HyeonseokE commited on
Commit
32ac21d
·
verified ·
1 Parent(s): a91c7b5

Upload folder using huggingface_hub

Browse files
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:20c51f5d6bbffa5178bf98b79fa1a9624999da2f57befb38493ceb1a9171e986
3
+ size 360097
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c5a5edc3013eda4902bc85af62d51b7d7272f8d40d92a898498ace52048cf6ef
3
+ size 114138
meta/info.json ADDED
@@ -0,0 +1,238 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 10,
5
+ "total_frames": 3453,
6
+ "total_tasks": 1,
7
+ "chunks_size": 1000,
8
+ "data_files_size_in_mb": 100,
9
+ "video_files_size_in_mb": 200,
10
+ "fps": 10,
11
+ "splits": {
12
+ "train": "0:10"
13
+ },
14
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
15
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
16
+ "features": {
17
+ "observation.state": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 6
21
+ ],
22
+ "names": [
23
+ "shoulder_pan.pos",
24
+ "shoulder_lift.pos",
25
+ "elbow_flex.pos",
26
+ "wrist_flex.pos",
27
+ "wrist_roll.pos",
28
+ "gripper.pos"
29
+ ]
30
+ },
31
+ "action": {
32
+ "dtype": "float32",
33
+ "shape": [
34
+ 6
35
+ ],
36
+ "names": [
37
+ "shoulder_pan.pos",
38
+ "shoulder_lift.pos",
39
+ "elbow_flex.pos",
40
+ "wrist_flex.pos",
41
+ "wrist_roll.pos",
42
+ "gripper.pos"
43
+ ]
44
+ },
45
+ "observation.images.top": {
46
+ "dtype": "video",
47
+ "shape": [
48
+ 480,
49
+ 640,
50
+ 3
51
+ ],
52
+ "names": [
53
+ "height",
54
+ "width",
55
+ "channels"
56
+ ],
57
+ "info": {
58
+ "video.height": 480,
59
+ "video.width": 640,
60
+ "video.codec": "h264",
61
+ "video.pix_fmt": "yuv420p",
62
+ "video.is_depth_map": false,
63
+ "video.fps": 10,
64
+ "video.channels": 3,
65
+ "has_audio": false
66
+ }
67
+ },
68
+ "observation.images.left_wrist": {
69
+ "dtype": "video",
70
+ "shape": [
71
+ 480,
72
+ 640,
73
+ 3
74
+ ],
75
+ "names": [
76
+ "height",
77
+ "width",
78
+ "channels"
79
+ ],
80
+ "info": {
81
+ "video.height": 480,
82
+ "video.width": 640,
83
+ "video.codec": "h264",
84
+ "video.pix_fmt": "yuv420p",
85
+ "video.is_depth_map": false,
86
+ "video.fps": 10,
87
+ "video.channels": 3,
88
+ "has_audio": false
89
+ }
90
+ },
91
+ "observation.ee_pos.robot_xyzrpy": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 6
95
+ ],
96
+ "names": [
97
+ "x",
98
+ "y",
99
+ "z",
100
+ "roll",
101
+ "pitch",
102
+ "yaw"
103
+ ]
104
+ },
105
+ "observation.gripper_binary": {
106
+ "dtype": "float32",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "skill.natural_language": {
113
+ "dtype": "string",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "skill.verification_question": {
120
+ "dtype": "string",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+ "skill.type": {
