| { |
| "AgileX Split Aloha": { |
| "images.rgb.hand_left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4441868021551884 |
| ] |
| ], |
| [ |
| [ |
| 0.41597173428400175 |
| ] |
| ], |
| [ |
| [ |
| 0.34237166784828515 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.29067710575918515 |
| ] |
| ], |
| [ |
| [ |
| 0.28972209951677325 |
| ] |
| ], |
| [ |
| [ |
| 0.2933734839385213 |
| ] |
| ] |
| ], |
| "count": [ |
| 45122 |
| ] |
| }, |
| "master_actions.left_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.08216225355863571 |
| ], |
| "std": [ |
| 0.031063687056303024 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 2524.0 |
| ], |
| "mean": [ |
| 510.5065002441406 |
| ], |
| "std": [ |
| 382.5806884765625 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 7764545.0 |
| ], |
| "mean": [ |
| 1510573.75 |
| ], |
| "std": [ |
| 1684854.25 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "hand_left_camera_intrinsics": { |
| "min": [ |
| 488.5199890136719, |
| 488.5199890136719, |
| 320.0, |
| 219.14999389648438 |
| ], |
| "max": [ |
| 488.52001953125, |
| 488.52001953125, |
| 323.92999267578125, |
| 240.0 |
| ], |
| "mean": [ |
| 488.52008056640625, |
| 488.52008056640625, |
| 322.77587890625, |
| 225.27333068847656 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 1.7743836641311646, |
| 9.498149871826172 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "master_actions.right_gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.7129793167114258 |
| ], |
| "std": [ |
| 0.4523712992668152 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.right_tcp_to_robot_pose": { |
| "min": [ |
| -0.08276224136352539, |
| -0.9443843960762024, |
| 0.22606363892555237, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 1.110187292098999, |
| 0.3900037705898285, |
| 1.5281490087509155, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.6365596652030945, |
| -0.2566606104373932, |
| 0.8450635671615601, |
| 0.2985210716724396, |
| 0.5588188171386719, |
| 0.5805578827857971, |
| 0.32415473461151123 |
| ], |
| "std": [ |
| 0.10863983631134033, |
| 0.11275418847799301, |
| 0.21679797768592834, |
| 0.2257710099220276, |
| 0.1747369021177292, |
| 0.16673901677131653, |
| 0.2171994000673294 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.right_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.0792401060461998 |
| ], |
| "std": [ |
| 0.03353779762983322 |
| ], |
| "count": [ |
| 6595178250 |
| ] |
| }, |
| "actions.left_joint.position": { |
| "min": [ |
| -5.350478649139404, |
| -8.205354690551758, |
| -3.8368096351623535, |
| -6.433774948120117, |
| -3.277651071548462, |
| -6.648960113525391 |
| ], |
| "max": [ |
| 5.405672073364258, |
| 3.7001278400421143, |
| 4.175942897796631, |
| 8.183722496032715, |
| 5.875010013580322, |
| 6.395712852478027 |
| ], |
| "mean": [ |
| -0.004583414644002914, |
| 0.029491059482097626, |
| -0.015923069790005684, |
| -0.001089846482500434, |
| 0.0008386849076487124, |
| 0.00036943069426342845 |
| ], |
| "std": [ |
| 0.12760430574417114, |
| 0.28035110235214233, |
| 0.1789143979549408, |
| 0.1734250783920288, |
| 0.15041740238666534, |
| 0.22385387122631073 |
| ], |
| "count": [ |
| 6595178250 |
| ] |
| }, |
| "head_camera_intrinsics": { |
| "min": [ |
| 323.3450012207031, |
| 323.3450012207031, |
| 319.54998779296875, |
| 180.0 |
| ], |
| "max": [ |
| 323.3450012207031, |
| 323.3450012207031, |
| 320.0, |
| 182.17999267578125 |
| ], |
| "mean": [ |
| 323.344970703125, |
| 323.344970703125, |
| 319.6820373535156, |
| 181.53976440429688 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.33071890473365784, |
| 1.0 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.right_tcp_to_right_armbase_pose": { |
| "min": [ |
| -0.45124202966690063, |
| -0.6383848786354065, |
| -0.42664045095443726, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 0.741707444190979, |
| 0.6221811175346375, |
| 0.8754448890686035, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.26885104179382324, |
| 0.04935375601053238, |
| 0.1014677882194519, |
| 0.2985210716724396, |
| 0.5588188171386719, |
| 0.5805578827857971, |
| 0.32415473461151123 |
| ], |
| "std": [ |
| 0.10828693211078644, |
| 0.11229608207941055, |
| 0.16468586027622223, |
| 0.2257710099220276, |
| 0.1747369021177292, |
| 0.16673901677131653, |
| 0.2171994000673294 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 84.13333129882812 |
| ], |
| "mean": [ |
| 17.016887664794922 |
| ], |
| "std": [ |
| 12.75267219543457 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.right_ee_to_right_armbase_pose": { |
| "min": [ |
| -0.3966960608959198, |
| -0.542458176612854, |
| -0.29567474126815796, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 0.6067260503768921, |
| 0.5576760172843933, |
| 0.7405033707618713, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.1797945499420166, |
| 0.042919594794511795, |
| 0.15753614902496338, |
| 0.2985210716724396, |
| 0.5588188171386719, |
| 0.5805578827857971, |
| 0.32415473461151123 |
| ], |
| "std": [ |
| 0.13620012998580933, |
| 0.10375446826219559, |
| 0.11580874025821686, |
| 0.2257710099220276, |
| 0.1747369021177292, |
| 0.16673901677131653, |
| 0.2171994000673294 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.right_ee_to_robot_pose": { |
| "min": [ |
| -0.028216272592544556, |
| -0.8484576940536499, |
| 0.35702934861183167, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 0.9752058386802673, |
| 0.39043501019477844, |
| 1.4359015226364136, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.5476098656654358, |
| -0.2630399465560913, |
| 0.9010733366012573, |
| 0.2983893156051636, |
| 0.5588445067405701, |
| 0.5806004405021667, |
| 0.3240683376789093 |
| ], |
| "std": [ |
| 0.13652558624744415, |
| 0.10432099550962448, |
| 0.1809653639793396, |
| 0.22578923404216766, |
| 0.1747896820306778, |
| 0.16678547859191895, |
| 0.2172321379184723 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.left_ee_to_robot_pose": { |
| "min": [ |
| -0.21993345022201538, |
| -0.34681621193885803, |
| 0.377277672290802, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 0.9812567830085754, |
| 0.8660539984703064, |
| 1.4077553749084473, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.5465531945228577, |
| 0.26745644211769104, |
| 0.9021123647689819, |
| 0.3244139850139618, |
| 0.5909926295280457, |
| 0.5437721014022827, |
| 0.30256667733192444 |
| ], |
| "std": [ |
| 0.1382276862859726, |
| 0.10616177320480347, |
| 0.17896923422813416, |
| 0.21433334052562714, |
| 0.16606785356998444, |
| 0.180710569024086, |
| 0.22819946706295013 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.right_tcp_to_robot_pose": { |
| "min": [ |
| -0.08276224136352539, |
| -0.9443843960762024, |
| 0.22606363892555237, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 1.110187292098999, |
| 0.3900037705898285, |
| 1.5281490087509155, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.6366389393806458, |
| -0.2565965950489044, |
| 0.8449745178222656, |
| 0.2983893156051636, |
| 0.5588445067405701, |
| 0.5806004405021667, |
| 0.3240683376789093 |
| ], |
| "std": [ |
| 0.10867878049612045, |
| 0.11281595379114151, |
| 0.216831237077713, |
| 0.22578923404216766, |
| 0.1747896820306778, |
| 0.16678547859191895, |
| 0.2172321379184723 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "images.rgb.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.45929228912580644 |
| ] |
| ], |
| [ |
| [ |
| 0.4266916813653789 |
| ] |
| ], |
| [ |
| [ |
| 0.36265680156987146 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2791552916757314 |
| ] |
| ], |
| [ |
| [ |
| 0.2805291225756733 |
| ] |
| ], |
| [ |
| [ |
| 0.2892190018016603 |
| ] |
| ] |
| ], |
| "count": [ |
| 45122 |
| ] |
| }, |
| "states.left_tcp_to_left_armbase_pose": { |
| "min": [ |
| -0.7143740653991699, |
| -0.7430874109268188, |
| -0.3972698152065277, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 0.7455841898918152, |
| 0.6630117297172546, |
| 0.8811851143836975, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.26791107654571533, |
| -0.04528561979532242, |
| 0.1032145693898201, |
| 0.32451432943344116, |
| 0.5909246206283569, |
| 0.5437784194946289, |
| 0.30270442366600037 |
| ], |
| "std": [ |
| 0.11005232483148575, |
| 0.11516595631837845, |
| 0.16451697051525116, |
| 0.21429961919784546, |
| 0.16602711379528046, |
| 0.18059509992599487, |
| 0.22818759083747864 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.left_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.08218322694301605 |
| ], |
| "std": [ |
| 0.031047416850924492 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 4999.0 |
| ], |
| "mean": [ |
| 423.9349670410156 |
| ], |
| "std": [ |
| 1091.6944580078125 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "hand_right_camera_intrinsics": { |
| "min": [ |
| 488.5199890136719, |
| 488.5199890136719, |
| 320.0, |
| 219.14999389648438 |
| ], |
| "max": [ |
| 488.52001953125, |
| 488.52001953125, |
| 323.92999267578125, |
| 240.0 |
| ], |
| "mean": [ |
| 488.52008056640625, |
| 488.52008056640625, |
| 322.77587890625, |
| 225.27333068847656 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 1.7743836641311646, |
| 9.498149871826172 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "master_actions.right_joint.position": { |
| "min": [ |
| -2.434485912322998, |
| -0.1285504698753357, |
| -2.697770833969116, |
| -1.838684320449829, |
| -1.438529133796692, |
| -3.152780771255493 |
| ], |
| "max": [ |
| 2.5673346519470215, |
| 3.227501392364502, |
| 0.10000000149011612, |
| 2.0781197547912598, |
| 1.2698651552200317, |
| 3.143770933151245 |
| ], |
| "mean": [ |
| 0.13015668094158173, |
| 1.1138514280319214, |
| -0.5784544348716736, |
| 0.015671491622924805, |
| 0.1458757221698761, |
| 0.06413716077804565 |
| ], |
| "std": [ |
| 0.34204918146133423, |
| 1.0125912427902222, |
| 0.6097834706306458, |
| 0.4529888331890106, |
| 0.48275917768478394, |
| 0.6520413160324097 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.left_joint.position": { |
| "min": [ |
| -3.2543811798095703, |
| -5.382970333099365, |
| -4.176327705383301, |
| -5.667778968811035, |
| -3.302025079727173, |
| -5.5212812423706055 |
| ], |
| "max": [ |
| 2.934131622314453, |
| 3.700263738632202, |
| 1.7281842231750488, |
| 6.226835250854492, |
| 5.262518882751465, |
| 5.644815444946289 |
| ], |
| "mean": [ |
| -0.11979271471500397, |
| 1.097491979598999, |
| -0.5771632790565491, |
| -0.014600537717342377, |
| 0.1593320369720459, |
| -0.013842573389410973 |
| ], |
| "std": [ |
| 0.3441177010536194, |
| 1.016944408416748, |
| 0.6220349073410034, |
| 0.45014500617980957, |
| 0.4716706871986389, |
| 0.6326843500137329 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "hand_right_camera_to_robot_extrinsics": { |
| "min": [ |
| -0.6905869245529175, |
| -0.8690706491470337, |
| 0.32134535908699036, |
| -0.6513309478759766, |
| -0.7071056962013245, |
| -0.7070999145507812, |
| -0.6609262824058533 |
| ], |
| "max": [ |
| 1.0729882717132568, |
| 0.533940315246582, |
| 1.5637047290802002, |
| 0.9111233353614807, |
| 0.9999918937683105, |
| 0.9999727010726929, |
| 0.947531521320343 |
| ], |
| "mean": [ |
| 0.6030780673027039, |
| -0.26039668917655945, |
| 0.9353480339050293, |
| -0.037186041474342346, |
| 0.216138556599617, |
| -0.06040477752685547, |
| 0.08872044831514359 |
| ], |
| "std": [ |
| 0.14796583354473114, |
| 0.11174508929252625, |
| 0.20933958888053894, |
| 0.2917427122592926, |
| 0.6195893287658691, |
| 0.6282190680503845, |
| 0.2769794762134552 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "master_actions.left_gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.7241345047950745 |
| ], |
| "std": [ |
| 0.4469493329524994 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "hand_left_camera_to_robot_extrinsics": { |
| "min": [ |
| -0.8018622994422913, |
| -1.0332518815994263, |
| 0.2983880043029785, |
| -0.6961328983306885, |
| -0.7071056962013245, |
| -0.7071040272712708, |
| -0.6931412220001221 |
| ], |
| "max": [ |
| 1.070436954498291, |
| 0.9108514189720154, |
| 1.8537685871124268, |
| 0.9936107397079468, |
| 0.999993085861206, |
| 0.9999943375587463, |
| 0.9976373910903931 |
| ], |
| "mean": [ |
| 0.6079003810882568, |
| 0.2617117166519165, |
| 0.9328524470329285, |
| 0.0265186820179224, |
| 0.014265014789998531, |
| 0.14353986084461212, |
| 0.023183956742286682 |
| ], |
| "std": [ |
| 0.14684779942035675, |
| 0.11535324901342392, |
| 0.20967814326286316, |
| 0.28578490018844604, |
| 0.6240138411521912, |
| 0.653717041015625, |
| 0.282027930021286 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.right_joint.position": { |
| "min": [ |
| -2.6449809074401855, |
| -0.0010037191677838564, |
| -3.262512683868408, |
| -5.082755088806152, |
| -1.9580594301223755, |
| -5.020358085632324 |
| ], |
| "max": [ |
| 2.642108678817749, |
| 3.4995715618133545, |
| 0.28915706276893616, |
| 4.08786153793335, |
| 2.636763572692871, |
| 3.8062150478363037 |
| ], |
| "mean": [ |
| 0.12999609112739563, |
| 1.112744688987732, |
| -0.5777208209037781, |
| 0.014927378855645657, |
| 0.1462961733341217, |
| 0.0638803020119667 |
| ], |
| "std": [ |
| 0.34180572628974915, |
| 1.0123240947723389, |
| 0.6097344160079956, |
| 0.4527866840362549, |
| 0.4827812910079956, |
| 0.6512436270713806 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.right_ee_to_right_armbase_pose": { |
| "min": [ |
| -0.3966960608959198, |
| -0.542458176612854, |
| -0.29567474126815796, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 0.6067260503768921, |
| 0.5576760172843933, |
| 0.7405033707618713, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.17990116775035858, |
| 0.042974356561899185, |
| 0.15747743844985962, |
| 0.2983893156051636, |
| 0.5588445067405701, |
| 0.5806004405021667, |
| 0.3240683376789093 |
| ], |
| "std": [ |
| 0.1362268328666687, |
| 0.10381022095680237, |
| 0.11582545191049576, |
| 0.22578923404216766, |
| 0.1747896820306778, |
| 0.16678547859191895, |
| 0.2172321379184723 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 6646.0 |
| ], |
| "mean": [ |
| 1332.9044189453125 |
| ], |
| "std": [ |
| 1229.8201904296875 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "master_actions.left_joint.position": { |
| "min": [ |
| -2.625950336456299, |
| -5.382970333099365, |
| -2.7715272903442383, |
| -2.3094537258148193, |
| -3.302025079727173, |
| -3.7266483306884766 |
| ], |
| "max": [ |
| 2.6919326782226562, |
| 3.700263738632202, |
| 0.12066081911325455, |
| 6.226835250854492, |
| 5.262518882751465, |
| 3.2484190464019775 |
| ], |
| "mean": [ |
| -0.1200348362326622, |
| 1.0989480018615723, |
| -0.5779786109924316, |
| -0.013639478944242, |
| 0.1596394181251526, |
| -0.013865401968359947 |
| ], |
| "std": [ |
| 0.3444786071777344, |
| 1.0172981023788452, |
| 0.6221702098846436, |
| 0.4502863585948944, |
| 0.4725092947483063, |
| 0.6330649256706238 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.robot_to_env_pose": { |
| "min": [ |
| -0.6499999761581421, |
| -0.9956024289131165, |
| -0.18997018039226532, |
| 0.6501463651657104, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.5, |
| 0.0, |
| 1.11270010471344, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.7598090171813965 |
| ], |
| "mean": [ |
| -0.153135284781456, |
| -0.5970349311828613, |
| 0.3124224543571472, |
| 0.7936331629753113, |
| 0.0, |
| 0.0, |
| 0.49888527393341064 |
| ], |
| "std": [ |
| 0.3460584580898285, |
| 0.3855804204940796, |
| 0.09607596695423126, |
| 0.13318559527397156, |
| 0.0, |
| 0.0, |
| 0.3217467665672302 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.right_ee_to_robot_pose": { |
| "min": [ |
| -0.028216272592544556, |
| -0.8484576940536499, |
| 0.35702934861183167, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 0.9752058386802673, |
| 0.39043501019477844, |
| 1.4359015226364136, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.5475029349327087, |
| -0.2630947530269623, |
| 0.9011321067810059, |
| 0.2985210716724396, |
| 0.5588188171386719, |
| 0.5805578827857971, |
| 0.32415473461151123 |
| ], |
| "std": [ |
| 0.13649895787239075, |
| 0.10426505655050278, |
| 0.1809215396642685, |
| 0.2257710099220276, |
| 0.1747369021177292, |
| 0.16673901677131653, |
| 0.2171994000673294 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.right_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.079810231924057 |
| ], |
| "std": [ |
| 0.033357903361320496 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.left_ee_to_left_armbase_pose": { |
| "min": [ |
| -0.5884126424789429, |
| -0.608224630355835, |
| -0.2754264175891876, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 0.612777590751648, |
| 0.5600533485412598, |
| 0.7476311326026917, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.17884916067123413, |
| -0.038529254496097565, |
| 0.1585167646408081, |
| 0.3244139850139618, |
| 0.5909926295280457, |
| 0.5437721014022827, |
| 0.30256667733192444 |
| ], |
| "std": [ |
| 0.1379464715719223, |
| 0.10564188659191132, |
| 0.11555158346891403, |
| 0.21433334052562714, |
| 0.16606785356998444, |
| 0.180710569024086, |
| 0.22819946706295013 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.left_tcp_to_robot_pose": { |
| "min": [ |
| -0.3458949029445648, |
| -0.4370867609977722, |
