ "std": [
248
+ 0.4916142814434682
249
+ ],
250
+ "count": [
251
+ 4063
252
+ ],
253
+ "q01": [
254
+ 0.0
255
+ ],
256
+ "q10": [
257
+ -1.000000013351432e-10
258
+ ],
259
+ "q50": [
260
+ 0.9998291515033492
261
+ ],
262
+ "q90": [
263
+ 0.99996583030067
264
+ ],
265
+ "q99": [
266
+ 1.0
267
+ ]
268
+ },
269
+ "action.gripper_state": {
270
+ "min": [
271
+ 0.0
272
+ ],
273
+ "max": [
274
+ 1.0
275
+ ],
276
+ "mean": [
277
+ 0.5806054636494972
278
+ ],
279
+ "std": [
280
+ 0.49345998939372704
281
+ ],
282
+ "count": [
283
+ 4063
284
+ ],
285
+ "q01": [
286
+ 0.0
287
+ ],
288
+ "q10": [
289
+ -1.000000013351432e-10
290
+ ],
291
+ "q50": [
292
+ 0.947166531043668
293
+ ],
294
+ "q90": [
295
+ 0.9999652672758569
296
+ ],
297
+ "q99": [
298
+ 1.0
299
+ ]
300
+ },
301
+ "episode_index": {
302
+ "min": [
303
+ 0
304
+ ],
305
+ "max": [
306
+ 45
307
+ ],
308
+ "mean": [
309
+ 13.547624907703668
310
+ ],
311
+ "std": [
312
+ 12.925738161114332
313
+ ],
314
+ "count": [
315
+ 4063
316
+ ],
317
+ "q01": [
318
+ 13.547624907703668
319
+ ],
320
+ "q10": [
321
+ 13.547624907703671
322
+ ],
323
+ "q50": [
324
+ 13.547624907703689
325
+ ],
326
+ "q90": [
327
+ 13.547624907703703
328
+ ],
329
+ "q99": [
330
+ 13.547624907703707
331
+ ]
332
+ },
333
+ "index": {
334
+ "min": [
335
+ 0
336
+ ],
337
+ "max": [
338
+ 8401
339
+ ],
340
+ "mean": [
341
+ 3001.5451636721637
342
+ ],
343
+ "std": [
344
+ 2753.270229883922
345
+ ],
346
+ "count": [
347
+ 4063
348
+ ],
349
+ "q01": [
350
+ 2895.910602745656
351
+ ],
352
+ "q10": [
353
+ 2915.385851626796
354
+ ],
355
+ "q50": [
356
+ 3001.19633782919
357
+ ],
358
+ "q90": [
359
+ 3087.6214636574764
360
+ ],
361
+ "q99": [
362
+ 3107.179724598671
363
+ ]
364
+ },
365
+ "task_index": {
366
+ "min": [
367
+ 0
368
+ ],
369
+ "max": [
370
+ 0
371
+ ],
372
+ "mean": [
373
+ 0.0
374
+ ],
375
+ "std": [
376
+ 0.0
377
+ ],
378
+ "count": [
379
+ 4063
380
+ ],
381
+ "q01": [
382
+ 3.999999999999417e-16
383
+ ],
384
+ "q10": [
385
+ 3.999999999999417e-15
386
+ ],
387
+ "q50": [
388
+ 1.999999999999709e-14
389
+ ],
390
+ "q90": [
391
+ 3.599999999999476e-14
392
+ ],
393
+ "q99": [
394
+ 3.959999999999423e-14
395
+ ]
396
+ },
397
+ "action.diff_eef_xyz": {
398
+ "min": [
399
+ -0.008090496063232422,
400
+ -0.007626239210367203,
401
+ -0.009522750973701477
402
+ ],
403
+ "max": [
404
+ 0.008880525827407837,
405
+ 0.014981329441070557,
406
+ 0.009050145745277405
407
+ ],
408
+ "mean": [
409
+ 1.748615267332941e-05,
410
+ 0.0016326455462085821,
411
+ -0.00019661651962159837
412
+ ],
413
+ "std": [
414
+ 0.0017653943650128537,
415
+ 0.003209456368652197,
416
+ 0.0023940097040389555
417
+ ],
418
+ "count": [
419
+ 4063
420
+ ],
421
+ "q01": [
422
+ -0.004589484930038452,
423
+ -0.0049841758236289025,
424
+ -0.0058206642419099805
425
+ ],
426
+ "q10": [
427
+ -0.0020816208052726512,
428
+ -0.001740858612761653,
429
+ -0.003173595787455317
430
+ ],
431
+ "q50": [
432
+ -1.7583691403856572e-05,
433
+ 0.0006321078735648868,
434
+ -0.00019819150632854763
435
+ ],
436
+ "q90": [
437
+ 0.0021457728246053157,
438
+ 0.00625108928310082,
439
+ 0.0030802148424085283
440
+ ],
