Robotics
LeRobot
Safetensors
groot
groot_base_to_manufacturing / policy_postprocessor.json
elijahleo's picture
Upload DataProcessorPipeline
8a69f18 verified
Raw History Blame Contribute Delete
63.3 kB
{
"name": "policy_postprocessor",
"steps": [
{
"registry_name": "groot_n1_7_action_decode_v1",
"config": {
"env_action_dim": 6,
"raw_stats": {
"state": {
"single_arm": {
"min": [
-90.40079498291016,
-99.57805633544922,
-90.84380340576172,
-64.24870300292969,
-47.741146087646484
],
"max": [
39.83176803588867,
84.30379486083984,
100.0,
99.13644409179688,
97.31379699707031
],
"mean": [
-42.33046340942383,
3.2511484622955322,
-0.4599246382713318,
79.29541015625,
2.2933876514434814
],
"std": [
25.518476486206055,
44.71908187866211,
51.32939147949219,
21.303142547607422,
23.988933563232422
],
"count": [
218964
],
"q01": [
-76.46783447265625,
-98.11798095703125,
-77.73953247070312,
23.605728149414062,
-30.209518432617188
],
"q10": [
-70.81623077392578,
-54.84445571899414,
-60.4775390625,
53.26105499267578,
-20.105579376220703
],
"q50": [
-43.34211349487305,
9.910650253295898,
-3.793139934539795,
84.18889617919922,
1.0405137538909912
],
"q90": [
-14.07079792022705,
50.51268005371094,
64.70967864990234,
98.07373046875,
27.78529930114746
],
"q99": [
-1.667898416519165,
63.84724426269531,
99.40498352050781,
98.86653900146484,
38.54479217529297
]
},
"gripper": {
"min": [
1.3600000143051147
],
"max": [
91.04000091552734
],
"mean": [
14.337159156799316
],
"std": [
12.81242847442627
],
"count": [
218964
],
"q01": [
1.4531744718551636
],
"q10": [
2.2228989601135254
],
"q50": [
12.2625732421875
],
"q90": [
30.536924362182617
],
"q99": [
40.05193328857422
]
}
},
"action": {
"single_arm": {
"min": [
-90.96186065673828,
-100.0,
-99.91007232666016,
-66.02645874023438,
-88.47374725341797
],
"max": [
40.29850769042969,
84.1402359008789,
100.0,
99.7439193725586,
97.94871520996094
],
"mean": [
-42.14096450805664,
1.9315794706344604,
-2.2528281211853027,
79.0608901977539,
1.9652221202850342
],
"std": [
25.53490447998047,
44.342132568359375,
52.22156524658203,
21.6169376373291,
24.81182098388672
],
"count": [
218964
],
"q01": [
-76.54813385009766,
-98.35307312011719,
-82.78369903564453,
22.495052337646484,
-35.85580825805664
],
"q10": [
-70.65172576904297,
-55.55143737792969,
-63.682064056396484,
52.554725646972656,
-21.377399444580078
],
"q50": [
-43.136077880859375,
8.278311729431152,
-5.506430149078369,
83.8434829711914,
1.006649374961853
],
"q90": [
-13.8626127243042,
48.90798568725586,
63.78935241699219,
98.3182144165039,
27.841928482055664
],
"q99": [
-1.3281569480895996,
63.12615966796875,
99.24508666992188,
99.16072082519531,
38.70712661743164
]
},
"gripper": {
"min": [
0.0
],
"max": [
91.47410583496094
],
"mean": [
11.878849983215332
],
"std": [
14.212869644165039
],
"count": [
218964
],
"q01": [
0.6624836325645447
],
"q10": [
0.7784132957458496
],
"q50": [
8.113713264465332
],
"q90": [
30.844385147094727
],
"q99": [
40.54629898071289
]
}
},
"relative_action": {
"single_arm": {
"min": [
[
-16.838411331176758,
-29.686817169189453,
-27.026853561401367,
-40.66484069824219,
-41.36751937866211
],
[
-20.155160903930664,
-35.11252975463867,
-32.715084075927734,
-46.21328353881836,
-41.36751937866211
],
[
-23.22294807434082,
-41.79032516479492,
-37.48126983642578,
-52.52996826171875,
-41.36751937866211
],
[
-26.139667510986328,
-47.106781005859375,
-42.4996452331543,
-57.97038269042969,
-41.36751937866211
],
[
-29.259565353393555,
-52.254459381103516,
-47.37335968017578,
-62.63359832763672,
-41.36751937866211
],
[
-32.57319641113281,
-58.58357620239258,
