HyeonseokE commited on
Commit
5e37c36
·
verified ·
1 Parent(s): 73f5ae6

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 sha256:62d8057a3ddf4565a868734c93ba60ec5b019423112a3e723f9600a4d49e6a43
3
+ size 68451
data/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:efb0a87bac14dd162ac448fef07168198477d2602b3f4cc680909f579297a075
3
+ size 68610
data/chunk-000/file-002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c0040b43022e8ac25d08bb5c75504267e19a1018f857b07968f29af35c152cb0
3
+ size 242035
data/chunk-000/file-003.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:be6d3abc8407e9e73960e015fe0a7cf92cbb2043dbd61a89dfb98fcdd7d6976e
3
+ size 1306180
data/chunk-000/file-004.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ee4ab7e303873fcd73baae773d82b42713003869bcc74c367b8f3d31a2ea5e1c
3
+ size 1480325
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ddf6dd50b76553155c762da42e0a5a7fc4faf465e1e3ea7c9b04b7de90ac7f4
3
+ size 475931
meta/episodes/chunk-000/file-001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93035c5b9c3fb332a52de74f20519cd0dd0d7cb55096f7e58be88f48fd46e63f
3
+ size 331896
meta/info.json ADDED
@@ -0,0 +1,238 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "so101_follower",
4
+ "total_episodes": 100,
5
+ "total_frames": 33350,
6
+ "total_tasks": 2,
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": "0:100"
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.ee_pos.robot_xyzrpy": {
3
+ "min": [
4
+ 0.08833322674036026,
5
+ -0.2175782322883606,
6
+ -0.015025713481009007,
7
+ -3.1413841247558594,
8
+ -0.11829514801502228,
9
+ -3.141537666320801
10
+ ],
11
+ "max": [
12
+ 0.39758285880088806,
13
+ 0.2822725176811218,
14
+ 0.21299435198307037,
15
+ 3.141141891479492,
16
+ 1.4346774816513062,
17
+ 3.141590118408203
18
+ ],
19
+ "mean": [
20
+ 0.2435356121893408,
21
+ 0.006611305842735647,
22
+ 0.07345826665992325,
23
+ 3.0294618927699695,
24
+ 0.6293569877015418,
25
+ 0.8805453979794768
26
+ ],
27
+ "std": [
28
+ 0.05224013158500604,
29
+ 0.11747021260079708,
30
+ 0.04866497032986049,
31
+ 0.14103013577349363,
32
+ 0.17399449092539407,
33
+ 2.5696992498703164
34
+ ],
35
+ "count": [
36
+ 33350
37
+ ],
38
+ "q01": [
39
+ 0.15568022842230317,
40
+ -0.14284377729364722,
41
+ -0.004406608613814336,
42
+ 2.86744663166742,
43
+ 0.4253147785531317,
44
+ -2.924501789410486
45
+ ],
46
+ "q10": [
47
+ 0.17408723100811085,
48
+ -0.12817821594142725,
49
+ 0.009511026711300757,
50
+ 2.9950718314661553,
51
+ 0.49125321716142767,
52
+ -2.3447565783323654
53
+ ],
54
+ "q50": [
55
+ 0.24460107742495218,
56
+ 0.0011191226094242176,
57
+ 0.07721533371022175,
58
+ 3.038357869218588,
59
+ 0.6152071951054734,
60
+ 2.479978313086031
61
+ ],
62
+ "q90": [
63
+ 0.29712533067256097,
64
+ 0.1559993782460895,
65
