HyeonseokE commited on
Commit
c06a803
·
verified ·
1 Parent(s): ee28093

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 sha256:634b583da5ea86552b92d8503b65f7f76161e4dc2c70bbf3855f1dae8d19f82f
3
+ size 1123054
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:867899072a0eaf1e0e07e0b3f0cef33aa5c8e5c586579b1cd90a8f07d8cb9a00
3
+ size 159460
data/chunk-000/file-003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:174711e87d5777596aabb1c83bd453121fa632368ed6a20823f1f40d42f4789a
3
+ size 453409
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9f83bf75468df337a4c192bb8c580a07a588b91ea472022da7d85d834324cd3
3
+ size 474564
meta/info.json ADDED
@@ -0,0 +1,238 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 60,
5
+ "total_frames": 21307,
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": "0:60"
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
+ "skill.goal_position.gripper": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 35.0
8
+ ],
9
+ "mean": [
10
+ 12.565007724727051
11
+ ],
12
+ "std": [
13
+ 16.660604446934045
14
+ ],
15
+ "count": [
16
+ 21307
17
+ ],
18
+ "q01": [
19
+ -1.000000013351432e-10
20
+ ],
21
+ "q10": [
22
+ -1.000000013351432e-10
23
+ ],
24
+ "q50": [
25
+ 0.49300678817018395
26
+ ],
27
+ "q90": [
28
+ 34.99803002570866
29
+ ],
30
+ "q99": [
31
+ 34.999803002570864
32
+ ]
33
+ },
34
+ "subtask.target_position": {
35
+ "min": [
36
+ 0.0,
37
+ 0.0,
38
+ 0.0
39
+ ],
40
+ "max": [
41
+ 0.0,
42
+ 0.0,
43
+ 0.0
44
+ ],
45
+ "mean": [
46
+ 0.0,
47
+ 0.0,
48
+ 0.0
49
+ ],
50
+ "std": [
51
+ 0.0,
52
+ 0.0,
53
+ 0.0
54
+ ],
55
+ "count": [
56
+ 21307
57
+ ],
58
+ "q01": [
59
+ 3.999578446212128e-16,
60
+ 3.999578446212128e-16,
61
+ 3.999578446212128e-16
62
+ ],
63
+ "q10": [
64
+ 3.999578446212125e-15,
65
+ 3.999578446212125e-15,
66
+ 3.999578446212125e-15
67
+ ],
68
+ "q50": [
69
+ 1.9997892231060632e-14,
70
+ 1.9997892231060632e-14,
71
+ 1.9997892231060632e-14
72
+ ],
73
+ "q90": [
74
+ 3.5996206015909134e-14,
75
+ 3.5996206015909134e-14,
76
+ 3.5996206015909134e-14
77
+ ],
78
+ "q99": [
79
+ 3.959582661750002e-14,
80
+ 3.959582661750002e-14,
81
+ 3.959582661750002e-14
82
+ ]
83
+ },
84
+ "skill.goal_position.joint": {
85
+ "min": [
86
+ -68.82799530029297,
87
+ -97.88494110107422,
88
+ -65.39178466796875,
89
+ -23.942270278930664,
90
+ -1.0989011526107788,
91
+ 0.0
92
+ ],
93
+ "max": [
94
+ 68.71251678466797,
95
+ 42.151695251464844,
96
+ 99.27371978759766,
97
+ 97.67861938476562,
98
+ -0.3663003742694855,
99
+ 35.0
100
+ ],
101
+ "mean": [
102
+ -6.896719166935651,
103
+ -25.90310248911462,
104
+ 40.32966016204644,
105
+ 44.23517958351508,
106