-51.682159423828125,
-67.12409973144531,
-41.95360565185547
],
[
-35.88994598388672,
-63.34150314331055,
-57.157920837402344,
-71.39213562011719,
-45.421241760253906
],
[
-38.5433464050293,
-67.9324951171875,
-61.01788330078125,
-75.3187255859375,
-49.76801300048828
],
[
-41.36258316040039,
-72.53981018066406,
-65.95504760742188,
-77.56397247314453,
-52.84493637084961
],
[
-43.73764419555664,
-77.13079833984375,
-69.64209747314453,
-79.52726745605469,
-56.94750213623047
],
[
-46.40958786010742,
-80.59071350097656,
-74.04856872558594,
-80.9089584350586,
-59.68254089355469
],
[
-48.982574462890625,
-84.47257232666016,
-77.28016662597656,
-81.4211196899414,
-62.31990051269531
],
[
-50.76387023925781,
-87.51055145263672,
-80.15269470214844,
-81.4211196899414,
-64.76190948486328
],
[
-53.435813903808594,
-90.21096801757812,
-83.65359497070312,
-81.4211196899414,
-67.4969482421875
],
[
-55.11814880371094,
-93.83966064453125,
-86.9555892944336,
-81.4211196899414,
-69.79242706298828
],
[
-56.80048370361328,
-96.37130737304688,
-90.8155517578125,
-81.4211196899414,
-72.23443603515625
],
[
-57.46383285522461,
-99.91561126708984,
-93.51339721679688,
-81.4211196899414,
-73.74847412109375
],
[
-57.95863723754883,
-103.4513931274414,
-96.5709457397461,
-81.4211196899414,
-75.5067138671875
],
[
-58.26323699951172,
-108.35950469970703,
-99.08441162109375,
-81.4211196899414,
-77.020751953125
],
[
-60.25328826904297,
-112.54989624023438,
-102.04670715332031,
-81.4211196899414,
-78.29059600830078
],
[
-62.326255798339844,
-117.29105377197266,
-103.93519592285156,
-81.4211196899414,
-78.92552185058594
],
[
-63.81879425048828,
-121.24187469482422,
-105.64382934570312,
-81.4211196899414,
-79.60928344726562
],
[
-65.49300384521484,
-126.38955688476562,
-107.80210876464844,
-82.93373107910156,
-79.95116424560547
],
[
-66.98554229736328,
-130.22927856445312,
-109.23837280273438,
-84.04341125488281,
-80.92796325683594
],
[
-68.22932434082031,
-133.56256103515625,
-111.12347412109375,
-85.07968139648438,
-82.29548645019531
],
[
-69.55602264404297,
-137.40228271484375,
-112.75041198730469,
-85.77053833007812,
-83.71184539794922
],
[
-70.34770965576172,
-139.76515197753906,
-115.80247497558594,
-86.45342254638672,
-84.44444274902344
],
[
-71.63420104980469,
-141.87484741210938,
-118.23052978515625,
-86.96558380126953,
-84.88400268554688
],
[
-72.3804702758789,
-143.90017700195312,
-121.10823059082031,
-89.46824645996094,
-85.81196594238281
],
[
-74.45155334472656,
-145.5696258544922,
-123.44636535644531,
-91.97256469726562,
-87.61904907226562
],
[
-76.23284912109375,
-146.582275390625,
-125.69456481933594,
-94.04510498046875,
-89.76800537109375
],
[
-78.01414489746094,
-147.8480987548828,
-127.57966613769531,
-96.11764526367188,
-91.28205108642578
],
[
-79.42376708984375,
-149.0386962890625,
-129.37095642089844,
-97.91021728515625,
-92.79609680175781
],
[
-80.58462524414062,
-152.4986114501953,
-132.31951904296875,
-99.01990509033203,
-93.91941833496094
],
[
-81.37631225585938,
-154.86148071289062,
-134.74758911132812,
-99.88346099853516,
-95.23809814453125
],
[
-82.03966522216797,
-157.9838409423828,
-137.62527465820312,
-100.8333740234375,
-95.92185974121094
],
[
-82.28842163085938,
-159.92477416992188,
-139.96340942382812,
-101.7514419555664,
-96.4102554321289
],
[
-82.48634338378906,
-161.86569213867188,
-142.45767211914062,
-102.74613952636719,
-96.75213623046875
],
[
-82.65217590332031,
-163.63784790039062,
-145.51522827148438,
-103.95511627197266,
-97.14285278320312
],
[
-82.73509979248047,
-164.47256469726562,
-147.9432830810547,
-105.3368148803711,