+ 0.13533800397798057,
66
+ 3.0631896061619703,
67
+ 0.7863830521700618,
68
+ 3.002244563888735
69
+ ],
70
+ "q99": [
71
+ 0.3146527594617777,
72
+ 0.1669855147646983,
73
+ 0.16117878883254946,
74
+ 3.0743260370256493,
75
+ 0.9023867007997007,
76
+ 3.0944321966751582
77
+ ]
78
+ },
79
+ "observation.images.left_wrist": {
80
+ "min": [
81
+ [
82
+ [
83
+ 0.0
84
+ ]
85
+ ],
86
+ [
87
+ [
88
+ 0.0
89
+ ]
90
+ ],
91
+ [
92
+ [
93
+ 0.0
94
+ ]
95
+ ]
96
+ ],
97
+ "max": [
98
+ [
99
+ [
100
+ 1.0
101
+ ]
102
+ ],
103
+ [
104
+ [
105
+ 1.0
106
+ ]
107
+ ],
108
+ [
109
+ [
110
+ 1.0
111
+ ]
112
+ ]
113
+ ],
114
+ "mean": [
115
+ [
116
+ [
117
+ 0.5315634688929741
118
+ ]
119
+ ],
120
+ [
121
+ [
122
+ 0.5184762655841506
123
+ ]
124
+ ],
125
+ [
126
+ [
127
+ 0.5698465881944444
128
+ ]
129
+ ]
130
+ ],
131
+ "std": [
132
+ [
133
+ [
134
+ 0.016636018200161015
135
+ ]
136
+ ],
137
+ [
138
+ [
139
+ 0.013163110347341467
140
+ ]
141
+ ],
142
+ [
143
+ [
144
+ 0.012557053617942125
145
+ ]
146
+ ]
147
+ ],
148
+ "count": [
149
+ 10000
150
+ ],
151
+ "q01": [
152
+ [
153
+ [
154
+ 0.039439048517316604
155
+ ]
156
+ ],
157
+ [
158
+ [
159
+ 0.045875180509962504
160
+ ]
161
+ ],
162
+ [
163
+ [
164
+ 0.07553398802007573
165
+ ]
166
+ ]
167
+ ],
168
+ "q10": [
169
+ [
170
+ [
171
+ 0.07381429431495089
172
+ ]
173
+ ],
174
+ [
175
+ [
176
+ 0.1026323626406661
177
+ ]
178
+ ],
179
+ [
180
+ [
181
+ 0.32843188801242884
182
+ ]
183
+ ]
184
+ ],
185
+ "q50": [
186
+ [
187
+ [
188
+ 0.6075196742546368
189
+ ]
190
+ ],
191
+ [
192
+ [
193
+ 0.6105599054132146
194
+ ]
195
+ ],
196
+ [
197
+ [
198
+ 0.6204006617327485
199
+ ]
200
+ ]
201
+ ],
202
+ "q90": [
203
+ [
204
+ [
205
+ 0.754382264912042
206
+ ]
207
+ ],
208
+ [
209
+ [
210
+ 0.7248600785299689
211
+ ]
212
+ ],
213
+ [
214
+ [
215
+ 0.713186996787833
216
+ ]
217
+ ]
218
+ ],
219
+ "q99": [
220
+ [
221
+ [
222
+ 0.8397180058984298
223
+ ]
224
+ ],
225
+ [
226
+ [
227
+ 0.8154522426515547
228
+ ]
229
+ ],
230
+ [
231
+ [
232
+ 0.7928559209967537
233
+ ]
234
+ ]
235
+ ]
236
+ },
237
+ "frame_index": {
238
+ "min": [
239
+ 0
240
+ ],
241
+ "max": [
242
+ 367
243
+ ],
244
+ "mean": [
245
+ 166.44533733133437
246
+ ],
247
+ "std": [
248
+ 96.61416700911528
249
+ ],
250
+ "count": [
251
+ 33350
252
+ ],
253
+ "q01": [
254
+ 2.9906646492571207
255
+ ],
256
+ "q10": [
257
+ 32.829715183128116
258
+ ],
259
+ "q50": [
260
+ 166.24440501349315
261
+ ],
262
+ "q90": [
263
+ 299.9863908438582
264
+ ],
265
+ "q99": [
266
+ 329.90001001341136
267
+ ]
268
+ },
269
+ "index": {
270
+ "min": [
271
+ 0
272
+ ],
273
+ "max": [
274
+ 33349
275
+ ],
276
+ "mean": [
277
+ 16680.76395802099
278
+ ],
279
+ "std": [
280
+ 9617.194761772964
281
+ ],
282
+ "count": [
283
+ 33350
284
+ ],
285
+ "q01": [
286
+ 16517.30928533891
