Hugging Face's logo

Datasets:
simple-world-lab
/
HiFi-UMI-2K

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Languages:
English
Size:
100M - 1B
ArXiv:
Tags:
robotics
robot-learning
robot-manipulation
imitation-learning
vision-language-action
world-action-model
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
Wangxxxx1111 commited on
Commit
319510b
·
verified ·
1 Parent(s): 9d77c68

Add files using upload-large-folder tool

Browse files
Files changed (47) hide show
  1. chunk-0021/part-0000/videos/observation.images.head_main_stereo_right/chunk-000/file-000.mp4 +3 -0
  2. chunk-0022/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 +3 -0
  3. chunk-0023/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 +3 -0
  4. chunk-0023/part-0000/videos/observation.images.head_main_stereo_right/chunk-000/file-000.mp4 +3 -0
  5. chunk-0023/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 +3 -0
  6. chunk-0023/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 +3 -0
  7. chunk-0024/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 +3 -0
  8. chunk-0024/part-0000/videos/observation.images.head_main_stereo_right/chunk-000/file-000.mp4 +3 -0
  9. chunk-0024/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 +3 -0
  10. chunk-0024/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 +3 -0
  11. chunk-0024/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 +3 -0
  12. chunk-0025/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 +3 -0
  13. chunk-0025/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 +3 -0
  14. chunk-0025/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 +3 -0
  15. chunk-0025/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 +3 -0
  16. chunk-0025/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 +3 -0
  17. chunk-0026/part-0000/data/chunk-000/file-000.parquet +3 -0
  18. chunk-0026/part-0000/meta/episodes/chunk-000/file-000.parquet +3 -0
  19. chunk-0026/part-0000/meta/tasks.parquet +3 -0
  20. chunk-0026/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 +3 -0
  21. chunk-0026/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 +3 -0
  22. chunk-0026/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 +3 -0
  23. chunk-0027/part-0000/data/chunk-000/file-000.parquet +3 -0
  24. chunk-0027/part-0000/meta/episodes/chunk-000/file-000.parquet +3 -0
  25. chunk-0027/part-0000/meta/tasks.parquet +3 -0
  26. chunk-0027/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 +3 -0
  27. chunk-0027/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 +3 -0
  28. chunk-0027/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 +3 -0
  29. chunk-0027/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 +3 -0
  30. chunk-0027/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 +3 -0
  31. chunk-0028/part-0000/data/chunk-000/file-000.parquet +3 -0
  32. chunk-0028/part-0000/meta/episodes/chunk-000/file-000.parquet +3 -0
  33. chunk-0028/part-0000/meta/tasks.parquet +3 -0
  34. chunk-0028/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 +3 -0
  35. chunk-0028/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 +3 -0
  36. chunk-0029/part-0000/data/chunk-000/file-000.parquet +3 -0
  37. chunk-0029/part-0000/meta/episodes/chunk-000/file-000.parquet +3 -0
  38. chunk-0029/part-0000/meta/tasks.parquet +3 -0
  39. chunk-0029/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 +3 -0
  40. chunk-0082/part-0000/_SUCCESS +1 -0
  41. chunk-0082/part-0000/meta/info.json +392 -0
  42. chunk-0082/part-0000/meta/modality.json +106 -0