-97.33821868896484
]
],
"max": [
[
17.589561462402344,
26.473236083984375,
45.856204986572266,
29.988122940063477,
53.919410705566406
],
[
21.901336669921875,
32.46479797363281,
54.336082458496094,
35.02440643310547,
59.877899169921875
],
[
24.969127655029297,
37.13925552368164,
64.25836181640625,
40.402122497558594,
64.22466278076172
],
[
29.026519775390625,
41.52497863769531,
71.52945709228516,
44.978981018066406,
69.84127044677734
],
[
32.011592864990234,
45.744384765625,
81.04471588134766,
48.95134735107422,
74.04151916503906
],
[
35.458984375,
51.2296142578125,
88.23896026611328,
53.52820587158203,
78.77899932861328
],
[
38.44405746459961,
55.236289978027344,
97.59147644042969,
56.34510803222656,
82.63735961914062
],
[
41.09745788574219,
58.949371337890625,
104.24615478515625,
59.05497360229492,
86.15384674072266
],
[
43.57377624511719,
63.166175842285156,
110.88887786865234,
61.87187576293945,
89.76801300048828
],
[
46.5588493347168,
66.87925720214844,
118.32756042480469,
64.1766128540039,
93.28450012207031
],
[
49.212249755859375,
70.17039489746094,
124.98223876953125,
65.85530090332031,
96.5079345703125
],
[
51.092506408691406,
73.96786499023438,
131.02130126953125,
68.50148010253906,
98.998779296875
],
[
53.467567443847656,
76.80592346191406,
138.74124145507812,
70.77758026123047,
101.39193725585938
],
[
54.46259307861328,
79.8109359741211,
144.0469970703125,
73.42375946044922,
104.56654357910156
],
[
55.45220184326172,
82.20677185058594,
149.89230346679688,
75.91867065429688,
107.008544921875
],
[
56.34284973144531,
85.21178436279297,
154.8294677734375,
79.28655242919922,
109.93894958496094
],
[
57.08911895751953,
86.89954376220703,
160.5745391845703,
81.27273559570312,
111.55067443847656
],
[
57.25495529174805,
90.21646881103516,
164.80116271972656,
83.8634033203125,
113.55311584472656
],
[
57.35391616821289,
92.97105407714844,
169.02777099609375,
85.84959411621094,
115.06715393066406
],
[
57.35391616821289,
96.30995178222656,
172.61843872070312,
88.52661895751953,
116.04395294189453
],
[
57.35391616821289,
98.73065185546875,
176.2091064453125,
90.1673812866211,
116.9230728149414
],
[
57.613712310791016,
101.65219116210938,
180.15884399414062,
91.46271514892578,
117.26495361328125
],
[
58.00955581665039,
103.93067169189453,
182.85183715820312,
92.67169952392578,
117.26495361328125
],
[
58.00955581665039,
106.66053771972656,
185.6345977783203,
93.35458374023438,
117.26495361328125
],
[
58.00955581665039,
108.93901824951172,
187.16062927246094,
94.73572540283203,
117.26495361328125
],
[
58.09247589111328,
111.47066497802734,
188.32760620117188,
96.9551010131836,
117.26495361328125
],
[
58.416847229003906,
113.39053344726562,
189.67684936523438,
98.74767303466797,
117.4114761352539
],
[
59.246036529541016,
114.97650909423828,
190.66427612304688,
100.96704864501953,
117.5091552734375
],
[
59.740840911865234,
116.89637756347656,
190.84381103515625,
102.41818237304688,
117.55799865722656
],
[
60.532527923583984,
118.39888000488281,
190.84381103515625,
104.38147735595703,
117.6068344116211
],
[
61.0273323059082,
120.7361068725586,
190.84381103515625,
105.74724578857422,
117.65567779541016
],
[
61.42317581176758,
122.23861694335938,
190.84381103515625,
107.23121643066406,
117.65567779541016
],
[
61.9179801940918,
123.6732177734375,
190.84381103515625,
108.59698486328125,
117.65567779541016
],
[
62.1667366027832,
125.74445343017578,
190.84381103515625,
109.96275329589844,
117.70451354980469
],
[
62.249656677246094,
127.49737548828125,
190.84381103515625,
110.9870834350586,
117.70451354980469
],
[
62.66445541381836,
129.50071716308594,