441
+ "q99": [
442
+ 0.004613665342330933,
443
+ 0.009751054570078854,
444
+ 0.00654007121920586
445
+ ]
446
+ },
447
+ "action.world_eef_xyz": {
448
+ "min": [
449
+ -0.008090496063232422,
450
+ -0.007626239210367203,
451
+ -0.009522750973701477
452
+ ],
453
+ "max": [
454
+ 0.008880525827407837,
455
+ 0.014981329441070557,
456
+ 0.009050145745277405
457
+ ],
458
+ "mean": [
459
+ 1.748615267332941e-05,
460
+ 0.0016326455462085821,
461
+ -0.00019661651962159837
462
+ ],
463
+ "std": [
464
+ 0.0017653943650128537,
465
+ 0.003209456368652197,
466
+ 0.0023940097040389555
467
+ ],
468
+ "count": [
469
+ 4063
470
+ ],
471
+ "q01": [
472
+ -0.004589484930038452,
473
+ -0.0049841758236289025,
474
+ -0.0058206642419099805
475
+ ],
476
+ "q10": [
477
+ -0.0020816208052726512,
478
+ -0.001740858612761653,
479
+ -0.003173595787455317
480
+ ],
481
+ "q50": [
482
+ -1.7583691403856572e-05,
483
+ 0.0006321078735648868,
484
+ -0.00019819150632854763
485
+ ],
486
+ "q90": [
487
+ 0.0021457728246053157,
488
+ 0.00625108928310082,
489
+ 0.0030802148424085283
490
+ ],
491
+ "q99": [
492
+ 0.004613665342330933,
493
+ 0.009751054570078854,
494
+ 0.00654007121920586
495
+ ]
496
+ },
497
+ "action.body_eef_rot6d": {
498
+ "min": [
499
+ 0.9947702884674072,
500
+ -0.07129257917404175,
501
+ -0.06082628294825554,
502
+ -0.1020854115486145,
503
+ 0.9947224855422974,
504
+ -0.03742745518684387
505
+ ],
506
+ "max": [
507
+ 1.0000001192092896,
508
+ 0.1020454689860344,
509
+ 0.032225508242845535,
510
+ 0.0713014081120491,
511
+ 1.0000001192092896,
512
+ 0.025164039805531502
513
+ ],
514
+ "mean": [
515
+ 0.9998375825802153,
516
+ 0.0014365636463956222,
517
+ -0.00019229411375462323,
518
+ -0.0014399867091092267,
519
+ 0.9998638394751515,
520
+ 0.0008449942456228728
521
+ ],
522
+ "std": [
523
+ 0.000489942640813266,
524
+ 0.015211452121765886,
525
+ 0.009551805397065525,
526
+ 0.015235357021694937,
527
+ 0.0005415444804692792,
528
+ 0.006113442802437688
529
+ ],
530
+ "count": [
531
+ 4063
532
+ ],
533
+ "q01": [
534
+ 0.998050696849823,
535
+ -0.03401864022016526,
536
+ -0.0256925817579031,
537
+ -0.06014294743537903,
538
+ 0.9981460642814636,
539
+ -0.017332199662923813
540
+ ],
541
+ "q10": [
542
+ 0.9995278367012147,
543
+ -0.01223019753751711,
544
+ -0.0126593864438292,
545
+ -0.015964721665043067,
546
+ 0.9995636374367126,
547
+ -0.005588233584972247
548
+ ],
549
+ "q50": [
550
+ 0.9999347875307794,
551
+ 0.001455184981917333,
552
+ 8.910951971089578e-05,
553
+ -0.0015309685464135142,
554
+ 0.9999710020029043,
555
+ 0.00013548803053017834
556
+ ],
557
+ "q90": [
558
+ 0.9999992879414792,
559
+ 0.015907156696543554,
560
+ 0.011525663847175687,
561
+ 0.012246685133985174,
562
+ 0.999999484435346,
563
+ 0.008446411835316246
564
+ ],
565
+ "q99": [
566
+ 1.0,
567
+ 0.060106912031769766,
568
+ 0.02385939739644528,
569
+ 0.034009857028722994,
570
+ 1.0000001192092896,
571
+ 0.01742102082818748
572
+ ]
573
+ },
574
+ "timestamp": {
575
+ "min": [
576
+ 0.0
577
+ ],
578
+ "max": [
579
+ 9.666666666666666
580
+ ],
581
+ "mean": [
582
+ 3.5714742800886046
583
+ ],
584
+ "std": [
585
+ 2.284418757610821