127
+ "dtype": "string",
128
+ "shape": [
129
+ 1
130
+ ],
131
+ "names": null
132
+ },
133
+ "skill.progress": {
134
+ "dtype": "float32",
135
+ "shape": [
136
+ 1
137
+ ],
138
+ "names": null
139
+ },
140
+ "skill.goal_position.joint": {
141
+ "dtype": "float32",
142
+ "shape": [
143
+ 6
144
+ ],
145
+ "names": [
146
+ "shoulder_pan.pos",
147
+ "shoulder_lift.pos",
148
+ "elbow_flex.pos",
149
+ "wrist_flex.pos",
150
+ "wrist_roll.pos",
151
+ "gripper.pos"
152
+ ]
153
+ },
154
+ "skill.goal_position.robot_xyzrpy": {
155
+ "dtype": "float32",
156
+ "shape": [
157
+ 6
158
+ ],
159
+ "names": [
160
+ "x",
161
+ "y",
162
+ "z",
163
+ "roll",
164
+ "pitch",
165
+ "yaw"
166
+ ]
167
+ },
168
+ "skill.goal_position.gripper": {
169
+ "dtype": "float32",
170
+ "shape": [
171
+ 1
172
+ ],
173
+ "names": [
174
+ "gripper.pos"
175
+ ]
176
+ },
177
+ "subtask.natural_language": {
178
+ "dtype": "string",
179
+ "shape": [
180
+ 1
181
+ ],
182
+ "names": null
183
+ },
184
+ "subtask.object_name": {
185
+ "dtype": "string",
186
+ "shape": [
187
+ 1
188
+ ],
189
+ "names": null
190
+ },
191
+ "subtask.target_position": {
192
+ "dtype": "float32",
193
+ "shape": [
194
+ 3
195
+ ],
196
+ "names": [
197
+ "x",
198
+ "y",
199
+ "z"
200
+ ]
201
+ },
202
+ "timestamp": {
203
+ "dtype": "float32",
204
+ "shape": [
205
+ 1
206
+ ],
207
+ "names": null
208
+ },
209
+ "frame_index": {
210
+ "dtype": "int64",
211
+ "shape": [
212
+ 1
213
+ ],
214
+ "names": null
215
+ },
216
+ "episode_index": {
217
+ "dtype": "int64",
218
+ "shape": [
219
+ 1
220
+ ],
221
+ "names": null
222
+ },
223
+ "index": {
224
+ "dtype": "int64",
225
+ "shape": [
226
+ 1
227
+ ],
228
+ "names": null
229
+ },
230
+ "task_index": {
231
+ "dtype": "int64",
232
+ "shape": [
233
+ 1
234
+ ],
235
+ "names": null
236
+ }
237
+ }
238
+ }
meta/stats.json ADDED
@@ -0,0 +1,1009 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.state": {
3
+ "min": [
4
+ -100.0,
5
+ -99.3194351196289,
6
+ -35.63218307495117,
7
+ 3.872633457183838,
8
+ -0.8058608174324036,
9
+ -100.0
10
+ ],
11
+ "max": [
12
+ 35.26570129394531,
13
+ 30.923011779785156,
14
+ 99.91158294677734,
15
+ 97.76248168945312,
16
+ -0.46398046612739563,
17
+ 35.0
18
+ ],
19
+ "mean": [
20
+ -3.9296081021596416,
21
+ -19.934031267218618,
22
+ 38.39823199243708,
23
+ 46.41895842144809,
24
+ -0.5264548373125685,
25
+ -13.240382837758974
26
+ ],
27
+ "std": [
28
+ 25.31824447041609,
29
+ 31.699723374169526,
30
+ 28.689104932676766,
31
+ 24.624579598770172,
32
+ 0.09093481072681406,
33
+ 44.98577132156488
34
+ ],
35
+ "count": [
36
+ 3453
37
+ ],
38
+ "q01": [
39
+ -36.27067716790079,
40
+ -96.77153498105599,
41
+ -9.879874794958917,
42