190.84381103515625,
111.58460998535156,
117.70451354980469
],
[
63.41072463989258,
130.93531799316406,
190.84381103515625,
112.10274505615234,
117.70451354980469
],
[
64.23991394042969,
132.36990356445312,
190.5745086669922,
112.27346801757812,
117.70451354980469
],
[
64.83367919921875,
133.45504760742188,
190.5745086669922,
112.35982513427734,
117.70451354980469
],
[
65.6253662109375,
134.77505493164062,
190.5745086669922,
112.35982513427734,
117.70451354980469
]
],
"mean": [
[
0.18948481976985931,
-1.3445595502853394,
-1.8579596281051636,
-0.26889312267303467,
-0.33857232332229614
],
[
0.18988364934921265,
-1.344483733177185,
-1.862043023109436,
-0.27462905645370483,
-0.3386784493923187
],
[
0.19029182195663452,
-1.3445008993148804,
-1.865695595741272,
-0.27996909618377686,
-0.3387669026851654
],
[
0.19071389734745026,
-1.3445868492126465,
-1.8689947128295898,
-0.2849591076374054,
-0.33883699774742126
],
[
0.19116128981113434,
-1.3446921110153198,
-1.871951699256897,
-0.2895998954772949,
-0.3388884961605072
],
[
0.19162915647029877,
-1.3448123931884766,
-1.8746273517608643,
-0.2938963770866394,
-0.3389386832714081
],
[
0.19210931658744812,
-1.3449386358261108,
-1.8770266771316528,
-0.29791584610939026,
-0.33898112177848816
],
[
0.19259078800678253,
-1.3450666666030884,
-1.8791790008544922,
-0.30165690183639526,
-0.3390332758426666
],
[
0.19309066236019135,
-1.3452240228652954,
-1.88107430934906,
-0.3051510453224182,
-0.3390846252441406
],
[
0.19361183047294617,
-1.3453916311264038,
-1.8827351331710815,
-0.3083777129650116,
-0.33915287256240845
],
[
0.1941472887992859,
-1.3455804586410522,
-1.884149193763733,
-0.31133970618247986,
-0.33922314643859863
],
[
0.19467802345752716,
-1.3458056449890137,
-1.88538658618927,
-0.3140396773815155,
-0.3392951190471649
],
[
0.19520433247089386,
-1.3460475206375122,
-1.8864175081253052,
-0.3165140151977539,
-0.3393805921077728
],
[
0.19572870433330536,
-1.3463143110275269,
-1.8872302770614624,
-0.3187257647514343,
-0.33945995569229126
],
[
0.1962592452764511,
-1.3466060161590576,
-1.8878097534179688,
-0.32068583369255066,
-0.3395455777645111
],
[
0.19679665565490723,
-1.3469077348709106,
-1.888110637664795,
-0.32235202193260193,
-0.3396349549293518
],
[
0.19732946157455444,
-1.347223162651062,
-1.8880865573883057,
-0.32373496890068054,
-0.33972325921058655
],
[
0.19784529507160187,
-1.3475933074951172,
-1.8877663612365723,
-0.32481351494789124,
-0.33982059359550476
],
[
0.19835519790649414,
-1.347965955734253,
-1.8870370388031006,
-0.3255895972251892,
-0.33992835879325867
],
[
0.19885282218456268,
-1.3483912944793701,
-1.8858977556228638,
-0.32609879970550537,
-0.3400561809539795
],
[
0.1993413120508194,
-1.3488376140594482,
-1.8843035697937012,
-0.32635313272476196,
-0.3402044475078583
],
[
0.19981883466243744,
-1.3493319749832153,
-1.882213830947876,
-0.3263636529445648,
-0.34037989377975464
],
[
0.20028285682201385,
-1.3498761653900146,
-1.8796160221099854,
-0.3262020945549011,
-0.3405611515045166
],
[
0.20073288679122925,
-1.3504873514175415,
-1.876511812210083,
-0.32593634724617004,
-0.3407691419124603
],
[
0.2011510282754898,
-1.3511862754821777,
-1.8729113340377808,
-0.3256039619445801,
-0.3409908711910248
],
[
0.20153731107711792,
-1.3520033359527588,
-1.8688188791275024,
-0.32526591420173645,
-0.34122124314308167
],
[
0.20188207924365997,
-1.3529161214828491,
-1.8642042875289917,
-0.3249644935131073,
-0.341463178396225
],
[
0.20218873023986816,
-1.3539862632751465,
-1.8590970039367676,
-0.32469505071640015,
-0.34171220660209656
],
[
0.2024632841348648,
-1.3552396297454834,