586
+ ],
587
+ "count": [
588
+ 4063
589
+ ],
590
+ "q01": [
591
+ 0.050322249109695134
592
+ ],
593
+ "q10": [
594
+ 0.6994972118319233
595
+ ],
596
+ "q50": [
597
+ 3.559788450241673
598
+ ],
599
+ "q90": [
600
+ 6.440684279676719
601
+ ],
602
+ "q99": [
603
+ 7.092626311067514
604
+ ]
605
+ },
606
+ "state.eef_xyz": {
607
+ "min": [
608
+ 0.19358809292316437,
609
+ -0.2201506495475769,
610
+ -0.01126073207706213
611
+ ],
612
+ "max": [
613
+ 0.6248610019683838,
614
+ 0.3839717507362366,
615
+ 0.2149888575077057
616
+ ],
617
+ "mean": [
618
+ 0.3645551885374362,
619
+ 0.0789192118969639,
620
+ 0.10274041680618662
621
+ ],
622
+ "std": [
623
+ 0.08440465800386339,
624
+ 0.16655975418055222,
625
+ 0.06310341042971974
626
+ ],
627
+ "count": [
628
+ 4063
629
+ ],
630
+ "q01": [
631
+ 0.22483476966619492,
632
+ -0.21637207955121995,
633
+ -0.006060794517397881
634
+ ],
635
+ "q10": [
636
+ 0.30224789422763676,
637
+ -0.0745779524862316,
638
+ 0.00903946166211561
639
+ ],
640
+ "q50": [
641
+ 0.36391329443310977,
642
+ 0.032194185652989774,
643
+ 0.12540682566971312
644
+ ],
645
+ "q90": [
646
+ 0.4230831207344897,
647
+ 0.3273709934273582,
648
+ 0.1768605928372022
649
+ ],
650
+ "q99": [
651
+ 0.6147788047790528,
652
+ 0.36660354971885684,
653
+ 0.20953841418027877
654
+ ]
655
+ },
656
+ "observation.state": {
657
+ "min": [
658
+ -0.2621299922466278,
659
+ -0.7135390043258667,
660
+ -0.4685410261154175,
661
+ 0.2715120017528534,
662
+ -0.17698900401592255,
663
+ 0.7872260212898254,
664
+ -0.7170659899711609,
665
+ 0.19358809292316437,
666
+ -0.2201506495475769,
667
+ -0.01126073207706213,
668
+ 0.046216048300266266,
669
+ -0.7867984771728516,
670
+ -0.07663512229919434,
671
+ -0.7867966890335083,
672
+ -0.9999999403953552,
673
+ -0.025429310277104378,
674
+ 0.0
675
+ ],
676
+ "max": [
677
+ 0.6066409945487976,
678
+ 0.710972011089325,
679
+ 0.6149069666862488,
680
+ 1.9845010042190552,
681
+ 0.2335679978132248,
682
+ 1.456426978111267,
683
+ 0.8190950155258179,
684
+ 0.6248610019683838,
685
+ 0.3839717507362366,
686
+ 0.2149888575077057,
687
+ 1.0,
688
+ 0.9989297986030579,
689
+ 0.031148554757237434,
690
+ 0.9989155530929565,
691
+ -0.04620504751801491,
692
+ 0.051557425409555435,
693
+ 1.0
694
+ ],
695
+ "mean": [
696
+ 0.10160285764351605,
697
+ -0.19075185759806762,
698
+ 0.09132694519016504,
699
+ 0.9614671512745062,
700
+ 0.02140803943886031,
701
+ 1.154239566725755,
702
+ 0.014052070974579313,
703
+ 0.3645551885374362,
704
+ 0.0789192118969639,
705
+ 0.10274041680618662,
706
+ 0.8915619633627911,
707
+ 0.14344140632665314,
708
+ -0.006959349280242126,
709
+ 0.14353137328194324,
710
+ -0.8916707350325767,
711
+ 0.003926632814180384,
712
+ 0.5911887726729766
713
+ ],
714
+ "std": [
715
+ 0.19664501420183236,
716
+ 0.29946328065759686,
717
+ 0.23327595584011634,
718
+ 0.32660387673250224,
719
+ 0.07044860539148261,
720
+ 0.1861593898368483,
721
+ 0.4045349560909765,
722
+ 0.08440465800386339,
723
+ 0.16655975418055222,
724
+ 0.06310341042971974,
725
+ 0.20170014179369775,
726
+ 0.37885763335653644,
727
+ 0.01665703813869754,
728
+ 0.37882759367996677,
729