+ 14.933159424814665,
43
+ -0.703033884917561,
44
+ -100.0
45
+ ],
46
+ "q10": [
47
+ -34.892460018410745,
48
+ -68.14986086397145,
49
+ 0.2436612612999289,
50
+ 18.101915147635513,
51
+ -0.6734851928518762,
52
+ -100.0
53
+ ],
54
+ "q50": [
55
+ -4.987659113357399,
56
+ -5.1644986779479245,
57
+ 39.83720525611216,
58
+ 47.0868359343036,
59
+ -0.4830990131414688,
60
+ -0.005485166549411272
61
+ ],
62
+ "q90": [
63
+ 27.680681107843032,
64
+ 9.728054828734018,
65
+ 72.3183185843637,
66
+ 75.71195673954378,
67
+ -0.4688518530027371,
68
+ 34.985284599809646
69
+ ],
70
+ "q99": [
71
+ 30.346727483553135,
72
+ 11.84824046388369,
73
+ 99.2999315277156,
74
+ 83.19235488905241,
75
+ -0.4639826951820761,
76
+ 34.99852845998096
77
+ ]
78
+ },
79
+ "skill.goal_position.joint": {
80
+ "min": [
81
+ -43.646034240722656,
82
+ -99.49281311035156,
83
+ -37.7489128112793,
84
+ 2.1080944538116455,
85
+ -0.7570207715034485,
86
+ -100.0
87
+ ],
88
+ "max": [
89
+ 35.752464294433594,
90
+ 29.051467895507812,
91
+ 99.81834411621094,
92
+ 98.63072204589844,
93
+ -0.41514042019844055,
94
+ 35.0
95
+ ],
96
+ "mean": [
97
+ -3.766758711725396,
98
+ -22.247540281435526,
99
+ 35.426045542898436,
100
+ 45.877814810206296,
101
+ -0.5133862015978687,
102
+ -16.7897482089571
103
+ ],
104
+ "std": [
105
+ 26.610698839564755,
106
+ 33.487540963186255,
107
+ 30.61890064716738,
108
+ 27.613773687019222,
109
+ 0.09224588973825865,
110
+ 51.46982154444537
111
+ ],
112
+ "count": [
113
+ 3453
114
+ ],
115
+ "q01": [
116
+ -36.63039212043203,
117
+ -99.49281311035156,
118
+ -12.19020780887322,
119
+ 13.020403374529147,
120
+ -0.6883787955714419,
121
+ -100.0
122
+ ],
123
+ "q10": [
124
+ -36.44944644619017,
125
+ -56.517960665854076,
126
+ -12.19020780887322,
127
+ 13.839264986842423,
128
+ -0.6385386182764473,
129
+ -100.0
130
+ ],
131
+ "q50": [
132
+ -4.2227065924040454,
133
+ -9.726534952300163,
134
+ 38.4814839928276,
135
+ 41.838485311793704,
136
+ -0.48289058183944905,
137
+ -0.005371374976271456
138
+ ],
139
+ "q90": [
140
+ 29.851465204487184,
141
+ 11.764539216950164,
142
+ 54.36901277058563,
143
+ 80.42657142572872,
144
+ -0.4639522173954341,
145
+ 34.98980376822598
146
+ ],
147
+ "q99": [
148
+ 30.918859477215086,
149
+ 12.828166721211742,
150
+ 99.81576745653707,
151
+ 83.88487109919011,
152
+ -0.41514670766891054,
153
+ 34.9989803768226
154
+ ]
155
+ },
156
+ "subtask.target_position": {
157
+ "min": [
158
+ 0.0,
159
+ 0.0,
160
+ 0.0
161
+ ],
162
+ "max": [
163
+ 0.0,
164
+ 0.0,
165
+ 0.0
166
+ ],
167
+ "mean": [
168
+ 0.0,
169
+ 0.0,
170
+ 0.0
171
+ ],
172
+ "std": [
173
+ 0.0,
174
+ 0.0,
175
+ 0.0
176
+ ],
177
+ "count": [
178
+ 3453
179
+ ],
180
+ "q01": [
181
+ 3.9995784462121265e-16,