287
+ ],
288
+ "q10": [
289
+ 16547.14833587278
290
+ ],
291
+ "q50": [
292
+ 16680.56686217691
293
+ ],
294
+ "q90": [
295
+ 16814.30501153352
296
+ ],
297
+ "q99": [
298
+ 16844.218630703068
299
+ ]
300
+ },
301
+ "skill.progress": {
302
+ "min": [
303
+ 0.0
304
+ ],
305
+ "max": [
306
+ 0.9929357171058655
307
+ ],
308
+ "mean": [
309
+ 0.3997883275817002
310
+ ],
311
+ "std": [
312
+ 0.33874548006439364
313
+ ],
314
+ "count": [
315
+ 33350
316
+ ],
317
+ "q01": [
318
+ -1.000000013351432e-10
319
+ ],
320
+ "q10": [
321
+ 0.0008784975015383731
322
+ ],
323
+ "q50": [
324
+ 0.3556438579648242
325
+ ],
326
+ "q90": [
327
+ 0.8830096651065834
328
+ ],
329
+ "q99": [
330
+ 0.9640216834494727
331
+ ]
332
+ },
333
+ "skill.goal_position.robot_xyzrpy": {
334
+ "min": [
335
+ 0.08683093637228012,
336
+ -0.17397968471050262,
337
+ -0.015025713481009007,
338
+ 0.9969646334648132,
339
+ 0.14105598628520966,
340
+ -3.138338565826416
341
+ ],
342
+ "max": [
343
+ 0.37295249104499817,
344
+ 0.28218874335289,
345
+ 0.19086112082004547,
346
+ 3.120135545730591,
347
+ 1.4286952018737793,
348
+ 3.138695001602173
349
+ ],
350
+ "mean": [
351
+ 0.2434452616793105,
352
+ 0.00552981529463829,
353
+ 0.08324158577882369,
354
+ 3.0160008409891885,
355
+ 0.6851374386498953,
356
+ 0.9282753587867841
357
+ ],
358
+ "std": [
359
+ 0.05256826112086409,
360
+ 0.12474767933301216,
361
+ 0.05890014647407957,
362
+ 0.09217426435606527,
363
+ 0.1811273266508698,
364
+ 2.520944156202667
365
+ ],
366
+ "count": [
367
+ 33350
368
+ ],
369
+ "q01": [
370
+ 0.15972948857087427,
371
+ -0.14455223282729301,
372
+ -0.005261969646045202,
373
+ 2.9144665667338705,
374
+ 0.5238916492033219,
375
+ -2.5847634702608144
376
+ ],
377
+ "q10": [
378
+ 0.1955310376927376,
379
+ -0.14120666651916086,
380
+ -0.0025493047429716847,
381
+ 2.92687660492517,
382
+ 0.5684866170619739,
383
+ -2.3220057986914138
384
+ ],
385
+ "q50": [
386
+ 0.24668223913496976,
387
+ 0.0014358516527364401,
388
+ 0.09889898792256058,
389
+ 3.0314223005966356,
390
+ 0.638881883585159,
391
+ 2.4225415910413934
392
+ ],
393
+ "q90": [
394
+ 0.29869314866540997,
395
+ 0.16118422729561402,
396
+ 0.15335273085353598,
397
+ 3.0501672464585705,
398
+ 0.8746249001812354,
399
+ 2.977915180570214
400
+ ],
401
+ "q99": [
402
+ 0.30290838960014094,
403
+ 0.16513430888281522,
404
+ 0.1599744094313416,
405
+ 3.0600324523154856,
406
+ 0.912164425416942,
407
+ 3.0168373014807393
408
+ ]
409
+ },
410
+ "episode_index": {
411
+ "min": [
412
+ 0
413
+ ],
414
+ "max": [
415
+ 99
416
+ ],
417
+ "mean": [
418
+ 50.10224887556222
419
+ ],
420
+ "std": [
421
+ 28.864549170922622
422
+ ],
423
+ "count": [
424
+ 33350
425
+ ],
426
+ "q01": [
427
+ 50.10224887556222
428
+ ],
429
+ "q10": [
430
+ 50.10224887556222
431
+ ],
432