  43. chunk-0082/part-0000/meta/stats.json +914 -0
  44. chunk-0083/part-0000/_SUCCESS +1 -0
  45. chunk-0083/part-0000/meta/info.json +392 -0
  46. chunk-0083/part-0000/meta/modality.json +106 -0
  47. chunk-0083/part-0000/meta/stats.json +914 -0
chunk-0021/part-0000/videos/observation.images.head_main_stereo_right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:11c6e75c06d7daac22256207f0f399e6e750dfeab2ada0e9b43ca899bdc75600
3
+ size 7100113257
chunk-0022/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:388fdf6bf57ca689616c22408730c6f5afef59dcb3f390eb7086ee8f1f8d0f4c
3
+ size 7119283188
chunk-0023/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a15353f7f8c8234ef9978a80b0aed96c83151ded4941b856668c5a774b60123
3
+ size 7152849749
chunk-0023/part-0000/videos/observation.images.head_main_stereo_right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6788e5080c07129a8602d7f0fdfab1bd28f3ee44bfe90847b554e1114ff782e4
3
+ size 7050452171
chunk-0023/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9243e354543002ded6b7c1c7ae5ac774aa0544a1c42735a354c6de5a77c2b8e9
3
+ size 6410773858
chunk-0023/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cae64d48d8fd5548ce47e25aca3fc46e3b2a13370088373f152e12a536e404a0
3
+ size 6549770458
chunk-0024/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d1b07a0c710385f2606b8bd7bd3bd51f934255680507920ecc9654d2a256b24b
3
+ size 7150756756
chunk-0024/part-0000/videos/observation.images.head_main_stereo_right/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a9c06118ac81c28c26862c2601aaffc00e900e1b6cc8207a8c665bac9f61326d
3
+ size 7113108001
chunk-0024/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:384c83660997dc0994aed18b58724d749989b865dcb908459b79480cb69c08fc
3
+ size 6288037636
chunk-0024/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:261aa739972233b48c85f74d8a03a1b7fced76aa9df26fb7da8db338463d2e2e
3
+ size 6570572808
chunk-0024/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:20ad9d2b602150db56607337fea511e0dbda60a5e744124ca7a6d7590430c7cf
3
+ size 6616607134
chunk-0025/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f4583a1f78ce6e10f13c40dfbeac21f66d44451549ca988f125f1ddf078c290
3
+ size 7229419135
chunk-0025/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:737486171c9f1c55bb96b2e79643ddd03d71df1a23711b77e5a091e1bbffc82f
3
+ size 6418757374
chunk-0025/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba0132a093e67d119f6ca20d71183a7a3e7331b8722839e5849d8e0e784332f9
3
+ size 6559334643
chunk-0025/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:70b2aeedac87fb5254a5a4b0c5956af6d52bce7a3552dbb747909062a576b953
3
+ size 6485078681
chunk-0025/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd1626247790e677e7e66ab50d670671dac9ad7523cf44d2ac320155466769da
3
+ size 6639723975
chunk-0026/part-0000/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f9504673fdf250cb71daec02549bbe58d275c27296b8ffce2a4b8ec5d0d50886
3
+ size 79173572
chunk-0026/part-0000/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22b4de05d0c5c79dfe91bc6c52f04ce3ed198af7e97d7d38c6d1a2ced0ad1877
3
+ size 1746813
chunk-0026/part-0000/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:652ca2752e444e7bd75ce929988cf310ff353b741ab761504d1d229df699b029
3
+ size 3151
chunk-0026/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c8f66273a7e489bd6c28f2fc565c23bec102d55cf19445d15e4d3d1e14ae0d71
3
+ size 6508757860
chunk-0026/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5d0704862c1c04bbdd59dc6b50b903a4ea917292c5cf9833241460f7bae3b322