-1.85346519947052,
-0.32444241642951965,
-0.34198370575904846
],
[
0.2026974856853485,
-1.3567441701889038,
-1.8472598791122437,
-0.3242095112800598,
-0.3422892689704895
],
[
0.20289357006549835,
-1.3585010766983032,
-1.840565800666809,
-0.32401400804519653,
-0.34261518716812134
],
[
0.2030579298734665,
-1.3605961799621582,
-1.8333483934402466,
-0.3238545060157776,
-0.3429739475250244
],
[
0.20319175720214844,
-1.3630709648132324,
-1.8256093263626099,
-0.3237459659576416,
-0.3433747887611389
],
[
0.20329774916172028,
-1.3659647703170776,
-1.8173539638519287,
-0.32369375228881836,
-0.34380093216896057
],
[
0.20336522161960602,
-1.3693630695343018,
-1.8085137605667114,
-0.3236858546733856,
-0.3442557752132416
],
[
0.2033936232328415,
-1.3732763528823853,
-1.799119234085083,
-0.3237189054489136,
-0.3447471261024475
],
[
0.20338015258312225,
-1.3777897357940674,
-1.7891130447387695,
-0.3237770199775696,
-0.34526973962783813
],
[
0.20332443714141846,
-1.3829277753829956,
-1.7784849405288696,
-0.32386457920074463,
-0.34583422541618347
],
[
0.20321400463581085,
-1.3887594938278198,
-1.7672016620635986,
-0.3239729404449463,
-0.34643125534057617
],
[
0.20304057002067566,
-1.395351767539978,
-1.7551958560943604,
-0.3240950405597687,
-0.34706610441207886
]
],
"std": [
[
2.042182207107544,
3.9052844047546387,
4.912871360778809,
3.1586191654205322,
3.155423164367676
],
[
2.4839723110198975,
4.7103271484375,
5.890531539916992,
3.8416976928710938,
3.4597811698913574
],
[
2.9170069694519043,
5.512831211090088,
6.865982532501221,
4.503024101257324,
3.7815165519714355
],
[
3.3411240577697754,
6.308872699737549,
7.832836627960205,
5.141139984130859,
4.111817359924316
],
[
3.7559328079223633,
7.094577312469482,
8.786151885986328,
5.755372047424316,
4.44459867477417
],
[
4.161613464355469,
7.868627071380615,
9.724091529846191,
6.345378398895264,
4.776300430297852
],
[
4.55881404876709,
8.630474090576172,
10.645392417907715,
6.911746501922607,
5.104581356048584
],
[
4.947441577911377,
9.379007339477539,
11.549389839172363,
7.455275058746338,
5.427791595458984
],
[
5.32828950881958,
10.114632606506348,
12.435969352722168,
7.9778265953063965,
5.745329856872559
],
[
5.701362133026123,
10.836958885192871,
13.304616928100586,
8.47998332977295,
6.056565761566162
],
[
6.0671892166137695,
11.546348571777344,
14.156413078308105,
8.962783813476562,
6.361186504364014
],
[
6.426030158996582,
12.2432222366333,
14.990812301635742,
9.42719554901123,
6.65877103805542
],
[
6.778116703033447,
12.927249908447266,
15.808650970458984,
9.874576568603516,
6.949827671051025
],
[
7.123989105224609,
13.599493026733398,
16.610490798950195,
10.305800437927246,
7.235061168670654
],
[
7.463751792907715,
14.260102272033691,
17.39630699157715,
10.721550941467285,
7.513984203338623
],
[
7.7978668212890625,
14.909663200378418,
18.166540145874023,
11.123221397399902,
7.786930561065674
],
[
8.126486778259277,
15.547945976257324,
18.92176055908203,
11.511316299438477,
8.054101943969727
],
[
8.449872016906738,
16.17656898498535,
19.662242889404297,
11.886675834655762,
8.315617561340332
],
[
8.76831340789795,
16.79513168334961,
20.38872528076172,
12.250165939331055,
8.571746826171875
],
[
9.081881523132324,
17.403841018676758,
21.101573944091797,
12.602264404296875,
8.822609901428223
],
[
9.390792846679688,
18.00300407409668,
21.80142593383789,
12.943400382995605,
9.06849193572998
],
[
9.695344924926758,
18.592985153198242,
22.488208770751953,
13.274728775024414,
9.309563636779785
],
[
9.995599746704102,
19.17405128479004,
23.162769317626953,
13.596329689025879,
9.545955657958984
],
[