+ "q50": [
433
+ 50.10224887556224
434
+ ],
435
+ "q90": [
436
+ 50.10224887556224
437
+ ],
438
+ "q99": [
439
+ 50.10224887556224
440
+ ]
441
+ },
442
+ "skill.goal_position.joint": {
443
+ "min": [
444
+ -69.57554626464844,
445
+ -98.88983917236328,
446
+ -83.59115600585938,
447
+ -42.216819763183594,
448
+ -3.443223476409912,
449
+ 0.0
450
+ ],
451
+ "max": [
452
+ 37.28997802734375,
453
+ 75.06404876708984,
454
+ 99.63915252685547,
455
+ 97.61466979980469,
456
+ -2.661782741546631,
457
+ 35.0
458
+ ],
459
+ "mean": [
460
+ -0.6492933863162154,
461
+ -19.111075236028817,
462
+ 34.11843646764398,
463
+ 39.72126452622564,
464
+ -2.8767143828364863,
465
+ 9.982177916731255
466
+ ],
467
+ "std": [
468
+ 27.23047380373887,
469
+ 37.15664933877643,
470
+ 32.42331922437236,
471
+ 27.563264625010326,
472
+ 0.1464079412946655,
473
+ 15.649235895836838
474
+ ],
475
+ "count": [
476
+ 33350
477
+ ],
478
+ "q01": [
479
+ -34.38967537932846,
480
+ -98.88983917236328,
481
+ -7.1510770733585245,
482
+ 6.084866585588862,
483
+ -3.087022111154925,
484
+ -1.000000013351432e-10
485
+ ],
486
+ "q10": [
487
+ -33.804305774446526,
488
+ -54.55428144917674,
489
+ -4.384739538186524,
490
+ 9.821312377695897,
491
+ -3.061583475786556,
492
+ -1.000000013351432e-10
493
+ ],
494
+ "q50": [
495
+ 0.03867859198713748,
496
+ -8.610040568042479,
497
+ 35.43040585790465,
498
+ 38.16658116810265,
499
+ -2.842173829020468,
500
+ 0.5193328178111223
501
+ ],
502
+ "q90": [
503
+ 30.81896916292456,
504
+ 25.843900324587104,
505
+ 54.546719829330165,
506
+ 70.30607423815192,
507
+ -2.7515752174769066,
508
+ 34.99749200187347
509
+ ],
510
+ "q99": [
511
+ 31.764686125193712,
512
+ 28.06507977837285,
513
+ 99.63677570307975,
514
+ 73.04517530645845,
515
+ -2.7315760141407415,
516
+ 34.99974920018733
517
+ ]
518
+ },
519
+ "task_index": {
520
+ "min": [
521
+ 0
522
+ ],
523
+ "max": [
524
+ 1
525
+ ],
526
+ "mean": [
527
+ 0.41124437781109446
528
+ ],
529
+ "std": [
530
+ 0.49205938618205436
531
+ ],
532
+ "count": [
533
+ 33350
534
+ ],
535
+ "q01": [
536
+ 0.4112443778110948
537
+ ],
538
+ "q10": [
539
+ 0.4112443778110987
540
+ ],
541
+ "q50": [
542
+ 0.41124437781111467
543
+ ],
544
+ "q90": [
545
+ 0.4112443778111305
546
+ ],
547
+ "q99": [
548
+ 0.4112443778111341
549
+ ]
550
+ },
551
+ "subtask.target_position": {
552
+ "min": [
553
+ 0.0,
554
+ 0.0,
555
+ 0.0
556
+ ],
557
+ "max": [
558
+ 0.0,
559
+ 0.0,
560
+ 0.0
561
+ ],
562
+ "mean": [
563
+ 0.0,
564
+ 0.0,
565
+ 0.0
566
+ ],
567
+ "std": [
568
+ 0.0,
569
+ 0.0,
570
+ 0.0
571
+ ],
572
+ "count": [
573
+ 33350
574
+ ],
575
+ "q01": [
576
+ 3.9995784462121255e-16,
577
+ 3.9995784462121255e-16,
578
+ 3.9995784462121255e-16
579
+ ],
580
+ "q10": [
581
+ 3.999578446212122e-15,
582
+ 3.999578446212122e-15,
583