+ 0.20173556332630602,
730
+ 0.009968521905834757,
731
+ 0.49161428144346825
732
+ ],
733
+ "count": [
734
+ 4063
735
+ ],
736
+ "q01": [
737
+ -0.24640593469142913,
738
+ -0.6539235031604766,
739
+ -0.4534963196516037,
740
+ 0.30741815626621244,
741
+ -0.14933054834604265,
742
+ 0.8023823976516724,
743
+ -0.6553534209728241,
744
+ 0.22483476966619492,
745
+ -0.21637207955121995,
746
+ -0.006060794517397881,
747
+ 0.14784262865781783,
748
+ -0.7285425424575805,
749
+ -0.06633099555969238,
750
+ -0.728541886806488,
751
+ -0.9999997246265412,
752
+ -0.015136531367897988,
753
+ 0.0
754
+ ],
755
+ "q10": [
756
+ -0.06879140743398969,
757
+ -0.49001730338358795,
758
+ -0.11398179274222921,
759
+ 0.6968515910833538,
760
+ -0.03576899092334318,
761
+ 0.903183773115237,
762
+ -0.31334478016800626,
763
+ 0.30224789422763676,
764
+ -0.0745779524862316,
765
+ 0.00903946166211561,
766
+ 0.7424855456067926,
767
+ -0.05509654469907556,
768
+ -0.024709382919223765,
769
+ -0.055090616098511694,
770
+ -0.9951775949920891,
771
+ -0.004257288240109471,
772
+ -1.000000013351432e-10
773
+ ],
774
+ "q50": [
775
+ 0.053532103896727856,
776
+ -0.19814404575124386,
777
+ 0.0353508243090174,
778
+ 0.9328222328692917,
779
+ 0.020664711889230702,
780
+ 1.1992431966184014,
781
+ -0.03378849462492548,
782
+ 0.36391329443310977,
783
+ 0.032194185652989774,
784
+ 0.12540682566971312,
785
+ 0.9164825091140775,
786
+ 0.09360208194494272,
787
+ -0.005225308246983908,
788
+ 0.09368543402428679,
789
+ -0.9167515611431442,
790
+ 0.002958911392217034,
791
+ 0.9998291515033494
792
+ ],
793
+ "q90": [
794
+ 0.36126324872048715,
795
+ 0.10639476912775095,
796
+ 0.4129767731384674,
797
+ 1.2970069848930723,
798
+ 0.0779143275735694,
799
+ 1.3782382438181653,
800
+ 0.4779594914199624,
801
+ 0.4230831207344897,
802
+ 0.3273709934273582,
803
+ 0.1768605928372022,
804
+ 0.9950988042595312,
805
+ 0.3769988423077664,
806
+ 0.008606847376364838,
807
+ 0.37719212168231225,
808
+ -0.7428929903267816,
809
+ 0.014071021931207262,
810
+ 0.99996583030067
811
+ ],
812
+ "q99": [
813
+ 0.5723077607154846,
814
+ 0.6557530832290651,
815
+ 0.5525169777870178,
816
+ 1.8842600107193002,
817
+ 0.22197256445884708,
818
+ 1.43231112241745,
819
+ 0.7839146900177002,
820
+ 0.6147788047790528,
821
+ 0.36660354971885684,
822
+ 0.20953841418027877,
823
+ 0.9999994862079621,
824
+ 0.9890061974525453,
825
+ 0.026183354742825033,
826
+ 0.9890093529224396,
827
+ -0.14784408837556803,
828
+ 0.03777307912707332,
829
+ 1.0
830
+ ]
831
+ },
832
+ "action.body_eef_xyz": {
833
+ "min": [
834
+ -0.008136484771966934,
835
+ -0.012048397213220596,
836
+ -0.009224668145179749
837
+ ],
838
+ "max": [
839
+ 0.009149391204118729,
840
+ 0.007695483509451151,
841
+ 0.009493421763181686
842
+ ],
843
+ "mean": [
844
+ 0.0006417938948445486,
845
+ -0.0015113013196810384,
846
+ 0.0002039112371651911
847
+ ],
848
+ "std": [
849
+ 0.0021241612518539212,
850
+ 0.002985922626825993,
851
+ 0.002384889655933756
852
+ ],
853
+ "count": [
854
+ 4063
855
+ ],
856
+ "q01": [
857
+ -0.004209228903055191,
858
+ -0.009168527573347091,
859
+ -0.006513917129486799
860
+ ],
861
+ "q10": [