10.291747093200684,
19.746530532836914,
23.825214385986328,
13.908952713012695,
9.777767181396484
],
[
10.583736419677734,
20.310684204101562,
24.47582244873047,
14.212736129760742,
10.005199432373047
],
[
10.871841430664062,
20.866785049438477,
25.114973068237305,
14.50790786743164,
10.228302955627441
],
[
11.155974388122559,
21.414817810058594,
25.743453979492188,
14.794981002807617,
10.447397232055664
],
[
11.436328887939453,
21.955286026000977,
26.361061096191406,
15.07413101196289,
10.662493705749512
],
[
11.7129487991333,
22.488122940063477,
26.968177795410156,
15.345582962036133,
10.873637199401855
],
[
11.985983848571777,
23.01364517211914,
27.565296173095703,
15.609593391418457,
11.081168174743652
],
[
12.25537395477295,
23.53196907043457,
28.152782440185547,
15.866497039794922,
11.2849760055542
],
[
12.521203994750977,
24.043197631835938,
28.73017120361328,
16.116315841674805,
11.485210418701172
],
[
12.783553123474121,
24.547531127929688,
29.29837417602539,
16.359464645385742,
11.68206787109375
],
[
13.042425155639648,
25.045108795166016,
29.857702255249023,
16.59597396850586,
11.875530242919922
],
[
13.297882080078125,
25.535839080810547,
30.407764434814453,
16.82609748840332,
12.065789222717285
],
[
13.549931526184082,
26.01995277404785,
30.94917106628418,
17.04991912841797,
12.253015518188477
],
[
13.798717498779297,
26.497180938720703,
31.48200225830078,
17.267852783203125,
12.43710708618164
],
[
14.044026374816895,
26.96793556213379,
32.00612258911133,
17.479780197143555,
12.618346214294434
],
[
14.286172866821289,
27.4321231842041,
32.52180862426758,
17.686132431030273,
12.796449661254883
],
[
14.525010108947754,
27.889760971069336,
33.02961349487305,
17.88689613342285,
12.971999168395996
]
],
"q01": [
[
-5.887143611907959,
-13.78400707244873,
-13.505678176879883,
-10.39387035369873,
-12.94261360168457
],
[
-7.324902057647705,
-16.68735694885254,
-16.18330955505371,
-12.658297538757324,
-14.700855255126953
],
[
-8.694334030151367,
-19.570528030395508,
-18.849836349487305,
-14.815808296203613,
-16.117218017578125
],
[
-10.003189086914062,
-22.475893020629883,
-21.407012939453125,
-16.911996841430664,
-17.387054443359375
],
[
-11.28681468963623,
-25.331623077392578,
-23.943740844726562,
-18.939952850341797,
-18.070817947387695
],
[
-12.566814422607422,
-28.144800186157227,
-26.371196746826172,
-20.862430572509766,
-19.340660095214844
],
[
-13.7662353515625,
-30.909969329833984,
-28.746204376220703,
-22.726394653320312,
-19.829059600830078
],
[
-14.929635047912598,
-33.6500244140625,
-31.01612663269043,
-24.46519660949707,
-20.610504150390625
],
[
-16.10546875,
-36.33032989501953,
-33.28252410888672,
-26.19544792175293,
-21.782665252685547
],
[
-17.219684600830078,
-38.98826217651367,
-35.48277282714844,
-27.866168975830078,
-22.85714340209961
],
[
-18.356670379638672,
-41.46448516845703,
-37.531681060791016,
-29.34733772277832,
-23.980464935302734
],
[
-19.4022216796875,
-44.09777069091797,
-39.536155700683594,
-30.973846435546875,
-24.371185302734375
],
[
-20.48821258544922,
-46.510074615478516,
-41.509273529052734,
-32.570716857910156,
-24.46886444091797
],
[
-21.621688842773438,
-48.93018341064453,
-43.51487731933594,
-33.890380859375,
-24.908424377441406
],
[
-22.667537689208984,
-51.33414840698242,
-45.35048294067383,
-35.258155822753906,
-25.59218978881836
],
[
-23.631446838378906,
-53.75190353393555,
-47.22588348388672,
-36.579750061035156,
-25.88522720336914
],
[
-24.631237030029297,
-56.08552932739258,
-48.87034606933594,
-37.72834014892578,
-26.47130584716797
],
[
-25.51848030090332,
-58.316646575927734,