+ -0.7208810874455951,
107
+ 12.565031468921406
108
+ ],
109
+ "std": [
110
+ 27.558190376426108,
111
+ 35.4567279320095,
112
+ 26.872740154697674,
113
+ 25.447400016935337,
114
+ 0.18111331588545562,
115
+ 16.660615568134087
116
+ ],
117
+ "count": [
118
+ 21307
119
+ ],
120
+ "q01": [
121
+ -34.81085283094834,
122
+ -97.88494110107422,
123
+ 3.129698482779205,
124
+ 16.636172036537847,
125
+ -0.8716907175349156,
126
+ -1.000000013351432e-10
127
+ ],
128
+ "q10": [
129
+ -32.76209330121665,
130
+ -52.750455062346944,
131
+ 7.1832752734774665,
132
+ 17.81324209165326,
133
+ -0.832644713643637,
134
+ -1.000000013351432e-10
135
+ ],
136
+ "q50": [
137
+ -6.91130764338052,
138
+ -32.98232802850635,
139
+ 39.230649911181054,
140
+ 43.81321891402039,
141
+ -0.7461090089658767,
142
+ 0.49300678817018395
143
+ ],
144
+ "q90": [
145
+ 17.653464960938596,
146
+ 21.699372349348028,
147
+ 54.96795870235234,
148
+ 72.58446169754419,
149
+ -0.5517478641117552,
150
+ 34.998030025708665
151
+ ],
152
+ "q99": [
153
+ 20.14669071684711,
154
+ 21.729767663230287,
155
+ 99.271441101846,
156
+ 75.28652018586558,
157
+ -0.5500991313803436,
158
+ 34.99980300257085
159
+ ]
160
+ },
161
+ "frame_index": {
162
+ "min": [
163
+ 0
164
+ ],
165
+ "max": [
166
+ 364
167
+ ],
168
+ "mean": [
169
+ 177.07654761346038
170
+ ],
171
+ "std": [
172
+ 102.54448263094267
173
+ ],
174
+ "count": [
175
+ 21307
176
+ ],
177
+ "q01": [
178
+ 3.0099251418738215
179
+ ],
180
+ "q10": [
181
+ 34.92920234656636
182
+ ],
183
+ "q50": [
184
+ 176.85857466560273
185
+ ],
186
+ "q90": [
187
+ 319.1476354062847
188
+ ],
189
+ "q99": [
190
+ 351.1431700850469
191
+ ]
192
+ },
193
+ "action": {
194
+ "min": [
195
+ -75.69608306884766,
196
+ -97.8339614868164,
197
+ -67.99778747558594,
198
+ -23.942270278930664,
199
+ -1.0989011526107788,
200
+ 0.0
201
+ ],
202
+ "max": [
203
+ 68.71251678466797,
204
+ 42.10569763183594,
205
+ 99.0,
206
+ 99.0,
207
+ -0.3663003742694855,
208
+ 35.0
209
+ ],
210
+ "mean": [
211
+ -6.937296225709415,
212
+ -26.45101341941856,
213
+ 39.94874653176397,
214
+ 45.70786090673048,
215
+ -0.7488420513218715,
216
+ 11.139665224575989
217
+ ],
218
+ "std": [
219
+ 26.667736593410716,
220
+ 33.14422297717901,
221
+ 25.515584938572587,
222
+ 24.35718548980718,
223
+ 0.19137367173362926,
224
+ 14.869519429447033
225
+ ],
226
+ "count": [
227
+ 21307
228
+ ],
229
+ "q01": [
230
+ -36.22032525075654,
231
+ -96.64842906290015,
232
+ -3.1490588235186565,
233
+ 16.22677381927589,
234
+ -0.8720258549422959,
235
+ -1.000000013351432e-10
236
+ ],
237
+ "q10": [
238
+ -32.61751108185567,
239
+ -68.20652806819193,
240
+ 10.143850080530656,