| 0.2571527361869812, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 1.1140633821487427, |
| 0.9690123200416565, |
| 1.5338891744613647, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.6356146931648254, |
| 0.26070019602775574, |
| 0.8468101024627686, |
| 0.32451432943344116, |
| 0.5909246206283569, |
| 0.5437784194946289, |
| 0.30270442366600037 |
| ], |
| "std": [ |
| 0.11039247363805771, |
| 0.11563799530267715, |
| 0.21441565454006195, |
| 0.21429961919784546, |
| 0.16602711379528046, |
| 0.18059509992599487, |
| 0.22818759083747864 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "states.left_ee_to_robot_pose": { |
| "min": [ |
| -0.21993345022201538, |
| -0.34681621193885803, |
| 0.377277672290802, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 0.9812567830085754, |
| 0.8660539984703064, |
| 1.4077553749084473, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.5464370846748352, |
| 0.2675061523914337, |
| 0.902178168296814, |
| 0.32451432943344116, |
| 0.5909246206283569, |
| 0.5437784194946289, |
| 0.30270442366600037 |
| ], |
| "std": [ |
| 0.13819922506809235, |
| 0.10610810667276382, |
| 0.17892909049987793, |
| 0.21429961919784546, |
| 0.16602711379528046, |
| 0.18059509992599487, |
| 0.22818759083747864 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "head_camera_to_robot_extrinsics": { |
| "min": [ |
| -0.4956619143486023, |
| -0.7360379099845886, |
| 0.8527461290359497, |
| -0.35373589396476746, |
| -0.6729691624641418, |
| -0.6734866499900818, |
| -0.3505181670188904 |
| ], |
| "max": [ |
| 0.690803587436676, |
| 0.4635922610759735, |
| 1.53549325466156, |
| 0.35402196645736694, |
| 0.9365448355674744, |
| 0.9364299774169922, |
| 0.3492567539215088 |
| ], |
| "mean": [ |
| 0.38854271173477173, |
| -0.013244584202766418, |
| 1.0048878192901611, |
| 0.15921978652477264, |
| -0.36722904443740845, |
| 0.3901430666446686, |
| -0.15780305862426758 |
| ], |
| "std": [ |
| 0.01891459710896015, |
| 0.017714662477374077, |
| 0.14131926000118256, |
| 0.22139079868793488, |
| 0.5339803099632263, |
| 0.5315985679626465, |
| 0.21431876718997955 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "master_actions.right_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.07978995889425278 |
| ], |
| "std": [ |
| 0.033372439444065094 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "images.rgb.hand_right": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4193312113629196 |
| ] |
| ], |
| [ |
| [ |
| 0.3810729839271265 |
| ] |
| ], |
| [ |
| [ |
| 0.3187468330639471 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2841136709790627 |
| ] |
| ], |
| [ |
| [ |
| 0.282255425701027 |
| ] |
| ], |
| [ |
| [ |
| 0.28496869997392543 |
| ] |
| ] |
| ], |
| "count": [ |
| 45122 |
| ] |
| }, |
| "states.left_ee_to_left_armbase_pose": { |
| "min": [ |
| -0.5884126424789429, |
| -0.608224630355835, |
| -0.2754264175891876, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 0.612777590751648, |
| 0.5600533485412598, |
| 0.7476311326026917, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.17873349785804749, |
| -0.03847946971654892, |
| 0.15858249366283417, |
| 0.32451432943344116, |
| 0.5909246206283569, |
| 0.5437784194946289, |
| 0.30270442366600037 |
| ], |
| "std": [ |
| 0.13791625201702118, |
| 0.10558783262968063, |
| 0.11553528159856796, |
| 0.21429961919784546, |
| 0.16602711379528046, |
| 0.18059509992599487, |
| 0.22818759083747864 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.left_tcp_to_left_armbase_pose": { |
| "min": [ |
| -0.7143740653991699, |
| -0.7430874109268188, |
| -0.3972698152065277, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 0.7455841898918152, |
| 0.6630117297172546, |
| 0.8811851143836975, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.26799705624580383, |
| -0.04534444212913513, |
| 0.10311410576105118, |
| 0.3244139850139618, |
| 0.5909926295280457, |
| 0.5437721014022827, |
| 0.30256667733192444 |
| ], |
| "std": [ |
| 0.11009510606527328, |
| 0.11522289365530014, |
| 0.16452208161354065, |
| 0.21433334052562714, |
| 0.16606785356998444, |
| 0.180710569024086, |
| 0.22819946706295013 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.right_joint.position": { |
| "min": [ |
| -3.535360097885132, |
| -3.139975070953369, |
| -3.5516698360443115, |
| -6.497945308685303, |
| -2.046909809112549, |
| -5.885282516479492 |
| ], |
| "max": [ |
| 3.6048355102539062, |
| 2.503293037414551, |
| 2.6970412731170654, |
| 5.2901997566223145, |
| 2.8236117362976074, |
| 5.798579216003418 |
| ], |
| "mean": [ |
| 0.006119924131780863, |
| 0.027109887450933456, |
| -0.015277665108442307, |
| 0.0007048075785860419, |
| 0.000294084835331887, |
| 0.0040274010971188545 |
| ], |
| "std": [ |
| 0.12368004769086838, |
| 0.28108057379722595, |
| 0.17792865633964539, |
| 0.16638171672821045, |
| 0.1522567868232727, |
| 0.22259116172790527 |
| ], |
| "count": [ |
| 6595178250 |
| ] |
| }, |
| "actions.left_tcp_to_robot_pose": { |
| "min": [ |
| -0.3458949029445648, |
| -0.4370867609977722, |
| 0.2571527361869812, |
| -0.6810635924339294, |
| -0.7065035104751587, |
| -0.7066988945007324, |
| -0.7018314003944397 |
| ], |
| "max": [ |
| 1.1140633821487427, |
| 0.9690123200416565, |
| 1.5338891744613647, |
| 0.9908026456832886, |
| 0.9999997615814209, |
| 0.9999973177909851, |
| 0.9974037408828735 |
| ], |
| "mean": [ |
| 0.6357005834579468, |
| 0.2606411278247833, |
| 0.8467095494270325, |
| 0.3244139850139618, |
| 0.5909926295280457, |
| 0.5437721014022827, |
| 0.30256667733192444 |
| ], |
| "std": [ |
| 0.11043605953454971, |
| 0.11569522321224213, |
| 0.21444790065288544, |
| 0.21433334052562714, |
| 0.16606785356998444, |
| 0.180710569024086, |
| 0.22819946706295013 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.right_tcp_to_right_armbase_pose": { |
| "min": [ |
| -0.45124202966690063, |
| -0.6383848786354065, |
| -0.42664045095443726, |
| -0.6883538365364075, |
| -0.7069259285926819, |
| -0.7067217826843262, |
| -0.639345109462738 |
| ], |
| "max": [ |
| 0.741707444190979, |
| 0.6221811175346375, |
| 0.8754448890686035, |
| 0.9742906093597412, |
| 0.9999997615814209, |
| 0.9999986886978149, |
| 0.9234237670898438 |
| ], |
| "mean": [ |
| 0.2689306139945984, |
| 0.04941776767373085, |
| 0.10137875378131866, |
| 0.2983893156051636, |
| 0.5588445067405701, |
| 0.5806004405021667, |
| 0.3240683376789093 |
| ], |
| "std": [ |
| 0.10832449048757553, |
| 0.11235810816287994, |
| 0.16469065845012665, |
| 0.22578923404216766, |
| 0.1747896820306778, |
| 0.16678547859191895, |
| 0.2172321379184723 |
| ], |
| "count": [ |
| 140734002 |
| ] |
| }, |
| "actions.left_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.08181704580783844 |
| ], |
| "std": [ |
| 0.031117508187890053 |
| ], |
| "count": [ |
| 6595178250 |
| ] |
| } |
| }, |
| "Franka": { |
| "actions.tcp_to_armbase_pose": { |
| "min": [ |
| -0.6654785871505737, |
| -0.763344407081604, |
| -0.3871573507785797, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.9303598403930664, |
| 0.7273703813552856, |
| 1.0850850343704224, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.43617329001426697, |
| 0.017448032274842262, |
| 0.2187822163105011, |
| 0.0032643156591802835, |
| 0.9078429341316223, |
| 0.02329065650701523, |
| 0.01992376521229744 |
| ], |
| "std": [ |
| 0.12111220508813858, |
| 0.2055961787700653, |
| 0.12571656703948975, |
| 0.13423730432987213, |
| 0.24133704602718353, |
| 0.267007052898407, |
| 0.16527190804481506 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "actions.tcp_to_robot_pose": { |
| "min": [ |
| -0.6654785871505737, |
| -0.763344407081604, |
| -0.3871573507785797, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.9303598403930664, |
| 0.7273703813552856, |
| 1.0850850343704224, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.43617329001426697, |
| 0.017448032274842262, |
| 0.2187822163105011, |
| 0.0032643156591802835, |
| 0.9078429341316223, |
| 0.02329065650701523, |
| 0.01992376521229744 |
| ], |
| "std": [ |
| 0.12111220508813858, |
| 0.2055961787700653, |
| 0.12571656703948975, |
| 0.13423730432987213, |
| 0.24133704602718353, |
| 0.267007052898407, |
| 0.16527190804481506 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "master_actions.joint.position": { |
| "min": [ |
| -5.333568572998047, |
| -1.7628031969070435, |
| -2.8941218852996826, |
| -3.1871800422668457, |
| -6.093289852142334, |
| -6.277713775634766, |
| -5.655116081237793 |
| ], |
| "max": [ |
| 6.183481693267822, |
| 1.7628005743026733, |
| 4.660283088684082, |
| -0.06982052326202393, |
| 6.056750297546387, |
| 6.224431991577148, |
| 5.5103535652160645 |
| ], |
| "mean": [ |
| -0.0449044294655323, |
| -0.04888880252838135, |
| 0.09064532816410065, |
| -2.280141592025757, |
| 0.037268735468387604, |
| 2.226245880126953, |
| 0.1616017371416092 |
| ], |
| "std": [ |
| 0.5692651271820068, |
| 0.5485937595367432, |
| 0.5520998239517212, |
| 0.4271799623966217, |
| 0.5937180519104004, |
| 0.469536691904068, |
| 0.8373909592628479 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 2126.0 |
| ], |
| "mean": [ |
| 424.39068603515625 |
| ], |
| "std": [ |
| 331.9037780761719 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "states.ee_to_armbase_pose": { |
| "min": [ |
| -0.5886622071266174, |
| -0.7201771140098572, |
| -0.3232192099094391, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.8479536175727844, |
| 0.7126164436340332, |
| 1.1025772094726562, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.429907888174057, |
| 0.01851457916200161, |
| 0.34181126952171326, |
| 0.0032707019709050655, |
| 0.9080472588539124, |
| 0.023217415437102318, |
| 0.019892865791916847 |
| ], |
| "std": [ |
| 0.12303070724010468, |
| 0.20745818316936493, |
| 0.12848296761512756, |
| 0.1341414451599121, |
| 0.24103344976902008, |
| 0.266694039106369, |
| 0.1651899665594101 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 4999.0 |
| ], |
| "mean": [ |
| 532.5797729492188 |
| ], |
| "std": [ |
| 1208.265869140625 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "states.joint.position": { |
| "min": [ |
| -5.333568572998047, |
| -1.7628377676010132, |
| -2.8940787315368652, |
| -3.294687271118164, |
| -6.093289852142334, |
| -6.277713775634766, |
| -6.255098819732666 |
| ], |
| "max": [ |
| 6.183481693267822, |
| 1.7628018856048584, |
| 4.660283088684082, |
| -0.06982052326202393, |
| 6.056750297546387, |
| 6.224431991577148, |
| 6.093045711517334 |
| ], |
| "mean": [ |
| -0.04497838765382767, |
| -0.050738196820020676, |
| 0.09039658308029175, |
| -2.2808449268341064, |
| 0.037756405770778656, |
| 2.2266268730163574, |
| 0.15780240297317505 |
| ], |
| "std": [ |
| 0.5683509707450867, |
| 0.5489280819892883, |
| 0.5512715578079224, |
| 0.42656949162483215, |
| 0.5927822589874268, |
| 0.47031649947166443, |
| 0.8213431239128113 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "master_actions.gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.40055668354034424 |
| ], |
| "std": [ |
| 0.47935745120048523 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 6806625.0 |
| ], |
| "mean": [ |
| 1764191.75 |
| ], |
| "std": [ |
| 1626540.5 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "actions.ee_to_robot_pose": { |
| "min": [ |
| -0.5886622071266174, |
| -0.7201771140098572, |
| -0.3232192099094391, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.8479536175727844, |
| 0.7126164436340332, |
| 1.1025772094726562, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.4300729036331177, |
| 0.01858082041144371, |
| 0.3414972424507141, |
| 0.0032643156591802835, |
| 0.9078429341316223, |
| 0.02329065650701523, |
| 0.01992376521229744 |
| ], |
| "std": [ |
| 0.12306413054466248, |
| 0.20771346986293793, |
| 0.1282939463853836, |
| 0.13423730432987213, |
| 0.24133704602718353, |
| 0.267007052898407, |
| 0.16527190804481506 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 5345.0 |
| ], |
| "mean": [ |
| 1911.1727294921875 |
| ], |
| "std": [ |
| 1410.974609375 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "images.rgb.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.6355108132431438 |
| ] |
| ], |
| [ |
| [ |
| 0.6074493153653573 |
| ] |
| ], |
| [ |
| [ |
| 0.5640964948774447 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.28986602854800686 |
| ] |
| ], |
| [ |
| [ |
| 0.2984678926884177 |
| ] |
| ], |
| [ |
| [ |
| 0.3134347664500926 |
| ] |
| ] |
| ], |
| "count": [ |
| 50764 |
| ] |
| }, |
| "states.robot_to_env_pose": { |
| "min": [ |
| -0.507671594619751, |
| -0.5, |
| -0.07381363958120346, |
| 0.7071067690849304, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 999.534912109375, |
| 0.048628561198711395, |
| 1.0362248420715332, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.7071067690849304 |
| ], |
| "mean": [ |
| -0.2706414759159088, |
| -0.17714352905750275, |
| 0.9102442264556885, |
| 0.8913318514823914, |
| 0.0, |
| 0.0, |
| 0.262347549200058 |
| ], |
| "std": [ |
| 0.24299992620944977, |
| 0.229546457529068, |
| 0.12861670553684235, |
| 0.1414906084537506, |
| 0.0, |
| 0.0, |
| 0.341586709022522 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 70.86666870117188 |
| ], |
| "mean": [ |
| 14.14636516571045 |
| ], |
| "std": [ |
| 11.063462257385254 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "actions.ee_to_armbase_pose": { |
| "min": [ |
| -0.5886622071266174, |
| -0.7201771140098572, |
| -0.3232192099094391, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.8479536175727844, |
| 0.7126164436340332, |
| 1.1025772094726562, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.4300729036331177, |
| 0.01858082041144371, |
| 0.3414972424507141, |
| 0.0032643156591802835, |
| 0.9078429341316223, |
| 0.02329065650701523, |
| 0.01992376521229744 |
| ], |
| "std": [ |
| 0.12306413054466248, |
| 0.20771346986293793, |
| 0.1282939463853836, |
| 0.13423730432987213, |
| 0.24133704602718353, |
| 0.267007052898407, |
| 0.16527190804481506 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "actions.joint.position": { |
| "min": [ |
| -9.804682731628418, |
| -1.7982432842254639, |
| -2.4252870082855225, |
| -1.6933411359786987, |
| -6.946676254272461, |
| -8.886549949645996, |
| -8.528618812561035 |
| ], |
| "max": [ |
| 6.524318695068359, |
| 1.803518295288086, |
| 4.790648460388184, |
| 1.8650999069213867, |
| 7.659153938293457, |
| 4.774890899658203, |
| 7.3891825675964355 |
| ], |
| "mean": [ |
| -0.001096096122637391, |
| 0.03064066171646118, |
| 0.0041991304606199265, |
| 0.010305208154022694, |
| 0.0013297989498823881, |
| 0.021504148840904236, |
| -0.000691592285875231 |
| ], |
| "std": [ |
| 0.16454003751277924, |
| 0.23943142592906952, |
| 0.15519538521766663, |
| 0.20406410098075867, |
| 0.18009400367736816, |
| 0.22070731222629547, |
| 0.24277061223983765 |
| ], |
| "count": [ |
| 2980657850 |
| ] |
| }, |
| "hand_camera_intrinsics": { |
| "min": [ |
| 605.2940063476562, |
| 605.2940063476562, |
| 310.885009765625, |
| 240.0 |
| ], |
| "max": [ |
| 605.4450073242188, |
| 605.4450073242188, |
| 320.77801513671875, |
| 255.8159942626953 |
| ], |
| "mean": [ |
| 605.3119506835938, |
| 605.3119506835938, |
| 319.13153076171875, |
| 245.2383270263672 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 3.019468069076538, |
| 6.991344928741455 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "states.ee_to_robot_pose": { |
| "min": [ |
| -0.5886622071266174, |
| -0.7201771140098572, |
| -0.3232192099094391, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.8479536175727844, |
| 0.7126164436340332, |
| 1.1025772094726562, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.429907888174057, |
| 0.01851457916200161, |
| 0.34181126952171326, |
| 0.0032707019709050655, |
| 0.9080472588539124, |
| 0.023217415437102318, |
| 0.019892865791916847 |
| ], |
| "std": [ |
| 0.12303070724010468, |
| 0.20745818316936493, |
| 0.12848296761512756, |
| 0.1341414451599121, |
| 0.24103344976902008, |
| 0.266694039106369, |
| 0.1651899665594101 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "states.tcp_to_robot_pose": { |
| "min": [ |
| -0.6654785871505737, |
| -0.763344407081604, |
| -0.3871573507785797, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.9303598403930664, |
| 0.7273703813552856, |
| 1.0850850343704224, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.4359978437423706, |
| 0.017381586134433746, |
| 0.21908578276634216, |
| 0.0032707019709050655, |
| 0.9080472588539124, |
| 0.023217415437102318, |
| 0.019892865791916847 |
| ], |
| "std": [ |
| 0.12108402699232101, |
| 0.20533768832683563, |
| 0.12590771913528442, |
| 0.1341414451599121, |
| 0.24103344976902008, |
| 0.266694039106369, |
| 0.1651899665594101 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "states.tcp_to_armbase_pose": { |
| "min": [ |
| -0.6654785871505737, |
| -0.763344407081604, |
| -0.3871573507785797, |
| -0.7069592475891113, |
| -0.707035481929779, |
| -0.7068787217140198, |
| -0.7066540718078613 |
| ], |
| "max": [ |
| 0.9303598403930664, |
| 0.7273703813552856, |
| 1.0850850343704224, |
| 0.999978244304657, |
| 1.0, |
| 0.999974250793457, |
| 0.9997894167900085 |
| ], |
| "mean": [ |
| 0.4359978437423706, |
| 0.017381586134433746, |
| 0.21908578276634216, |
| 0.0032707019709050655, |
| 0.9080472588539124, |
| 0.023217415437102318, |
| 0.019892865791916847 |
| ], |
| "std": [ |
| 0.12108402699232101, |