182
+ 3.9995784462121265e-16,
183
+ 3.9995784462121265e-16
184
+ ],
185
+ "q10": [
186
+ 3.999578446212127e-15,
187
+ 3.999578446212127e-15,
188
+ 3.999578446212127e-15
189
+ ],
190
+ "q50": [
191
+ 1.9997892231060632e-14,
192
+ 1.9997892231060632e-14,
193
+ 1.9997892231060632e-14
194
+ ],
195
+ "q90": [
196
+ 3.599620601590914e-14,
197
+ 3.599620601590914e-14,
198
+ 3.599620601590914e-14
199
+ ],
200
+ "q99": [
201
+ 3.9595826617500056e-14,
202
+ 3.9595826617500056e-14,
203
+ 3.9595826617500056e-14
204
+ ]
205
+ },
206
+ "frame_index": {
207
+ "min": [
208
+ 0
209
+ ],
210
+ "max": [
211
+ 354
212
+ ],
213
+ "mean": [
214
+ 172.23052418187083
215
+ ],
216
+ "std": [
217
+ 99.81710541328837
218
+ ],
219
+ "count": [
220
+ 3453
221
+ ],
222
+ "q01": [
223
+ 2.9907052509877494
224
+ ],
225
+ "q10": [
226
+ 34.028351323406575
227
+ ],
228
+ "q50": [
229
+ 172.00861233709807
230
+ ],
231
+ "q90": [
232
+ 310.2487468520929
233
+ ],
234
+ "q99": [
235
+ 341.47034311275394
236
+ ]
237
+ },
238
+ "observation.images.left_wrist": {
239
+ "min": [
240
+ [
241
+ [
242
+ 0.0
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 0.0
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 0.0
253
+ ]
254
+ ]
255
+ ],
256
+ "max": [
257
+ [
258
+ [
259
+ 1.0
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 1.0
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 1.0
270
+ ]
271
+ ]
272
+ ],
273
+ "mean": [
274
+ [
275
+ [
276
+ 0.5022378029003267
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.5189179560866013
282
+ ]
283
+ ],
284
+ [
285
+ [
286
+ 0.5460119658905229
287
+ ]
288
+ ]
289
+ ],
290
+ "std": [
291
+ [
292
+ [
293
+ 0.0037137068101207506
294
+ ]
295
+ ],
296
+ [
297
+ [
298
+ 0.004070723680306296
299
+ ]
300
+ ],
301
+ [
302
+ [
303
+ 0.004462181607528092
304
+ ]
305
+ ]
306
+ ],
307
+ "count": [
308
+ 1000
309
+ ],
310
+ "q01": [
311
+ [
312
+ [
313
+ 0.0671205422223041
314
+ ]
315
+ ],
316
+ [
317
+ [
318
+ 0.06508643509135822
319
+ ]
320
+ ],
321
+ [
322
+ [
323
+ 0.08507566014350407
324
+ ]
325
+ ]
326
+ ],
327
+ "q10": [
328
+ [
329
+ [
330
+ 0.1110091740137098
331
+ ]
332
+ ],
333
+ [
334
+ [
335
+ 0.16467877969590547
336
+ ]
337
+ ],
338
+ [
339
+ [
340
+ 0.19019813604938693
341
+ ]
342
+ ]
343
+ ],
344
+ "q50": [
345
+ [
346
+ [
347
+ 0.6023339942276025
348
+ ]
349
+ ],
350
+ [
351
+ [
352
+ 0.5855157634451483
353
+ ]
354
+ ],
355
+ [
356
+ [
357
+ 0.598369581931228
358
+ ]
359
+ ]
360
+ ],
361
+ "q90": [
362
+ [
363
+ [
364
+ 0.7356794118540634
365
+ ]
366
+ ],
367
+ [
368
+ [
369
+ 0.7035382271003903
370
+ ]
371
+ ],
372
+ [
373
+ [
374
+ 0.7345376288613554
375
+ ]
376
+ ]
377
+ ],
378
+ "q99": [
379
+ [
380
+ [
381
+ 0.8725926586434438