3
+ size 6550259755
chunk-0026/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9525bab53fccb1cda1c84a39be7cbab5bb7475d44b63d65ad389f002cca6f44
3
+ size 6643822739
chunk-0027/part-0000/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4dff90e3ee2a1ad0288df4ca006af64bb9501dfa022d93f32a608d7fd4757803
3
+ size 78990058
chunk-0027/part-0000/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8214ce569f1ecfe3af5e2d084c871fb9c62cbc71e43edcc4aedf2fa2dde2905e
3
+ size 1665668
chunk-0027/part-0000/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:432e18bdbfec9e409f3771fb5e064d36d22737bd16649af938900e40375ff732
3
+ size 3757
chunk-0027/part-0000/videos/observation.images.head_main/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cab40af240ee5c7bbf553d73ecaf4961f70f9651502ff4ccc5451f0845e961e1
3
+ size 7218828012
chunk-0027/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b1aa83d4c910043685a612fbb8521b1094245d993f9f6ea4f2221c76bb25604
3
+ size 6368222099
chunk-0027/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8070d17f2f819a8b902c1315a36afc7bb6b93cfea34992114e4c52c2fca6e6f1
3
+ size 6438177742
chunk-0027/part-0000/videos/observation.images.right_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:213d4399f8f4cf998746f880015b8a19f4e0298c64be9f03de8068c08b96aac6
3
+ size 6506307541
chunk-0027/part-0000/videos/observation.images.right_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1c2780bfaf8b8cba130a4dd91f0bb983751abd02f75fefab5beeb7cf6816d551
3
+ size 6489448289
chunk-0028/part-0000/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f8b62ac7e4dcab1e6d2e8735bdb8ea5bf1937f7cd705da3dc834646f9342081
3
+ size 78920778
chunk-0028/part-0000/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3997b9a3243b36577290199de2d55adb56d063df80de01cf7ed12a65d43e2c3f
3
+ size 1713009
chunk-0028/part-0000/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e691d6020cd6ef4d596fa65eb856bfe11b02d26661b4f4101776c4fa495a4705
3
+ size 3553
chunk-0028/part-0000/videos/observation.images.left_hand_down/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9082dbb4a767ee79d085425934862e34a16c5b147fd1b97eed761de405ae0322
3
+ size 6408645054
chunk-0028/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8cbdd9de3b4553cb8e6e46104fa8ee2f65dc1c1ca817ab60282c06de6064f71
3
+ size 6530033134
chunk-0029/part-0000/data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:042f19f29f567f8c6b87b11a527fa31e0028a70e57806c86bb4998cbadf9485d
3
+ size 80978794
chunk-0029/part-0000/meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:094dd15e959f1259acb2d158054a42dba7627f6a39d6809fcff6b48f2ef7ce31
3
+ size 1843722
chunk-0029/part-0000/meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4079524a769c77b1c1f1d4ea34b5b48c8b21a0620591d853308209976c3aca46
3
+ size 3489
chunk-0029/part-0000/videos/observation.images.left_hand_up/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:705f8e84c141371454e80bfa47c96657c6ecbac6cda1e1ac8b0ef3bb8b23b3aa
3
+ size 6484971524
chunk-0082/part-0000/_SUCCESS ADDED
@@ -0,0 +1 @@
 
 
1
+ {"batch_index": 0, "batch_name": "part-0000", "conversion_signature": "d6875fb7f1397c9e8150d0b75eb337c3cbf2d3b4", "created_at_unix": 1784222184.7991345, "input_bytes": 21469357928, "input_signature": "47fc9681cf00115e70753a7521f1458abfee034e", "sample_count": 1331, "script": "convert_standard_umi_alike_to_lerobotv3_tos.py", "status": "success", "uploaded_bytes": 40921824075, "uploaded_count": 12, "video_profile": "medium_native_mosaic"}