| 0.20533768832683563, |
| 0.12590771913528442, |
| 0.1341414451599121, |
| 0.24103344976902008, |
| 0.266694039106369, |
| 0.1651899665594101 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "hand_camera_to_robot_extrinsics": { |
| "min": [ |
| -0.6134033799171448, |
| -0.7256761789321899, |
| -0.33298641443252563, |
| -0.7062029242515564, |
| -0.7070618867874146, |
| -0.7070509195327759, |
| -0.7068045139312744 |
| ], |
| "max": [ |
| 0.8993929624557495, |
| 0.7526560425758362, |
| 1.0281283855438232, |
| 0.9999438524246216, |
| 0.9999948740005493, |
| 0.9999921321868896, |
| 0.9999125003814697 |
| ], |
| "mean": [ |
| 0.39250102639198303, |
| -0.005857026670128107, |
| 0.31929561495780945, |
| 0.14859917759895325, |
| 0.5556284189224243, |
| 0.5679372549057007, |
| 0.13830476999282837 |
| ], |
| "std": [ |
| 0.13882099092006683, |
| 0.20720389485359192, |
| 0.12520870566368103, |
| 0.17065653204917908, |
| 0.3700721263885498, |
| 0.36977654695510864, |
| 0.15717068314552307 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "master_actions.gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.5012218356132507 |
| ], |
| "std": [ |
| 0.4999985098838806 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "states.gripper.pose": { |
| "min": [ |
| -0.5886622071266174, |
| -0.7201771140098572, |
| -0.3232192099094391, |
| -3.1415927410125732, |
| -1.5706114768981934, |
| -3.141591787338257 |
| ], |
| "max": [ |
| 0.8479536771774292, |
| 0.7126164436340332, |
| 1.1025772094726562, |
| 3.1415927410125732, |
| 1.5684442520141602, |
| 3.141589403152466 |
| ], |
| "mean": [ |
| 0.429907888174057, |
| 0.01851457916200161, |
| 0.3418112099170685, |
| -0.17608356475830078, |
| -0.018813354894518852, |
| -0.1596238762140274 |
| ], |
| "std": [ |
| 0.12303070724010468, |
| 0.20745818316936493, |
| 0.12848325073719025, |
| 2.9777612686157227, |
| 0.31927600502967834, |
| 0.7415627241134644 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "master_actions.gripper.pose": { |
| "min": [ |
| -0.5886622071266174, |
| -0.7203167676925659, |
| -0.3232220411300659, |
| -3.1415927410125732, |
| -1.5705453157424927, |
| -3.141592502593994 |
| ], |
| "max": [ |
| 0.8479434847831726, |
| 0.7128124237060547, |
| 1.1009458303451538, |
| 3.1415927410125732, |
| 1.56938636302948, |
| 3.141592502593994 |
| ], |
| "mean": [ |
| 0.43017011880874634, |
| 0.018678812310099602, |
| 0.34114447236061096, |
| -0.0347725972533226, |
| -0.019567130133509636, |
| -0.16320405900478363 |
| ], |
| "std": [ |
| 0.12293286621570587, |
| 0.2078172117471695, |
| 0.12801459431648254, |
| 2.989279270172119, |
| 0.3208834230899811, |
| 0.741034209728241 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "images.rgb.hand": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.5833246226539203 |
| ] |
| ], |
| [ |
| [ |
| 0.5573147477741093 |
| ] |
| ], |
| [ |
| [ |
| 0.5011847439989506 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2827824924330288 |
| ] |
| ], |
| [ |
| [ |
| 0.29141492829333 |
| ] |
| ], |
| [ |
| [ |
| 0.30947738637735567 |
| ] |
| ] |
| ], |
| "count": [ |
| 50764 |
| ] |
| }, |
| "head_camera_intrinsics": { |
| "min": [ |
| 323.3450012207031, |
| 323.3450012207031, |
| 318.19000244140625, |
| 182.17999267578125 |
| ], |
| "max": [ |
| 605.2940063476562, |
| 605.2940063476562, |
| 320.77801513671875, |
| 255.8159942626953 |
| ], |
| "mean": [ |
| 538.7601318359375, |
| 538.7601318359375, |
| 319.6970520019531, |
| 228.2955780029297 |
| ], |
| "std": [ |
| 119.4945068359375, |
| 119.4945068359375, |
| 0.5303300619125366, |
| 26.00720977783203 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "actions.gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.5012218356132507 |
| ], |
| "std": [ |
| 0.4999985098838806 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "actions.gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.3867638409137726 |
| ], |
| "std": [ |
| 0.47702252864837646 |
| ], |
| "count": [ |
| 2980657850 |
| ] |
| }, |
| "states.gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.40064990520477295 |
| ], |
| "std": [ |
| 0.47934406995773315 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "actions.gripper.pose": { |
| "min": [ |
| -0.5886622071266174, |
| -0.7201771140098572, |
| -0.3232192099094391, |
| -3.1415927410125732, |
| -1.5706114768981934, |
| -3.141591787338257 |
| ], |
| "max": [ |
| 0.8479536771774292, |
| 0.7126164436340332, |
| 1.1025772094726562, |
| 3.1415927410125732, |
| 1.5684442520141602, |
| 3.141589403152466 |
| ], |
| "mean": [ |
| 0.4300729036331177, |
| 0.018580816686153412, |
| 0.3414972126483917, |
| -0.17617428302764893, |
| -0.01882226951420307, |
| -0.15957492589950562 |
| ], |
| "std": [ |
| 0.12306413054466248, |
| 0.20771348476409912, |
| 0.12829403579235077, |
| 2.9775478839874268, |
| 0.31941619515419006, |
| 0.7422862648963928 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| }, |
| "head_camera_to_robot_extrinsics": { |
| "min": [ |
| -1000.089111328125, |
| -1.1494556665420532, |
| 0.16544568538665771, |
| -0.6761370301246643, |
| -0.6683846712112427, |
| -0.38636744022369385, |
| -0.4099845886230469 |
| ], |
| "max": [ |
| 1.2022478580474854, |
| 0.05947168916463852, |
| 0.993459939956665, |
| 0.6942698359489441, |
| 0.8833267688751221, |
| 0.6902964115142822, |
| 0.30948761105537415 |
| ], |
| "mean": [ |
| 0.06613118946552277, |
| -0.719373881816864, |
| 0.6164794564247131, |
| -0.47156623005867004, |
| 0.7993977069854736, |
| -0.10034184157848358, |
| 0.03981059044599533 |
| ], |
| "std": [ |
| 0.4581008851528168, |
| 0.3137364685535431, |
| 0.07676252722740173, |
| 0.06907206028699875, |
| 0.0767141729593277, |
| 0.3020734190940857, |
| 0.1582115739583969 |
| ], |
| "count": [ |
| 64998110 |
| ] |
| } |
| }, |
| "ARX Lift-2": { |
| "head_camera_intrinsics": { |
| "min": [ |
| 323.3450012207031, |
| 323.1700134277344, |
| 319.54998779296875, |
| 180.0 |
| ], |
| "max": [ |
| 323.5199890136719, |
| 323.3450012207031, |
| 320.0, |
| 182.17999267578125 |
| ], |
| "mean": [ |
| 323.3477478027344, |
| 323.34210205078125, |
| 319.6506042480469, |
| 181.69346618652344 |
| ], |
| "std": [ |
| 0.21650634706020355, |
| 0.3186887204647064, |
| 0.0, |
| 0.9142961502075195 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "images.rgb.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.47932605716912363 |
| ] |
| ], |
| [ |
| [ |
| 0.4447743821760716 |
| ] |
| ], |
| [ |
| [ |
| 0.3759621978276251 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.28567523630394454 |
| ] |
| ], |
| [ |
| [ |
| 0.28924888958690226 |
| ] |
| ], |
| [ |
| [ |
| 0.2931696221745316 |
| ] |
| ] |
| ], |
| "count": [ |
| 45693 |
| ] |
| }, |
| "states.right_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.06810848414897919 |
| ], |
| "std": [ |
| 0.03135671094059944 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.right_joint.position": { |
| "min": [ |
| -2.433427095413208, |
| -0.11033768206834793, |
| -2.576958417892456, |
| -1.7604341506958008, |
| -2.272326946258545, |
| -3.1400017738342285 |
| ], |
| "max": [ |
| 3.141601085662842, |
| 3.6690542697906494, |
| 3.3177499771118164, |
| 1.7026290893554688, |
| 1.9559606313705444, |
| 2.6671013832092285 |
| ], |
| "mean": [ |
| 0.063023641705513, |
| 0.9377689957618713, |
| 0.626068651676178, |
| -0.1627202332019806, |
| -0.02748851664364338, |
| 0.02648027613759041 |
| ], |
| "std": [ |
| 0.23761917650699615, |
| 1.082403302192688, |
| 0.7993808388710022, |
| 0.5013625621795654, |
| 0.28076547384262085, |
| 0.43004271388053894 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.right_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.06756699085235596 |
| ], |
| "std": [ |
| 0.031498413532972336 |
| ], |
| "count": [ |
| 6840856200 |
| ] |
| }, |
| "master_actions.right_joint.position": { |
| "min": [ |
| -2.433427095413208, |
| -0.19310736656188965, |
| -2.576892852783203, |
| -1.7604341506958008, |
| -1.6745227575302124, |
| -3.1400017738342285 |
| ], |
| "max": [ |
| 3.141601085662842, |
| 3.6686854362487793, |
| 3.240037679672241, |
| 1.7025258541107178, |
| 1.6726367473602295, |
| 2.6697030067443848 |
| ], |
| "mean": [ |
| 0.06313386559486389, |
| 0.9389059543609619, |
| 0.6267677545547485, |
| -0.1628439724445343, |
| -0.027402685955166817, |
| 0.026539340615272522 |
| ], |
| "std": [ |
| 0.23773272335529327, |
| 1.08279550075531, |
| 0.799610435962677, |
| 0.5016767382621765, |
| 0.28088119626045227, |
| 0.43028369545936584 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 63.29999923706055 |
| ], |
| "mean": [ |
| 14.466641426086426 |
| ], |
| "std": [ |
| 10.843647956848145 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.left_ee_to_robot_pose": { |
| "min": [ |
| -0.3685411214828491, |
| -0.3074118494987488, |
| 0.20083193480968475, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.7977994680404663, |
| 0.7660654187202454, |
| 1.4119528532028198, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.37921449542045593, |
| 0.22267520427703857, |
| 0.833259642124176, |
| 0.8951554298400879, |
| 0.0026822942309081554, |
| 0.19910141825675964, |
| -0.039112623780965805 |
| ], |
| "std": [ |
| 0.15076321363449097, |
| 0.08737567812204361, |
| 0.09732579439878464, |
| 0.18118837475776672, |
| 0.16087107360363007, |
| 0.2734629809856415, |
| 0.15500938892364502 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.right_ee_to_right_armbase_pose": { |
| "min": [ |
| -0.5369827151298523, |
| -0.5200366377830505, |
| -0.3508318364620209, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.6303129196166992, |
| 0.5827534794807434, |
| 0.7142120599746704, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.21567612886428833, |
| 0.02339416928589344, |
| 0.14898039400577545, |
| 0.8961175680160522, |
| 0.014015894383192062, |
| 0.20620062947273254, |
| 0.025152387097477913 |
| ], |
| "std": [ |
| 0.14881311357021332, |
| 0.08563179522752762, |
| 0.07242871075868607, |
| 0.18113934993743896, |
| 0.15512174367904663, |
| 0.2713707387447357, |
| 0.1520179957151413 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.left_ee_to_left_armbase_pose": { |
| "min": [ |
| -0.5315712690353394, |
| -0.5558319091796875, |
| -0.36611708998680115, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.6347693204879761, |
| 0.5176453590393066, |
| 0.7179527282714844, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.21618524193763733, |
| -0.025744935497641563, |
| 0.14670056104660034, |
| 0.8951554298400879, |
| 0.0026822942309081554, |
| 0.19910141825675964, |
| -0.039112623780965805 |
| ], |
| "std": [ |
| 0.15076376497745514, |
| 0.08737543225288391, |
| 0.07332786917686462, |
| 0.18118837475776672, |
| 0.16087107360363007, |
| 0.2734629809856415, |
| 0.15500938892364502 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1899.0 |
| ], |
| "mean": [ |
| 433.9995422363281 |
| ], |
| "std": [ |
| 325.3087158203125 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.left_joint.position": { |
| "min": [ |
| -5.24058198928833, |
| -3.7372961044311523, |
| -3.3560538291931152, |
| -2.7898712158203125, |
| -3.452683687210083, |
| -3.133542537689209 |
| ], |
| "max": [ |
| 3.663785696029663, |
| 3.8059046268463135, |
| 3.355672597885132, |
| 3.034261703491211, |
| 3.626187324523926, |
| 3.685375452041626 |
| ], |
| "mean": [ |
| -0.003088783472776413, |
| 0.03959015756845474, |
| 0.025579003617167473, |
| -0.002687626052647829, |
| 0.0038672469090670347, |
| -0.002039727522060275 |
| ], |
| "std": [ |
| 0.10593491047620773, |
| 0.3460845649242401, |
| 0.26728561520576477, |
| 0.20266008377075195, |
| 0.10659521818161011, |
| 0.17861780524253845 |
| ], |
| "count": [ |
| 6840856200 |
| ] |
| }, |
| "master_actions.right_gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.7224467396736145 |
| ], |
| "std": [ |
| 0.4476013779640198 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "master_actions.right_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.06809263676404953 |
| ], |
| "std": [ |
| 0.03136569634079933 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.right_joint.position": { |
| "min": [ |
| -3.0625760555267334, |
| -3.7364399433135986, |
| -3.3476176261901855, |
| -3.3434104919433594, |
| -2.3050994873046875, |
| -3.468447685241699 |
| ], |
| "max": [ |
| 2.172114610671997, |
| 3.769054412841797, |
| 3.377957582473755, |
| 2.6458330154418945, |
| 2.2961597442626953, |
| 2.6485695838928223 |
| ], |
| "mean": [ |
| 0.0038591877091675997, |
| 0.03231297805905342, |
| 0.022293727844953537, |
| -0.0044085923582315445, |
| -0.00046205363469198346, |
| 0.002747349441051483 |
| ], |
| "std": [ |
| 0.10169980674982071, |
| 0.3506733775138855, |
| 0.2686273753643036, |
| 0.20675678551197052, |
| 0.1265621781349182, |
| 0.18071690201759338 |
| ], |
| "count": [ |
| 6840856200 |
| ] |
| }, |
| "actions.left_tcp_to_left_armbase_pose": { |
| "min": [ |
| -0.6652623414993286, |
| -0.6585085391998291, |
| -0.5088384747505188, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.7963134050369263, |
| 0.6239452958106995, |
| 0.8783523440361023, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.332624614238739, |
| -0.03825584799051285, |
| 0.09570864588022232, |
| 0.8950139880180359, |
| 0.002669443842023611, |
| 0.19931547343730927, |
| -0.03920330852270126 |
| ], |
| "std": [ |
| 0.11310188472270966, |
| 0.102302685379982, |
| 0.11762992292642593, |
| 0.18129278719425201, |
| 0.1609821617603302, |
| 0.2735128402709961, |
| 0.15520259737968445 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.right_ee_to_robot_pose": { |
| "min": [ |
| -0.37395259737968445, |
| -0.7684566974639893, |
| 0.2121126800775528, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.7933430671691895, |
| 0.3343333899974823, |
| 1.4082123041152954, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.37870538234710693, |
| -0.22502592206001282, |
| 0.8355391621589661, |
| 0.8961175680160522, |
| 0.014015894383192062, |
| 0.20620062947273254, |
| 0.025152387097477913 |
| ], |
| "std": [ |
| 0.14881367981433868, |
| 0.08563145250082016, |
| 0.09543588012456894, |
| 0.18113934993743896, |
| 0.15512174367904663, |
| 0.2713707387447357, |
| 0.1520179957151413 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "images.rgb.hand_right": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.41129222643762503 |
| ] |
| ], |
| [ |
| [ |
| 0.3768401038316389 |
| ] |
| ], |
| [ |
| [ |
| 0.3138523921648372 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.28025618732720753 |
| ] |
| ], |
| [ |
| [ |
| 0.28030704497953796 |
| ] |
| ], |
| [ |
| [ |
| 0.2772108964082773 |
| ] |
| ] |
| ], |
| "count": [ |
| 45693 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 6781600.0 |
| ], |
| "mean": [ |
| 1181889.875 |
| ], |
| "std": [ |
| 1415242.625 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.left_joint.position": { |
| "min": [ |
| -2.0939836502075195, |
| -0.1233576089143753, |
| -2.1006338596343994, |
| -1.804902195930481, |
| -3.6711466312408447, |
| -2.0950608253479004 |
| ], |
| "max": [ |
| 3.146616220474243, |
| 3.682547092437744, |
| 3.2615432739257812, |
| 1.8157877922058105, |
| 2.167360782623291, |
| 2.247169017791748 |
| ], |
| "mean": [ |
| -0.06574895977973938, |
| 0.9494407176971436, |
| 0.6285032033920288, |
| -0.14491385221481323, |
| 0.05337907373905182, |
| -0.0037050186656415462 |
| ], |
| "std": [ |
| 0.24781419336795807, |
| 1.0957818031311035, |
| 0.8071321845054626, |
| 0.5129067897796631, |
| 0.29629865288734436, |
| 0.4467441439628601 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "head_camera_to_robot_extrinsics": { |
| "min": [ |
| -2.452223539352417, |
| -0.10302558541297913, |
| 0.49500998854637146, |
| -0.3850175142288208, |
| -0.6792880296707153, |
| -0.6790745258331299, |
| -0.3671068549156189 |
| ], |
| "max": [ |
| 1.6400705575942993, |
| 0.09258240461349487, |
| 1.0147160291671753, |
| 0.3667440414428711, |
| 0.7226678133010864, |
| 0.7227897047996521, |
| 0.3385331928730011 |
| ], |
| "mean": [ |
| 0.32718509435653687, |
| -0.006434895563870668, |
| 0.9481419920921326, |
| -0.056613728404045105, |
| 0.15998275578022003, |
| -0.14404705166816711, |
| 0.05657392740249634 |
| ], |
| "std": [ |
| 0.018291616812348366, |
| 0.014892139472067356, |
| 0.05987023189663887, |
| 0.2494390308856964, |
| 0.639469563961029, |
| 0.6433432102203369, |
| 0.24943605065345764 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "master_actions.left_joint.position": { |
| "min": [ |
| -1.9458982944488525, |
| -0.2289235144853592, |
| -2.1006338596343994, |
| -1.7146612405776978, |
| -1.6741784811019897, |
| -2.362476348876953 |
| ], |
| "max": [ |
| 3.1415998935699463, |
| 3.665095567703247, |
| 3.2400662899017334, |
| 1.6721867322921753, |
| 1.6716519594192505, |
| 2.247169017791748 |
| ], |
| "mean": [ |
| -0.0658436268568039, |
| 0.9509108066558838, |
| 0.6293337941169739, |
| -0.1449430286884308, |
| 0.05362527817487717, |
| -0.0037448955699801445 |
| ], |
| "std": [ |
| 0.24798583984375, |
| 1.09624183177948, |
| 0.8073740601539612, |
| 0.5134552121162415, |
| 0.2968553900718689, |
| 0.44712069630622864 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.left_tcp_to_robot_pose": { |
| "min": [ |
| -0.5022321939468384, |
| -0.410088449716568, |
| 0.09788703918457031, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.9593435525894165, |