862
+ -0.0016806447755073413,
863
+ -0.0057499278894800505,
864
+ -0.0030654473559231345
865
+ ],
866
+ "q50": [
867
+ 0.0004075862820403031,
868
+ -0.0006437192704753664,
869
+ 0.00019944872444212702
870
+ ],
871
+ "q90": [
872
+ 0.003360386332313625,
873
+ 0.0016016848109925677,
874
+ 0.00314735142009137
875
+ ],
876
+ "q99": [
877
+ 0.006706394171342257,
878
+ 0.004962558997794987,
879
+ 0.00583416767418385
880
+ ]
881
+ },
882
+ "frame_index": {
883
+ "min": [
884
+ 0
885
+ ],
886
+ "max": [
887
+ 290
888
+ ],
889
+ "mean": [
890
+ 107.14422840265813
891
+ ],
892
+ "std": [
893
+ 68.53256272832463
894
+ ],
895
+ "count": [
896
+ 4063
897
+ ],
898
+ "q01": [
899
+ 1.5096674761504696
900
+ ],
901
+ "q10": [
902
+ 20.984916357290942
903
+ ],
904
+ "q50": [
905
+ 106.7954025596846
906
+ ],
907
+ "q90": [
908
+ 193.22052838797111
909
+ ],
910
+ "q99": [
911
+ 212.77878932916576
912
+ ]
913
+ },
914
+ "state.joint_pos": {
915
+ "min": [
916
+ -0.2621299922466278,
917
+ -0.7135390043258667,
918
+ -0.4685410261154175,
919
+ 0.2715120017528534,
920
+ -0.17698900401592255,
921
+ 0.7872260212898254,
922
+ -0.7170659899711609
923
+ ],
924
+ "max": [
925
+ 0.6066409945487976,
926
+ 0.710972011089325,
927
+ 0.6149069666862488,
928
+ 1.9845010042190552,
929
+ 0.2335679978132248,
930
+ 1.456426978111267,
931
+ 0.8190950155258179
932
+ ],
933
+ "mean": [
934
+ 0.10160285764351605,
935
+ -0.19075185759806762,
936
+ 0.09132694519016504,
937
+ 0.9614671512745062,
938
+ 0.02140803943886031,
939
+ 1.154239566725755,
940
+ 0.014052070974579313
941
+ ],
942
+ "std": [
943
+ 0.19664501420183236,
944
+ 0.29946328065759686,
945
+ 0.23327595584011634,
946
+ 0.32660387673250224,
947
+ 0.07044860539148261,
948
+ 0.1861593898368483,
949
+ 0.4045349560909765
950
+ ],
951
+ "count": [
952
+ 4063
953
+ ],
954
+ "q01": [
955
+ -0.24640593469142913,
956
+ -0.6539235031604766,
957
+ -0.4534963196516037,
958
+ 0.30741815626621244,
959
+ -0.14933054834604265,
960
+ 0.8023823976516724,
961
+ -0.6553534209728241
962
+ ],
963
+ "q10": [
964
+ -0.06879140743398969,
965
+ -0.49001730338358795,
966
+ -0.11398179274222921,
967
+ 0.6968515910833538,
968
+ -0.03576899092334318,
969
+ 0.903183773115237,
970
+ -0.31334478016800626
971
+ ],
972
+ "q50": [
973
+ 0.053532103896727856,
974
+ -0.19814404575124386,
975
+ 0.0353508243090174,
976
+ 0.9328222328692917,
977
+ 0.020664711889230702,
978
+ 1.1992431966184014,
979
+ -0.03378849462492548
980
+ ],
981
+ "q90": [
982
+ 0.36126324872048715,
983
+ 0.10639476912775095,
984
+ 0.4129767731384674,
985
+ 1.2970069848930723,
986
+ 0.0779143275735694,
987
+ 1.3782382438181653,
988
+ 0.4779594914199624
989
+ ],
990
+ "q99": [
991
+ 0.5723077607154846,
992
+ 0.6557530832290651,
993
+ 0.5525169777870178,
994
+ 1.8842600107193002,
995
+ 0.22197256445884708,
996
+ 1.43231112241745,
997
+ 0.7839146900177002
998
+ ]
999
+ },
1000
+ "action": {
1001
+ "min": [
1002
+ -0.008136484771966934,
1003
+ -0.012048397213220596,
1004
+ -0.009224668145179749,
1005
+ 0.9947702884674072,
1006
+ -0.07129257917404175,
1007
+ -0.06082628294825554,
1008
+ -0.1020854115486145,
1009
+ 0.9947224855422974,