chunk-0082/part-0000/meta/info.json ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "simpleai_umi_4.0",
4
+ "dataset_id": "lerobotv3",
5
+ "total_episodes": 1331,
6
+ "total_frames": 499882,
7
+ "total_tasks": 39,
8
+ "chunks_size": 1000,
9
+ "fps": 25.0,
10
+ "splits": {
11
+ "train": "0:1331"
12
+ },
13
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
14
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
15
+ "features": {
16
+ "observation.images.head_main": {
17
+ "dtype": "video",
18
+ "shape": [
19
+ 3,
20
+ 512,
21
+ 640
22
+ ],
23
+ "names": [
24
+ "channels",
25
+ "height",
26
+ "width"
27
+ ],
28
+ "info": {
29
+ "video.height": 512,
30
+ "video.width": 640,
31
+ "video.codec": "h264",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "video.fps": 25.0,
35
+ "video.channels": 3,
36
+ "has_audio": false
37
+ }
38
+ },
39
+ "observation.images.head_main_stereo_right": {
40
+ "dtype": "video",
41
+ "shape": [
42
+ 3,
43
+ 512,
44
+ 640
45
+ ],
46
+ "names": [
47
+ "channels",
48
+ "height",
49
+ "width"
50
+ ],
51
+ "info": {
52
+ "video.height": 512,
53
+ "video.width": 640,
54
+ "video.codec": "h264",
55
+ "video.pix_fmt": "yuv420p",
56
+ "video.is_depth_map": false,
57
+ "video.fps": 25.0,
58
+ "video.channels": 3,
59
+ "has_audio": false
60
+ }
61
+ },
62
+ "observation.images.left_hand_down": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 3,
66
+ 512,
67
+ 640
68
+ ],
69
+ "names": [
70
+ "channels",
71
+ "height",
72
+ "width"
73
+ ],
74
+ "info": {
75
+ "video.height": 512,
76
+ "video.width": 640,
77
+ "video.codec": "h264",
78
+ "video.pix_fmt": "yuv420p",
79
+ "video.is_depth_map": false,
80
+ "video.fps": 25.0,
81
+ "video.channels": 3,
82
+ "has_audio": false
83
+ }
84
+ },
85
+ "observation.images.left_hand_up": {
86
+ "dtype": "video",
87
+ "shape": [
88
+ 3,
89
+ 512,
90
+ 640
91
+ ],
92
+ "names": [
93
+ "channels",
94
+ "height",
95
+ "width"
96
+ ],
97
+ "info": {
98
+ "video.height": 512,
99
+ "video.width": 640,
100
+ "video.codec": "h264",
101
+ "video.pix_fmt": "yuv420p",
102
+ "video.is_depth_map": false,
103
+ "video.fps": 25.0,
104
+ "video.channels": 3,
105
+ "has_audio": false
106
+ }
107
+ },
108
+ "observation.images.right_hand_down": {
109
+ "dtype": "video",
110
+ "shape": [
111
+ 3,
112
+ 512,
113
+ 640
114
+ ],
115
+ "names": [
116
+ "channels",
117
+ "height",
118
+ "width"
119
+ ],
120
+ "info": {
121
+ "video.height": 512,
122
+ "video.width": 640,
123
+ "video.codec": "h264",
124
+ "video.pix_fmt": "yuv420p",
125
+ "video.is_depth_map": false,
126
+ "video.fps": 25.0,
127
+ "video.channels": 3,
128
+ "has_audio": false
129
+ }
130
+ },
131
+ "observation.images.right_hand_up": {
132
+ "dtype": "video",
133
+ "shape": [
134
+ 3,
135
+ 512,
136
+ 640
137
+ ],
138
+ "names": [
139
+ "channels",
140
+ "height",
141
+ "width"
142
+ ],
143
+ "info": {
144
+ "video.height": 512,
145
+ "video.width": 640,
146
+ "video.codec": "h264",
147
+ "video.pix_fmt": "yuv420p",
148
+ "video.is_depth_map": false,
149
+ "video.fps": 25.0,
150
+ "video.channels": 3,
151
+ "has_audio": false
152
+ }
153
+ },
154
+ "observation.state": {
155
+ "dtype": "float32",
156
+ "shape": [
157
+ 20
158
+ ],
159
+ "names": [
160
+ "state_dim"
161
+ ],
162
+ "fps": 25.0
163
+ },
164
+ "observation.state_valid": {
165
+ "dtype": "bool",
166
+ "shape": [
167
+ 20
168
+ ],
169
+ "names": [
170
+ "state_dim"
171
+ ],
172
+ "fps": 25.0
173
+ },
174
+ "action": {
175
+ "dtype": "float32",
176
+ "shape": [
177
+ 20
178
+ ],
179
+ "names": [
180
+ "action_dim"
181
+ ],
182
+ "fps": 25.0
183
+ },
184