382
+ ]
383
+ ],
384
+ [
385
+ [
386
+ 0.8188004312787465
387
+ ]
388
+ ],
389
+ [
390
+ [
391
+ 0.8552880640296195
392
+ ]
393
+ ]
394
+ ]
395
+ },
396
+ "episode_index": {
397
+ "min": [
398
+ 0
399
+ ],
400
+ "max": [
401
+ 9
402
+ ],
403
+ "mean": [
404
+ 4.530553142195193
405
+ ],
406
+ "std": [
407
+ 2.871917145832689
408
+ ],
409
+ "count": [
410
+ 3453
411
+ ],
412
+ "q01": [
413
+ 4.530553142195193
414
+ ],
415
+ "q10": [
416
+ 4.530553142195197
417
+ ],
418
+ "q50": [
419
+ 4.530553142195212
420
+ ],
421
+ "q90": [
422
+ 4.530553142195228
423
+ ],
424
+ "q99": [
425
+ 4.530553142195233
426
+ ]
427
+ },
428
+ "task_index": {
429
+ "min": [
430
+ 0
431
+ ],
432
+ "max": [
433
+ 0
434
+ ],
435
+ "mean": [
436
+ 0.0
437
+ ],
438
+ "std": [
439
+ 0.0
440
+ ],
441
+ "count": [
442
+ 3453
443
+ ],
444
+ "q01": [
445
+ 3.9999999999994176e-16
446
+ ],
447
+ "q10": [
448
+ 3.999999999999418e-15
449
+ ],
450
+ "q50": [
451
+ 1.9999999999997084e-14
452
+ ],
453
+ "q90": [
454
+ 3.5999999999994766e-14
455
+ ],
456
+ "q99": [
457
+ 3.9599999999994235e-14
458
+ ]
459
+ },
460
+ "action": {
461
+ "min": [
462
+ -43.646034240722656,
463
+ -99.0,
464
+ -40.24991226196289,
465
+ 2.1080944538116455,
466
+ -0.7570207715034485,
467
+ -100.0
468
+ ],
469
+ "max": [
470
+ 35.752464294433594,
471
+ 30.49658966064453,
472
+ 99.0,
473
+ 98.63072204589844,
474
+ -0.4152284264564514,
475
+ 35.0
476
+ ],
477
+ "mean": [
478
+ -3.806694964377942,
479
+ -22.751677568083807,
480
+ 36.10911138155065,
481
+ 46.12775471961018,
482
+ -0.5212301277368614,
483
+ -13.240382837758974
484
+ ],
485
+ "std": [
486
+ 25.260629450753267,
487
+ 30.747076684008164,
488
+ 28.919573513597303,
489
+ 24.665142858729247,
490
+ 0.09080429609839036,
491
+ 44.98577132156488
492
+ ],
493
+ "count": [
494
+ 3453
495
+ ],
496
+ "q01": [
497
+ -36.63039212043203,
498
+ -97.57705713755423,
499
+ -14.55503987492667,
500
+ 13.913263095813106,
501
+ -0.6883787955714419,
502
+ -100.0
503
+ ],
504
+ "q10": [
505
+ -34.96440015464398,
506
+ -68.7385659655039,
507
+ -2.630698225693602,
508
+ 17.503511323486013,
509
+ -0.6516122224599924,
510
+ -100.0
511
+ ],
512
+ "q50": [
513
+ -4.894738380438757,
514
+ -10.885176115571063,
515
+ 38.27426516970532,
516
+ 46.42947560533247,
517
+ -0.482902270260357,
518
+ -0.005485166549411272
519
+ ],
520
+ "q90": [
521
+ 27.8382637497803,
522
+ 7.293555843696848,
523
+ 69.32348447479858,
524
+ 75.8291139514231,
525
+ -0.4639734159807767,
526
+ 34.985284599809646
527
+ ],
528
+ "q99": [
529
+ 30.900444950949748,
530
+ 11.202168527377228,
531
+ 98.97101980029717,
532
+ 83.58953321915631,
533
+ -0.4220886968008477,
534
+ 34.99852845998096
535
+ ]
536
+ },
537
+ "skill.progress": {