241
+ 19.13274453590494,
242
+ -0.8192722868303173,
243
+ -1.000000013351432e-10
244
+ ],
245
+ "q50": [
246
+ -6.404760867681666,
247
+ -29.38813884113438,
248
+ 39.57493557989206,
249
+ 45.04902577137138,
250
+ -0.7451934604159637,
251
+ 0.49195383987061636
252
+ ],
253
+ "q90": [
254
+ 17.457912485494848,
255
+ 19.47113262326785,
256
+ 66.84571394875204,
257
+ 74.45818148447398,
258
+ -0.7011685562880631,
259
+ 34.99681937839119
260
+ ],
261
+ "q99": [
262
+ 21.639679524287548,
263
+ 21.645601242185755,
264
+ 97.94460580848455,
265
+ 82.80012207710968,
266
+ -0.5563556388272594,
267
+ 34.999681937839114
268
+ ]
269
+ },
270
+ "skill.progress": {
271
+ "min": [
272
+ 0.0
273
+ ],
274
+ "max": [
275
+ 0.9934534430503845
276
+ ],
277
+ "mean": [
278
+ 0.4254214464890804
279
+ ],
280
+ "std": [
281
+ 0.34489296282236515
282
+ ],
283
+ "count": [
284
+ 21307
285
+ ],
286
+ "q01": [
287
+ -1.000000013351432e-10
288
+ ],
289
+ "q10": [
290
+ 0.0019135732671993295
291
+ ],
292
+ "q50": [
293
+ 0.39769202388570213
294
+ ],
295
+ "q90": [
296
+ 0.9274039550423513
297
+ ],
298
+ "q99": [
299
+ 0.9774592334238444
300
+ ]
301
+ },
302
+ "observation.state": {
303
+ "min": [
304
+ -75.38688659667969,
305
+ -96.78646850585938,
306
+ -64.90908813476562,
307
+ -22.745269775390625,
308
+ -1.0989011526107788,
309
+ 0.0
310
+ ],
311
+ "max": [
312
+ 68.38614654541016,
313
+ 39.78858184814453,
314
+ 98.0,
315
+ 97.97624206542969,
316
+ -0.3663003742694855,
317
+ 35.0
318
+ ],
319
+ "mean": [
320
+ -6.973753100665232,
321
+ -25.886146852723616,
322
+ 41.21501605518657,
323
+ 45.94103948235338,
324
+ -0.7601530440279324,
325
+ 11.139665224575989
326
+ ],
327
+ "std": [
328
+ 26.67989315213307,
329
+ 33.33644184242534,
330
+ 25.45083058229648,
331
+ 24.43307096504717,
332
+ 0.19513442348977592,
333
+ 14.869519429447033
334
+ ],
335
+ "count": [
336
+ 21307
337
+ ],
338
+ "q01": [
339
+ -36.05525738103518,
340
+ -96.71729805735814,
341
+ -0.8643622696866973,
342
+ 16.624873711492338,
343
+ -0.8741193083053356,
344
+ -1.000000013351432e-10
345
+ ],
346
+ "q10": [
347
+ -32.621258234464555,
348
+ -68.41618959082508,
349
+ 12.00348818703077,
350
+ 19.061574146777026,
351
+ -0.8032760367742741,
352
+ -1.000000013351432e-10
353
+ ],
354
+ "q50": [
355
+ -6.467710092410888,
356
+ -28.261684636206905,
357
+ 41.052787390684095,
358
+ 45.46836288311109,
359
+ -0.748579471840506,
360
+ 0.49195383987061636
361
+ ],
362
+ "q90": [
363
+ 17.38378328388656,
364
+ 19.59683483547241,
365
+ 68.7105175194095,
366
+ 74.7192790513109,
367
+ -0.7338807129644411,
368
+ 34.99681937839119
369
+ ],
370
+ "q99": [
371