+ "action_valid": {
185
+ "dtype": "bool",
186
+ "shape": [
187
+ 20
188
+ ],
189
+ "names": [
190
+ "action_dim"
191
+ ],
192
+ "fps": 25.0
193
+ },
194
+ "timestamp": {
195
+ "dtype": "float32",
196
+ "shape": [
197
+ 1
198
+ ],
199
+ "names": null,
200
+ "fps": 25.0
201
+ },
202
+ "frame_index": {
203
+ "dtype": "int64",
204
+ "shape": [
205
+ 1
206
+ ],
207
+ "names": null,
208
+ "fps": 25.0
209
+ },
210
+ "episode_index": {
211
+ "dtype": "int64",
212
+ "shape": [
213
+ 1
214
+ ],
215
+ "names": null,
216
+ "fps": 25.0
217
+ },
218
+ "index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null,
224
+ "fps": 25.0
225
+ },
226
+ "task_index": {
227
+ "dtype": "int64",
228
+ "shape": [
229
+ 1
230
+ ],
231
+ "names": null,
232
+ "fps": 25.0
233
+ },
234
+ "valid.frame": {
235
+ "dtype": "bool",
236
+ "shape": [
237
+ 1
238
+ ],
239
+ "names": null,
240
+ "fps": 25.0
241
+ }
242
+ },
243
+ "data_files_size_in_mb": 100,
244
+ "video_files_size_in_mb": 500,
245
+ "state_layout": {
246
+ "feature": "observation.state",
247
+ "order": [
248
+ "right",
249
+ "left"
250
+ ],
251
+ "per_side": [
252
+ "x",
253
+ "y",
254
+ "z",
255
+ "rot6d_0",
256
+ "rot6d_1",
257
+ "rot6d_2",
258
+ "rot6d_3",
259
+ "rot6d_4",
260
+ "rot6d_5",
261
+ "gripper_angle_rad"
262
+ ],
263
+ "rotation_6d_layout": "first_two_rows",
264
+ "gripper_unit": "rad",
265
+ "invalid_policy": "carry_forward_state_with_observation.state_valid_false"
266
+ },
267
+ "action_layout": {
268
+ "feature": "action",
269
+ "type": "absolute_next_state_target",
270
+ "order": [
271
+ "right",
272
+ "left"
273
+ ],
274
+ "per_side": [
275
+ "x",
276
+ "y",
277
+ "z",
278
+ "rot6d_0",
279
+ "rot6d_1",
280
+ "rot6d_2",
281
+ "rot6d_3",
282
+ "rot6d_4",
283
+ "rot6d_5",
284
+ "target_gripper_angle_rad"
285
+ ],
286
+ "rotation_6d_layout": "first_two_rows",
287
+ "gripper_unit": "rad",
288
+ "shift_policy": "action rows are [state_1, state_2, ..., state_last, state_last]; single-frame episodes use state_0"
289
+ },
290
+ "video_processing": {
291
+ "source": "materialized_from_extra_video_proxy_medium_frame_index_or_implicit_row_index",
292
+ "media_policy": "video streams are read from extra/video_proxy_medium; samples missing any required stream are skipped",
293
+ "present_media_policy": "invalid frame indices on present streams set valid.frame=false and are encoded as black frames",
294
+ "read_policy": "sequential_when_frame_indices_are_nondecreasing_else_seek_cache",
295
+ "read_modes_used": [
296
+ "sequential"
297
+ ],
298
+ "video_profile": "medium_native_mosaic",
299
+ "crop": "none",
300
+ "resize": null,
301
+ "output_sizes": {
302
+ "observation.images.head_main": [
303
+ 640,
304
+ 512
305
+ ],
306
+ "observation.images.head_main_stereo_right": [
307
+ 640,
308
+ 512
309
+ ],
310
+ "observation.images.left_hand_down": [
311
+ 640,
312
+ 512
313
+ ],
314
+ "observation.images.left_hand_up": [
315
+ 640,
316
+ 512
317
+ ],
318
+ "observation.images.right_hand_down": [
319
+ 640,
320
+ 512
321
+ ],
322
+ "observation.images.right_hand_up": [
323
+ 640,
324
+ 512
325
+ ]
326
+ },
327
+ "face_anonymization": {
328
+ "enabled": true,
329
+ "failure_policy": "fail_closed_per_sample",
330
+ "faces_json_policy": "reuse_valid_streams_detect_missing",
331
+ "model": "yolov11s-face.pt",
332
+ "device": "auto",
333
+ "batch_size": 64,
334
+ "mosaic": {
335
+ "box_scale": 1.15,
336
+ "center_fraction": 0.45,
337
+ "pixel_block": 12,
338
+ "feather_px": 8,
339
+ "opacity": 0.92,
340
+ "center_mean_mix": 0.08,
341
+ "shape": "ellipse"