| 0.8723653554916382, |
| 1.5723525285720825, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.49565377831459045, |
| 0.21016445755958557, |
| 0.7822680473327637, |
| 0.8950139880180359, |
| 0.002669443842023611, |
| 0.19931547343730927, |
| -0.03920330852270126 |
| ], |
| "std": [ |
| 0.11310247331857681, |
| 0.10230260342359543, |
| 0.13518227636814117, |
| 0.18129278719425201, |
| 0.1609821617603302, |
| 0.2735128402709961, |
| 0.15520259737968445 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "hand_right_camera_intrinsics": { |
| "min": [ |
| 433.635009765625, |
| 433.3800048828125, |
| 320.0, |
| 219.14999389648438 |
| ], |
| "max": [ |
| 488.52001953125, |
| 488.52001953125, |
| 323.92999267578125, |
| 243.13999938964844 |
| ], |
| "mean": [ |
| 433.6979675292969, |
| 433.689697265625, |
| 322.1686096191406, |
| 242.4133758544922 |
| ], |
| "std": [ |
| 1.794087529182434, |
| 1.8071039915084839, |
| 1.1524430513381958, |
| 1.5360257625579834 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "hand_left_camera_intrinsics": { |
| "min": [ |
| 433.635009765625, |
| 433.3800048828125, |
| 320.0, |
| 219.14999389648438 |
| ], |
| "max": [ |
| 488.52001953125, |
| 488.52001953125, |
| 323.92999267578125, |
| 243.13999938964844 |
| ], |
| "mean": [ |
| 433.6979675292969, |
| 433.689697265625, |
| 322.1686096191406, |
| 242.4133758544922 |
| ], |
| "std": [ |
| 1.794087529182434, |
| 1.8071039915084839, |
| 1.1524430513381958, |
| 1.5360257625579834 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.left_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.07029862701892853 |
| ], |
| "std": [ |
| 0.029859106987714767 |
| ], |
| "count": [ |
| 6840856200 |
| ] |
| }, |
| "states.left_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.0705263540148735 |
| ], |
| "std": [ |
| 0.02982553467154503 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.right_tcp_to_right_armbase_pose": { |
| "min": [ |
| -0.6655531525611877, |
| -0.6780331134796143, |
| -0.46268099546432495, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.7859275341033936, |
| 0.664831817150116, |
| 0.8729659914970398, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.33203768730163574, |
| 0.03214750811457634, |
| 0.0965580940246582, |
| 0.8961175680160522, |
| 0.014015894383192062, |
| 0.20620062947273254, |
| 0.025152387097477913 |
| ], |
| "std": [ |
| 0.10843795537948608, |
| 0.10096437484025955, |
| 0.11651137471199036, |
| 0.18113934993743896, |
| 0.15512174367904663, |
| 0.2713707387447357, |
| 0.1520179957151413 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.robot_to_env_pose": { |
| "min": [ |
| -0.499983012676239, |
| -1.3284146785736084, |
| -0.2975030243396759, |
| -0.7071067690849304, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.5, |
| 0.7674832940101624, |
| 0.5689384341239929, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.7071067690849304 |
| ], |
| "mean": [ |
| -0.04923079162836075, |
| -0.576423168182373, |
| 0.26962465047836304, |
| 0.7176827192306519, |
| 0.0, |
| 0.0, |
| 0.5493021607398987 |
| ], |
| "std": [ |
| 0.23815089464187622, |
| 0.4507104158401489, |
| 0.1618039309978485, |
| 0.31066998839378357, |
| 0.0, |
| 0.0, |
| 0.2944187521934509 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.left_tcp_to_left_armbase_pose": { |
| "min": [ |
| -0.6652623414993286, |
| -0.6585085391998291, |
| -0.5088384747505188, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.7963134050369263, |
| 0.6239452958106995, |
| 0.8783523440361023, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.3325216770172119, |
| -0.038190361112356186, |
| 0.09579436480998993, |
| 0.8951554298400879, |
| 0.0026822942309081554, |
| 0.19910141825675964, |
| -0.039112623780965805 |
| ], |
| "std": [ |
| 0.11304933577775955, |
| 0.10224085301160812, |
| 0.11761536449193954, |
| 0.18118837475776672, |
| 0.16087107360363007, |
| 0.2734629809856415, |
| 0.15500938892364502 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.left_ee_to_left_armbase_pose": { |
| "min": [ |
| -0.5315712690353394, |
| -0.5558319091796875, |
| -0.36611708998680115, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.6347693204879761, |
| 0.5176453590393066, |
| 0.7179527282714844, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.21634618937969208, |
| -0.02578619308769703, |
| 0.14666788280010223, |
| 0.8950139880180359, |
| 0.002669443842023611, |
| 0.19931547343730927, |
| -0.03920330852270126 |
| ], |
| "std": [ |
| 0.1508052796125412, |
| 0.08744195848703384, |
| 0.07335513085126877, |
| 0.18129278719425201, |
| 0.1609821617603302, |
| 0.2735128402709961, |
| 0.15520259737968445 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.left_ee_to_robot_pose": { |
| "min": [ |
| -0.3685411214828491, |
| -0.3074118494987488, |
| 0.20083193480968475, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.7977994680404663, |
| 0.7660654187202454, |
| 1.4119528532028198, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.37937527894973755, |
| 0.2226339727640152, |
| 0.83322674036026, |
| 0.8950139880180359, |
| 0.002669443842023611, |
| 0.19931547343730927, |
| -0.03920330852270126 |
| ], |
| "std": [ |
| 0.15080545842647552, |
| 0.08744220435619354, |
| 0.09734845161437988, |
| 0.18129278719425201, |
| 0.1609821617603302, |
| 0.2735128402709961, |
| 0.15520259737968445 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "hand_left_camera_to_robot_extrinsics": { |
| "min": [ |
| -2.4919137954711914, |
| -0.39783573150634766, |
| 0.08912346512079239, |
| -0.7059761881828308, |
| -0.7070971727371216, |
| -0.7071017622947693, |
| -0.7003536820411682 |
| ], |
| "max": [ |
| 1.6003830432891846, |
| 0.852268397808075, |
| 1.5199809074401855, |
| 0.9998583197593689, |
| 0.9999294281005859, |
| 0.9999992251396179, |
| 0.9828557372093201 |
| ], |
| "mean": [ |
| 0.454216867685318, |
| 0.22402821481227875, |
| 0.8681885600090027, |
| 0.036229707300662994, |
| -0.09680615365505219, |
| 0.23266637325286865, |
| -0.029355071485042572 |
| ], |
| "std": [ |
| 0.15497180819511414, |
| 0.097525455057621, |
| 0.12888012826442719, |
| 0.2921854853630066, |
| 0.6119682192802429, |
| 0.6275736093521118, |
| 0.283891499042511 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.right_ee_to_robot_pose": { |
| "min": [ |
| -0.37395259737968445, |
| -0.7684566974639893, |
| 0.2121126800775528, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.7933430671691895, |
| 0.3343333899974823, |
| 1.4082123041152954, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.37883785367012024, |
| -0.2249823957681656, |
| 0.8355230689048767, |
| 0.8960263729095459, |
| 0.014029763638973236, |
| 0.20638230443000793, |
| 0.025172749534249306 |
| ], |
| "std": [ |
| 0.1488540768623352, |
| 0.08568918704986572, |
| 0.09544899314641953, |
| 0.18119429051876068, |
| 0.15520231425762177, |
| 0.27140936255455017, |
| 0.1520872414112091 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.right_ee_to_right_armbase_pose": { |
| "min": [ |
| -0.5369827151298523, |
| -0.5200366377830505, |
| -0.3508318364620209, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.6303129196166992, |
| 0.5827534794807434, |
| 0.7142120599746704, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.21580860018730164, |
| 0.023437660187482834, |
| 0.148964062333107, |
| 0.8960263729095459, |
| 0.014029763638973236, |
| 0.20638230443000793, |
| 0.025172749534249306 |
| ], |
| "std": [ |
| 0.14885373413562775, |
| 0.085689477622509, |
| 0.07244645804166794, |
| 0.18119429051876068, |
| 0.15520231425762177, |
| 0.27140936255455017, |
| 0.1520872414112091 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "hand_right_camera_to_robot_extrinsics": { |
| "min": [ |
| -2.3980712890625, |
| -0.859887421131134, |
| -0.053777895867824554, |
| -0.705839991569519, |
| -0.7070988416671753, |
| -0.7070915699005127, |
| -0.6977725625038147 |
| ], |
| "max": [ |
| 1.7018749713897705, |
| 0.40899232029914856, |
| 1.4956042766571045, |
| 0.9996465444564819, |
| 0.999971866607666, |
| 0.9999797344207764, |
| 0.994265615940094 |
| ], |
| "mean": [ |
| 0.4535411298274994, |
| -0.2114783227443695, |
| 0.8703423738479614, |
| -0.00416316045448184, |
| 0.0658869594335556, |
| 0.0677575096487999, |
| -0.0005551896756514907 |
| ], |
| "std": [ |
| 0.15302427113056183, |
| 0.09436384588479996, |
| 0.1263141632080078, |
| 0.28463494777679443, |
| 0.6552554965019226, |
| 0.6302881836891174, |
| 0.28880828619003296 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.right_tcp_to_right_armbase_pose": { |
| "min": [ |
| -0.6655531525611877, |
| -0.6780331134796143, |
| -0.46268099546432495, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.7859275341033936, |
| 0.664831817150116, |
| 0.8729659914970398, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.3321322500705719, |
| 0.03219843655824661, |
| 0.0964919701218605, |
| 0.8960263729095459, |
| 0.014029763638973236, |
| 0.20638230443000793, |
| 0.025172749534249306 |
| ], |
| "std": [ |
| 0.10848511010408401, |
| 0.10101696848869324, |
| 0.11652640998363495, |
| 0.18119429051876068, |
| 0.15520231425762177, |
| 0.27140936255455017, |
| 0.1520872414112091 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "images.rgb.hand_left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4585273656379837 |
| ] |
| ], |
| [ |
| [ |
| 0.42793603499302496 |
| ] |
| ], |
| [ |
| [ |
| 0.35177968743049104 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.29381716614931674 |
| ] |
| ], |
| [ |
| [ |
| 0.29544242659794073 |
| ] |
| ], |
| [ |
| [ |
| 0.2965681892025767 |
| ] |
| ] |
| ], |
| "count": [ |
| 45693 |
| ] |
| }, |
| "master_actions.left_gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.7220489978790283 |
| ], |
| "std": [ |
| 0.44751349091529846 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.left_tcp_to_robot_pose": { |
| "min": [ |
| -0.5022321939468384, |
| -0.410088449716568, |
| 0.09788703918457031, |
| -0.7069620490074158, |
| -0.7064285278320312, |
| -0.7069209814071655, |
| -0.7070217132568359 |
| ], |
| "max": [ |
| 0.9593435525894165, |
| 0.8723653554916382, |
| 1.5723525285720825, |
| 1.0, |
| 0.9980663657188416, |
| 0.9873380661010742, |
| 0.9739253520965576 |
| ], |
| "mean": [ |
| 0.4955509603023529, |
| 0.2102298140525818, |
| 0.7823535799980164, |
| 0.8951554298400879, |
| 0.0026822942309081554, |
| 0.19910141825675964, |
| -0.039112623780965805 |
| ], |
| "std": [ |
| 0.11304910480976105, |
| 0.10224100947380066, |
| 0.1351730227470398, |
| 0.18118837475776672, |
| 0.16087107360363007, |
| 0.2734629809856415, |
| 0.15500938892364502 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "actions.right_tcp_to_robot_pose": { |
| "min": [ |
| -0.5025230646133423, |
| -0.9264532327651978, |
| 0.10925088077783585, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.9489576816558838, |
| 0.41641175746917725, |
| 1.56696617603302, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.49516138434410095, |
| -0.21622154116630554, |
| 0.7830510139465332, |
| 0.8960263729095459, |
| 0.014029763638973236, |
| 0.20638230443000793, |
| 0.025172749534249306 |
| ], |
| "std": [ |
| 0.10848645120859146, |
| 0.10101679712533951, |
| 0.13331598043441772, |
| 0.18119429051876068, |
| 0.15520231425762177, |
| 0.27140936255455017, |
| 0.1520872414112091 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 4999.0 |
| ], |
| "mean": [ |
| 345.87078857421875 |
| ], |
| "std": [ |
| 997.3897705078125 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "states.right_tcp_to_robot_pose": { |
| "min": [ |
| -0.5025230646133423, |
| -0.9264532327651978, |
| 0.10925088077783585, |
| -0.7070016860961914, |
| -0.7070609927177429, |
| -0.7035565972328186, |
| -0.6975718140602112 |
| ], |
| "max": [ |
| 0.9489576816558838, |
| 0.41641175746917725, |
| 1.56696617603302, |
| 1.0, |
| 0.9996270537376404, |
| 0.9999103546142578, |
| 0.9317286014556885 |
| ], |
| "mean": [ |
| 0.4950670003890991, |
| -0.2162724882364273, |
| 0.7831169962882996, |
| 0.8961175680160522, |
| 0.014015894383192062, |
| 0.20620062947273254, |
| 0.025152387097477913 |
| ], |
| "std": [ |
| 0.10843919217586517, |
| 0.10096423327922821, |
| 0.13330323994159698, |
| 0.18113934993743896, |
| 0.15512174367904663, |
| 0.2713707387447357, |
| 0.1520179957151413 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "master_actions.left_gripper.position": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| 0.07050586491823196 |
| ], |
| "std": [ |
| 0.029837368056178093 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 6657.0 |
| ], |
| "mean": [ |
| 1252.9080810546875 |
| ], |
| "std": [ |
| 1235.6103515625 |
| ], |
| "count": [ |
| 147679934 |
| ] |
| } |
| }, |
| "Genie-1": { |
| "images.rgb.hand_left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.6046336906478279 |
| ] |
| ], |
| [ |
| [ |
| 0.5780519778450595 |
| ] |
| ], |
| [ |
| [ |
| 0.5396336167980263 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.3341776476455558 |
| ] |
| ], |
| [ |
| [ |
| 0.334456178228261 |
| ] |
| ], |
| [ |
| [ |
| 0.3382468632610946 |
| ] |
| ] |
| ], |
| "count": [ |
| 3000 |
| ] |
| }, |
| "actions.right_gripper.position": { |
| "min": [ |
| -93.83064270019531 |
| ], |
| "max": [ |
| 22.70714569091797 |
| ], |
| "mean": [ |
| 0.8496156334877014 |
| ], |
| "std": [ |
| 0.2757028639316559 |
| ], |
| "count": [ |
| 817983650 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1594442.0 |
| ], |
| "mean": [ |
| 235132.484375 |
| ], |
| "std": [ |
| 364870.375 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "hand_right_camera_intrinsics": { |
| "min": [ |
| 433.635009765625, |
| 433.635009765625, |
| 431.8999938964844, |
| 241.38999938964844 |
| ], |
| "max": [ |
| 433.635009765625, |
| 433.635009765625, |
| 431.8999938964844, |
| 241.38999938964844 |
| ], |
| "mean": [ |
| 433.6348876953125, |
| 433.6348876953125, |
| 431.8999938964844, |
| 241.3899383544922 |
| ], |
| "std": [ |
| 0.46770718693733215, |
| 0.46770718693733215, |
| 0.0, |
| 0.1875 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "images.rgb.hand_right": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.6123546534986543 |
| ] |
| ], |
| [ |
| [ |
| 0.5853980875144176 |
| ] |
| ], |
| [ |
| [ |
| 0.5430618257401 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.3343220915316621 |
| ] |
| ], |
| [ |
| [ |
| 0.3362977327851885 |
| ] |
| ], |
| [ |
| [ |
| 0.34291546049657606 |
| ] |
| ] |
| ], |
| "count": [ |
| 3000 |
| ] |
| }, |
| "states.right_ee_to_right_armbase_pose": { |
| "min": [ |
| -0.6052932143211365, |
| -0.8924081921577454, |
| -0.3942418694496155, |
| -0.7068179845809937, |
| -0.706994891166687, |
| -0.7007423639297485, |
| -0.7048665285110474 |
| ], |
| "max": [ |
| 0.6525636315345764, |
| 0.2636398375034332, |
| 0.6767289638519287, |
| 0.9997367858886719, |
| 0.9982188940048218, |
| 0.9686515927314758, |
| 0.996041476726532 |
| ], |
| "mean": [ |
| 0.37170493602752686, |
| -0.2518899142742157, |
| 0.08480256050825119, |
| -0.39702022075653076, |
| 0.5879664421081543, |
| 0.034782085567712784, |
| 0.2216065376996994 |
| ], |
| "std": [ |
| 0.0727890208363533, |
| 0.12393157929182053, |
| 0.08880368620157242, |
| 0.42891165614128113, |
| 0.397360622882843, |
| 0.255260705947876, |
| 0.1983240246772766 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.left_joint.position": { |
| "min": [ |
| -4.479841232299805, |
| -1.6254962682724, |
| -2.7485718727111816, |
| -2.9230613708496094, |
| -2.7858364582061768, |
| -1.5692105293273926, |
| -3.2472071647644043 |
| ], |
| "max": [ |
| 2.352735757827759, |
| 2.9045286178588867, |
| 3.5812926292419434, |
| 1.7752320766448975, |
| 3.890096664428711, |
| 4.076046943664551, |
| 3.2842066287994385 |
| ], |
| "mean": [ |
| 0.01631711982190609, |
| -0.02813527174293995, |
| 0.0008427334250882268, |
| 0.016301404684782028, |
| -0.005606123246252537, |
| -0.010605801828205585, |
| -0.014807180501520634 |
| ], |
| "std": [ |
| 0.2577780783176422, |
| 0.3037567734718323, |
| 0.18695178627967834, |
| 0.1435968428850174, |
| 0.1719842255115509, |
| 0.18481530249118805, |
| 0.23824599385261536 |
| ], |
| "count": [ |
| 817983650 |
| ] |
| }, |
| "actions.left_tcp_to_left_armbase_pose": { |
| "min": [ |
| -0.6121523976325989, |
| -0.47860151529312134, |
| -0.6921423077583313, |
| -0.7037089467048645, |
| -0.7055482864379883, |
| -0.7065842747688293, |
| -0.7065101861953735 |
| ], |
| "max": [ |
| 0.8926814794540405, |
| 1.1109302043914795, |
| 0.8952809572219849, |
| 0.9997661709785461, |
| 0.9741376042366028, |
| 0.9968883991241455, |
| 0.9999511241912842 |
| ], |
| "mean": [ |
| 0.4599691927433014, |
| 0.09397410601377487, |
| 0.05024223402142525, |
| 0.20810064673423767, |
| 0.015148259699344635, |
| 0.5758805871009827, |
| -0.3922157883644104 |
| ], |
| "std": [ |
| 0.10501772165298462, |
| 0.10690955072641373, |
| 0.09270329773426056, |
| 0.2074875831604004, |
| 0.23727667331695557, |
| 0.41100969910621643, |
| 0.45023664832115173 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.left_ee_to_robot_pose": { |
| "min": [ |
| -0.08939067274332047, |
| -0.283764123916626, |
| 0.6019872426986694, |
| -0.7049983143806458, |
| -0.706758439540863, |
| -0.707067608833313, |
| -0.7070688009262085 |
| ], |
| "max": [ |
| 0.9923858642578125, |
| 0.8915553092956543, |
| 1.9738203287124634, |
