GR00T-N1.6-Rheo-Sim-PushCart / experiment_cfg /dataset_statistics.json
i4h-service-account's picture
Upload folder using huggingface_hub
6bbfb38 verified
{
"new_embodiment": {
"state": {
"left_arm": {
"min": [
-0.6055707931518555,
-0.16723430156707764,
-0.8847235441207886,
-1.0025821924209595,
-0.24740880727767944,
-0.06099473685026169,
-1.0902163982391357
],
"max": [
0.5883761644363403,
0.32523664832115173,
0.0989094227552414,
0.9874557256698608,
1.813299298286438,
0.9054918885231018,
0.28582897782325745
],
"mean": [
0.11133729666471481,
0.021279571869389245,
-0.15802171234866136,
-0.47088393523492883,
1.3722785838687692,
0.23342265575441695,
-0.44538307189941406
],
"std": [
0.13793709281180047,
0.05741799540051907,
0.18433812629682603,
0.41502748471941436,
0.384901013010459,
0.22324492553793385,
0.4204674513468444
],
"q01": [
-0.23270497381687164,
-0.10855191826820373,
-0.7442687743902207,
-0.9897402644157409,
-0.1296403482556343,
-0.00677184484899044,
-1.0821509850025177
],
"q99": [
0.554660279750824,
0.25415442258119586,
0.08322506949305535,
0.43484299838542945,
1.7723453724384308,
0.8927904933691025,
0.16187260493636135
]
},
"right_arm": {
"min": [
-0.6852098703384399,
-0.33597809076309204,
-0.06865552067756653,
-0.99833744764328,
-1.8809294700622559,
-0.07597728073596954,
-0.4387720823287964
],
"max": [
0.5874518752098083,
0.27814608812332153,
0.7953291535377502,
1.1363277435302734,
0.23390373587608337,
0.927615225315094,
1.0879712104797363
],
"mean": [
0.11439530431996775,
-0.01964125411677394,
0.17058825777232192,
-0.4728959737388232,
-1.3855383596347488,
0.23664767255309885,
0.44577826320670033
],
"std": [
0.139781512658654,
0.07206281437888126,
0.1853687234919888,
0.41307632436660147,
0.3907897463810755,
0.225145903910801,
0.42143973195250983
],
"q01": [
-0.21396278858184814,
-0.2618202948570251,
-0.02264138024300337,
-0.9904922735691071,
-1.8431726753711701,
-0.010340607604011894,
-0.1952042929828167
],
"q99": [
0.5541100239753723,
0.20058806791901584,
0.6944573312997822,
0.4477821671962739,
0.11827469453215624,
0.8932856965065002,
1.0825156998634338
]
},
"left_hand": {
"min": [
-0.7394739985466003,
-1.3056130409240723,
-0.7149033546447754,
-1.2715823650360107,
-0.0875510647892952,
-0.0007475148304365575,
-5.731719543433655e-10
],
"max": [
9.020675761917119e-09,
2.6739314762380673e-08,
7.43943431302796e-08,
3.393766689896438e-08,
0.23627735674381256,
0.7222919464111328,
0.7737292051315308
],
"mean": [
-0.15409650568288702,
-0.2967436353441413,
-0.15355506806655694,
-0.2956634538091776,
0.0003359570840679337,
0.1625169242611368,
0.1708055635672489
],
"std": [
0.2562393349362905,
0.5151007162153791,
0.2558712628519208,
0.5136680736880126,
0.01215330976794346,
0.28106584117277517,
0.2962949512620751
],
"q01": [
-0.6400266450643539,
-1.222067734003067,
-0.6160494422912598,
-1.2111320853233338,
-0.041231278777122495,
-0.0005546100012725219,
4.051139327998498e-08
],
"q99": [
-9.510363625508929e-09,
3.399165490747247e-10,
-3.1482918338987473e-09,
3.222665034829923e-10,
0.07191152729094029,
0.6978791493177414,
0.7206207311153412
]
},
"right_hand": {
"min": [
-2.6395139407497936e-09,
-1.8498671749966888e-07,
-4.1190848065753016e-08,
-2.1519872106523508e-08,
-0.08818025141954422,
-0.7368866801261902,
-0.7594555020332336
],
"max": [
0.7515956163406372,
1.2805052995681763,
0.6825122833251953,
1.2540454864501953,
0.08479728549718857,
0.0007579708471894264,
3.03234853893386e-10
],
"mean": [
0.15363445622092894,
0.29694651010382267,
0.15210783089162738,
0.2959187547214159,
-0.0006023637257482615,
-0.16213119007248916,
-0.1692094306909401
],
"std": [
0.25678278803996063,
0.515400891377213,
0.2543541960030136,
0.5137403484487991,
0.010620494681080915,
0.2800652536105267,
0.2935091115943134
],
"q01": [
4.683577805586481e-09,
-3.455180774825095e-10,
1.5927247443148219e-09,
-3.3917272823646985e-10,
-0.04927793242037296,
-0.6982743787765503,
-0.7076703947782517
],
"q99": [
0.6150873297452929,
1.2176937580108642,
0.6158625334501266,
1.2142948555946351,
0.045998153723776344,
0.0006163383997045458,
-6.395591334751276e-08
]
},
"waist": {
"min": [
-0.5252949595451355,
-0.12395840883255005,
-0.22606544196605682
],
"max": [