1010
+ -0.03742745518684387,
1011
+ 0.0
1012
+ ],
1013
+ "max": [
1014
+ 0.009149391204118729,
1015
+ 0.007695483509451151,
1016
+ 0.009493421763181686,
1017
+ 1.0000001192092896,
1018
+ 0.1020454689860344,
1019
+ 0.032225508242845535,
1020
+ 0.0713014081120491,
1021
+ 1.0000001192092896,
1022
+ 0.025164039805531502,
1023
+ 1.0
1024
+ ],
1025
+ "mean": [
1026
+ 0.0006417938948445486,
1027
+ -0.0015113013196810384,
1028
+ 0.0002039112371651911,
1029
+ 0.9998375825802153,
1030
+ 0.0014365636463956222,
1031
+ -0.00019229411375462323,
1032
+ -0.0014399867091092267,
1033
+ 0.9998638394751515,
1034
+ 0.0008449942456228728,
1035
+ 0.5806054636494972
1036
+ ],
1037
+ "std": [
1038
+ 0.0021241612518539212,
1039
+ 0.002985922626825993,
1040
+ 0.002384889655933756,
1041
+ 0.000489942640813266,
1042
+ 0.015211452121765886,
1043
+ 0.009551805397065525,
1044
+ 0.015235357021694937,
1045
+ 0.0005415444804692792,
1046
+ 0.006113442802437688,
1047
+ 0.49345998939372704
1048
+ ],
1049
+ "count": [
1050
+ 4063
1051
+ ],
1052
+ "q01": [
1053
+ -0.004209228903055191,
1054
+ -0.009168527573347091,
1055
+ -0.006513917129486799,
1056
+ 0.998050696849823,
1057
+ -0.03401864022016526,
1058
+ -0.0256925817579031,
1059
+ -0.06014294743537903,
1060
+ 0.9981460642814636,
1061
+ -0.017332199662923813,
1062
+ 0.0
1063
+ ],
1064
+ "q10": [
1065
+ -0.0016806447755073413,
1066
+ -0.0057499278894800505,
1067
+ -0.0030654473559231345,
1068
+ 0.9995278367012147,
1069
+ -0.01223019753751711,
1070
+ -0.0126593864438292,
1071
+ -0.015964721665043067,
1072
+ 0.9995636374367126,
1073
+ -0.005588233584972247,
1074
+ -1.000000013351432e-10
1075
+ ],
1076
+ "q50": [
1077
+ 0.0004075862820403031,
1078
+ -0.0006437192704753664,
1079
+ 0.00019944872444212702,
1080
+ 0.9999347875307794,
1081
+ 0.001455184981917333,
1082
+ 8.910951971089578e-05,
1083
+ -0.0015309685464135142,
1084
+ 0.9999710020029043,
1085
+ 0.00013548803053017834,
1086
+ 0.9471665310436682
1087
+ ],
1088
+ "q90": [
1089
+ 0.003360386332313625,
1090
+ 0.0016016848109925677,
1091
+ 0.00314735142009137,
1092
+ 0.9999992879414792,
1093
+ 0.015907156696543554,
1094
+ 0.011525663847175687,
1095
+ 0.012246685133985174,
1096
+ 0.999999484435346,
1097
+ 0.008446411835316246,
1098
+ 0.9999652672758569
1099
+ ],
1100
+ "q99": [
1101
+ 0.006706394171342257,
1102
+ 0.004962558997794987,
1103
+ 0.00583416767418385,
1104
+ 1.0,
1105
+ 0.060106912031769766,
1106
+ 0.02385939739644528,
1107
+ 0.034009857028722994,
1108
+ 1.0000001192092896,
1109
+ 0.01742102082818748,
1110
+ 1.0
1111
+ ]
1112
+ },
1113
+ "action.world_eef_rot6d": {
1114
+ "min": [
1115
+ 0.9947723746299744,
1116
+ -0.1020461693406105,
1117
+ -0.03220473602414131,
1118
+ -0.07132039964199066,
1119
+ 0.9947205185890198,
1120
+ -0.036565616726875305
1121
+ ],
1122
+ "max": [
1123
+ 1.0000001192092896,
1124
+ 0.07130032777786255,
1125
+ 0.061227817088365555,
1126
+ 0.10208113491535187,
1127
+ 1.0000001192092896,
1128
+ 0.025168288499116898
1129
+ ],
1130
+ "mean": [
1131
+ 0.9998371106575429,
1132
+ -0.001445634484897594,
1133
+ 0.0002779254859528893,
1134
+ 0.0014301264809168106,
1135
+ 0.9998643671148902,