| 0.9949477910995483, |
| 0.9993139505386353, |
| 0.9998385310173035, |
| 0.9981259703636169 |
| ], |
| "mean": [ |
| 0.6529098153114319, |
| 0.2544308602809906, |
| 1.0969009399414062, |
| 0.04177108779549599, |
| -0.11953968554735184, |
| 0.6617540121078491, |
| -0.4263683557510376 |
| ], |
| "std": [ |
| 0.0799831673502922, |
| 0.11814416944980621, |
| 0.09440889954566956, |
| 0.13209199905395508, |
| 0.27077922224998474, |
| 0.3601236343383789, |
| 0.37920793890953064 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "hand_left_camera_to_robot_extrinsics": { |
| "min": [ |
| -0.03358030319213867, |
| -1.2856229543685913, |
| 0.5267146825790405, |
| -0.6901317238807678, |
| -0.7069825530052185, |
| -0.7070196270942688, |
| -0.706656813621521 |
| ], |
| "max": [ |
| 2.0532209873199463, |
| 0.9700044989585876, |
| 2.067401885986328, |
| 0.9989142417907715, |
| 0.9986445307731628, |
| 0.9998824000358582, |
| 0.9986103177070618 |
| ], |
| "mean": [ |
| 0.6991555094718933, |
| 0.18716855347156525, |
| 1.1245752573013306, |
| 0.030465733259916306, |
| -0.1546659767627716, |
| 0.7850766777992249, |
| -0.32884806394577026 |
| ], |
| "std": [ |
| 0.09851762652397156, |
| 0.11272186785936356, |
| 0.09782151877880096, |
| 0.13579168915748596, |
| 0.2578486502170563, |
| 0.2852068245410919, |
| 0.29050904512405396 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 31.100000381469727 |
| ], |
| "mean": [ |
| 7.7030205726623535 |
| ], |
| "std": [ |
| 5.915524482727051 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 2193.0 |
| ], |
| "mean": [ |
| 398.0010986328125 |
| ], |
| "std": [ |
| 551.03662109375 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.left_gripper.position": { |
| "min": [ |
| -31.047536849975586 |
| ], |
| "max": [ |
| 13.528731346130371 |
| ], |
| "mean": [ |
| 0.8395162224769592 |
| ], |
| "std": [ |
| 0.2954457700252533 |
| ], |
| "count": [ |
| 817983650 |
| ] |
| }, |
| "states.left_tcp_to_left_armbase_pose": { |
| "min": [ |
| -0.6121523976325989, |
| -0.47860151529312134, |
| -0.6921423077583313, |
| -0.7037089467048645, |
| -0.7055482864379883, |
| -0.7065842747688293, |
| -0.7065101861953735 |
| ], |
| "max": [ |
| 0.8926814794540405, |
| 1.1109302043914795, |
| 0.8952809572219849, |
| 0.9997661709785461, |
| 0.9741376042366028, |
| 0.9968883991241455, |
| 0.9999511241912842 |
| ], |
| "mean": [ |
| 0.4598873257637024, |
| 0.09401200711727142, |
| 0.05021797865629196, |
| 0.20814746618270874, |
| 0.01526036486029625, |
| 0.5759690403938293, |
| -0.3926793336868286 |
| ], |
| "std": [ |
| 0.1049787625670433, |
| 0.10687386244535446, |
| 0.09266682714223862, |
| 0.2073894590139389, |
| 0.23709553480148315, |
| 0.41076067090034485, |
| 0.4500616490840912 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "head_camera_intrinsics": { |
| "min": [ |
| 323.3450012207031, |
| 323.3450012207031, |
| 319.54998779296875, |
| 182.17999267578125 |
| ], |
| "max": [ |
| 323.3450012207031, |
| 323.3450012207031, |
| 319.54998779296875, |
| 182.17999267578125 |
| ], |
| "mean": [ |
| 323.3452453613281, |
| 323.3452453613281, |
| 319.550048828125, |
| 182.1798553466797 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.24206146597862244 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "images.rgb.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.6412966940813363 |
| ] |
| ], |
| [ |
| [ |
| 0.6154517052469136 |
| ] |
| ], |
| [ |
| [ |
| 0.5773943628358751 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.3274805584228503 |
| ] |
| ], |
| [ |
| [ |
| 0.3314267970327354 |
| ] |
| ], |
| [ |
| [ |
| 0.3414217213569636 |
| ] |
| ] |
| ], |
| "count": [ |
| 3000 |
| ] |
| }, |
| "master_actions.right_gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.8145615458488464 |
| ], |
| "std": [ |
| 0.38865286111831665 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.right_joint.position": { |
| "min": [ |
| -2.1482789516448975, |
| -2.8892130851745605, |
| -3.533997058868408, |
| -1.6144917011260986, |
| -3.8622522354125977, |
| -3.42922306060791, |
| -4.490894794464111 |
| ], |
| "max": [ |
| 3.5515239238739014, |
| 1.5820900201797485, |
| 2.9704761505126953, |
| 2.9564313888549805, |
| 2.94697904586792, |
| 1.9393800497055054, |
| 3.311695098876953 |
| ], |
| "mean": [ |
| -0.018811320886015892, |
| 0.03203209862112999, |
| 0.0014296560548245907, |
| -0.016126656904816628, |
| 0.003931897226721048, |
| 0.012188050895929337, |
| 0.02099226787686348 |
| ], |
| "std": [ |
| 0.27072370052337646, |
| 0.3312830626964569, |
| 0.20357488095760345, |
| 0.1584554761648178, |
| 0.18622757494449615, |
| 0.18588492274284363, |
| 0.2534776031970978 |
| ], |
| "count": [ |
| 817983650 |
| ] |
| }, |
| "actions.right_tcp_to_robot_pose": { |
| "min": [ |
| -0.526583194732666, |
| -1.1121447086334229, |
| 0.4099868834018707, |
| -0.7070894241333008, |
| -0.7070894241333008, |
| -0.7059944868087769, |
| -0.6986715197563171 |
| ], |
| "max": [ |
| 1.2119410037994385, |
| 0.4778217375278473, |
| 2.196092367172241, |
| 0.9996358752250671, |
| 0.9999461770057678, |
| 0.9981772899627686, |
| 0.9997948408126831 |
| ], |
| "mean": [ |
| 0.7100116014480591, |
| -0.09895941615104675, |
| 1.0330092906951904, |
| -0.41160672903060913, |
| 0.6476318836212158, |
| -0.08363071084022522, |
| 0.0477338545024395 |
| ], |
| "std": [ |
| 0.1136833131313324, |
| 0.11185365915298462, |
| 0.11296827346086502, |
| 0.3802388906478882, |
| 0.3920782506465912, |
| 0.294724702835083, |
| 0.12926873564720154 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "master_actions.right_gripper.position": { |
| "min": [ |
| -93.83064270019531 |
| ], |
| "max": [ |
| 22.70714569091797 |
| ], |
| "mean": [ |
| 0.8538026213645935 |
| ], |
| "std": [ |
| 0.2765274941921234 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.robot_to_env_pose": { |
| "min": [ |
| -0.02505362220108509, |
| -0.8499986529350281, |
| -0.7329345941543579, |
| 0.7071067690849304, |
| 9.313225191043273e-10, |
| -6.1845634169444e-10, |
| 0.7071067690849304 |
| ], |
| "max": [ |
| 0.02499982714653015, |
| -0.7800002694129944, |
| 0.5921404957771301, |
| 0.7071067690849304, |
| 9.313225191043273e-10, |
| -6.1845634169444e-10, |
| 0.7071067690849304 |
| ], |
| "mean": [ |
| -0.00048572791274636984, |
| -0.8120647668838501, |
| -0.043109118938446045, |
| 0.70710688829422, |
| 9.313214643924539e-10, |
| -6.184562861832887e-10, |
| 0.70710688829422 |
| ], |
| "std": [ |
| 0.014426648616790771, |
| 0.018681146204471588, |
| 0.24654899537563324, |
| 0.0, |
| 1.0168460040996252e-12, |
| 3.215549300352588e-13, |
| 0.0 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "hand_left_camera_intrinsics": { |
| "min": [ |
| 433.635009765625, |
| 433.635009765625, |
| 431.8999938964844, |
| 241.38999938964844 |
| ], |
| "max": [ |
| 433.635009765625, |
| 433.635009765625, |
| 431.8999938964844, |
| 241.38999938964844 |
| ], |
| "mean": [ |
| 433.6348876953125, |
| 433.6348876953125, |
| 431.8999938964844, |
| 241.3899383544922 |
| ], |
| "std": [ |
| 0.46770718693733215, |
| 0.46770718693733215, |
| 0.0, |
| 0.1875 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "master_actions.right_joint.position": { |
| "min": [ |
| -2.652817487716675, |
| -1.4836039543151855, |
| -3.0999999046325684, |
| -1.5054454803466797, |
| -3.113384485244751, |
| -2.42360258102417, |
| -3.05749773979187 |
| ], |
| "max": [ |
| 3.1315574645996094, |
| 2.102745771408081, |
| 3.10282564163208, |
| 1.9454772472381592, |
| 3.107654571533203, |
| 1.744158148765564, |
| 3.100193738937378 |
| ], |
| "mean": [ |
| 0.7327446937561035, |
| -0.08170565962791443, |
| -0.17326156795024872, |
| 1.1093007326126099, |
| -0.675542950630188, |
| -1.2999298572540283, |
| 0.5081641674041748 |
| ], |
| "std": [ |
| 0.8309195637702942, |
| 1.015968680381775, |
| 0.6271854043006897, |
| 0.40914660692214966, |
| 0.5467023253440857, |
| 0.47398191690444946, |
| 0.6879673600196838 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.left_ee_to_left_armbase_pose": { |
| "min": [ |
| -0.4610773026943207, |
| -0.2837640643119812, |
| -0.5628702044487, |
| -0.7037089467048645, |
| -0.7055482864379883, |
| -0.7065842747688293, |
| -0.7065101861953735 |
| ], |
| "max": [ |
| 0.6728261113166809, |
| 0.8915553689002991, |
| 0.6759207248687744, |
| 0.9997661709785461, |
| 0.9741376042366028, |
| 0.9968883991241455, |
| 0.9999511241912842 |
| ], |
| "mean": [ |
| 0.3743353486061096, |
| 0.2544308602809906, |
| 0.0752592533826828, |
| 0.20814746618270874, |
| 0.01526036486029625, |
| 0.5759690403938293, |
| -0.3926793336868286 |
| ], |
| "std": [ |
| 0.06807639449834824, |
| 0.1181441992521286, |
| 0.08997424691915512, |
| 0.2073894590139389, |
| 0.23709553480148315, |
| 0.41076067090034485, |
| 0.4500616490840912 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.right_ee_to_robot_pose": { |
| "min": [ |
| -0.31078800559043884, |
| -0.8924083113670349, |
| 0.6298943161964417, |
| -0.7070894241333008, |
| -0.7070894241333008, |
| -0.7059944868087769, |
| -0.6986715197563171 |
| ], |
| "max": [ |
| 0.992515504360199, |
| 0.26363980770111084, |
| 1.976650357246399, |
| 0.9996358752250671, |
| 0.9999461770057678, |
| 0.9981772899627686, |
| 0.9997948408126831 |
| ], |
| "mean": [ |
| 0.6556466221809387, |
| -0.25173258781433105, |
| 1.106493353843689, |
| -0.41160672903060913, |
| 0.6476318836212158, |
| -0.08363071084022522, |
| 0.0477338545024395 |
| ], |
| "std": [ |
| 0.08210224658250809, |
| 0.1240018978714943, |
| 0.09976662695407867, |
| 0.3802388906478882, |
| 0.3920782506465912, |
| 0.294724702835083, |
| 0.12926873564720154 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.left_tcp_to_robot_pose": { |
| "min": [ |
| -0.16946537792682648, |
| -0.4786015450954437, |
| 0.38304686546325684, |
| -0.7049983143806458, |
| -0.706758439540863, |
| -0.707067608833313, |
| -0.7070688009262085 |
| ], |
| "max": [ |
| 1.2116529941558838, |
| 1.11093008518219, |
| 2.190539598464966, |
| 0.9949477910995483, |
| 0.9993139505386353, |
| 0.9998385310173035, |
| 0.9981259703636169 |
| ], |
| "mean": [ |
| 0.710176408290863, |
| 0.09397414326667786, |
| 1.0285841226577759, |
| 0.04175100475549698, |
| -0.11954018473625183, |
| 0.6617082953453064, |
| -0.4259452223777771 |
| ], |
| "std": [ |
| 0.10868261754512787, |
| 0.10690954327583313, |
| 0.10395517945289612, |
| 0.13220132887363434, |
| 0.27096453309059143, |
| 0.360341876745224, |
| 0.379387229681015 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.right_ee_to_right_armbase_pose": { |
| "min": [ |
| -0.6052932143211365, |
| -0.8924081921577454, |
| -0.3942418694496155, |
| -0.7068179845809937, |
| -0.706994891166687, |
| -0.7007423639297485, |
| -0.7048665285110474 |
| ], |
| "max": [ |
| 0.6525636315345764, |
| 0.2636398375034332, |
| 0.6767289638519287, |
| 0.9997367858886719, |
| 0.9982188940048218, |
| 0.9686515927314758, |
| 0.996041476726532 |
| ], |
| "mean": [ |
| 0.37176698446273804, |
| -0.25173255801200867, |
| 0.08490724861621857, |
| -0.39651304483413696, |
| 0.5878373980522156, |
| 0.03462059050798416, |
| 0.2215602993965149 |
| ], |
| "std": [ |
| 0.0728265792131424, |
| 0.12400192767381668, |
| 0.0888490229845047, |
| 0.4291432499885559, |
| 0.3976511061191559, |
| 0.25548630952835083, |
| 0.19842728972434998 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "head_camera_to_robot_extrinsics": { |
| "min": [ |
| 0.2453145533800125, |
| -0.04772524535655975, |
| 0.9440444707870483, |
| -0.2629460394382477, |
| -0.7005819082260132, |
| -0.687227189540863, |
| -0.40480566024780273 |
| ], |
| "max": [ |
| 0.6741119623184204, |
| 0.047049492597579956, |
| 1.5223848819732666, |
| 0.39576515555381775, |
| 0.7296305894851685, |
| 0.7438259720802307, |
| 0.28536951541900635 |
| ], |
| "mean": [ |
| 0.5194424390792847, |
| -1.0523486707825214e-05, |
| 1.3667443990707397, |
| 0.201124906539917, |
| -0.6424634456634521, |
| 0.6617389917373657, |
| -0.21551541984081268 |
| ], |
| "std": [ |
| 0.024010954424738884, |
| 0.0038006450049579144, |
| 0.05167483165860176, |
| 0.05413205921649933, |
| 0.1682942807674408, |
| 0.16690534353256226, |
| 0.05773935467004776 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.left_tcp_to_robot_pose": { |
| "min": [ |
| -0.16946537792682648, |
| -0.4786015450954437, |
| 0.38304686546325684, |
| -0.7049983143806458, |
| -0.706758439540863, |
| -0.707067608833313, |
| -0.7070688009262085 |
| ], |
| "max": [ |
| 1.2116529941558838, |
| 1.11093008518219, |
| 2.190539598464966, |
| 0.9949477910995483, |
| 0.9993139505386353, |
| 0.9998385310173035, |
| 0.9981259703636169 |
| ], |
| "mean": [ |
| 0.7100909352302551, |
| 0.09401203691959381, |
| 1.0286047458648682, |
| 0.04177108779549599, |
| -0.11953968554735184, |
| 0.6617540121078491, |
| -0.4263683557510376 |
| ], |
| "std": [ |
| 0.10863818973302841, |
| 0.10687384754419327, |
| 0.10397295653820038, |
| 0.13209199905395508, |
| 0.27077922224998474, |
| 0.3601236343383789, |
| 0.37920793890953064 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.left_joint.position": { |
| "min": [ |
| -3.109011650085449, |
| -2.169252634048462, |
| -3.0915133953094482, |
| -2.0872957706451416, |
| -2.920048952102661, |
| -2.4149675369262695, |
| -3.384948253631592 |
| ], |
| "max": [ |
| 3.139195442199707, |
| 1.4823558330535889, |
| 3.0972816944122314, |
| 1.5036227703094482, |
| 3.3714098930358887, |
| 2.0690157413482666, |
| 3.103081703186035 |
| ], |
| "mean": [ |
| -0.7946692705154419, |
| 0.18905329704284668, |
| 0.2246013879776001, |
| -1.1380754709243774, |
| 0.6706215739250183, |
| 1.2858712673187256, |
| -0.4450991153717041 |
| ], |
| "std": [ |
| 0.7954184412956238, |
| 0.9513732194900513, |
| 0.597927451133728, |
| 0.3587418794631958, |
| 0.522394061088562, |
| 0.4730129837989807, |
| 0.6784234046936035 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.right_gripper.position": { |
| "min": [ |
| -93.83064270019531 |
| ], |
| "max": [ |
| 22.70714569091797 |
| ], |
| "mean": [ |
| 0.8544023036956787 |
| ], |
| "std": [ |
| 0.2759970724582672 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.right_ee_to_robot_pose": { |
| "min": [ |
| -0.31078800559043884, |
| -0.8924083113670349, |
| 0.6298943161964417, |
| -0.7070894241333008, |
| -0.7070894241333008, |
| -0.7059944868087769, |
| -0.6986715197563171 |
| ], |
| "max": [ |
| 0.992515504360199, |
| 0.26363980770111084, |
| 1.976650357246399, |
| 0.9996358752250671, |
| 0.9999461770057678, |
| 0.9981772899627686, |
| 0.9997948408126831 |
| ], |
| "mean": [ |
| 0.6555368304252625, |
| -0.2518898844718933, |
| 1.1064378023147583, |
| -0.41212284564971924, |
| 0.6477658152580261, |
| -0.08364927023649216, |
| 0.04771997034549713 |
| ], |
| "std": [ |
| 0.08204777538776398, |
| 0.12393157929182053, |
| 0.09974391758441925, |
| 0.3799865245819092, |
| 0.3917649984359741, |
| 0.29449325799942017, |
| 0.12916691601276398 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.left_ee_to_left_armbase_pose": { |
| "min": [ |
| -0.4610773026943207, |
| -0.2837640643119812, |
| -0.5628702044487, |
| -0.7037089467048645, |
| -0.7055482864379883, |
| -0.7065842747688293, |
| -0.7065101861953735 |
| ], |
| "max": [ |
| 0.6728261113166809, |
| 0.8915553689002991, |
| 0.6759207248687744, |
| 0.9997661709785461, |
| 0.9741376042366028, |
| 0.9968883991241455, |
| 0.9999511241912842 |
| ], |
| "mean": [ |
| 0.37438270449638367, |
| 0.25429069995880127, |
| 0.07536492496728897, |
| 0.20810064673423767, |
| 0.015148259699344635, |
| 0.5758805871009827, |
| -0.3922157883644104 |
| ], |
| "std": [ |
| 0.06809937208890915, |
| 0.1182076558470726, |
| 0.09004274010658264, |
| 0.2074875831604004, |
| 0.23727667331695557, |
| 0.41100969910621643, |
| 0.45023664832115173 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 30.0 |
| ], |
| "mean": [ |
| 1.9637975692749023 |
| ], |
| "std": [ |
| 5.356683254241943 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.right_joint.position": { |
| "min": [ |
| -2.6501145362854004, |
| -1.4836673736572266, |
| -3.10017728805542, |
| -1.5054689645767212, |
| -3.113384485244751, |
| -2.42360258102417, |
| -3.0568394660949707 |
| ], |
| "max": [ |
| 3.1312415599823, |
| 2.102745771408081, |
| 3.10282564163208, |
| 1.9663244485855103, |
| 3.1078872680664062, |
| 1.744158148765564, |
| 3.100193738937378 |
| ], |
| "mean": [ |
| 0.7338668704032898, |
| -0.08439086377620697, |
| -0.1727287322282791, |
| 1.1112233400344849, |
| -0.676044225692749, |
| -1.300614595413208, |
| 0.5063180923461914 |
| ], |
| "std": [ |
| 0.8274230360984802, |
| 1.0124549865722656, |
| 0.6238864660263062, |
| 0.4071480929851532, |
| 0.5440612435340881, |
| 0.4723779857158661, |
| 0.6858174204826355 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 933.0 |
| ], |
| "mean": [ |
| 231.09048461914062 |
| ], |
| "std": [ |
| 177.46600341796875 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "master_actions.left_gripper.openness": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1.0 |
| ], |
| "mean": [ |
| 0.8003353476524353 |
| ], |
| "std": [ |
| 0.3997482657432556 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "master_actions.left_gripper.position": { |
| "min": [ |
| -31.047536849975586 |
| ], |
| "max": [ |
| 13.528731346130371 |
| ], |
| "mean": [ |
| 0.8458595871925354 |
| ], |
| "std": [ |
| 0.29372501373291016 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.right_tcp_to_right_armbase_pose": { |