342
+ },
343
+ "total_detected_faces": 819075
344
+ },
345
+ "codec": "h264",
346
+ "gop_size": 4,
347
+ "backend_requested": "auto",
348
+ "backend_used": [
349
+ "gpu"
350
+ ],
351
+ "decode_backend_requested": "cpu",
352
+ "decode_backend_used": [
353
+ "cpu"
354
+ ],
355
+ "frame_preprocess_requested": "cpu",
356
+ "frame_preprocess_used": [
357
+ "cpu_native_mosaic"
358
+ ],
359
+ "pix_fmt": "yuv420p",
360
+ "crf_or_cq": 20,
361
+ "aligned_video_frames": "one video frame per data row"
362
+ },
363
+ "parallelism": {
364
+ "workers": 16,
365
+ "video_workers": 8,
366
+ "progress": true,
367
+ "order_policy": "parallel tasks are written back by sorted sample index before parquet writing and video concat"
368
+ },
369
+ "invalid_policy": {
370
+ "training_filter": "valid.frame == true",
371
+ "state": "state requires both eef pose and selected gripper valid",
372
+ "media": "present media rows require valid frame indices; samples missing required extra/selected video profile streams are skipped"
373
+ },
374
+ "source": {
375
+ "format": "robot_sample_v1_sparse_revision",
376
+ "converter": "convert_standard_umi_alike_to_lerobotv3.py",
377
+ "robot_types": [
378
+ "simpleai_umi_4.0"
379
+ ],
380
+ "robot_type_source": "revision_json_embodiment_name",
381
+ "media_map": {
382
+ "head_main": "observation.images.head_main",
383
+ "head_main_stereo_right": "observation.images.head_main_stereo_right",
384
+ "left_hand_down": "observation.images.left_hand_down",
385
+ "left_hand_up": "observation.images.left_hand_up",
386
+ "right_hand_down": "observation.images.right_hand_down",
387
+ "right_hand_up": "observation.images.right_hand_up"
388
+ },
389
+ "media_key_source": "revision_json_components_media_key",
390
+ "gripper_mode": "angle"
391
+ }
392
+ }
chunk-0082/part-0000/meta/modality.json ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "_README": [
3
+ "UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
4
+ "state/action vectors are [right_10d, left_10d].",
5
+ "Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
6
+ "Actions are absolute next-state targets with the final target repeated at the last row.",
7
+ "Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
8
+ ],
9
+ "state": {
10
+ "right_eef_pose": {
11
+ "start": 0,
12
+ "end": 9,
13
+ "rotation_type": "rotation_6d",
14
+ "rotation_6d_layout": "first_two_rows",
15
+ "absolute": true,
16
+ "dtype": "float32",
17
+ "original_key": "observation.state"
18
+ },
19
+ "right_eef_gripper": {
20
+ "start": 9,
21
+ "end": 10,
22
+ "absolute": true,
23
+ "dtype": "float32",
24
+ "unit": "rad",
25
+ "original_key": "observation.state"
26
+ },
27
+ "left_eef_pose": {
28
+ "start": 10,
29
+ "end": 19,
30
+ "rotation_type": "rotation_6d",
31
+ "rotation_6d_layout": "first_two_rows",
32
+ "absolute": true,
33
+ "dtype": "float32",
34
+ "original_key": "observation.state"
35
+ },
36
+ "left_eef_gripper": {
37
+ "start": 19,
38
+ "end": 20,
39
+ "absolute": true,
40
+ "dtype": "float32",
41
+ "unit": "rad",
42
+ "original_key": "observation.state"
43
+ }
44
+ },
45
+ "action": {
46
+ "right_eef_pose": {
47
+ "start": 0,
48
+ "end": 9,
49
+ "rotation_type": "rotation_6d",
50
+ "rotation_6d_layout": "first_two_rows",
51
+ "absolute": true,
52
+ "dtype": "float32",
53
+ "original_key": "action"
54
+ },
55
+ "right_eef_gripper": {
56
+ "start": 9,
57
+ "end": 10,
58
+ "absolute": true,
59
+ "dtype": "float32",
60
+ "unit": "rad",
61
+ "original_key": "action"
62
+ },
63
+ "left_eef_pose": {
64
+ "start": 10,
65
+ "end": 19,
66