538
+ "min": [
539
+ 0.0
540
+ ],
541
+ "max": [
542
+ 0.9744793176651001
543
+ ],
544
+ "mean": [
545
+ 0.4415381806779868
546
+ ],
547
+ "std": [
548
+ 0.3500427353062975
549
+ ],
550
+ "count": [
551
+ 3453
552
+ ],
553
+ "q01": [
554
+ -1.000000013351432e-10
555
+ ],
556
+ "q10": [
557
+ -1.000000013351432e-10
558
+ ],
559
+ "q50": [
560
+ 0.4341414796483541
561
+ ],
562
+ "q90": [
563
+ 0.9082694732154045
564
+ ],
565
+ "q99": [
566
+ 0.956627774313502
567
+ ]
568
+ },
569
+ "skill.goal_position.gripper": {
570
+ "min": [
571
+ -100.0
572
+ ],
573
+ "max": [
574
+ 35.0
575
+ ],
576
+ "mean": [
577
+ -16.7897482089571
578
+ ],
579
+ "std": [
580
+ 51.46982154444537
581
+ ],
582
+ "count": [
583
+ 3453
584
+ ],
585
+ "q01": [
586
+ -100.0
587
+ ],
588
+ "q10": [
589
+ -100.0
590
+ ],
591
+ "q50": [
592
+ -0.005371374976271456
593
+ ],
594
+ "q90": [
595
+ 34.98980376822598
596
+ ],
597
+ "q99": [
598
+ 34.9989803768226
599
+ ]
600
+ },
601
+ "skill.goal_position.robot_xyzrpy": {
602
+ "min": [
603
+ 0.170120969414711,
604
+ -0.154479518532753,
605
+ -0.0065874503925442696,
606
+ 2.972679615020752,
607
+ 0.21580468118190765,
608
+ -3.119457960128784
609
+ ],
610
+ "max": [
611
+ 0.30377110838890076,
612
+ 0.2178483009338379,
613
+ 0.19398176670074463,
614
+ 3.126857280731201,
615
+ 1.20646071434021,
616
+ 3.0981454849243164
617
+ ],
618
+ "mean": [
619
+ 0.24557074768074416,
620
+ 0.03283272152229855,
621
+ 0.09191234906298715,
622
+ 3.086374326681628,
623
+ 0.6673997000545963,
624
+ -0.3728208665291261
625
+ ],
626
+ "std": [
627
+ 0.03764094128395738,
628
+ 0.12900123705025987,
629
+ 0.0631059708361559,
630
+ 0.024370404683032348,
631
+ 0.17655591424084469,
632
+ 2.6580113525290434
633
+ ],
634
+ "count": [
635
+ 3453
636
+ ],
637
+ "q01": [
638
+ 0.170120969414711,
639
+ -0.13288688287678369,
640
+ 0.0004531374689226103,
641
+ 3.0402197611356105,
642
+ 0.5098177833493951,
643
+ -3.048065481205246
644
+ ],
645
+ "q10": [
646
+ 0.19681412369919388,
647
+ -0.12791448695270546,
648
+ 0.005153043199827652,
649
+ 3.042144296007168,
650
+ 0.5195262411842073,
651
+ -2.9124471981599784
652
+ ],
653
+ "q50": [
654
+ 0.25036974469496265,
655
+ 0.02442933112819466,
656
+ 0.118725326079564,
657
+ 3.0941510693913536,
658
+ 0.6003218485906454,
659
+ -1.4512861394208716
660
+ ],
661
+ "q90": [
662
+ 0.29071926732389153,
663
+ 0.19796238949487333,
664
+ 0.1676427440140382,
665
+ 3.1041235784513432,
666
+ 0.9611566540106851,
667
+ 2.7256441058103085
668
+ ],
669
+ "q99": [
670
+ 0.29154137132886837,
671
+ 0.19972079219210231,
672
+ 0.16775348863842057,
673
+ 3.105221456122854,
674
+ 0.9831205605068211,
675
+ 2.854745803349399
676
+ ]
677
+ },
678
+ "index": {
679