| "min": [ |
| -0.8211797475814819, |
| -1.1121445894241333, |
| -0.5837138295173645, |
| -0.7068179845809937, |
| -0.706994891166687, |
| -0.7007423639297485, |
| -0.7048665285110474 |
| ], |
| "max": [ |
| 0.867559015750885, |
| 0.4778217673301697, |
| 0.8955612778663635, |
| 0.9997367858886719, |
| 0.9982188940048218, |
| 0.9686515927314758, |
| 0.996041476726532 |
| ], |
| "mean": [ |
| 0.4577743113040924, |
| -0.09900268912315369, |
| 0.05401671305298805, |
| -0.39702022075653076, |
| 0.5879664421081543, |
| 0.034782085567712784, |
| 0.2216065376996994 |
| ], |
| "std": [ |
| 0.11106365919113159, |
| 0.11181431263685226, |
| 0.09609000384807587, |
| 0.42891165614128113, |
| 0.397360622882843, |
| 0.255260705947876, |
| 0.1983240246772766 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.left_ee_to_robot_pose": { |
| "min": [ |
| -0.08939067274332047, |
| -0.283764123916626, |
| 0.6019872426986694, |
| -0.7049983143806458, |
| -0.706758439540863, |
| -0.707067608833313, |
| -0.7070688009262085 |
| ], |
| "max": [ |
| 0.9923858642578125, |
| 0.8915553092956543, |
| 1.9738203287124634, |
| 0.9949477910995483, |
| 0.9993139505386353, |
| 0.9998385310173035, |
| 0.9981259703636169 |
| ], |
| "mean": [ |
| 0.653006374835968, |
| 0.25429069995880127, |
| 1.096967101097107, |
| 0.04175100475549698, |
| -0.11954018473625183, |
| 0.6617082953453064, |
| -0.4259452223777771 |
| ], |
| "std": [ |
| 0.08002656698226929, |
| 0.11820758879184723, |
| 0.094462551176548, |
| 0.13220132887363434, |
| 0.27096453309059143, |
| 0.360341876745224, |
| 0.379387229681015 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "actions.right_tcp_to_right_armbase_pose": { |
| "min": [ |
| -0.8211797475814819, |
| -1.1121445894241333, |
| -0.5837138295173645, |
| -0.7068179845809937, |
| -0.706994891166687, |
| -0.7007423639297485, |
| -0.7048665285110474 |
| ], |
| "max": [ |
| 0.867559015750885, |
| 0.4778217673301697, |
| 0.8955612778663635, |
| 0.9997367858886719, |
| 0.9982188940048218, |
| 0.9686515927314758, |
| 0.996041476726532 |
| ], |
| "mean": [ |
| 0.45787936449050903, |
| -0.09895945340394974, |
| 0.054040729999542236, |
| -0.39651304483413696, |
| 0.5878373980522156, |
| 0.03462059050798416, |
| 0.2215602993965149 |
| ], |
| "std": [ |
| 0.11112777143716812, |
| 0.11185362935066223, |
| 0.09612344205379486, |
| 0.4291432499885559, |
| 0.3976511061191559, |
| 0.25548630952835083, |
| 0.19842728972434998 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "master_actions.left_joint.position": { |
| "min": [ |
| -3.110853433609009, |
| -2.1690075397491455, |
| -3.0916354656219482, |
| -2.0872957706451416, |
| -2.920048952102661, |
| -2.411776065826416, |
| -3.384948253631592 |
| ], |
| "max": [ |
| 3.139894485473633, |
| 1.4823558330535889, |
| 3.0999999046325684, |
| 1.4863662719726562, |
| 3.3714098930358887, |
| 2.0690157413482666, |
| 3.103081703186035 |
| ], |
| "mean": [ |
| -0.793830394744873, |
| 0.18674741685390472, |
| 0.22554057836532593, |
| -1.1360936164855957, |
| 0.6697815656661987, |
| 1.2854381799697876, |
| -0.44619667530059814 |
| ], |
| "std": [ |
| 0.7989770770072937, |
| 0.9549784660339355, |
| 0.6013912558555603, |
| 0.3610571622848511, |
| 0.5246614813804626, |
| 0.47441530227661133, |
| 0.6801559925079346 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "hand_right_camera_to_robot_extrinsics": { |
| "min": [ |
| -0.3814636170864105, |
| -1.0481433868408203, |
| -0.22654850780963898, |
| -0.7050166130065918, |
| -0.7068910598754883, |
| -0.7069167494773865, |
| -0.6999728679656982 |
| ], |
| "max": [ |
| 2.8865966796875, |
| 1.8378486633300781, |
| 2.064302921295166, |
| 0.9993934035301208, |
| 0.9998446106910706, |
| 0.9999403953552246, |
| 0.9989999532699585 |
| ], |
| "mean": [ |
| 0.6844748258590698, |
| -0.18106475472450256, |
| 1.1538218259811401, |
| -0.2852480113506317, |
| 0.771572470664978, |
| -0.11318495869636536, |
| 0.02031598798930645 |
| ], |
| "std": [ |
| 0.1117396205663681, |
| 0.12357305735349655, |
| 0.10848583281040192, |
| 0.2979300320148468, |
| 0.3489058315753937, |
| 0.28629425168037415, |
| 0.1327546089887619 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.left_gripper.position": { |
| "min": [ |
| -31.047536849975586 |
| ], |
| "max": [ |
| 18.342538833618164 |
| ], |
| "mean": [ |
| 0.8464376926422119 |
| ], |
| "std": [ |
| 0.2932944893836975 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| }, |
| "states.right_tcp_to_robot_pose": { |
| "min": [ |
| -0.526583194732666, |
| -1.1121447086334229, |
| 0.4099868834018707, |
| -0.7070894241333008, |
| -0.7070894241333008, |
| -0.7059944868087769, |
| -0.6986715197563171 |
| ], |
| "max": [ |
| 1.2119410037994385, |
| 0.4778217375278473, |
| 2.196092367172241, |
| 0.9996358752250671, |
| 0.9999461770057678, |
| 0.9981772899627686, |
| 0.9997948408126831 |
| ], |
| "mean": [ |
| 0.7099061012268066, |
| -0.0990026518702507, |
| 1.0330432653427124, |
| -0.41212284564971924, |
| 0.6477658152580261, |
| -0.08364927023649216, |
| 0.04771997034549713 |
| ], |
| "std": [ |
| 0.11362405121326447, |
| 0.11181430518627167, |
| 0.11298515647649765, |
| 0.3799865245819092, |
| 0.3917649984359741, |
| 0.29449325799942017, |
| 0.12916691601276398 |
| ], |
| "count": [ |
| 18840935 |
| ] |
| } |
| }, |
| "aloha": { |
| "observation.images.cam_left_wrist": { |
| "min": [ |
| [ |
| [ |
| 0.03529411764705882 |
| ] |
| ], |
| [ |
| [ |
| 0.023529411764705882 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.7884119743872549 |
| ] |
| ], |
| [ |
| [ |
| 0.753956379248366 |
| ] |
| ], |
| [ |
| [ |
| 0.7430039583333334 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.272853640091968 |
| ] |
| ], |
| [ |
| [ |
| 0.2835188954302666 |
| ] |
| ], |
| [ |
| [ |
| 0.2912578042524059 |
| ] |
| ] |
| ], |
| "count": [ |
| 5000 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 499.0 |
| ], |
| "mean": [ |
| 178.92372131347656 |
| ], |
| "std": [ |
| 147.69186401367188 |
| ], |
| "count": [ |
| 6075103 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 499.0 |
| ], |
| "mean": [ |
| 229.09547424316406 |
| ], |
| "std": [ |
| 152.05056762695312 |
| ], |
| "count": [ |
| 6075103 |
| ] |
| }, |
| "observation.images.cam_high": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.846593596609477 |
| ] |
| ], |
| [ |
| [ |
| 0.8331318254084968 |
| ] |
| ], |
| [ |
| [ |
| 0.8321711194035947 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2597467988060663 |
| ] |
| ], |
| [ |
| [ |
| 0.25618517423681436 |
| ] |
| ], |
| [ |
| [ |
| 0.2591302625988022 |
| ] |
| ] |
| ], |
| "count": [ |
| 5000 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 36.099998474121094 |
| ], |
| "mean": [ |
| 4.9110493659973145 |
| ], |
| "std": [ |
| 4.269797325134277 |
| ], |
| "count": [ |
| 6075103 |
| ] |
| }, |
| "observation.images.cam_right_wrist": { |
| "min": [ |
| [ |
| [ |
| 0.03137254901960784 |
| ] |
| ], |
| [ |
| [ |
| 0.01568627450980392 |
| ] |
| ], |
| [ |
| [ |
| 0.00784313725490196 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.8237446549428101 |
| ] |
| ], |
| [ |
| [ |
| 0.8130164042892157 |
| ] |
| ], |
| [ |
| [ |
| 0.799262994771242 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2658742788887926 |
| ] |
| ], |
| [ |
| [ |
| 0.24142242721245286 |
| ] |
| ], |
| [ |
| [ |
| 0.26094397934036745 |
| ] |
| ] |
| ], |
| "count": [ |
| 5000 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -7.552278995513916, |
| -0.36354875564575195, |
| -0.18577136099338531, |
| -1.956291913986206, |
| -1.6801013946533203, |
| -7.678869724273682, |
| 0.0, |
| -8.539926528930664, |
| -0.6294453740119934, |
| -0.07775841653347015, |
| -2.1328067779541016, |
| -2.1285502910614014, |
| -8.228925704956055, |
| 0.0 |
| ], |
| "max": [ |
| 6.45659065246582, |
| 4.179152488708496, |
| 5.346591472625732, |
| 1.7942548990249634, |
| 1.8604620695114136, |
| 5.43813943862915, |
| 1.0, |
| 7.142920017242432, |
| 4.157068729400635, |
| 5.672450065612793, |
| 1.95806884765625, |
| 1.5663840770721436, |
| 5.278968811035156, |
| 1.0 |
| ], |
| "mean": [ |
| -0.23838336765766144, |
| 1.1298744678497314, |
| 0.8068661689758301, |
| -0.3102293610572815, |
| 0.05489448830485344, |
| -0.03798481076955795, |
| 0.6655774712562561, |
| 0.21665610373020172, |
| 1.0790669918060303, |
| 0.7875725626945496, |
| -0.3211246430873871, |
| -0.017505258321762085, |
| 0.03539633750915527, |
| 0.67947918176651 |
| ], |
| "std": [ |
| 0.41515401005744934, |
| 1.0045644044876099, |
| 0.7768043875694275, |
| 0.673305869102478, |
| 0.27081969380378723, |
| 0.6197779774665833, |
| 0.45464587211608887, |
| 0.3492097854614258, |
| 1.0249536037445068, |
| 0.7943670749664307, |
| 0.6847943067550659, |
| 0.2443753182888031, |
| 0.6142938733100891, |
| 0.4497722089290619 |
| ], |
| "count": [ |
| 6075103 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1083.0 |
| ], |
| "mean": [ |
| 147.33152770996094 |
| ], |
| "std": [ |
| 128.09390258789062 |
| ], |
| "count": [ |
| 6075103 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 311690.0 |
| ], |
| "mean": [ |
| 66923.890625 |
| ], |
| "std": [ |
| 61142.14453125 |
| ], |
| "count": [ |
| 6075103 |
| ] |
| }, |
| "action": { |
| "min": [ |
| -6.851438522338867, |
| -4.004252910614014, |
| -4.620656967163086, |
| -3.025590419769287, |
| -1.6964553594589233, |
| -6.722233772277832, |
| 0.0, |
| -7.731720924377441, |
| -3.9584622383117676, |
| -5.497868061065674, |
| -3.437086582183838, |
| -2.843690872192383, |
| -6.96754264831543, |
| 0.0 |
| ], |
| "max": [ |
| 7.150303840637207, |
| 3.4578874111175537, |
| 5.290401935577393, |
| 3.2622382640838623, |
| 2.5479884147644043, |
| 7.018448829650879, |
| 1.0, |
| 8.625657081604004, |
| 3.142834424972534, |
| 4.1457624435424805, |
| 3.00510311126709, |
| 1.4359261989593506, |
| 6.145336151123047, |
| 1.0 |
| ], |
| "mean": [ |
| -0.023224545642733574, |
| 0.08399146050214767, |
| 0.05790187418460846, |
| -0.007167779840528965, |
| 0.005495607852935791, |
| -0.018547484651207924, |
| 0.6243100166320801, |
| 0.0356593057513237, |
| 0.1232094094157219, |
| 0.08760268986225128, |
| -0.017308034002780914, |
| -0.0038718210998922586, |
| 0.019018538296222687, |
| 0.6424015164375305 |
| ], |
| "std": [ |
| 0.2557879686355591, |
| 0.5993063449859619, |
| 0.4703477919101715, |
| 0.39828136563301086, |
| 0.15711145102977753, |
| 0.3571214973926544, |
| 0.46640413999557495, |
| 0.21648000180721283, |
| 0.5584707260131836, |
| 0.4440857768058777, |
| 0.3647717833518982, |
| 0.15546183288097382, |
| 0.36048516631126404, |
| 0.4624502658843994 |
| ], |
| "count": [ |
| 236380150 |
| ] |
| } |
| }, |
| "UR5": { |
| "action.endpose": { |
| "min": [ |
| -0.8033474683761597, |
| -0.39278149604797363, |
| 0.23263950645923615, |
| -0.7070068120956421, |
| -0.865704357624054, |
| -0.7069742679595947, |
| -0.4999988079071045 |
| ], |
| "max": [ |
| -0.18568167090415955, |
| 0.5637743473052979, |
| 0.7413473129272461, |
| 1.0, |
| 1.0, |
| 0.8144013285636902, |
| 0.7895051836967468 |
| ], |
| "mean": [ |
| -0.5510025024414062, |
| 0.10524854063987732, |
| 0.4789882004261017, |
| 0.611907422542572, |
| 0.5123352408409119, |
| -0.03016427904367447, |
| 0.01888931728899479 |
| ], |
| "std": [ |
| 0.08200817555189133, |
| 0.1613473743200302, |
| 0.0904698297381401, |
| 0.3381069600582123, |
| 0.4416710436344147, |
| 0.15956304967403412, |
| 0.16421204805374146 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| }, |
| "observation.images.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.3723812431685805 |
| ] |
| ], |
| [ |
| [ |
| 0.38245287404790573 |
| ] |
| ], |
| [ |
| [ |
| 0.3602026967783224 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2613763170481862 |
| ] |
| ], |
| [ |
| [ |
| 0.2582564833896667 |
| ] |
| ], |
| [ |
| [ |
| 0.26812590985976514 |
| ] |
| ] |
| ], |
| "count": [ |
| 320578 |
| ] |
| }, |
| "observation.state.endpose": { |
| "min": [ |
| -0.8033474683761597, |
| -0.39278149604797363, |
| 0.23263950645923615, |
| -0.7070068120956421, |
| -0.865704357624054, |
| -0.7069742679595947, |
| -0.4999988079071045 |
| ], |
| "max": [ |
| -0.18568167090415955, |
| 0.5637743473052979, |
| 0.7413473129272461, |
| 1.0, |
| 1.0, |
| 0.8144013285636902, |
| 0.7895051836967468 |
| ], |
| "mean": [ |
| -0.5510021448135376, |
| 0.10524852573871613, |
| 0.4789882302284241, |
| 0.6119075417518616, |
| 0.5123351216316223, |
| -0.03016425296664238, |
| 0.01888934150338173 |
| ], |
| "std": [ |
| 0.08200890570878983, |
| 0.16134735941886902, |
| 0.09046950191259384, |
| 0.3381069004535675, |
| 0.44167107343673706, |
| 0.15956304967403412, |
| 0.16421204805374146 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| }, |
| "observation.images.left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.40554744790136277 |
| ] |
| ], |
| [ |
| [ |
| 0.4051874476009138 |
| ] |
| ], |
| [ |
| [ |
| 0.3583671870864017 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.298197287991564 |
| ] |
| ], |
| [ |
| [ |
| 0.29266854864517156 |
| ] |
| ], |
| [ |
| [ |
| 0.30626701180753313 |
| ] |
| ] |
| ], |
| "count": [ |
| 320578 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 2946191.0 |
| ], |
| "mean": [ |
| 1071892.875 |
| ], |
| "std": [ |
| 774051.0625 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 6222.0 |
| ], |
| "mean": [ |
| 1366.603759765625 |
| ], |
| "std": [ |
| 1041.2373046875 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -0.7682822346687317, |
| -2.8359591960906982, |
| -2.2092010974884033, |
| -2.783216714859009, |
| 0.22145837545394897, |
| -2.7166926860809326, |
| 2.0 |
| ], |
| "max": [ |
| 1.0218660831451416, |
| -0.9826644062995911, |
| 0.9067276120185852, |
| 0.8823446035385132, |
| 2.340386152267456, |
| 2.9650511741638184, |
| 228.0 |
| ], |
| "mean": [ |
| 0.03935491666197777, |
| -1.7861037254333496, |
| -1.356162190437317, |
| -1.3794994354248047, |
| 1.5455188751220703, |
| 0.0731012299656868, |
| 94.15855407714844 |
| ], |
| "std": [ |
| 0.29398104548454285, |
| 0.19906070828437805, |
| 0.3307165801525116, |
| 0.5931130051612854, |
| 0.14758053421974182, |
| 0.9381285905838013, |
| 97.00545501708984 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 964.0 |
| ], |
| "mean": [ |
| 403.32427978515625 |
| ], |
| "std": [ |
| 253.34576416015625 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| }, |
| "action": { |
| "min": [ |
| -0.8869171738624573, |
| -0.7698386907577515, |
| -2.014922857284546, |
| -1.6248786449432373, |
| -0.8164998888969421, |
| -2.088364839553833, |
| 2.0 |
| ], |
| "max": [ |
| 0.8474071025848389, |
| 1.0289522409439087, |
| 1.2413148880004883, |
| 0.986005425453186, |
| 1.1330680847167969, |
| 2.061295509338379, |
| 228.0 |
| ], |
| "mean": [ |
| -4.985290433978662e-05, |
| -0.0012112327385693789, |
| 0.001417683670297265, |
| 4.991074092686176e-05, |
| -3.97739204345271e-05, |
| -0.0009756565559655428, |
| 96.43750762939453 |
| ], |
| "std": [ |
| 0.09172732383012772, |
| 0.07638880610466003, |
| 0.11340378224849701, |
| 0.11526627093553543, |
| 0.043784163892269135, |
| 0.16066046059131622, |
| 97.12035369873047 |
| ], |
| "count": [ |
| 431787550 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 207.39999389648438 |
| ], |
| "mean": [ |
| 45.55345916748047 |
| ], |
| "std": [ |
| 34.707916259765625 |
| ], |
| "count": [ |
| 8851645 |
| ] |
| } |
| }, |
| "ARX5": { |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 6497.0 |
| ], |
| "mean": [ |
| 792.5562133789062 |
| ], |
| "std": [ |
| 578.6630859375 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "action": { |
| "min": [ |
| -2.088578224182129, |
| -2.176699638366699, |
| -2.2999162673950195, |
| -3.117036819458008, |
| -2.1343555450439453, |
| -2.898069381713867, |
| -0.00031033283448778093 |
| ], |
| "max": [ |
| 2.1381702423095703, |
| 1.5350570678710938, |
| 1.8001832962036133, |
| 3.1258106231689453, |
| 2.112611770629883, |
| 3.7483787536621094, |
| 0.08759861439466476 |
| ], |
| "mean": [ |
| -0.00047676634858362377, |
| 0.002042992040514946, |
| -0.001038819900713861, |
| 0.002224615076556802, |
| -0.0004938285565003753, |
| -0.00018809903122019023, |
| 0.03785000741481781 |
| ], |
| "std": [ |
| 0.17098942399024963, |
| 0.16693076491355896, |
| 0.2045011669397354, |
| 0.2757173776626587, |
| 0.16313357651233673, |
| 0.23321734368801117, |
| 0.03317221626639366 |
| ], |
| "count": [ |
| 560684850 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 972.0 |
| ], |
| "mean": [ |
| 429.8988342285156 |
| ], |
| "std": [ |
| 263.52899169921875 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 216.56666564941406 |
| ], |
| "mean": [ |
| 26.41855239868164 |
| ], |
| "std": [ |
| 19.288761138916016 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "observation.state.endpose": { |
| "min": [ |
| 0.03601040691137314, |
| -0.478237122297287, |
| -0.03177784010767937, |
| -1.5793553590774536, |
| -0.7572208046913147, |
| -3.079901933670044 |
| ], |
| "max": [ |
| 0.6361446380615234, |
| 0.5142655968666077, |
| 0.5274062752723694, |
| 1.85936439037323, |
| 1.3958230018615723, |
| 2.6520330905914307 |
| ], |
| "mean": [ |
| 0.3294091522693634, |
| -0.017861299216747284, |
| 0.18011444807052612, |
| 0.049701008945703506, |
| 0.6781133413314819, |
| -0.014517690986394882 |
| ], |
| "std": [ |
| 0.07492512464523315, |
