File size: 9,971 Bytes
f4a5f2c
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
{
  "format": "molmoact2_norm_stats.v1",
  "norm_mode": "q01_q99",
  "metadata_by_tag": {
    "yam_dual_molmoact2": {
      "action_key": "action",
      "state_keys": [
        "observation.state"
      ],
      "camera_keys": [
        "observation.images.top",
        "observation.images.left",
        "observation.images.right"
      ],
      "normalize_gripper": false,
      "action_dim": 14,
      "action_horizon": 30,
      "n_action_steps": 30,
      "setup_type": "bimanual yam robotic arms in molmoact2",
      "control_mode": "absolute joint pose",
      "action_representation": "absolute",
      "action_stats": {
        "min": [
          -0.8447775840759277,
          -0.00019073777366429567,
          0.004005493130534887,
          -1.6432058811187744,
          -0.6258106231689453,
          -0.8382925391197205,
          0.0335921049118042,
          -0.11310750246047974,
          -0.00019073777366429567,
          0.0024795911740511656,
          -1.6897459030151367,
          -0.21839475631713867,
          -0.25539788603782654,
          0.08180292695760727
        ],
        "max": [
          0.26684215664863586,
          2.331387758255005,
          2.417219877243042,
          0.13904783129692078,
          0.37823301553726196,
          0.37937742471694946,
          1.0,
          0.8768215179443359,
          2.448500871658325,
          2.780766010284424,
          0.2454795092344284,
          0.7890821695327759,
          1.492904543876648,
          1.0
        ],
        "mean": [
          -0.11206293944528323,
          0.6252960818985998,
          0.5294012476168523,
          -0.3154735435207992,
          0.02768457862089179,
          -0.09559941636330058,
          0.8646426081478965,
          0.13644609298012414,
          0.7207808726014376,
          0.6116199599954321,
          -0.34578518754339865,
          0.06978966730677129,
          0.4417481706586242,
          0.7764419134913647
        ],
        "std": [
          0.2660494328982899,
          0.8759243884818075,
          0.7272538617173548,
          0.35720757787236357,
          0.1212791945420717,
          0.2322648357565309,
          0.29471837281643315,
          0.2632891409747091,
          0.9388950752513163,
          0.7745415721143339,
          0.3614156669131715,
          0.10288382297765744,
          0.5605375535290942,
          0.3063201162681946
        ],
        "count": [
          56116.0
        ],
        "q01": [
          -0.8056934421793897,
          0.002855117487096066,
          0.005458868473296928,
          -1.2444184850769253,
          -0.3685726165063478,
          -0.758210294827813,
          0.06589732876527132,
          -0.03444464579452283,
          0.003137444540123659,
          0.004481350624907534,
          -1.16230924474992,
          -0.08605392754698034,
          -0.02289740081671542,
          0.08776476983449462
        ],
        "q10": [
          -0.5858208340070036,
          0.0033126564269048762,
          0.005475342203253987,
          -0.8542086932069511,
          -0.15464024020402792,
          -0.41222053268308334,
          0.23388114793180237,
          -0.014010147307624763,
          0.0038496503029280885,
          0.004841383282724773,
          -0.8900016963358179,
          -0.0050120235313167345,
          -0.0021356251911957827,
          0.12322698965560744
        ],
        "q50": [
          0.01013936373557555,
          0.0035572373914013688,
          0.0055485587808409296,
          -0.07541681267041368,
          0.08627568049829643,
          0.0026599856607361855,
          0.9978195391747804,
          -4.1988806184057024e-05,
          0.004381171388690383,
          0.0052960981140014905,
          -0.07809088676694867,
          0.025598055571729676,
          0.01412102828950175,
          0.9432753531104682
        ],
        "q90": [
          0.023502650288902336,
          2.0002528890182236,
          1.6696638137714295,
          -0.0747963194999569,
          0.10501845465791847,
          0.04861375050333984,
          0.9999484107335731,
          0.6489452147386868,
          2.16068543689023,
          1.7859518704055335,
          -0.07638733921115992,
          0.19932977731402243,
          1.2679158922113056,
          0.9452655873345305
        ],
        "q99": [
          0.19503284525878703,
          2.213495472575951,
          1.9427204570761984,
          -0.027313539755583434,
          0.17593166443755248,
          0.2431112483680432,
          0.9999948410733573,
          0.8012544752311732,
          2.3441160732989665,
          1.9270288876058035,
          -0.030848118451977123,
          0.41678402870482695,
          1.3694969390834413,
          0.9755723684598968
        ],
        "names": [
          "left_joint_0.pos",