+ "min": [
680
+ 0
681
+ ],
682
+ "max": [
683
+ 3452
684
+ ],
685
+ "mean": [
686
+ 1726.0
687
+ ],
688
+ "std": [
689
+ 996.7951979552603
690
+ ],
691
+ "count": [
692
+ 3453
693
+ ],
694
+ "q01": [
695
+ 1556.7601810691167
696
+ ],
697
+ "q10": [
698
+ 1587.7978271415361
699
+ ],
700
+ "q50": [
701
+ 1725.7780881552271
702
+ ],
703
+ "q90": [
704
+ 1864.018222670222
705
+ ],
706
+ "q99": [
707
+ 1895.2398189308828
708
+ ]
709
+ },
710
+ "observation.gripper_binary": {
711
+ "min": [
712
+ 0.0
713
+ ],
714
+ "max": [
715
+ 1.0
716
+ ],
717
+ "mean": [
718
+ 0.2736750639265183
719
+ ],
720
+ "std": [
721
+ 0.4458441727781166
722
+ ],
723
+ "count": [
724
+ 3453
725
+ ],
726
+ "q01": [
727
+ -1.000000013351432e-10
728
+ ],
729
+ "q10": [
730
+ -1.000000013351432e-10
731
+ ],
732
+ "q50": [
733
+ -1.000000013351432e-10
734
+ ],
735
+ "q90": [
736
+ 0.9999262324578886
737
+ ],
738
+ "q99": [
739
+ 0.9999926232457887
740
+ ]
741
+ },
742
+ "timestamp": {
743
+ "min": [
744
+ 0.0
745
+ ],
746
+ "max": [
747
+ 35.4
748
+ ],
749
+ "mean": [
750
+ 17.223052418187084
751
+ ],
752
+ "std": [
753
+ 9.98171054132884
754
+ ],
755
+ "count": [
756
+ 3453
757
+ ],
758
+ "q01": [
759
+ 0.29907052501033865
760
+ ],
761
+ "q10": [
762
+ 3.402835132268442
763
+ ],
764
+ "q50": [
765
+ 17.197390118737182
766
+ ],
767
+ "q90": [
768
+ 31.02487468528141
769
+ ],
770
+ "q99": [
771
+ 34.147034311363825
772
+ ]
773
+ },
774
+ "observation.ee_pos.robot_xyzrpy": {
775
+ "min": [
776
+ -0.07362842559814453,
777
+ -0.1536838561296463,
778
+ -0.006982249673455954,
779
+ 2.9982433319091797,
780
+ 0.13006199896335602,
781
+ -3.14102840423584
782
+ ],
783
+ "max": [
784
+ 0.31230565905570984,
785
+ 0.25779488682746887,
786
+ 0.17266200482845306,
787
+ 3.1321940422058105,
788
+ 1.148963451385498,
789
+ 3.1407623291015625
790
+ ],
791
+ "mean": [
792
+ 0.24384900631937054,
793
+ 0.032027747799784526,
794
+ 0.07263611045944114,
795
+ 3.098246083479151,
796
+ 0.5648581911749058,
797
+ -0.396996489116723
798
+ ],
799
+ "std": [
800
+ 0.03986816710196337,
801
+ 0.12051261714409836,
802
+ 0.04728816226230637,
803
+ 0.015760489566229982,
804
+ 0.15788962574716794,
805
+ 2.685729532291294
806
+ ],
807
+ "count": [
808
+ 3453
809
+ ],
810
+ "q01": [
811
+ 0.16052137587848453,
812
+ -0.12851435045479795,
813
+ -0.0014129217033927428,
814
+ 3.0572858661673843,
815
+ 0.3538924283646993,
816
+ -3.1069351797759133
817
+ ],
818
+ "q10": [
819
+ 0.17802096967149256,
820
+ -0.11702265521162426,
821
+ 0.005357863764974347,
822
+ 3.0763763124154453,
823
+ 0.42069573493698553,
824
+ -3.013103688048443
825
+ ],
826
+ "q50": [
827
+ 0.24865343155598946,
828
+ 0.024148443925841104,
829
+ 0.08134999969429878,
830