+ "rotation_type": "rotation_6d",
67
+ "rotation_6d_layout": "first_two_rows",
68
+ "absolute": true,
69
+ "dtype": "float32",
70
+ "original_key": "action"
71
+ },
72
+ "left_eef_gripper": {
73
+ "start": 19,
74
+ "end": 20,
75
+ "absolute": true,
76
+ "dtype": "float32",
77
+ "unit": "rad",
78
+ "original_key": "action"
79
+ }
80
+ },
81
+ "video": {
82
+ "head_main": {
83
+ "original_key": "observation.images.head_main"
84
+ },
85
+ "head_main_stereo_right": {
86
+ "original_key": "observation.images.head_main_stereo_right"
87
+ },
88
+ "left_hand_down": {
89
+ "original_key": "observation.images.left_hand_down"
90
+ },
91
+ "left_hand_up": {
92
+ "original_key": "observation.images.left_hand_up"
93
+ },
94
+ "right_hand_down": {
95
+ "original_key": "observation.images.right_hand_down"
96
+ },
97
+ "right_hand_up": {
98
+ "original_key": "observation.images.right_hand_up"
99
+ }
100
+ },
101
+ "annotation": {
102
+ "human.action.task_description": {
103
+ "original_key": "task_index"
104
+ }
105
+ }
106
+ }
chunk-0082/part-0000/meta/stats.json ADDED
@@ -0,0 +1,914 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.head_main": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.0
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.0
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.0
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 499882
73
+ ]
74
+ },
75
+ "observation.images.head_main_stereo_right": {
76
+ "min": [
77
+ [
78
+ [
79
+ 0.0
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.0
85
+ ]
86
+ ],
87
+ [
88
+ [
89
+ 0.0
90
+ ]
91
+ ]
92
+ ],
93
+ "max": [
94
+ [
95
+ [
96
+ 1.0
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 1.0
102
+ ]
103
+ ],
104
+ [
105
+ [
106
+ 1.0
107
+ ]
108
+ ]
109
+ ],
110
+ "mean": [
111
+ [
112
+ [
113
+ 0.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 0.0
119
+ ]
120
+ ],
121
+ [
122
+ [
123
+ 0.0
124
+ ]
125
+ ]
126
+ ],
127
+ "std": [
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ],
138
+ [
139
+ [
140
+ 0.0
141
+ ]
142
+ ]
143
+ ],
144
+ "count": [
145
+ 499882
146
+ ]
147
+ },
148
+ "observation.images.left_hand_down": {
149
+ "min": [
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ],
160
+ [
161
+ [
162
+ 0.0
163
+ ]
164
+ ]
165
+ ],
166
+ "max": [
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ],
177
+ [
178
+ [
179
+ 1.0
180
+ ]
181
+ ]
182
+ ],
183
+ "mean": [
184
+ [
185
+ [
186
+ 0.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.0
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.0
197
+ ]
198
+ ]
199
+ ],
200
+ "std": [
201
+ [
202
+ [
203
+ 0.0
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.0
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.0
214
+ ]
215
+ ]
216
+ ],
217
+ "count": [
218
+ 499882
219
+ ]
220
+ },
221
+ "observation.images.left_hand_up": {
222
+ "min": [
223
+ [
224
+ [
225
+ 0.0
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.0
236
+ ]
237
+ ]
238
+ ],
239
+ "max": [
240
+ [
241
+ [
242
+ 1.0
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 1.0
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 1.0
253
+ ]
254
+ ]
255
+ ],
256
+ "mean": [
257
+ [
258
+ [
259
+ 0.0
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.0
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.0
270
+ ]
271
+ ]
272
+ ],
273
+ "std": [
274
+ [
275
+ [
276
+ 0.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.0
282
+ ]
283
+ ],
284
+ [
285
+ [
286
+ 0.0
287
+ ]
288
+ ]
289
+ ],
290
+ "count": [
291
+ 499882
292
+ ]
293
+ },
294