+ 3.999578446212122e-15
584
+ ],
585
+ "q50": [
586
+ 1.9997892231060632e-14,
587
+ 1.9997892231060632e-14,
588
+ 1.9997892231060632e-14
589
+ ],
590
+ "q90": [
591
+ 3.599620601590914e-14,
592
+ 3.599620601590914e-14,
593
+ 3.599620601590914e-14
594
+ ],
595
+ "q99": [
596
+ 3.9595826617500056e-14,
597
+ 3.9595826617500056e-14,
598
+ 3.9595826617500056e-14
599
+ ]
600
+ },
601
+ "timestamp": {
602
+ "min": [
603
+ 0.0
604
+ ],
605
+ "max": [
606
+ 36.7
607
+ ],
608
+ "mean": [
609
+ 16.64453373313342
610
+ ],
611
+ "std": [
612
+ 9.661416700911525
613
+ ],
614
+ "count": [
615
+ 33350
616
+ ],
617
+ "q01": [
618
+ 0.29906646483733107
619
+ ],
620
+ "q10": [
621
+ 3.2829715182405628
622
+ ],
623
+ "q50": [
624
+ 16.62197758680646
625
+ ],
626
+ "q90": [
627
+ 29.99863908445806
628
+ ],
629
+ "q99": [
630
+ 32.99000100142951
631
+ ]
632
+ },
633
+ "skill.goal_position.gripper": {
634
+ "min": [
635
+ 0.0
636
+ ],
637
+ "max": [
638
+ 35.0
639
+ ],
640
+ "mean": [
641
+ 9.982169171752243
642
+ ],
643
+ "std": [
644
+ 15.64922920364629
645
+ ],
646
+ "count": [
647
+ 33350
648
+ ],
649
+ "q01": [
650
+ -1.000000013351432e-10
651
+ ],
652
+ "q10": [
653
+ -1.000000013351432e-10
654
+ ],
655
+ "q50": [
656
+ 0.5193328178111223
657
+ ],
658
+ "q90": [
659
+ 34.99749200187347
660
+ ],
661
+ "q99": [
662
+ 34.99974920018733
663
+ ]
664
+ },
665
+ "observation.gripper_binary": {
666
+ "min": [
667
+ 0.0
668
+ ],
669
+ "max": [
670
+ 1.0
671
+ ],
672
+ "mean": [
673
+ 0.2847976002887986
674
+ ],
675
+ "std": [
676
+ 0.4513179879517783
677
+ ],
678
+ "count": [
679
+ 33350
680
+ ],
681
+ "q01": [
682
+ -1.000000013351432e-10
683
+ ],
684
+ "q10": [
685
+ -1.000000013351432e-10
686
+ ],
687
+ "q50": [
688
+ -1.000000013351432e-10
689
+ ],
690
+ "q90": [
691
+ 0.9999290369478507
692
+ ],
693
+ "q99": [
694
+ 0.9999929036947851
695
+ ]
696
+ },
697
+ "observation.state": {
698
+ "min": [
699
+ -68.82703399658203,
700
+ -98.20665740966797,
701
+ -82.6792984008789,
702
+ -39.40950012207031,
703
+ -3.443223476409912,
704
+ 0.0
705
+ ],
706
+ "max": [
707
+ 40.75546646118164,
708
+ 76.00341796875,
709
+ 100.0,
710
+ 97.00470733642578,
711
+ -2.661782741546631,
712
+ 35.0
713
+ ],
714
+ "mean": [
715
+ -0.7759565708901303,
716
+ -18.25553973055702,
717
+ 36.042250811903564,
718
+ 40.218203769187696,
719
+ -2.9136895680463297,
720
+ 10.153256442085736
721
+ ],
722
+ "std": [
723
+ 25.614756807073523,
724
+ 35.48937252543329,
725
+ 30.76331431798363,
726
+ 25.635319119380803,
727
+ 0.15898654671395565,
728
+ 14.335584286534726
729
+ ],
730
+ "count": [
731
+ 33350
732
+ ],
733
+ "q01": [
734
+ -34.47016183714826,
735
+ -96.35779523490103,
736
+ -7.381981595192319,
737
+ 8.327354999361571,
738
+ -3.1126332039535978,
739
+ -1.000000013351432e-10
740
+ ],
741