| 0.15504276752471924, |
| 0.0998343750834465, |
| 0.287494033575058, |
| 0.3372434377670288, |
| 0.503722071647644 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "observation.images.left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.40024504804524563 |
| ] |
| ], |
| [ |
| [ |
| 0.4113944834022331 |
| ] |
| ], |
| [ |
| [ |
| 0.375064611022881 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.23322658044325856 |
| ] |
| ], |
| [ |
| [ |
| 0.22818525109553314 |
| ] |
| ], |
| [ |
| [ |
| 0.24492624753194156 |
| ] |
| ] |
| ], |
| "count": [ |
| 265224 |
| ] |
| }, |
| "observation.images.right": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4556046403087051 |
| ] |
| ], |
| [ |
| [ |
| 0.4564529929031034 |
| ] |
| ], |
| [ |
| [ |
| 0.43380927029166455 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.17893154269653697 |
| ] |
| ], |
| [ |
| [ |
| 0.18530816098795896 |
| ] |
| ], |
| [ |
| [ |
| 0.19658850095936303 |
| ] |
| ] |
| ], |
| "count": [ |
| 265224 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 2008773.0 |
| ], |
| "mean": [ |
| 674448.4375 |
| ], |
| "std": [ |
| 477124.96875 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -1.7538337707519531, |
| -0.00057220458984375, |
| -0.01201629638671875, |
| -1.6203174591064453, |
| -1.5310516357421875, |
| -2.0082778930664062, |
| -0.00031033283448778093 |
| ], |
| "max": [ |
| 1.7126340866088867, |
| 2.749103546142578, |
| 2.93106746673584, |
| 1.5596628189086914, |
| 1.5238037109375, |
| 2.0185775756835938, |
| 0.08759861439466476 |
| ], |
| "mean": [ |
| -0.07060105353593826, |
| 1.402232050895691, |
| 1.0942741632461548, |
| -0.47077351808547974, |
| -0.05059358850121498, |
| 0.02116530016064644, |
| 0.036644335836172104 |
| ], |
| "std": [ |
| 0.5153274536132812, |
| 0.34878939390182495, |
| 0.3923267722129822, |
| 0.599609375, |
| 0.38540118932724, |
| 0.5727342963218689, |
| 0.033211108297109604 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "action.endpose": { |
| "min": [ |
| 0.03601040691137314, |
| -0.478237122297287, |
| -0.03177784010767937, |
| -1.5793553590774536, |
| -0.7572208046913147, |
| -3.079901933670044 |
| ], |
| "max": [ |
| 0.6361446380615234, |
| 0.5142655968666077, |
| 0.5274062752723694, |
| 1.85936439037323, |
| 1.3958230018615723, |
| 2.6520330905914307 |
| ], |
| "mean": [ |
| 0.3294091820716858, |
| -0.01786133460700512, |
| 0.18011431396007538, |
| 0.049700621515512466, |
| 0.6781136989593506, |
| -0.014518078416585922 |
| ], |
| "std": [ |
| 0.07492527365684509, |
| 0.15504278242588043, |
| 0.09983427822589874, |
| 0.28749415278434753, |
| 0.3372432589530945, |
| 0.503722071647644 |
| ], |
| "count": [ |
| 11648866 |
| ] |
| }, |
| "observation.images.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.39132143964159727 |
| ] |
| ], |
| [ |
| [ |
| 0.4241816385550012 |
| ] |
| ], |
| [ |
| [ |
| 0.3792246375508833 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.26809646825332384 |
| ] |
| ], |
| [ |
| [ |
| 0.24241461280646504 |
| ] |
| ], |
| [ |
| [ |
| 0.2606705771094971 |
| ] |
| ] |
| ], |
| "count": [ |
| 265224 |
| ] |
| } |
| }, |
| "a2d": { |
| "observation.images.hand_right": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4123854619863131 |
| ] |
| ], |
| [ |
| [ |
| 0.4142732500997665 |
| ] |
| ], |
| [ |
| [ |
| 0.40075555354501274 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.26009848000344693 |
| ] |
| ], |
| [ |
| [ |
| 0.24350059081485867 |
| ] |
| ], |
| [ |
| [ |
| 0.2555282487830779 |
| ] |
| ] |
| ], |
| "count": [ |
| 185826 |
| ] |
| }, |
| "observation.images.back_right_fisheye": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.24875797272116562 |
| ] |
| ], |
| [ |
| [ |
| 0.24354845536700157 |
| ] |
| ], |
| [ |
| [ |
| 0.23953062295197497 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.14485533842973822 |
| ] |
| ], |
| [ |
| [ |
| 0.14996236791222553 |
| ] |
| ], |
| [ |
| [ |
| 0.14814189323475763 |
| ] |
| ] |
| ], |
| "count": [ |
| 18890 |
| ] |
| }, |
| "observation.images.head_right_fisheye": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.2531234383656767 |
| ] |
| ], |
| [ |
| [ |
| 0.25478684375210836 |
| ] |
| ], |
| [ |
| [ |
| 0.2531678692985349 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.16456742638461272 |
| ] |
| ], |
| [ |
| [ |
| 0.16695744826933118 |
| ] |
| ], |
| [ |
| [ |
| 0.16529120865874436 |
| ] |
| ] |
| ], |
| "count": [ |
| 18890 |
| ] |
| }, |
| "observation.states.head.position": { |
| "min": [ |
| 0.0, |
| 0.1744636744260788 |
| ], |
| "max": [ |
| 0.0, |
| 0.436689168214798 |
| ], |
| "mean": [ |
| 0.0, |
| 0.40585562436459766 |
| ], |
| "std": [ |
| 0.0, |
| 0.08397233004398572 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "observation.images.back_left_fisheye": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.249576769039943 |
| ] |
| ], |
| [ |
| [ |
| 0.24596274560893047 |
| ] |
| ], |
| [ |
| [ |
| 0.23988459356413291 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.14424822146019675 |
| ] |
| ], |
| [ |
| [ |
| 0.14744030276302908 |
| ] |
| ], |
| [ |
| [ |
| 0.1459419137283778 |
| ] |
| ] |
| ], |
| "count": [ |
| 18890 |
| ] |
| }, |
| "observation.states.robot.position": { |
| "min": [ |
| -0.01600000075995922, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.012000000104308128, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0011446474485964924, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.004511144107796745, |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "observation.states.effector.position": { |
| "min": [ |
| 34.849998474121094, |
| 34.77000045776367 |
| ], |
| "max": [ |
| 120.0, |
| 120.0 |
| ], |
| "mean": [ |
| 38.61822048551885, |
| 66.37750395430376 |
| ], |
| "std": [ |
| 16.662622664831964, |
| 36.07288343175003 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "observation.images.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4033140610888171 |
| ] |
| ], |
| [ |
| [ |
| 0.4074109949742412 |
| ] |
| ], |
| [ |
| [ |
| 0.4023370233859664 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2691935623320513 |
| ] |
| ], |
| [ |
| [ |
| 0.2577528831607236 |
| ] |
| ], |
| [ |
| [ |
| 0.26434025867750865 |
| ] |
| ] |
| ], |
| "count": [ |
| 185826 |
| ] |
| }, |
| "actions.end.orientation": { |
| "min": [ |
| [ |
| -0.470804899930954, |
| -0.6984730362892151, |
| -0.6989906430244446, |
| -0.2843477129936218 |
| ], |
| [ |
| -0.7440929412841797, |
| 0.07189609855413437, |
| -0.29062920808792114, |
| 0.5971451997756958 |
| ] |
| ], |
| "max": [ |
| [ |
| 0.812639594078064, |
| 0.7657955288887024, |
| 0.9201415777206421, |
| 0.24325837194919586 |
| ], |
| [ |
| 0.1654905527830124, |
| 0.7839758992195129, |
| 0.3569813370704651, |
| 0.9119977951049805 |
| ] |
| ], |
| "mean": [ |
| [ |
| 0.5688532841977385, |
| -0.18669404017753208, |
| 0.7534821970371242, |
| 0.012564116671998245 |
| ], |
| [ |
| -0.1682969319387195, |
| 0.557006053979618, |
| 0.022655547956890936, |
| 0.7779731550639437 |
| ] |
| ], |
| "std": [ |
| [ |
| 0.15011839510197855, |
| 0.1701999823131413, |
| 0.13595299344525774, |
| 0.06058875508476992 |
| ], |
| [ |
| 0.1572674908500513, |
| 0.14550915992313238, |
| 0.06291909054478895, |
| 0.07616211381365601 |
| ] |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "observation.images.head_center_fisheye": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.24907503831481476 |
| ] |
| ], |
| [ |
| [ |
| 0.24987098851046166 |
| ] |
| ], |
| [ |
| [ |
| 0.24814151025082976 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.16305723757618648 |
| ] |
| ], |
| [ |
| [ |
| 0.1651176234208819 |
| ] |
| ], |
| [ |
| [ |
| 0.16558971534960074 |
| ] |
| ] |
| ], |
| "count": [ |
| 18890 |
| ] |
| }, |
| "actions.waist.position": { |
| "min": [ |
| 0.1743735522031784, |
| 0.26954415440559387 |
| ], |
| "max": [ |
| 0.5237576365470886, |
| 0.2700004577636719 |
| ], |
| "mean": [ |
| 0.27107162550442, |
| 0.2697410550456686 |
| ], |
| "std": [ |
| 0.15614059449231873, |
| 0.0001551796055010101 |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "observation.images.head_left_fisheye": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.2505280274218028 |
| ] |
| ], |
| [ |
| [ |
| 0.25213714375270857 |
| ] |
| ], |
| [ |
| [ |
| 0.25011044339114347 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.14951784050605413 |
| ] |
| ], |
| [ |
| [ |
| 0.15097610962675792 |
| ] |
| ], |
| [ |
| [ |
| 0.14890164343591034 |
| ] |
| ] |
| ], |
| "count": [ |
| 18890 |
| ] |
| }, |
| "observation.states.joint.current_value": { |
| "min": [ |
| -20353.0, |
| -8173.0, |
| -24980.0, |
| -27194.0, |
| -14975.0, |
| -14770.0, |
| -4023.0, |
| -7754.0, |
| -9749.0, |
| -16225.0, |
| -22876.0, |
| -14763.0, |
| -14856.0, |
| -3471.0 |
| ], |
| "max": [ |
| 13695.0, |
| 9068.0, |
| 22917.0, |
| 20262.0, |
| 11091.0, |
| 14885.0, |
| 4029.0, |
| 21499.0, |
| 6151.0, |
| 15512.0, |
| 27705.0, |
| 10578.0, |
| 14778.0, |
| 3632.0 |
| ], |
| "mean": [ |
| -2328.8182204378422, |
| -780.5386585332811, |
| -1420.283592710263, |
| -3913.996868869805, |
| -934.2478510649967, |
| 2318.6190349911403, |
| 45.328750975004176, |
| 2355.6278456316445, |
| 361.6071748476717, |
| 880.5070168281477, |
| 3779.262356331548, |
| 419.6045654540701, |
| -2354.6550321172813, |
| -38.76376111294019 |
| ], |
| "std": [ |
| 2433.9794884334497, |
| 1080.154783637368, |
| 2891.7953915597222, |
| 4984.196743353154, |
| 2023.0609586586563, |
| 3260.8841583499234, |
| 304.5391729287288, |
| 2394.176273834349, |
| 1052.1881988452014, |
| 2241.192998315417, |
| 4735.750230861185, |
| 1732.1190370653185, |
| 3156.7153621887805, |
| 383.5421054565856 |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "observation.images.hand_left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.3994368712657456 |
| ] |
| ], |
| [ |
| [ |
| 0.394817399005203 |
| ] |
| ], |
| [ |
| [ |
| 0.3828423495138892 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2492394645784358 |
| ] |
| ], |
| [ |
| [ |
| 0.23396792766034077 |
| ] |
| ], |
| [ |
| [ |
| 0.24561134932886158 |
| ] |
| ] |
| ], |
| "count": [ |
| 185826 |
| ] |
| }, |
| "observation.states.joint.position": { |
| "min": [ |
| -2.7064435482025146, |
| 0.011656600050628185, |
| -0.007421203888952732, |
| -1.3954416513442993, |
| -0.07967670261859894, |
| 0.720488965511322, |
| -1.5470471382141113, |
| 0.5049168467521667, |
| -1.363075613975525, |
| -1.9125374555587769, |
| -1.2217442989349365, |
| -2.279803514480591, |
| -1.7030327320098877, |
| -1.4237027168273926 |
| ], |
| "max": [ |
| -0.46275654435157776, |
| 0.993270218372345, |
| 1.5588783025741577, |
| 1.313642978668213, |
| 2.3943533897399902, |
| 1.629260540008545, |
| 0.870074450969696, |
| 2.92521333694458, |
| -0.05252247303724289, |
| 0.6157232522964478, |
| 1.4154218435287476, |
| 0.28488653898239136, |
| -0.3403848707675934, |
| 2.749229907989502 |
| ], |
| "mean": [ |
| -1.0828089821923896, |
| 0.5856989215099675, |
| 0.31226445435761396, |
| -1.23037158702076, |
| 0.7192955499864634, |
| 1.4611316156145737, |
| -0.16366212984908934, |
| 1.569321348161584, |
| -0.770559085940918, |
| -0.5002420872094853, |
| 0.7123507713834181, |
| -1.0321483826627589, |
| -1.3681575136391302, |
| 0.10813043748477495 |
| ], |
| "std": [ |
| 0.12234086650666087, |
| 0.06090992850278564, |
| 0.12822191930488366, |
| 0.16865194535533223, |
| 0.13062702907158394, |
| 0.058995726622446745, |
| 0.097240644103623, |
| 0.43139195973801575, |
| 0.21790552314149794, |
| 0.2604378708381067, |
| 0.4949378091557671, |
| 0.36782652345221334, |
| 0.19612999545405715, |
| 0.39999364031654616 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 213 |
| ], |
| "mean": [ |
| 91.87742539300878 |
| ], |
| "std": [ |
| 56.96445437036601 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "observation.states.end.orientation": { |
| "min": [ |
| [ |
| -0.470804899930954, |
| -0.6984730362892151, |
| -0.6989906430244446, |
| -0.2843477129936218 |
| ], |
| [ |
| -0.7440929412841797, |
| 0.07189609855413437, |
| -0.29062920808792114, |
| 0.5971451997756958 |
| ] |
| ], |
| "max": [ |
| [ |
| 0.812639594078064, |
| 0.7657955288887024, |
| 0.9201415777206421, |
| 0.24325837194919586 |
| ], |
| [ |
| 0.1654905527830124, |
| 0.7839758992195129, |
| 0.3569813370704651, |
| 0.9119977951049805 |
| ] |
| ], |
| "mean": [ |
| [ |
| 0.5688532841977385, |
| -0.18669404017753208, |
| 0.7534821970371242, |
| 0.012564116671998245 |
| ], |
| [ |
| -0.1682969319387195, |
| 0.557006053979618, |
| 0.022655547956890936, |
| 0.7779731550639437 |
| ] |
| ], |
| "std": [ |
| [ |
| 0.15011839510197855, |
| 0.1701999823131413, |
| 0.13595299344525774, |
| 0.06058875508476992 |
| ], |
| [ |
| 0.1572674908500513, |
| 0.14550915992313238, |
| 0.06291909054478895, |
| 0.07616211381365601 |
| ] |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "actions.end.position": { |
| "min": [ |
| [ |
| 0.3835159242153168, |
| 0.16443011164665222, |
| 0.3972371816635132 |
| ], |
| [ |
| 0.3662830591201782, |
| -0.5353047847747803, |
| 0.3846741318702698 |
| ] |
| ], |
| "max": [ |
| [ |
| 0.7235456109046936, |
| 0.5893363952636719, |
| 0.7436220645904541 |
| ], |
| [ |
| 0.7394370436668396, |
| -0.16044507920742035, |
| 0.7436236143112183 |
| ] |
| ], |
| "mean": [ |
| [ |
| 0.5654160188601189, |
| 0.29710373448539024, |
| 0.5388469932443087 |
| ], |
| [ |
| 0.5627591148317475, |
| -0.260983220864817, |
| 0.5293831007185671 |
| ] |
| ], |
| "std": [ |
| [ |
| 0.05287729412055184, |
| 0.0732919244884239, |
| 0.0648176302213367 |
| ], |
| [ |
| 0.05289673444982619, |
| 0.06871976021112505, |
| 0.06732727557551152 |
| ] |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "actions.head.position": { |
| "min": [ |
| -0.00047404266661033034, |
| 0.3838813602924347 |
| ], |
| "max": [ |
| 0.00044474788592197, |
| 0.5238837003707886 |
| ], |
| "mean": [ |
| 4.384278049133524e-06, |
| 0.4623993634260807 |
| ], |
| "std": [ |
| 3.442353458615289e-05, |
| 0.05500692156768379 |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "actions.robot.velocity": { |
| "min": [ |
| -1.600000023841858, |
| 0.0 |
| ], |
| "max": [ |
| 1.600000023841858, |
| 0.9100000262260437 |
| ], |
| "mean": [ |
| -0.009680121826726137, |
| 0.00043620604534739074 |
| ], |
| "std": [ |
| 0.3780176270448948, |
| 0.01916352102854216 |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "observation.states.end.position": { |
| "min": [ |
| [ |
| 0.3835159242153168, |
| 0.16443011164665222, |
| 0.3972371816635132 |
| ], |
| [ |
| 0.3662830591201782, |
| -0.5353047847747803, |
| 0.3846741318702698 |
| ] |
| ], |
| "max": [ |
| [ |
| 0.7235456109046936, |
| 0.5893363952636719, |
| 0.7436220645904541 |
| ], |
| [ |
| 0.7394370436668396, |
| -0.16044507920742035, |
| 0.7436236143112183 |
| ] |
| ], |
| "mean": [ |
| [ |
| 0.5654160188601189, |
| 0.29710373448539024, |
| 0.5388469932443087 |
| ], |
| [ |
| 0.5627591148317475, |
| -0.260983220864817, |
| 0.5293831007185671 |
| ] |
| ], |
| "std": [ |
| [ |
| 0.05287729412055184, |
| 0.0732919244884239, |
| 0.0648176302213367 |
| ], |
| [ |
| 0.05289673444982619, |
| 0.06871976021112505, |
| 0.06732727557551152 |
| ] |
| ], |
| "count": [ |
| 121250 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 144512 |
| ], |
| "mean": [ |
| 55932.07855610172 |
| ], |
| "std": [ |
| 35989.00867239265 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "observation.states.waist.position": { |
| "min": [ |
| 0.3489782512187958, |
| 0.24982231855392456 |
| ], |
| "max": [ |
| 0.6127476692199707, |
| 0.3203887939453125 |
| ], |
| "mean": [ |
| 0.5862739993246681, |
| 0.3122049095999069 |
| ], |
| "std": [ |
| 0.0704522499560914, |
| 0.021808127127252223 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 24.966666666666665 |
| ], |
| "mean": [ |
| 10.09213967944774 |
| ], |
| "std": [ |
| 6.075049312393681 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "actions.effector.position": { |
| "min": [ |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 1.0, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0429471451612545, |
| 0.4198337386928262 |
| ], |
| "std": [ |
| 0.20180908589319013, |
| 0.4908339261843691 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "observation.states.robot.orientation": { |
| "min": [ |
| 0.0, |
| 0.0, |
| -0.01491919718682766, |
| 0.9993788003921509 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.03524170070886612, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.002038586155414596, |
| 0.9999562548895651 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.009260892006293505, |
| 0.00011664066526675922 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "actions.joint.position": { |
| "min": [ |
| -0.6886483430862427, |
| -0.48277169466018677, |
| -0.7163958549499512, |
| -1.4518015384674072, |
| -1.1529653072357178, |
| -0.5573642253875732, |
| -0.9287588000297546, |
| -1.0380430221557617, |
| -0.8025254607200623, |
| -1.049744963645935, |
| -1.2512521743774414, |
| -1.162964105606079, |
| -0.9421840310096741, |
| -2.1088149547576904 |
| ], |
| "max": [ |
| 0.8798477649688721, |
| 0.3831707835197449, |
| 0.5900962352752686, |
| 1.3323888778686523, |
| 1.4457664489746094, |
| 0.6615453958511353, |
| 0.8630053997039795, |
| 1.5292134284973145, |
| 0.9681433439254761, |
| 1.0342962741851807, |