+ 21.415566824505383,
372
+ 20.451962635938088,
373
+ 97.97977225865654,
374
+ 82.83420210859978,
375
+ -0.7127652683745295,
376
+ 34.999681937839114
377
+ ]
378
+ },
379
+ "observation.images.top": {
380
+ "min": [
381
+ [
382
+ [
383
+ 0.0
384
+ ]
385
+ ],
386
+ [
387
+ [
388
+ 0.0
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 0.0
394
+ ]
395
+ ]
396
+ ],
397
+ "max": [
398
+ [
399
+ [
400
+ 1.0
401
+ ]
402
+ ],
403
+ [
404
+ [
405
+ 1.0
406
+ ]
407
+ ],
408
+ [
409
+ [
410
+ 1.0
411
+ ]
412
+ ]
413
+ ],
414
+ "mean": [
415
+ [
416
+ [
417
+ 0.49216550316584995
418
+ ]
419
+ ],
420
+ [
421
+ [
422
+ 0.5043708552559913
423
+ ]
424
+ ],
425
+ [
426
+ [
427
+ 0.5009254994212963
428
+ ]
429
+ ]
430
+ ],
431
+ "std": [
432
+ [
433
+ [
434
+ 0.0042596724377594744
435
+ ]
436
+ ],
437
+ [
438
+ [
439
+ 0.004346962376143446
440
+ ]
441
+ ],
442
+ [
443
+ [
444
+ 0.004706191598824402
445
+ ]
446
+ ]
447
+ ],
448
+ "count": [
449
+ 6000
450
+ ],
451
+ "q01": [
452
+ [
453
+ [
454
+ 0.044704712826234026
455
+ ]
456
+ ],
457
+ [
458
+ [
459
+ 0.08216979319809918
460
+ ]
461
+ ],
462
+ [
463
+ [
464
+ 0.10108019705101458
465
+ ]
466
+ ]
467
+ ],
468
+ "q10": [
469
+ [
470
+ [
471
+ 0.3603149114107325
472
+ ]
473
+ ],
474
+ [
475
+ [
476
+ 0.36992939708587225
477
+ ]
478
+ ],
479
+ [
480
+ [
481
+ 0.3639462084721595
482
+ ]
483
+ ]
484
+ ],
485
+ "q50": [
486
+ [
487
+ [
488
+ 0.5241720337188922
489
+ ]
490
+ ],
491
+ [
492
+ [
493
+ 0.5265836996099683
494
+ ]
495
+ ],
496
+ [
497
+ [
498
+ 0.5070607499536199
499
+ ]
500
+ ]
501
+ ],
502
+ "q90": [
503
+ [
504
+ [
505
+ 0.5933285310778197
506
+ ]
507
+ ],
508
+ [
509
+ [
510
+ 0.6159200223870385
511
+ ]
512
+ ],
513
+ [
514
+ [
515
+ 0.6492605885636459
516
+ ]
517
+ ]
518
+ ],
519
+ "q99": [
520
+ [
521
+ [
522
+ 0.6522153024081628
523
+ ]
524
+ ],
525
+ [
526
+ [
527
+ 0.7503597368733179
528
+ ]
529
+ ],
530
+ [
531
+ [
532
+ 0.885979903739521
533
+ ]
534
+ ]
535
+ ]
536
+ },
537
+ "episode_index": {
538
+ "min": [
539
+ 0
540
+ ],
541
+ "max": [
542
+ 94
543
+ ],
544
+ "mean": [
545
+ 38.31064908246116
546
+ ],
547
+ "std": [
548
+ 30.407975772048506
549
+ ],
550
+ "count": [
551
+ 21307
552
+ ],
553
+ "q01": [
554
+ 38.31064908246116
555
+ ],
556
+ "q10": [
557
+ 38.31064908246116
558
+ ],
559
+ "q50": [
560
+ 38.31064908246118
561
+ ],
562
+ "q90": [
563
+ 38.3106490824612
564
+ ],
565
+ "q99": [
566
+ 38.310649082461204
567
+ ]
568
+ },
569
+ "task_index": {
570
+ "min": [
571
+ 0
572
+ ],
573
+ "max": [
574
+ 0
575
+ ],
576
+ "mean": [
577
+ 0.0
578
+ ],
579
+ "std": [
580
+ 0.0
581
+ ],
582
+ "count": [
583
+ 21307
584
+ ],
585
+ "q01": [