1136
+ 0.0012689503230356844
1137
+ ],
1138
+ "std": [
1139
+ 0.0006173289695577581,
1140
+ 0.01521644045861513,
1141
+ 0.009584766588207071,
1142
+ 0.015218333619225909,
1143
+ 0.0005457861457283644,
1144
+ 0.005999252181119824
1145
+ ],
1146
+ "count": [
1147
+ 4063
1148
+ ],
1149
+ "q01": [
1150
+ 0.9980857110023499,
1151
+ -0.06014465279877186,
1152
+ -0.023548453710973263,
1153
+ -0.03403884053230286,
1154
+ 0.9981267678737641,
1155
+ -0.012617044784128666
1156
+ ],
1157
+ "q10": [
1158
+ 0.9995209573789857,
1159
+ -0.01590890659990329,
1160
+ -0.011283792826729163,
1161
+ -0.012220695125520844,
1162
+ 0.9995660945534734,
1163
+ -0.0046490024885063215
1164
+ ],
1165
+ "q50": [
1166
+ 0.9999358249127264,
1167
+ -0.0015111184033792685,
1168
+ -0.00018567238427728697,
1169
+ 0.0014137552141261821,
1170
+ 0.9999685403711733,
1171
+ 0.00013820945580758948
1172
+ ],
1173
+ "q90": [
1174
+ 0.9999993457912159,
1175
+ 0.012181972735246255,
1176
+ 0.013421595216011974,
1177
+ 0.015850850635483485,
1178
+ 0.9999994420890208,
1179
+ 0.009533972050004402
1180
+ ],
1181
+ "q99": [
1182
+ 1.0,
1183
+ 0.034015613794327014,
1184
+ 0.02803934067487717,
1185
+ 0.060135682523250585,
1186
+ 1.0000001192092896,
1187
+ 0.01750935059040785
1188
+ ]
1189
+ },
1190
+ "observation.images.right_3pv_camera": {
1191
+ "min": [
1192
+ [
1193
+ [
1194
+ 0.0
1195
+ ]
1196
+ ],
1197
+ [
1198
+ [
1199
+ 0.0
1200
+ ]
1201
+ ],
1202
+ [
1203
+ [
1204
+ 0.0
1205
+ ]
1206
+ ]
1207
+ ],
1208
+ "max": [
1209
+ [
1210
+ [
1211
+ 1.0
1212
+ ]
1213
+ ],
1214
+ [
1215
+ [
1216
+ 1.0
1217
+ ]
1218
+ ],
1219
+ [
1220
+ [
1221
+ 1.0
1222
+ ]
1223
+ ]
1224
+ ],
1225
+ "mean": [
1226
+ [
1227
+ [
1228
+ 0.46970048151552296
1229
+ ]
1230
+ ],
1231
+ [
1232
+ [
1233
+ 0.44337386478758173
1234
+ ]
1235
+ ],
1236
+ [
1237
+ [
1238
+ 0.39362217126225496
1239
+ ]
1240
+ ]
1241
+ ],
1242
+ "std": [
1243
+ [
1244
+ [
1245
+ 0.0039851877300097534
1246
+ ]
1247
+ ],
1248
+ [
1249
+ [
1250
+ 0.005113737279612303
1251
+ ]
1252
+ ],
1253
+ [
1254
+ [
1255
+ 0.005323566224595435
1256
+ ]
1257
+ ]
1258
+ ],
1259
+ "count": [
1260
+ 2000
1261
+ ],
1262
+ "q01": [
1263
+ [
1264
+ [
1265
+ 0.003933124611537852
1266
+ ]
1267
+ ],
1268
+ [
1269
+ [
1270
+ 0.023883611540059458
1271
+ ]
1272
+ ],
1273
+ [
1274
+ [
1275
+ 0.0099700713697924
1276
+ ]
1277
+ ]
1278
+ ],
1279
+ "q10": [
1280
+ [
1281
+ [
1282
+ 0.07958565562351624
1283
+ ]
1284
+ ],
1285
+ [
1286
+ [
1287
+ 0.11432871534702203
1288
+ ]
1289
+ ],
1290
+ [
1291
+ [
1292
+ 0.10453198977623986
1293
+ ]
1294
+ ]
1295
+ ],
1296
+ "q50": [
1297
+ [
1298
+ [
1299
+ 0.535883832402197
1300
+ ]
1301
+ ],
1302
+ [
1303
+ [
1304
+ 0.5639087123435086
1305
+ ]
1306
+ ],
1307
+ [
1308
+ [
1309
+ 0.45233101797144615
1310
+ ]
1311
+ ]
1312
+ ],
1313
+ "q90": [
1314
+ [
1315
+ [
1316
+ 0.7511383173298329
1317
+ ]
1318
+ ],
1319
+ [
1320
+ [
1321
+ 0.6424077005085597
1322
+ ]
1323
+ ],
1324
+ [
1325
+ [
1326
+ 0.6517837180884487
1327
+ ]
1328
+ ]
1329
+ ],
1330
+ "q99": [
1331
+ [
1332
+ [
1333
+ 0.7768446029104227
1334
+ ]
1335
+ ],
1336
+ [
1337
+ [
1338
+ 0.7137679791575322
1339
+ ]