+ "q10": [
742
+ -31.848092244350976,
743
+ -72.12554152983708,
744
+ 4.793629795092371,
745
+ 12.68788004162343,
746
+ -3.0903061063981236,
747
+ -1.000000013351432e-10
748
+ ],
749
+ "q50": [
750
+ 0.1988477136147016,
751
+ -8.588855191149852,
752
+ 36.84467683729768,
753
+ 39.59052117167019,
754
+ -2.880326888810015,
755
+ 0.5233112080350103
756
+ ],
757
+ "q90": [
758
+ 27.800606051015862,
759
+ 22.322806471503554,
760
+ 70.94595072649803,
761
+ 68.28792011394128,
762
+ -2.765644254046315,
763
+ 34.99621539261219
764
+ ],
765
+ "q99": [
766
+ 31.196578795912956,
767
+ 26.68355116460473,
768
+ 99.582330847196,
769
+ 76.33117815135485,
770
+ -2.7410538887812894,
771
+ 34.999621539261206
772
+ ]
773
+ },
774
+ "action": {
775
+ "min": [
776
+ -69.57554626464844,
777
+ -98.82086181640625,
778
+ -86.1871566772461,
779
+ -41.678497314453125,
780
+ -3.443223476409912,
781
+ 0.0
782
+ ],
783
+ "max": [
784
+ 41.731903076171875,
785
+ 76.0874252319336,
786
+ 99.0,
787
+ 97.61466979980469,
788
+ -2.661782741546631,
789
+ 35.0
790
+ ],
791
+ "mean": [
792
+ -0.7307459772561404,
793
+ -19.865825555411682,
794
+ 33.99650821634318,
795
+ 39.89133449486751,
796
+ -2.907192912873836,
797
+ 10.153256442085736
798
+ ],
799
+ "std": [
800
+ 25.633793426202185,
801
+ 34.81984202728629,
802
+ 30.931543347216273,
803
+ 25.685679975338573,
804
+ 0.15346860857209393,
805
+ 14.335584286534726
806
+ ],
807
+ "count": [
808
+ 33350
809
+ ],
810
+ "q01": [
811
+ -34.96927826598526,
812
+ -97.03960679451231,
813
+ -11.273352178012283,
814
+ 8.14932559600456,
815
+ -3.099880600972083,
816
+ -1.000000013351432e-10
817
+ ],
818
+ "q10": [
819
+ -31.90987467244798,
820
+ -72.24636405276821,
821
+ 2.2278387526651025,
822
+ 12.366571475279363,
823
+ -3.0845876864086335,
824
+ -1.000000013351432e-10
825
+ ],
826
+ "q50": [
827
+ 0.2689549544452131,
828
+ -10.918429062378728,
829
+ 34.76796848112174,
830
+ 38.9790136353787,
831
+ -2.869781821601453,
832
+ 0.5233112080350103
833
+ ],
834
+ "q90": [
835
+ 28.0330087894688,
836
+ 19.758763094020235,
837
+ 68.47001431030202,
838
+ 67.97984264541009,
839
+ -2.7654619297606993,
840
+ 34.99621539261219
841
+ ],
842
+ "q99": [
843
+ 32.05581517130111,
844
+ 26.23482063470134,
845
+ 98.97358443159412,
846
+ 76.49690880675305,
847
+ -2.736340245293816,
848
+ 34.999621539261206
849
+ ]
850
+ },
851
+ "observation.images.top": {
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
+ 0.5043000727328432
890
+ ]
891
+ ],
892
+ [
893
+ [
894
+ 0.4863112904411766
895
+ ]
896
+ ],
897
+ [
898
+ [
899
+ 0.4846587092116012
900
+ ]
901
+ ]
902
+ ],
903
+ "std": [
904
+ [
905
+ [
906
+ 0.004558777168011816
907
+ ]
908
+ ],
909
+ [
910
+ [
911
+ 0.0045321424999211594
912
+ ]
913
+ ],
914
+ [
915
+ [
916
+ 0.005374305117664733
917
+ ]