+ 3.1018413408904566,
831
+ 0.5413428682530751,
832
+ -1.458065330172565
833
+ ],
834
+ "q90": [
835
+ 0.2864235440164941,
836
+ 0.18966265866451348,
837
+ 0.12754536326450405,
838
+ 3.111482627656763,
839
+ 0.7837140884426843,
840
+ 2.769771829617222
841
+ ],
842
+ "q99": [
843
+ 0.3015835940358848,
844
+ 0.19408102314543127,
845
+ 0.14540815131183935,
846
+ 3.116321394499854,
847
+ 0.8975151257141991,
848
+ 3.1007944682802355
849
+ ]
850
+ },
851
+ "observation.images.top": {
852
+ "min": [
853
+ [
854
+ [
855
+ 0.0
856
+ ]
857
+ ],
858
+ [
859
+ [
860
+ 0.023529411764705882
861
+ ]
862
+ ],
863
+ [
864
+ [
865
+ 0.027450980392156862
866
+ ]
867
+ ]
868
+ ],
869
+ "max": [
870
+ [
871
+ [
872
+ 1.0
873
+ ]
874
+ ],
875
+ [
876
+ [
877
+ 1.0
878
+ ]
879
+ ],
880
+ [
881
+ [
882
+ 1.0
883
+ ]
884
+ ]
885
+ ],
886
+ "mean": [
887
+ [
888
+ [
889
+ 0.46787695629084963
890
+ ]
891
+ ],
892
+ [
893
+ [
894
+ 0.5012124904003268
895
+ ]
896
+ ],
897
+ [
898
+ [
899
+ 0.5011470373774509
900
+ ]
901
+ ]
902
+ ],
903
+ "std": [
904
+ [
905
+ [
906
+ 0.004463559488088479
907
+ ]
908
+ ],
909
+ [
910
+ [
911
+ 0.005314457273624264
912
+ ]
913
+ ],
914
+ [
915
+ [
916
+ 0.005605932392286959
917
+ ]
918
+ ]
919
+ ],
920
+ "count": [
921
+ 1000
922
+ ],
923
+ "q01": [
924
+ [
925
+ [
926
+ -3.9215686274509807e-13
927
+ ]
928
+ ],
929
+ [
930
+ [
931
+ 0.09136730145126684
932
+ ]
933
+ ],
934
+ [
935
+ [
936
+ 0.11336084110692506
937
+ ]
938
+ ]
939
+ ],
940
+ "q10": [
941
+ [
942
+ [
943
+ 0.10082672937472102
944
+ ]
945
+ ],
946
+ [
947
+ [
948
+ 0.3317567927189424
949
+ ]
950
+ ],
951
+ [
952
+ [
953
+ 0.3340665783606485
954
+ ]
955
+ ]
956
+ ],
957
+ "q50": [
958
+ [
959
+ [
960
+ 0.5294058414507649
961
+ ]
962
+ ],
963
+ [
964
+ [
965
+ 0.5298269598907436
966
+ ]
967
+ ],
968
+ [
969
+ [
970
+ 0.510617492782256
971
+ ]
972
+ ]
973
+ ],
974
+ "q90": [
975
+ [
976
+ [
977
+ 0.6055004297341683
978
+ ]
979
+ ],
980
+ [
981
+ [
982
+ 0.6208205012334704
983
+ ]
984
+ ],
985
+ [
986
+ [
987
+ 0.6839840833497006
988
+ ]
989
+ ]
990
+ ],
991
+ "q99": [
992
+ [
993
+ [
994
+ 0.7133321659177688
995
+ ]
996
+ ],
997
+ [
998
+ [
999
+ 0.7650613901008101
1000
+ ]
1001
+ ],
1002
+ [
1003
+ [
1004
+ 0.8251108830282529
1005
+ ]
1006
+ ]
1007
+ ]
1008
+ }
1009
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:761160e8b8bcd6f7c3bfb6cb11d5be130598146776504354a4cce79ad5c88d16
3
+ size 2245
videos/observation.images.left_wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:455ee41e59dbb1f1537bacea7dac030ee2553539aa986dfc09b5f3da0567fbff
3
+ size 27131617
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b137dc4e549b3e7207babe25f7728e0f9450aaa2669361207c7b755e1ec6dcf4
3
+ size 20366659