1340
+ ],
1341
+ [
1342
+ [
1343
+ 0.7360433965120818
1344
+ ]
1345
+ ]
1346
+ ]
1347
+ },
1348
+ "action.diff_eef_rpy": {
1349
+ "min": [
1350
+ -0.025168657302856445,
1351
+ -0.03226304054260254,
1352
+ -0.07135891914367676
1353
+ ],
1354
+ "max": [
1355
+ 0.037508249282836914,
1356
+ 0.06078600883483887,
1357
+ 0.10222196578979492
1358
+ ],
1359
+ "mean": [
1360
+ -0.0008549585892838811,
1361
+ 0.00020209322819469527,
1362
+ 0.001436902043645055
1363
+ ],
1364
+ "std": [
1365
+ 0.006144865122367308,
1366
+ 0.009541611303985108,
1367
+ 0.015225754019246217
1368
+ ],
1369
+ "count": [
1370
+ 4063
1371
+ ],
1372
+ "q01": [
1373
+ -0.017474889755249023,
1374
+ -0.023818092346191408,
1375
+ -0.0340224027633667
1376
+ ],
1377
+ "q10": [
1378
+ -0.008472620952607838,
1379
+ -0.011541362072852536,
1380
+ -0.012222780564874632
1381
+ ],
1382
+ "q50": [
1383
+ -0.00016484890248515306,
1384
+ -9.045570574888173e-05,
1385
+ 0.0014339984304526303
1386
+ ],
1387
+ "q90": [
1388
+ 0.005570819592577849,
1389
+ 0.012599448842958529,
1390
+ 0.015871957913770038
1391
+ ],
1392
+ "q99": [
1393
+ 0.01741883754730226,
1394
+ 0.02572622299194336,
1395
+ 0.06016622066497805
1396
+ ]
1397
+ }
1398
+ }
val/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:991181cb9113f3681a20ee4c5c2c5a3944a3adc58e5cf17c75124071092f9462
3
+ size 2360
val/videos/observation.images.right_3pv_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f51ac1e6d93abe7d0eb2a22473978fe939ef33b21c83ee836a91c78a7c6bb1a
3
+ size 13097803
val/videos/observation.images.right_3pv_camera/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ffbeb92c9239c89a94c7beb11764d65d2fd77a39cb80ac035fbcec0760e8032
3
+ size 12638074
val/videos/observation.images.right_3pv_camera/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:92316eec7f815fc89a41ccbb065f1a1d3f02ed264645600c5b331936880b5c65
3
+ size 3334906
val/videos/observation.images.right_3pv_camera/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4fc3b4ebcef2388690325fffdf5249cb2460a1a7a90ac4ba7080842d65ec78ee
3
+ size 7780593
val/videos/observation.images.wrist_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c554aa3782d2a3edca64f08358ad19f8dde2d31c313aa4692ebfda6b812a5376
3
+ size 11394988
val/videos/observation.images.wrist_camera/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2865f960f7c28942caf11d802aa41bcfd1a2fbff4e6461e3d7791acbd82e142b
3
+ size 11990963
val/videos/observation.images.wrist_camera/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:482dd2641742c2097cc295e0ca834809bb9bcad010e199aa14d13e39af650485
3
+ size 5037022
videos/observation.images.right_3pv_camera/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:36a7bbd3c1e707fe20147eef33331900807a5e1e125f517264a113f9e4d4a564
3
+ size 176436617
videos/observation.images.right_3pv_camera/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8041f590bf2590f3774e53356bdaddd515116fb0ae63ab2a1dbcfe2e67303afb
3
+ size 200789345
videos/observation.images.right_3pv_camera/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8aad74b96cdf1af68e306bb771594f32561cfbdb9787b5254577f14a06a3e403
3
+ size 59237366