-50.614524841308594,
-38.90011215209961,
-27.25274658203125
],
[
-26.4685115814209,
-60.60763168334961,
-52.28425979614258,
-40.006378173828125,
-28.083026885986328
],
[
-27.440013885498047,
-62.832637786865234,
-53.8089599609375,
-40.874813079833984,
-28.815628051757812
],
[
-28.31903076171875,
-65.07038879394531,
-55.4100227355957,
-41.895145416259766,
-29.304027557373047
],
[
-29.171232223510742,
-67.17904663085938,
-56.900882720947266,
-42.722023010253906,
-30.08547019958496
],
[
-29.977346420288086,
-69.47423553466797,
-58.47737121582031,
-43.68773651123047,
-30.720394134521484
],
[
-30.89378547668457,
-71.63052368164062,
-59.99298095703125,
-44.4888916015625,
-31.648353576660156
],
[
-31.642484664916992,
-73.84718322753906,
-61.462799072265625,
-45.24199676513672,
-32.42979431152344
],
[
-32.32075500488281,
-75.95257568359375,
-63.03707504272461,
-46.06254196166992,
-33.21123504638672
],
[
-33.15451431274414,
-78.04641723632812,
-64.5099868774414,
-46.876800537109375,
-33.99267578125
],
[
-33.88447189331055,
-80.07185363769531,
-66.01005554199219,
-47.53181457519531,
-34.871795654296875
],
[
-34.59284973144531,
-81.86064147949219,
-67.54684448242188,
-48.13046646118164,
-35.59804916381836
],
[
-35.31484603881836,
-83.87776184082031,
-68.91935729980469,
-48.88631820678711,
-35.897438049316406
],
[
-36.01363754272461,
-85.80473327636719,
-70.41465759277344,
-49.496238708496094,
-36.630035400390625
],
[
-36.74613952636719,
-87.62489318847656,
-71.75092315673828,
-50.178218841552734,
-37.21611785888672
],
[
-37.3576774597168,
-89.5080337524414,
-72.93238067626953,
-50.769615173339844,
-37.851036071777344
],
[
-37.9183349609375,
-91.5005111694336,
-74.01881408691406,
-51.26813888549805,
-38.4796142578125
],
[
-38.57676315307617,
-93.14763641357422,
-75.094482421875,
-51.724945068359375,
-39.07204055786133
],
[
-39.17542266845703,
-94.83879089355469,
-76.21751403808594,
-52.22864532470703,
-39.60927963256836
],
[
-39.685115814208984,
-96.44297790527344,
-77.37602233886719,
-52.647098541259766,
-40.097679138183594
],
[
-40.29050064086914,
-98.11600494384766,
-78.4340591430664,
-53.11336135864258,
-40.78144073486328
],
[
-40.87446594238281,
-99.60729217529297,
-79.6773681640625,
-53.50818634033203,
-41.41636276245117
],
[
-41.43830871582031,
-101.26556396484375,
-80.94036102294922,
-53.90514373779297,
-42.00244140625
]
],
"q99": [
[
6.128378868103027,
10.289406776428223,
14.488224983215332,
9.513591766357422,
6.300366401672363
],
[
7.492611885070801,
12.916463851928711,
18.261327743530273,
11.770153045654297,
7.765567779541016
],
[
8.82264518737793,
15.527196884155273,
21.893203735351562,
13.947880744934082,
9.13309097290039
],
[
10.162949562072754,
18.12816619873047,
25.5660457611084,
16.030603408813477,
10.5006103515625
],
[
11.455141067504883,
20.626684188842773,
29.078506469726562,
17.972827911376953,
11.770452499389648
],
[
12.710607528686523,
23.10492706298828,
32.47298812866211,
19.829174041748047,
12.991453170776367
],
[
13.935029029846191,
25.495014190673828,
35.914817810058594,
21.616676330566406,
14.212453842163086
],
[
15.161338806152344,
27.87274742126465,
39.309661865234375,
23.311927795410156,
15.384614944458008
],
[
16.390304565429688,
30.143884658813477,
42.558837890625,
24.848243713378906,
16.507936477661133
],
[
17.56639862060547,
32.36625671386719,
45.7029914855957,
26.368701934814453,
17.631258010864258
],
[
18.679981231689453,
34.61441421508789,
48.86473846435547,
27.73015594482422,
18.754579544067383
],
[
19.80518341064453,
36.84672164916992,
51.92863082885742,
29.040287017822266,
19.877901077270508
],
[