0.26159846782684326,
0.1608971804380417,
0.15848059952259064
],
"mean": [
0.003680989331075253,
0.006521427925704545,
0.07469273466645307
],
"std": [
0.024259551233072836,
0.05540824896831362,
0.01892787667713395
],
"q01": [
-0.046878622882068156,
-0.09829776473343373,
0.009909144649282099
],
"q99": [
0.05961626231670383,
0.1217159640789032,
0.11547521837055685
]
}
},
"action": {
"left_arm": {
"min": [
-0.6587644815444946,
-0.33883315324783325,
-0.8281548023223877,
-1.047199010848999,
-0.3555113971233368,
-0.08558891713619232,
-1.0641584396362305
],
"max": [
0.5923794507980347,
0.3485598564147949,
0.09441877901554108,
0.878711998462677,
1.8309974670410156,
0.8546063303947449,
0.3149670362472534
],
"mean": [
0.08152329992815738,
0.020986724573806043,
-0.1571748510344338,
-0.5572237659046668,
1.3880048298653755,
0.2246787901825577,
-0.40455436206045947
],
"std": [
0.14645035289186767,
0.05938305533124721,
0.18480137824739074,
0.4052333131520292,
0.3788290923074586,
0.2145441793124567,
0.4234949883307348
],
"q01": [
-0.2781541618704796,
-0.11752759665250778,
-0.7336255413293838,
-1.047199010848999,
-0.1161349605023861,
-0.014302683444693683,
-1.0485699188709259
],
"q99": [
0.5523111099004746,
0.2686066094040871,
0.07580238565802574,
0.34244684219360355,
1.7766658973693847,
0.8320274513959884,
0.21428628280758857
]
},
"right_arm": {
"min": [
-0.7307594418525696,
-0.3630092442035675,
-0.036902591586112976,
-1.047199010848999,
-1.9040647745132446,
-0.08592961728572845,
-0.45185551047325134
],
"max": [
0.5830736756324768,
0.3156737685203552,
0.744520366191864,
1.038894534111023,
0.3336993157863617,
0.8939617276191711,
1.0645519495010376
],
"mean": [
0.0848270009861875,
-0.018989542293013962,
0.1705565774486265,
-0.5604494368757,
-1.401919457748646,
0.22801324133654588,
0.4042519105754736
],
"std": [
0.1484859251155289,
0.07580771250005226,
0.1865226398109371,
0.40161306901825716,
0.38432268162205996,
0.21645818492043367,
0.42501320670988424
],
"q01": [
-0.26083661943674086,
-0.2678136566281319,
-0.018126255441457035,
-1.047199010848999,
-1.8484497237205506,
-0.008173806592822075,
-0.23394883126020433
],
"q99": [
0.5525610464811326,
0.22155032873153685,
0.690770127773285,
0.3467799815535546,
0.10901155814528517,
0.8339905923604966,
1.0485838067531585
]
},
"left_hand": {
"min": [
-0.6000000238418579,
-1.2000000476837158,
-0.6000000238418579,
-1.2000000476837158,
0.0,
0.0,
0.0
],
"max": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.699999988079071,
0.699999988079071
],
"mean": [
-0.15153342365991068,
-0.30306684731982136,
-0.15153342365991068,
-0.30306684731982136,
0.0,
0.1767896287541353,
0.1767896287541353
],
"std": [
0.260659846478,
0.521319692956,
0.260659846478,
0.521319692956,
0.0,
0.30410237857092165,
0.30410237857092165
],
"q01": [
-0.6000000238418579,
-1.2000000476837158,
-0.6000000238418579,
-1.2000000476837158,
0.0,
0.0,
0.0
],
"q99": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.699999988079071,
0.699999988079071
]
},
"right_hand": {
"min": [
-0.0,
-0.0,
-0.0,
-0.0,
-0.0,
-0.699999988079071,
-0.699999988079071
],
"max": [
0.6000000238418579,
1.2000000476837158,
0.6000000238418579,
1.2000000476837158,
-0.0,
-0.0,
-0.0
],
"mean": [
0.15153342365991068,
0.30306684731982136,
0.15153342365991068,
0.30306684731982136,
0.0,
-0.1767896287541353,
-0.1767896287541353
],
"std": [
0.260659846478,
0.521319692956,
0.260659846478,
0.521319692956,
0.0,
0.30410237857092165,
0.30410237857092165
],
"q01": [
0.0,
0.0,
0.0,
0.0,
0.0,
-0.699999988079071,
-0.699999988079071
],
"q99": [
0.6000000238418579,
1.2000000476837158,
0.6000000238418579,
1.2000000476837158,
-0.0,
-0.0,
-0.0
]
},
"base_height_command": {
"min": [
0.75
],
"max": [
0.75
],
"mean": [
0.75
],
"std": [
0.0
],
"q01": [
0.75
],
"q99": [
0.75
]
},
"navigate_command": {
"min": [
0.0,
0.0,
-0.5999999642372131
],
"max": [
0.4000000059604645,
0.20000000298023224,
0.6000000238418579
],
"mean": [
0.15378478487939323,
0.008405582808697496,
-0.0450333507006405
],
"std": [
0.15995153353215863,
0.03720880966234726,
0.25330102124317866
],
"q01": [
0.0,
0.0,
-0.5999999642372131
],
"q99": [
0.4000000059604645,
0.20000000298023224,
0.6000000238418579
]
}
},
"relative_action": {}
}
}