586
+ 3.9999999999994167e-16
587
+ ],
588
+ "q10": [
589
+ 3.9999999999994166e-15
590
+ ],
591
+ "q50": [
592
+ 1.999999999999709e-14
593
+ ],
594
+ "q90": [
595
+ 3.599999999999476e-14
596
+ ],
597
+ "q99": [
598
+ 3.959999999999423e-14
599
+ ]
600
+ },
601
+ "skill.goal_position.robot_xyzrpy": {
602
+ "min": [
603
+ 0.044995080679655075,
604
+ -0.20821087062358856,
605
+ -0.01828106865286827,
606
+ -3.1380279064178467,
607
+ -0.1940833479166031,
608
+ -3.1366240978240967
609
+ ],
610
+ "max": [
611
+ 0.318625807762146,
612
+ 0.22584383189678192,
613
+ 0.25685808062553406,
614
+ 3.140275001525879,
615
+ 1.5082327127456665,
616
+ 3.1410958766937256
617
+ ],
618
+ "mean": [
619
+ 0.21925905599547454,
620
+ 0.010361150840051955,
621
+ 0.10136713636447674,
622
+ 3.0040618931105256,
623
+ 0.7303290034009597,
624
+ 1.7540936146691857
625
+ ],
626
+ "std": [
627
+ 0.06322082839440189,
628
+ 0.09990915877620332,
629
+ 0.0873388560467707,
630
+ 0.4652527133977781,
631
+ 0.3113246135866371,
632
+ 2.142350778099236
633
+ ],
634
+ "count": [
635
+ 21307
636
+ ],
637
+ "q01": [
638
+ 0.13415562164033348,
639
+ -0.0915865367719433,
640
+ -0.009502381137577256,
641
+ 2.5069811591746443,
642
+ 0.39077756344781117,
643
+ -1.1716081784579073
644
+ ],
645
+ "q10": [
646
+ 0.1486164809362253,
647
+ -0.0845356926740862,
648
+ -0.009502381137577256,
649
+ 2.637936580819435,
650
+ 0.3924905384384308,
651
+ -0.6578981388966619
652
+ ],
653
+ "q50": [
654
+ 0.2108156047025427,
655
+ 0.010523538103205561,
656
+ 0.12807365433252807,
657
+ 3.0894361648417465,
658
+ 0.6409247328643188,
659
+ 2.844382392866085
660
+ ],
661
+ "q90": [
662
+ 0.2975870970140989,
663
+ 0.10955747663356323,
664
+ 0.21002110311602884,
665
+ 3.1100870437228187,
666
+ 1.1381133352659967,
667
+ 3.1200515603332075
668
+ ],
669
+ "q99": [
670
+ 0.30521473093685964,
671
+ 0.11642621163842623,
672
+ 0.2254486758077554,
673
+ 3.1104619805467273,
674
+ 1.2672463301720096,
675
+ 3.123864993763995
676
+ ]
677
+ },
678
+ "index": {
679
+ "min": [
680
+ 0
681
+ ],
682
+ "max": [
683
+ 33727
684
+ ],
685
+ "mean": [
686
+ 13767.140047871591
687
+ ],
688
+ "std": [
689
+ 10795.020387249175
690
+ ],
691
+ "count": [
692
+ 21307
693
+ ],
694
+ "q01": [
695
+ 13593.073425400004
696
+ ],
697
+ "q10": [
698
+ 13624.992702604699
699
+ ],
700
+ "q50": [
701
+ 13766.922074923734
702
+ ],
703
+ "q90": [
704
+ 13909.211135664413
705
+ ],
706
+ "q99": [
707
+ 13941.20667034318
708
+ ]
709
+ },
710
+ "timestamp": {
711
+ "min": [
712
+ 0.0
713
+ ],
714
+ "max": [
715
+ 36.4
716
+ ],
717
+ "mean": [
718
+ 17.707654761346035
719
+ ],
720
+ "std": [
721
+ 10.25444826309427
