groot1.7_ring_insert / experiment_cfg /dataset_statistics.json
pravsels's picture
Promote 10000 checkpoint to repo root
af9fbe0 verified
Raw
History Blame Contribute Delete
20.8 kB
{
"new_embodiment": {
"state": {
"single_arm": {
"min": [
-29.010988235473633,
-101.84615325927734,
-25.846153259277344,
-3.780219793319702,
-30.63736343383789
],
"max": [
39.120880126953125,
30.19780158996582,
96.26373291015625,
99.86813354492188,
33.71428680419922
],
"mean": [
1.988936185836792,
-38.90863800048828,
54.020042419433594,
49.90645980834961,
-0.4925313889980316
],
"std": [
13.722591400146484,
35.96825408935547,
31.793231964111328,
21.93545150756836,
9.928781509399414
],
"q01": [
-23.824174880981445,
-101.31867980957031,
-11.245714569091794,
0.35164836049079895,
-21.318681716918945
],
"q99": [
35.9560432434082,
13.05494499206543,
96.17582702636719,
87.38461303710938,
30.373626708984375
]
},
"gripper": {
"min": [
0.8867667317390442
],
"max": [
28.376535415649414
],
"mean": [
6.725670337677002
],
"std": [
5.633188724517822
],
"q01": [
0.9549795389175415
],
"q99": [
21.759891510009766
]
}
},
"action": {
"single_arm": {
"min": [
-29.318681716918945,
-102.989013671875,
-29.098901748657227,
-4.175824165344238,
-31.340660095214844
],
"max": [
39.60439682006836,
29.758241653442383,
97.67032623291016,
100.35164642333984,
34.41758346557617
],
"mean": [
2.0507652759552,
-39.47334289550781,
52.88246536254883,
49.540916442871094,
-0.48444971442222595
],
"std": [
13.752706527709961,
35.919918060302734,
32.46714401245117,
21.90213966369629,
9.983773231506348
],
"q01": [
-24.043956756591797,
-101.93406677246094,
-13.953406238555905,
0.04395604506134987,
-21.758241653442383
],
"q99": [
36.01934097290033,
12.79120922088623,
97.23076629638672,
87.34066009521484,
30.373626708984375
]
},
"gripper": {
"min": [
0.0
],
"max": [
29.505582809448242
],
"mean": [
5.165055751800537
],
"std": [
6.453084945678711
],
"q01": [
0.6379585266113281
],
"q99": [
22.408292770385742
]
}
},
"relative_action": {
"single_arm": {
"min": [
[
-14.461539268493652,
-31.20879364013672,
-30.417583465576172,
-23.164833068847656,
-13.274724960327148
],
[
-14.98901081085205,
-35.78022003173828,
-34.4615364074707,
-23.164833068847656,
-15.648351669311523
],
[
-15.164835929870605,
-40.087913513183594,
-38.417579650878906,
-24.21977996826172,
-18.461538314819336
],
[
-15.69230842590332,
-44.39560317993164,
-42.109893798828125,
-27.20879364013672,
-21.098899841308594
],
[
-17.9780216217041,
-48.52747344970703,
-45.53845977783203,
-30.02198028564453,
-22.85714340209961
],
[
-19.560440063476562,
-53.89011001586914,
-48.43955993652344,
-32.395599365234375,
-25.05494499206543
],
[
-20.96703338623047,
-59.9560432434082,
-50.989013671875,
-34.15384292602539,
-27.516483306884766
],
[
-22.10988998413086,
-64.17582702636719,
-53.27472686767578,
-36.879119873046875,
-29.802196502685547
],
[
-23.076923370361328,
-66.19779968261719,
-56.43955993652344,
-39.340660095214844,
-31.47252655029297
],
[
-23.78022003173828,
-68.13187408447266,
-59.78022003173828,
-41.71428680419922,
-32.087913513183594
],
[
-24.571428298950195,
-70.94506072998047,
-62.94505310058594,
-43.912086486816406,
-32.61538314819336
],
[
-25.626375198364258,
-73.84616088867188,
-65.84615325927734,
-46.5494499206543,
-33.406593322753906
],
[
-26.417583465576172,
-76.5714340209961,
-68.13186645507812,
-49.53845977783203,
-34.81318664550781
],
[
-27.208789825439453,
-79.20878601074219,
-71.56044006347656,
-51.5604362487793,
-35.9560432434082
],
[
-27.824174880981445,
-82.1098861694336,
-74.81318664550781,
-53.14285659790039,
-36.83516311645508
],
[
-28.52747344970703,
-85.010986328125,
-77.97801971435547,
-54.989009857177734,
-37.89011001586914
]
],
"max": [
[
9.89011001586914,
23.824172973632812,
36.57142639160156,
27.736263275146484,
13.714284896850586
],
[
12.967033386230469,
27.868133544921875,
42.4615364074707,
30.10988998413086,
14.153846740722656
],
[
15.95604419708252,
32.43955993652344,
47.912086486816406,
31.692306518554688,
17.406593322753906
],
[