          "left_joint_1.pos",
          "left_joint_2.pos",
          "left_joint_3.pos",
          "left_joint_4.pos",
          "left_joint_5.pos",
          "left_gripper.pos",
          "right_joint_0.pos",
          "right_joint_1.pos",
          "right_joint_2.pos",
          "right_joint_3.pos",
          "right_joint_4.pos",
          "right_joint_5.pos",
          "right_gripper.pos"
        ],
        "mask": [
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          false
        ]
      },
      "state_stats": {
        "min": [
          -0.8428702354431152,
          0.010109102353453636,
          0.005912871100008488,
          -1.646257758140564,
          -0.5643930435180664,
          -0.8180742859840393,
          0.5159103870391846,
          -0.10662241280078888,
          0.005531395319849253,
          0.007438773289322853,
          -1.6100175380706787,
          -0.20084688067436218,
          -0.2443350851535797,
          0.13736145198345184
        ],
        "max": [
          0.2607385218143463,
          2.315365791320801,
          2.3813610076904297,
          0.12493324279785156,
          0.31414511799812317,
          0.368314653635025,
          0.9986892342567444,
          0.8764400482177734,
          2.4313344955444336,
          2.7635996341705322,
          0.1970321238040924,
          0.7497901916503906,
          1.4787899255752563,
          0.9989708662033081
        ],
        "mean": [
          -0.11424154769203045,
          0.6325279498189076,
          0.5278225099874101,
          -0.314132208558913,
          0.02400514532619714,
          -0.10463019267178132,
          0.9272474872661475,
          0.13669117711156753,
          0.7261997445906904,
          0.6176757604803582,
          -0.312224734052235,
          0.070155053328006,
          0.4410391383999488,
          0.7996621797483588
        ],
        "std": [
          0.26536349774002854,
          0.8754143955167379,
          0.7217096242450494,
          0.35876992998837487,
          0.11192497419132691,
          0.22536737072937735,
          0.14603248585721976,
          0.2637443957531469,
          0.9331383413850645,
          0.76473775614126,
          0.3818587716595896,
          0.09284978045540355,
          0.5575024495224292,
          0.260211731581042
        ],
        "q01": [
          -0.8036761764473891,
          0.01075271450782269,
          0.006787992664911,
          -1.2426391147860492,
          -0.33245668802725564,
          -0.7476324385028591,
          0.5718327963334282,
          -0.0315986719853488,
          0.013348262785996587,
          0.01728555190664589,
          -1.1477063504261178,
          -0.07393255104248232,
          -0.016901526057304005,
          0.15960416022403398
        ],
        "q99": [
          0.1964237795492727,
          2.208971752357076,
          1.9235999186749637,
          -0.036271499928230776,
          0.1523296597390906,
          0.2358695054202915,
          0.9986404884310729,
          0.8008952624079216,
          2.318854160744659,
          1.9156275396641267,
          -0.009633025320927899,
          0.39258274676510446,
          1.3549643183348683,
          0.9747818207724199
        ],
        "q10": [
          -0.5889838924032492,
          0.010847841647292163,
          0.008241983016422665,
          -0.8551666231741832,
          -0.14415982694523033,
          -0.4071520156528908,
          0.6437547081195694,
          -0.011000066789854277,
          0.013607745483527348,
          0.018336382402709482,
          -0.8818257922726487,
          0.006193986120826769,
          -0.002092252987075683,
          0.3531380842834453
        ],
        "q90": [
          0.019769065606638568,
          2.006316514131184,
          1.66193754434419,
          -0.07103843752993262,
          0.09682592200965641,
          0.03586032185156633,
          0.9986141851927731,
          0.6511848691740296,
          2.163251245318727,
          1.7749593723005321,
          -0.018599721089856327,
          0.19105616238145512,
          1.2602837067401413,
          0.9445581293616506
        ],
        "count": [
          56116.0
        ],
        "names": [
          "left_joint_0.pos",
          "left_joint_1.pos",
          "left_joint_2.pos",
          "left_joint_3.pos",
          "left_joint_4.pos",
          "left_joint_5.pos",
          "left_gripper.pos",
          "right_joint_0.pos",
          "right_joint_1.pos",
          "right_joint_2.pos",
          "right_joint_3.pos",
          "right_joint_4.pos",
          "right_joint_5.pos",
          "right_gripper.pos"
        ],
        "mask": [
          true,
          true,
          true,
          true,
          true,
          true,
          false,
          true,
          true,
          true,
          true,
          true,
          true,
          false
        ]
      }
    }
  }
}