722
+ ],
723
+ "count": [
724
+ 21307
725
+ ],
726
+ "q01": [
727
+ 0.30099251409891215
728
+ ],
729
+ "q10": [
730
+ 3.4929202345843895
731
+ ],
732
+ "q50": [
733
+ 17.6822016201247
734
+ ],
735
+ "q90": [
736
+ 31.914763540700683
737
+ ],
738
+ "q99": [
739
+ 35.11431700859316
740
+ ]
741
+ },
742
+ "observation.gripper_binary": {
743
+ "min": [
744
+ 0.0
745
+ ],
746
+ "max": [
747
+ 1.0
748
+ ],
749
+ "mean": [
750
+ 0.3596470647506769
751
+ ],
752
+ "std": [
753
+ 0.479896916189852
754
+ ],
755
+ "count": [
756
+ 21307
757
+ ],
758
+ "q01": [
759
+ -1.000000013351432e-10
760
+ ],
761
+ "q10": [
762
+ -1.000000013351432e-10
763
+ ],
764
+ "q50": [
765
+ -1.000000013351432e-10
766
+ ],
767
+ "q90": [
768
+ 0.9999442499609753
769
+ ],
770
+ "q99": [
771
+ 0.9999944249960976
772
+ ]
773
+ },
774
+ "observation.ee_pos.robot_xyzrpy": {
775
+ "min": [
776
+ 0.04623964801430702,
777
+ -0.2114417850971222,
778
+ -0.012592630460858345,
779
+ -3.141479253768921,
780
+ -0.12692657113075256,
781
+ -3.141590118408203
782
+ ],
783
+ "max": [
784
+ 0.3434130549430847,
785
+ 0.22600539028644562,
786
+ 0.2698318064212799,
787
+ 3.141465187072754,
788
+ 1.508233666419983,
789
+ 3.141583204269409
790
+ ],
791
+ "mean": [
792
+ 0.22064541062840093,
793
+ 0.0104628253883583,
794
+ 0.09505521500091604,
795
+ 3.049945373394614,
796
+ 0.6867770970695742,
797
+ 1.1678710948684088
798
+ ],
799
+ "std": [
800
+ 0.06391076974807706,
801
+ 0.09999013662007872,
802
+ 0.07030386382409472,
803
+ 0.3093075100356482,
804
+ 0.2502064397244142,
805
+ 2.528892518805431
806
+ ],
807
+ "count": [
808
+ 21307
809
+ ],
810
+ "q01": [
811
+ 0.13118892654993783,
812
+ -0.09715684716271109,
813
+ -0.0024787798472111844,
814
+ 2.7144935921131563,
815
+ 0.3898408345206307,
816
+ -2.693144918228203
817
+ ],
818
+ "q10": [
819
+ 0.14973902958926993,
820
+ -0.08591632401063508,
821
+ 0.0024539631854586914,
822
+ 2.899983153710128,
823
+ 0.43543020718157743,
824
+ -1.6532427144479793
825
+ ],
826
+ "q50": [
827
+ 0.19624795558755193,
828
+ 0.008685216661864906,
829
+ 0.10456218030822378,
830
+ 3.0885254809307483,
831
+ 0.6250611982728219,
832
+ 1.6438147989092422
833
+ ],
834
+ "q90": [
835
+ 0.3045696550636963,
836
+ 0.11062014028204768,
837
+ 0.18620004517293456,
838
+ 3.1064481775627035,
839
+ 1.032291272901318,
840
+ 3.1130642104318587
841
+ ],
842
+ "q99": [
843
+ 0.31571760989630815,
844
+ 0.12075952355252952,
845
+ 0.21797929985465173,
846
+ 3.110199936987645,
847
+ 1.2132791684076352,
848
+ 3.1295430731151552
849
+ ]
850
+ },
851
+ "observation.images.left_wrist": {
852
+ "min": [
853
+ [
854
+ [
855
+ 0.0
856
+ ]
857