18.85714340209961,
36.57142639160156,
53.274723052978516,
34.32966995239258,
20.483516693115234
],
[
21.406593322753906,
39.384613037109375,
58.5494499206543,
37.58241653442383,
23.560440063476562
],
[
23.60439682006836,
42.02198028564453,
62.5054931640625,
39.9560432434082,
26.549449920654297
],
[
25.538463592529297,
45.890106201171875,
65.84615325927734,
42.32966995239258,
29.538461685180664
],
[
27.38461685180664,
49.75823974609375,
67.86812591552734,
43.912086486816406,
32.52747344970703
],
[
28.703296661376953,
53.45054626464844,
71.47252655029297,
45.31867980957031,
35.42857360839844
],
[
30.02198028564453,
56.9670295715332,
75.25274658203125,
46.4615364074707,
37.5384635925293
],
[
31.60439682006836,
60.131866455078125,
79.38461303710938,
47.07692337036133,
39.29670333862305
],
[
32.92307662963867,
63.03296661376953,
83.16483306884766,
47.9560432434082,
40.263736724853516
],
[
33.978023529052734,
65.84615325927734,
87.29669952392578,
49.978023529052734,
41.14285659790039
],
[
34.76923370361328,
68.4835205078125,
91.07691955566406,
52.17582321166992,
41.75823974609375
],
[
36.087913513183594,
71.03296661376953,
94.4175796508789,
54.81318283081055,
41.75823974609375
],
[
37.05494689941406,
73.4065933227539,
97.75823974609375,
57.27472686767578,
41.75823974609375
]
],
"mean": [
[
0.05252271890640259,
-0.44961366057395935,
-1.3810067176818848,
-0.5383102297782898,
0.005542324390262365
],
[
0.05060017108917236,
-0.4308803975582123,
-1.4068167209625244,
-0.593940258026123,
0.004673561081290245
],
[
0.04949820041656494,
-0.41805994510650635,
-1.4250603914260864,
-0.6486067175865173,
0.003708319505676627
],
[
0.04928917437791824,
-0.4097505807876587,
-1.4366508722305298,
-0.7017847895622253,
0.002847608644515276
],
[
0.04973168298602104,
-0.4044969081878662,
-1.442812204360962,
-0.7526053190231323,
0.0021236210595816374
],
[
0.05041532218456268,
-0.4011270999908447,
-1.4456192255020142,
-0.7994228005409241,
0.001351392944343388
],
[
0.05106696859002113,
-0.3986898362636566,
-1.4464950561523438,
-0.8404057025909424,
0.0006355035002343357
],
[
0.0515415295958519,
-0.3965660333633423,
-1.4468375444412231,
-0.8742049932479858,
-8.84718174347654e-05
],
[
0.05195971578359604,
-0.39476478099823,
-1.4468951225280762,
-0.8984988927841187,
-0.0007319324067793787
],
[
0.052176933735609055,
-0.3930343687534332,
-1.4468693733215332,
-0.9146161675453186,
-0.0013030839618295431
],
[
0.05216075852513313,
-0.3915066123008728,
-1.4468547105789185,
-0.9235863089561462,
-0.0018822313286364079
],
[
0.052007805556058884,
-0.39036324620246887,
-1.4468398094177246,
-0.9282782077789307,
-0.002397017553448677
],
[
0.05167792737483978,
-0.3895268738269806,
-1.4468237161636353,
-0.9304037094116211,
-0.0029279994778335094
],
[
0.05130806565284729,
-0.3888275623321533,
-1.4468061923980713,
-0.9320605993270874,
-0.003442761255428195
],
[
0.05096229910850525,
-0.38813528418540955,
-1.446787714958191,
-0.9335735440254211,
-0.003949629608541727
],
[
0.05056795850396156,
-0.38745182752609253,
-1.4467723369598389,
-0.93507981300354,
-0.004440249875187874
]
],
"std": [
[
1.4878755807876587,
5.839897632598877,
5.374911308288574,
3.176649332046509,
1.5652546882629395
],
[
1.9109783172607422,
7.644970417022705,
6.917716026306152,
4.120389461517334,
1.981215238571167
],
[
2.321254253387451,
9.430123329162598,
8.453091621398926,
5.043785095214844,
2.3793013095855713
],
[
2.716085910797119,
11.187356948852539,
9.970100402832031,
5.940429210662842,
2.756856918334961
],
[
3.093921422958374,
12.91049575805664,
11.461906433105469,
6.8076252937316895,
3.1135854721069336
],
[
3.4536941051483154,
14.595410346984863,
12.921976089477539,
7.646265983581543,
3.4501616954803467
],
[
3.7960422039031982,
16.23885726928711,
14.347005844116211,
8.458425521850586,
3.767953395843506
],
[
4.122044086456299,
17.838661193847656,
15.734045028686523,
9.246739387512207,
4.068443298339844
],
[
4.432971954345703,
19.39406967163086,
17.082509994506836,
10.015328407287598,
4.352938652038574
],
[
4.72984504699707,