918
+ ]
919
+ ],
920
+ "count": [
921
+ 10000
922
+ ],
923
+ "q01": [
924
+ [
925
+ [
926
+ 0.007973065111902126
927
+ ]
928
+ ],
929
+ [
930
+ [
931
+ 0.033793098084756966
932
+ ]
933
+ ],
934
+ [
935
+ [
936
+ 0.03343988919712323
937
+ ]
938
+ ]
939
+ ],
940
+ "q10": [
941
+ [
942
+ [
943
+ 0.2658114333676383
944
+ ]
945
+ ],
946
+ [
947
+ [
948
+ 0.2162114552056486
949
+ ]
950
+ ],
951
+ [
952
+ [
953
+ 0.23494717200122645
954
+ ]
955
+ ]
956
+ ],
957
+ "q50": [
958
+ [
959
+ [
960
+ 0.5405511376089125
961
+ ]
962
+ ],
963
+ [
964
+ [
965
+ 0.5313446864205926
966
+ ]
967
+ ],
968
+ [
969
+ [
970
+ 0.5155464091355371
971
+ ]
972
+ ]
973
+ ],
974
+ "q90": [
975
+ [
976
+ [
977
+ 0.6559237816988073
978
+ ]
979
+ ],
980
+ [
981
+ [
982
+ 0.6465014392504886
983
+ ]
984
+ ],
985
+ [
986
+ [
987
+ 0.667469470840239
988
+ ]
989
+ ]
990
+ ],
991
+ "q99": [
992
+ [
993
+ [
994
+ 0.7209442827563816
995
+ ]
996
+ ],
997
+ [
998
+ [
999
+ 0.7710164132848629
1000
+ ]
1001
+ ],
1002
+ [
1003
+ [
1004
+ 0.8928411775569559
1005
+ ]
1006
+ ]
1007
+ ]
1008
+ }
1009
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:468d5a2a0ea87f6b91fc5cdb96d64ab55b282aff789fc85555f5788b95aa4e01
3
+ size 2266
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 sha256:5b1abd7aba980e2a2a77725d80ff184cfe86a2c6be0c2e3a119db419d8728328
3
+ size 3566094
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 sha256:9114e1cc0274a8ee4889e49271e3a1d0cfe2181b35840365d7da9c6ce4cd20f7
3
+ size 3454715
videos/observation.images.left_wrist/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f63c0c4fac9d5c371a0fce83bcde05f552ec03471e95b615b2b2bd2693835563
3
+ size 22119830
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:b20d3b70f59fad70e92e1266bc5c4b878a4063cf9a971ca36ce8b847d02eb88a
3
+ size 91764226
videos/observation.images.left_wrist/chunk-000/file-004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4c473ac6bcdd4122d4bc6519a42461422a34ae007d010e80a28131fe8299624
3
+ size 115110932
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 sha256:77bd2782954512ea1f0ccdb8ba71871b71b41947423eaa3f81f062935f9969c8
3
+ size 3562962
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 sha256:494ca00e537838a6a5f39d5879fbada61bbe51c0974640fb04be32a0b48b08c8
3
+ size 3854099
videos/observation.images.top/chunk-000/file-002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7547506b58e8da1e2c7f56ab3961cc696dfafaa18fc98ee106fbe977144b0456
3
+ size 21160335
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:acd4b72f2b05f21c4c4e2827f67323f83f8f1da9ae378a0f2262f02dcbd1d211
3
+ size 91684750
videos/observation.images.top/chunk-000/file-004.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9005a921470caf4c264f1c7cc00b9f911198e9f236dbd2fa2d357ef4cc40bdd
3
+ size 119000164