20.981136322021484,
38.88751983642578,
55.04997634887695,
30.271268844604492,
21.001220703125
],
[
22.071640014648438,
40.851314544677734,
58.03287887573242,
31.667404174804688,
21.929183959960938
],
[
23.117652893066406,
42.727500915527344,
60.873565673828125,
32.8896369934082,
23.05250358581543
],
[
24.16513442993164,
44.56582260131836,
63.828216552734375,
34.137939453125,
23.931621551513672
],
[
25.14303207397461,
46.3560905456543,
66.50749206542969,
35.40883255004883,
24.85958480834961
],
[
26.122455596923828,
48.08670425415039,
69.22280883789062,
36.5308723449707,
25.64102554321289
],
[
27.07941436767578,
49.805580139160156,
71.77546691894531,
37.6611328125,
26.47130584716797
],
[
27.979169845581055,
51.39652633666992,
74.44969940185547,
38.72303771972656,
27.301589965820312
],
[
28.904905319213867,
53.05278778076172,
76.89393615722656,
39.708675384521484,
28.229549407958984
],
[
29.775569915771484,
54.648719787597656,
79.33346557617188,
40.73342514038086,
29.102561950683594
],
[
30.691621780395508,
56.07014083862305,
81.77703857421875,
41.66946029663086,
29.841270446777344
],
[
31.570072174072266,
57.417030334472656,
84.20545959472656,
42.70597839355469,
30.567764282226562
],
[
32.547271728515625,
58.912628173828125,
86.61663818359375,
43.534263610839844,
31.452991485595703
],
[
33.437557220458984,
60.42032241821289,
88.86241912841797,
44.31521987915039,
32.13675308227539
],
[
34.23238754272461,
61.761375427246094,
90.81718444824219,
45.091888427734375,
32.96703338623047
],
[
35.152854919433594,
62.84285354614258,
92.93502044677734,
45.953121185302734,
33.650794982910156
],
[
35.96889114379883,
64.0966567993164,
95.07939147949219,
46.572994232177734,
34.43223571777344
],
[
36.815853118896484,
65.39662170410156,
97.21588897705078,
47.33292007446289,
34.871795654296875
],
[
37.495758056640625,
66.75669860839844,
99.34015655517578,
48.0313720703125,
35.409034729003906
],
[
38.28343963623047,
68.15771484375,
101.28203582763672,
48.628257751464844,
36.0439567565918
],
[
39.04008865356445,
69.35176086425781,
103.0531997680664,
49.13092803955078,
36.874237060546875
],
[
39.817684173583984,
70.6734619140625,
105.1889877319336,
49.43215560913086,
37.36263656616211
],
[
40.569786071777344,
71.93669128417969,
107.05569458007812,
49.969329833984375,
38.089134216308594
],
[
41.336063385009766,
73.0798110961914,
108.99440002441406,
50.612648010253906,
38.68132019042969
],
[
42.09616470336914,
74.24652099609375,
111.03352355957031,
50.959739685058594,
39.21855926513672
],
[
42.86429977416992,
75.44100189208984,
112.84746551513672,
51.48240661621094,
39.755802154541016
],
[
43.56884765625,
76.55343627929688,
114.62862396240234,
51.822425842285156,
40.19535827636719
],
[
44.23533630371094,
77.5366439819336,
116.2396011352539,
52.33100891113281,
40.68376159667969
]
],
"count": [
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114,
213114
]
}
}
},
"modality_config": {
"state": {
"modality_keys": [
"single_arm",
"gripper"
]
},
"action": {
"modality_keys": [
"single_arm",
"gripper"
],
"action_configs": [
{
"rep": "RELATIVE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
},
{
"rep": "ABSOLUTE",
"type": "NON_EEF",
"format": "DEFAULT",
"state_key": null
}
],
"delta_indices": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30,
31,
32,
33,
34,
35,
36,
37,
38,
39
]
},
"video": {
"modality_keys": [
"gripper",
"newtop",
"newside"
],
"delta_indices": [
0
]
}
},
"use_percentiles": true,
"use_relative_action": true,
"action_decode_transform": null
}
},
{
"registry_name": "device_processor",
"config": {
"device": "cpu",
"float_dtype": null
}
}
]
}