20.904521942138672,
18.392000198364258,
10.765315055847168,
4.622180938720703
],
[
5.013516426086426,
22.37005615234375,
19.66269302368164,
11.497218132019043,
4.8769989013671875
],
[
5.284946918487549,
23.79131317138672,
20.894948959350586,
12.208915710449219,
5.117739677429199
],
[
5.544953346252441,
25.16900062561035,
22.08959197998047,
12.899317741394043,
5.345024108886719
],
[
5.794323444366455,
26.503883361816406,
23.24732780456543,
13.566927909851074,
5.559260845184326
],
[
6.033751964569092,
27.797048568725586,
24.36910057067871,
14.212467193603516,
5.760995864868164
],
[
6.2639055252075195,
29.049880981445312,
25.455867767333984,
14.83670711517334,
5.951050758361816
]
],
"q01": [
[
-4.4395599365234375,
-15.64834976196289,
-14.241758346557617,
-10.392964935302734,
-5.362637042999268
],
[
-5.846153736114502,
-20.370985717773436,
-17.934066772460938,
-13.381978607177734,
-6.857142791748047
],
[
-7.076923370361328,
-24.96703338623047,
-21.538461685180664,
-16.483516693115234,
-8.239120788574219
],
[
-8.458901443481444,
-29.51384506225586,
-25.23076629638672,
-19.359998321533205,
-9.318680763244629
],
[
-9.626373291015625,
-33.934065704345706,
-28.659341278076173,
-21.934066772460938,
-10.349011192321777
],
[
-10.681318969726563,
-38.24176025390625,
-31.912086486816406,
-24.219778900146483,
-11.491868057250976
],
[
-12.151208915710448,
-42.54945373535156,
-35.05230651855469,
-26.24176025390625,
-12.546813049316405
],
[
-13.406594009399415,
-46.80791015625,
-38.15384948730469,
-28.18989044189453,
-13.538462371826173
],
[
-14.197803230285645,
-50.637359619140625,
-40.70329559326172,
-30.26109848022461,
-14.217143096923827
],
[
-15.316043891906737,
-54.5054931640625,
-43.340660095214844,
-32.107252807617186,
-15.09626350402832
],
[
-16.19516471862793,
-58.17318603515625,
-45.77758346557617,
-33.7775845336914,
-15.799560585021972
],
[
-17.01098960876465,
-61.53846633911133,
-47.99999893188477,
-35.359999389648436,
-16.52747344970703
],
[
-17.86549476623535,
-64.96703338623047,
-49.73362609863281,
-36.829890441894534,
-17.118240814208985
],
[
-18.74461654663086,
-67.86813354492188,
-51.78022003173828,
-38.021975402832034,
-17.670330047607422
],
[
-19.4479118347168,
-70.8325259399414,
-53.689669342041014,
-39.115603637695315,
-18.0219783782959
],
[
-19.975384216308594,
-73.4698876953125,
-55.20878875732422,
-40.395605926513674,
-18.197802963256837
]
],
"q99": [
[
4.9424173164367105,
12.395605087280273,
14.832527618408145,
9.274726333618164,
6.065934181213379
],
[
6.373626098632813,
16.439558868408202,
19.692310333251953,
12.414945220947208,
7.824175567626953
],
[
7.6043965530395505,
20.307693481445312,
24.76659164428705,
15.316043472289982,
9.318681449890137
],
[
9.010988235473633,
24.0,
29.689670715331975,
18.065935974121093,
10.876483001708927
],
[
10.329669952392578,
27.60439682006836,
34.524837951660096,
20.61538314819336,
11.868132591247559
],
[
11.359999694824161,
31.208793106079103,
39.032969360351565,
23.11560638427723,
13.074285278320255
],
[
12.439559936523438,
34.72527313232422,
43.81890029907215,
25.601759414672795,
13.802198143005372
],
[
13.46988967895502,
37.80219924926758,
47.79956100463861,
28.351648330688477,
14.593406677246094
],
[
14.261098899841251,
41.29406616210932,
51.73099060058582,
30.412306442260626,
15.184175949096621
],
[
15.25274658203125,
44.395605926513674,
55.71164855957026,
32.722637634277284,
15.736263275146484
],
[
16.04395622253418,
47.62373504638666,
59.755604248046815,
34.56879196166987,
16.52747344970703
],
[
16.810548400878847,
50.261098480224554,
63.71164581298822,
36.17582321166992,
17.445274429321174
],
[
17.865494766235294,
52.98637161254877,
67.29142852783191,
37.73362503051752,
18.197802963256837
],
[
18.769229888916016,
55.56043899536133,
70.41758514404297,
39.31604431152338,
18.612747650146428
],
[
19.736263275146484,
58.373626708984375,
73.38197204589838,
40.1072517395019,
18.876483001708927
],
[
20.703296127319337,
60.48351943969727,
75.86813354492188,
41.689668273925726,
19.25274658203125
]
]
}
}
}
}