+ ],
858
+ [
859
+ [
860
+ 0.0
861
+ ]
862
+ ],
863
+ [
864
+ [
865
+ 0.0
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
+ 0.5333645348924294
890
+ ]
891
+ ],
892
+ [
893
+ [
894
+ 0.5273450299223857
895
+ ]
896
+ ],
897
+ [
898
+ [
899
+ 0.5335480466367104
900
+ ]
901
+ ]
902
+ ],
903
+ "std": [
904
+ [
905
+ [
906
+ 0.006505864351030315
907
+ ]
908
+ ],
909
+ [
910
+ [
911
+ 0.006627431593193747
912
+ ]
913
+ ],
914
+ [
915
+ [
916
+ 0.0069099787448247026
917
+ ]
918
+ ]
919
+ ],
920
+ "count": [
921
+ 6000
922
+ ],
923
+ "q01": [
924
+ [
925
+ [
926
+ 0.045331796828800716
927
+ ]
928
+ ],
929
+ [
930
+ [
931
+ 0.040398106482287234
932
+ ]
933
+ ],
934
+ [
935
+ [
936
+ 0.06190091793005114
937
+ ]
938
+ ]
939
+ ],
940
+ "q10": [
941
+ [
942
+ [
943
+ 0.1028267869064479
944
+ ]
945
+ ],
946
+ [
947
+ [
948
+ 0.09792183799425405
949
+ ]
950
+ ],
951
+ [
952
+ [
953
+ 0.134256993682748
954
+ ]
955
+ ]
956
+ ],
957
+ "q50": [
958
+ [
959
+ [
960
+ 0.6342969916097947
961
+ ]
962
+ ],
963
+ [
964
+ [
965
+ 0.6230812248498734
966
+ ]
967
+ ],
968
+ [
969
+ [
970
+ 0.6147261315290197
971
+ ]
972
+ ]
973
+ ],
974
+ "q90": [
975
+ [
976
+ [
977
+ 0.7097915342307698
978
+ ]
979
+ ],
980
+ [
981
+ [
982
+ 0.7037417561628255
983
+ ]
984
+ ],
985
+ [
986
+ [
987
+ 0.7062102802280553
988
+ ]
989
+ ]
990
+ ],
991
+ "q99": [
992
+ [
993
+ [
994
+ 0.7627385000273882
995
+ ]
996
+ ],
997
+ [
998
+ [
999
+ 0.7801980351645431
1000
+ ]
1001
+ ],
1002
+ [
1003
+ [
1004
+ 0.8682362847563964
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:e88cec50bed2c43ef2947ad02e72eff446ce4d8fba6f651c6401e6effc1aa2e2
3
+ size 2195
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 sha256:79e5c0bf8d643d20e086ca97e2cb281467131ff361065508f702d9009f748041
3
+ size 106113834
videos/observation.images.left_wrist/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03853d563e84e2ead1b79d0a3841d0e3b06c41507f931cca003da594fa65ddef
3
+ size 11551040
videos/observation.images.left_wrist/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8b1aca60253a913af8acf86bc26474222eca4684ea9f983081622f1bc0abcc6b
3
+ size 35787504
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 sha256:3c5566b462833a12fefbf2388a6d2b8966cc93226ec81e08a36bc089713e35f9
3
+ size 78880942
videos/observation.images.top/chunk-000/file-001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e37473d3fbcc0446d08e49d904cdaa832f5e01aac3efc96995f0aaad579cbc90
3
+ size 10053500
videos/observation.images.top/chunk-000/file-003.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8a35039a110e4d6eca62088a4436488e0062a55b51162d405d7dd38056ef17b
3
+ size 29665399