| 1.2871047258377075, |
| 1.3264265060424805, |
| 1.1141903400421143, |
| 1.7675976753234863 |
| ], |
| "mean": [ |
| -4.9341126575041634e-05, |
| -6.89202988522109e-05, |
| 0.00024160756861438913, |
| -9.350033669916155e-05, |
| -0.0002181996339150746, |
| -7.796556472731342e-05, |
| 7.853830717814638e-05, |
| 0.006603403877965717, |
| -0.0012252048942723993, |
| -0.003607132155367792, |
| -0.00841231561742574, |
| -0.002531007340481363, |
| 0.0002865156390022665, |
| -0.004585755390495634 |
| ], |
| "std": [ |
| 0.03494142004528234, |
| 0.022138648982279883, |
| 0.026835640419641395, |
| 0.06787216541400569, |
| 0.05031161217372041, |
| 0.024147417435530547, |
| 0.02659734819834924, |
| 0.1629449192266278, |
| 0.09482490159353853, |
| 0.09528532794401545, |
| 0.20716730204619022, |
| 0.14680757782012, |
| 0.10643853346851662, |
| 0.15273589832248255 |
| ], |
| "count": [ |
| 919954 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0 |
| ], |
| "max": [ |
| 749 |
| ], |
| "mean": [ |
| 302.7641903834322 |
| ], |
| "std": [ |
| 182.25147937181043 |
| ], |
| "count": [ |
| 919954 |
| ] |
| } |
| }, |
| "egodex_v": { |
| "observation.image": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.48500001430511475 |
| ] |
| ], |
| [ |
| [ |
| 0.4560000002384186 |
| ] |
| ], |
| [ |
| [ |
| 0.4059999883174896 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.2290000021457672 |
| ] |
| ], |
| [ |
| [ |
| 0.2240000069141388 |
| ] |
| ], |
| [ |
| [ |
| 0.22499999403953552 |
| ] |
| ] |
| ], |
| "count": [ |
| 88753873 |
| ], |
| "q01": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "q10": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "q50": [ |
| [ |
| [ |
| 0.48500001430511475 |
| ] |
| ], |
| [ |
| [ |
| 0.4560000002384186 |
| ] |
| ], |
| [ |
| [ |
| 0.4059999883174896 |
| ] |
| ] |
| ], |
| "q90": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "q99": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 88241355 |
| ] |
| }, |
| "action": { |
| "min": [ |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0 |
| ], |
| "count": [ |
| 3621540950 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 178.76666259765625 |
| ], |
| "mean": [ |
| 11.624787330627441 |
| ], |
| "std": [ |
| 17.227075576782227 |
| ], |
| "count": [ |
| 88241355 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 5363.0 |
| ], |
| "mean": [ |
| 348.7853698730469 |
| ], |
| "std": [ |
| 516.7088012695312 |
| ], |
| "count": [ |
| 88241355 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 334990.0 |
| ], |
| "mean": [ |
| 159865.859375 |
| ], |
| "std": [ |
| 102285.5625 |
| ], |
| "count": [ |
| 88241355 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 88753872.0 |
| ], |
| "mean": [ |
| 44331880.0 |
| ], |
| "std": [ |
| 25661288.0 |
| ], |
| "count": [ |
| 88241355 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 3017.0 |
| ], |
| "mean": [ |
| 1490.6116943359375 |
| ], |
| "std": [ |
| 893.4781494140625 |
| ], |
| "count": [ |
| 88241355 |
| ] |
| } |
| }, |
| "ALOHA": { |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1998.0 |
| ], |
| "mean": [ |
| 495.7825012207031 |
| ], |
| "std": [ |
| 361.68499755859375 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "observation.images.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.47195065614925513 |
| ] |
| ], |
| [ |
| [ |
| 0.4736294132819955 |
| ] |
| ], |
| [ |
| [ |
| 0.4422446846428071 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.29643731829459696 |
| ] |
| ], |
| [ |
| [ |
| 0.2721739025406258 |
| ] |
| ], |
| [ |
| [ |
| 0.2975677831798692 |
| ] |
| ] |
| ], |
| "count": [ |
| 251432 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -1.388106346130371, |
| -0.017984764650464058, |
| -2.4979283809661865, |
| -1.7382946014404297, |
| -1.2212021350860596, |
| -2.1077933311462402, |
| -0.002099999925121665, |
| -0.9521458745002747, |
| -0.009576755575835705, |
| -2.982086658477783, |
| -1.7699205875396729, |
| -1.2273423671722412, |
| -2.170539379119873, |
| -0.008500000461935997 |
| ], |
| "max": [ |
| 1.478588342666626, |
| 2.5782580375671387, |
| 0.015804264694452286, |
| 1.7736361026763916, |
| 1.2598580121994019, |
| 2.1321277618408203, |
| 0.09960000216960907, |
| 1.6505337953567505, |
| 2.966212749481201, |
| 0.016536911949515343, |
| 1.7668155431747437, |
| 1.2694696187973022, |
| 2.1928677558898926, |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| -0.05267827585339546, |
| 0.6578571796417236, |
| -0.44530221819877625, |
| -0.17013593018054962, |
| 0.35101601481437683, |
| 0.29005128145217896, |
| 0.010859152302145958, |
| 0.2628866136074066, |
| 1.0398770570755005, |
| -0.7840836048126221, |
| 0.21094608306884766, |
| 0.43368270993232727, |
| -0.18299905955791473, |
| 0.017190244048833847 |
| ], |
| "std": [ |
| 0.2151530236005783, |
| 0.7584426403045654, |
| 0.5367181301116943, |
| 0.37858399748802185, |
| 0.40613454580307007, |
| 0.5662288665771484, |
| 0.022252647206187248, |
| 0.3037680387496948, |
| 0.8890397548675537, |
| 0.7548118829727173, |
| 0.5193774700164795, |
| 0.4425197243690491, |
| 0.5075424313545227, |
| 0.02506968006491661 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "action.endpose": { |
| "min": [ |
| -0.07310372591018677, |
| -0.43323883414268494, |
| 0.06625054776668549, |
| -0.5758702158927917, |
| -0.5862246155738831, |
| -0.7467049956321716, |
| -0.4959747791290283, |
| -0.09080548584461212, |
| -0.2812952995300293, |
| 0.07138030976057053, |
| -0.7727417945861816, |
| -0.7061444520950317, |
| -0.6401392221450806, |
| -0.4999193549156189 |
| ], |
| "max": [ |
| 0.5055291652679443, |
| 0.27813610434532166, |
| 0.6197300553321838, |
| 0.9062435030937195, |
| 0.9998952746391296, |
| 0.7664721608161926, |
| 0.969954252243042, |
| 0.624491810798645, |
| 0.5208007097244263, |
| 0.6865535378456116, |
| 0.9128067493438721, |
| 0.9999968409538269, |
| 0.7254218459129333, |
| 0.9502256512641907 |
| ], |
| "mean": [ |
| 0.1470552533864975, |
| -0.024079667404294014, |
| 0.22894270718097687, |
| 0.1083005741238594, |
| 0.7699065804481506, |
| -0.047932542860507965, |
| 0.5265058279037476, |
| 0.20223486423492432, |
| 0.08762508630752563, |
| 0.23637989163398743, |
| -0.1145084798336029, |
| 0.7861125469207764, |
| 0.08788839727640152, |
| 0.4496293365955353 |
| ], |
| "std": [ |
| 0.1136261373758316, |
| 0.06193411722779274, |
| 0.06288532167673111, |
| 0.1988755464553833, |
| 0.1014712005853653, |
| 0.09987271577119827, |
| 0.23703578114509583, |
| 0.1444316953420639, |
| 0.11103730648756027, |
| 0.0710083395242691, |
| 0.2214500457048416, |
| 0.15283378958702087, |
| 0.15192200243473053, |
| 0.25208204984664917 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 66.5999984741211 |
| ], |
| "mean": [ |
| 16.52609634399414 |
| ], |
| "std": [ |
| 12.056158065795898 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1533.0 |
| ], |
| "mean": [ |
| 569.3460083007812 |
| ], |
| "std": [ |
| 373.0843505859375 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "observation.images.left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.43049317667501674 |
| ] |
| ], |
| [ |
| [ |
| 0.5053322942144034 |
| ] |
| ], |
| [ |
| [ |
| 0.4535396888551021 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.27620864328839545 |
| ] |
| ], |
| [ |
| [ |
| 0.19882915477756302 |
| ] |
| ], |
| [ |
| [ |
| 0.24196964346225724 |
| ] |
| ] |
| ], |
| "count": [ |
| 251432 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1677602.0 |
| ], |
| "mean": [ |
| 563900.0 |
| ], |
| "std": [ |
| 438704.71875 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "observation.images.right": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4339087473903133 |
| ] |
| ], |
| [ |
| [ |
| 0.46737031702258675 |
| ] |
| ], |
| [ |
| [ |
| 0.4252199059474609 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.287485341187996 |
| ] |
| ], |
| [ |
| [ |
| 0.24709344574937217 |
| ] |
| ], |
| [ |
| [ |
| 0.2847044188120248 |
| ] |
| ] |
| ], |
| "count": [ |
| 251432 |
| ] |
| }, |
| "observation.state.endpose": { |
| "min": [ |
| -0.07310372591018677, |
| -0.43323883414268494, |
| 0.06625054776668549, |
| -0.5758702158927917, |
| -0.5862246155738831, |
| -0.7467049956321716, |
| -0.4959747791290283, |
| -0.09080548584461212, |
| -0.2812952995300293, |
| 0.07138030976057053, |
| -0.7727417945861816, |
| -0.7061444520950317, |
| -0.6401392221450806, |
| -0.4999193549156189 |
| ], |
| "max": [ |
| 0.5055291652679443, |
| 0.27813610434532166, |
| 0.6197300553321838, |
| 0.9062435030937195, |
| 0.9998952746391296, |
| 0.7664721608161926, |
| 0.969954252243042, |
| 0.624491810798645, |
| 0.5208007097244263, |
| 0.6865535378456116, |
| 0.9128067493438721, |
| 0.9999968409538269, |
| 0.7254218459129333, |
| 0.9502256512641907 |
| ], |
| "mean": [ |
| 0.14705511927604675, |
| -0.024079550057649612, |
| 0.22894302010536194, |
| 0.10830077528953552, |
| 0.7699050307273865, |
| -0.04793103411793709, |
| 0.5265074372291565, |
| 0.2022348791360855, |
| 0.08762512356042862, |
| 0.2363802194595337, |
| -0.11450294405221939, |
| 0.78611159324646, |
| 0.08789466321468353, |
| 0.44963017106056213 |
| ], |
| "std": [ |
| 0.11362619698047638, |
| 0.06193413957953453, |
| 0.06288567185401917, |
| 0.1988753080368042, |
| 0.10147325694561005, |
| 0.09987321496009827, |
| 0.2370367795228958, |
| 0.1444317102432251, |
| 0.11103726923465729, |
| 0.0710083395242691, |
| 0.22145353257656097, |
| 0.15283085405826569, |
| 0.15192033350467682, |
| 0.2520830035209656 |
| ], |
| "count": [ |
| 9285911 |
| ] |
| }, |
| "action": { |
| "min": [ |
| -1.4723083972930908, |
| -2.434746503829956, |
| -2.2376465797424316, |
| -2.314940929412842, |
| -2.0265567302703857, |
| -2.4548068046569824, |
| -0.002099999925121665, |
| -1.7575178146362305, |
| -2.628723621368408, |
| -2.7742063999176025, |
| -2.7572860717773438, |
| -2.4129762649536133, |
| -3.0591368675231934, |
| -0.008500000461935997 |
| ], |
| "max": [ |
| 1.5559000968933105, |
| 2.4554173946380615, |
| 2.3061840534210205, |
| 1.9820047616958618, |
| 2.1534268856048584, |
| 3.360255241394043, |
| 0.09960000216960907, |
| 1.969462513923645, |
| 2.6962668895721436, |
| 2.967416286468506, |
| 3.4721760749816895, |
| 2.3977127075195312, |
| 2.9603688716888428, |
| 0.10000000149011612 |
| ], |
| "mean": [ |
| -2.2335476387524977e-05, |
| -0.001223851926624775, |
| 0.001387235359288752, |
| 0.00041049710125662386, |
| -0.0006496374262496829, |
| 5.952669744146988e-05, |
| 0.01131871622055769, |
| -8.586241165176034e-05, |
| -0.0010083646047860384, |
| 0.0007808167720213532, |
| -0.0007370621897280216, |
| -0.0002981850120704621, |
| 8.433089533355087e-07, |
| 0.018020179122686386 |
| ], |
| "std": [ |
| 0.11951645463705063, |
| 0.27963683009147644, |
| 0.18723510205745697, |
| 0.14065013825893402, |
| 0.16888651251792908, |
| 0.22911711037158966, |
| 0.022606346756219864, |
| 0.18651960790157318, |
| 0.3990543782711029, |
| 0.3960350751876831, |
| 0.28859901428222656, |
| 0.2751823961734772, |
| 0.26005467772483826, |
| 0.025325829163193703 |
| ], |
| "count": [ |
| 437470500 |
| ] |
| } |
| }, |
| "FRANKA": { |
| "observation.images.left": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4332998583810433 |
| ] |
| ], |
| [ |
| [ |
| 0.42933341577024176 |
| ] |
| ], |
| [ |
| [ |
| 0.39119981478219745 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.22172393736261048 |
| ] |
| ], |
| [ |
| [ |
| 0.2261609710906757 |
| ] |
| ], |
| [ |
| [ |
| 0.2505229632680032 |
| ] |
| ] |
| ], |
| "count": [ |
| 163300 |
| ] |
| }, |
| "observation.images.head": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.4460319207549444 |
| ] |
| ], |
| [ |
| [ |
| 0.4544135033165899 |
| ] |
| ], |
| [ |
| [ |
| 0.43658748468003267 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.19119116837162656 |
| ] |
| ], |
| [ |
| [ |
| 0.18634008554328643 |
| ] |
| ], |
| [ |
| [ |
| 0.20126295499528135 |
| ] |
| ] |
| ], |
| "count": [ |
| 163300 |
| ] |
| }, |
| "action": { |
| "min": [ |
| -0.3794538676738739, |
| -0.7826675176620483, |
| -0.6231613159179688, |
| -1.0710794925689697, |
| -0.7525115609169006, |
| -1.2054390907287598, |
| -1.195279598236084, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.36955150961875916, |
| 1.1211285591125488, |
| 0.6275094747543335, |
| 1.1929848194122314, |
| 0.45283907651901245, |
| 0.8392386436462402, |
| 1.1906788349151611, |
| 1.0, |
| 1.0 |
| ], |
| "mean": [ |
| -0.0006969325477257371, |
| 0.000351035560015589, |
| -0.0010019805049523711, |
| 0.0005048043094575405, |
| -0.00018254478345625103, |
| -6.426184700103477e-05, |
| -0.0011425383854657412, |
| 0.009273165836930275, |
| 0.008026400581002235 |
| ], |
| "std": [ |
| 0.06534256786108017, |
| 0.16909894347190857, |
| 0.10756945610046387, |
| 0.14420627057552338, |
| 0.037435926496982574, |
| 0.15978795289993286, |
| 0.1440146267414093, |
| 0.09584974497556686, |
| 0.08922991156578064 |
| ], |
| "count": [ |
| 65795350 |
| ] |
| }, |
| "task_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 0.0 |
| ], |
| "mean": [ |
| 0.0 |
| ], |
| "std": [ |
| 0.0 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| }, |
| "observation.state": { |
| "min": [ |
| -0.645404577255249, |
| -0.9060876965522766, |
| -0.6904571652412415, |
| -3.020659923553467, |
| -0.3646583557128906, |
| 1.452803373336792, |
| -1.9722082614898682, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.41899827122688293, |
| 0.7177823781967163, |
| 0.6430280804634094, |
| -1.0766087770462036, |
| 0.5452524423599243, |
| 2.8819918632507324, |
| 1.8084102869033813, |
| 1.0, |
| 1.0 |
| ], |
| "mean": [ |
| -0.029572006314992905, |
| -0.2114015370607376, |
| -0.029431456699967384, |
| -2.3655571937561035, |
| -0.004180493298918009, |
| 2.1098532676696777, |
| -0.011635689996182919, |
| 0.009971538558602333, |
| 0.007636809255927801 |
| ], |
| "std": [ |
| 0.13026763498783112, |
| 0.28263959288597107, |
| 0.21216419339179993, |
| 0.23856624960899353, |
| 0.052961595356464386, |
| 0.20526869595050812, |
| 0.36474722623825073, |
| 0.09935847669839859, |
| 0.08705451339483261 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| }, |
| "observation.images.right": { |
| "min": [ |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ], |
| [ |
| [ |
| 0.0 |
| ] |
| ] |
| ], |
| "max": [ |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ], |
| [ |
| [ |
| 1.0 |
| ] |
| ] |
| ], |
| "mean": [ |
| [ |
| [ |
| 0.45403236706022726 |
| ] |
| ], |
| [ |
| [ |
| 0.47949563097781994 |
| ] |
| ], |
| [ |
| [ |
| 0.44920738866964466 |
| ] |
| ] |
| ], |
| "std": [ |
| [ |
| [ |
| 0.19354692033817433 |
| ] |
| ], |
| [ |
| [ |
| 0.16804226717073975 |
| ] |
| ], |
| [ |
| [ |
| 0.19485703178040767 |
| ] |
| ] |
| ], |
| "count": [ |
| 163300 |
| ] |
| }, |
| "action.endpose": { |
| "min": [ |
| 0.2661398649215698, |
| -0.42900902032852173, |
| 0.2208518534898758, |
| -0.7020751237869263, |
| -0.6995507478713989, |
| -0.20459622144699097, |
| -0.18493115901947021 |
| ], |
| "max": [ |
| 0.711601197719574, |
| 0.40445277094841003, |
| 0.6385223269462585, |
| 0.9999995231628418, |
| 0.7647408843040466, |
| 0.13395807147026062, |
| 0.15385034680366516 |
| ], |
| "mean": [ |
| 0.42927053570747375, |
| -0.027495738118886948, |
| 0.3949735164642334, |
| 0.9887672662734985, |
| -0.021692901849746704, |
| -0.022245781496167183, |
| -0.0031477150041610003 |
| ], |
| "std": [ |
| 0.06953047960996628, |
| 0.15443368256092072, |
| 0.07391203939914703, |
| 0.032188624143600464, |
| 0.14154395461082458, |
| 0.01091710664331913, |
| 0.013206109404563904 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| }, |
| "timestamp": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 66.0 |
| ], |
| "mean": [ |
| 18.050565719604492 |
| ], |
| "std": [ |
| 11.627679824829102 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| }, |
| "episode_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 791.0 |
| ], |
| "mean": [ |
| 365.3787536621094 |
| ], |
| "std": [ |
| 217.8272705078125 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| }, |
| "index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 969473.0 |
| ], |
| "mean": [ |
| 401620.9375 |
| ], |
| "std": [ |
| 274515.46875 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| }, |
| "frame_index": { |
| "min": [ |
| 0.0 |
| ], |
| "max": [ |
| 1980.0 |
| ], |
| "mean": [ |
| 541.51708984375 |
| ], |
| "std": [ |
| 348.8302001953125 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| }, |
| "observation.state.endpose": { |
| "min": [ |
| 0.2661398649215698, |
| -0.42900902032852173, |
| 0.2208518534898758, |
| -0.7020751237869263, |
| -0.6995507478713989, |
| -0.20459622144699097, |
| -0.18493115901947021 |
| ], |
| "max": [ |
| 0.711601197719574, |
| 0.40445277094841003, |
| 0.6385223269462585, |
| 0.9999995231628418, |
| 0.7647408843040466, |
| 0.13395807147026062, |
| 0.15385034680366516 |
| ], |
| "mean": [ |
| 0.42927029728889465, |
| -0.02749551460146904, |
| 0.3949734568595886, |
| 0.9887672662734985, |
| -0.021693751215934753, |
| -0.022245829924941063, |
| -0.003147787181660533 |
| ], |
| "std": [ |
| 0.0695309117436409, |
| 0.1544336974620819, |
| 0.0739121362566948, |
| 0.032188624143600464, |
| 0.14154382050037384, |
| 0.010917066596448421, |
| 0.013206037692725658 |
| ], |
| "count": [ |
| 1383037 |
| ] |
| } |
| } |
| } |