+ "observation.images.right_hand_down": {
295
+ "min": [
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ],
301
+ [
302
+ [
303
+ 0.0
304
+ ]
305
+ ],
306
+ [
307
+ [
308
+ 0.0
309
+ ]
310
+ ]
311
+ ],
312
+ "max": [
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ],
318
+ [
319
+ [
320
+ 1.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 1.0
326
+ ]
327
+ ]
328
+ ],
329
+ "mean": [
330
+ [
331
+ [
332
+ 0.0
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.0
343
+ ]
344
+ ]
345
+ ],
346
+ "std": [
347
+ [
348
+ [
349
+ 0.0
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0
360
+ ]
361
+ ]
362
+ ],
363
+ "count": [
364
+ 499882
365
+ ]
366
+ },
367
+ "observation.images.right_hand_up": {
368
+ "min": [
369
+ [
370
+ [
371
+ 0.0
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.0
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.0
382
+ ]
383
+ ]
384
+ ],
385
+ "max": [
386
+ [
387
+ [
388
+ 1.0
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 1.0
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 1.0
399
+ ]
400
+ ]
401
+ ],
402
+ "mean": [
403
+ [
404
+ [
405
+ 0.0
406
+ ]
407
+ ],
408
+ [
409
+ [
410
+ 0.0
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.0
416
+ ]
417
+ ]
418
+ ],
419
+ "std": [
420
+ [
421
+ [
422
+ 0.0
423
+ ]
424
+ ],
425
+ [
426
+ [
427
+ 0.0
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.0
433
+ ]
434
+ ]
435
+ ],
436
+ "count": [
437
+ 499882
438
+ ]
439
+ },
440
+ "observation.state": {
441
+ "min": [
442
+ -0.7566230297088623,
443
+ -0.8152650594711304,
444
+ -0.4364849030971527,
445
+ -0.9999956488609314,
446
+ -0.9999991655349731,
447
+ -0.9999473690986633,
448
+ -0.9999990463256836,
449
+ -0.999879777431488,
450
+ -0.9999992847442627,
451
+ -0.013805554248392582,
452
+ -0.8512348532676697,
453
+ -0.7550573945045471,
454
+ -0.44868579506874084,
455
+ -0.9999946355819702,
456
+ -0.9999974966049194,
457
+ -0.9999979138374329,
458
+ -1.0,
459
+ -0.9999974966049194,
460
+ -0.9997026920318604,
461
+ -0.010737265460193157
462
+ ],
463
+ "max": [
464
+ 0.7751325368881226,
465
+ 0.9450430870056152,
466
+ 1.1140103340148926,
467
+ 0.9999096989631653,
468
+ 0.9422411918640137,
469
+ 0.999988317489624,
470
+ 0.9708578586578369,
471
+ 0.9999983906745911,
472
+ 0.9502282738685608,
473
+ 0.5982517600059509,
474
+ 0.7048425674438477,
475
+ 0.9437311887741089,
476
+ 1.1315723657608032,
477
+ 0.9999927878379822,
478
+ 0.9219200015068054,
479
+ 0.999598503112793,
480
+ 0.998566210269928,
481
+ 0.9991176128387451,
482
+ 0.9588724970817566,
483
+ 0.5875144600868225
484
+ ],
485
+ "mean": [
486
+ 0.09441479939921754,
487
+ -0.08998298254859023,
488
+ 0.4655399271288266,
489
+ -0.4044438187956873,
490
+ -0.7622115698373636,
491
+ -0.10198026889498438,
492
+ -0.6927917247696034,
493
+ 0.42576465939701735,
494
+ -0.28099758486175774,
495
+ 0.10047152190160939,
496
+ -0.07364217946129308,
497
+ -0.09437757465771274,
498
+ 0.46138302032274414,
499
+ 0.48590945063834534,
500
+ -0.7307743276905112,
501
+ 0.02509208672391175,
502
+ -0.6854581241255516,
503
+ -0.447305390681956,
504
+ -0.2638083886266741,
505
+ 0.07545542956055765
506
+ ],
507
+ "std": [
508
+ 0.12266931286869513,
509
+ 0.24560806642841065,
510
+ 0.164623284444701,
511
+ 0.29945278336720527,
512
+ 0.2601349972899953,
513
+ 0.29616981396446546,
514
+ 0.27200363788559867,
515
+ 0.33370976059584256,
516
+ 0.2728667346979181,
517
+ 0.12428923052655733,
518
+ 0.1276820141324734,
519
+ 0.23660977862165322,
520
+ 0.17090025586454655,
521
+ 0.28132793905048475,
522
+ 0.2888985821135742,
523
+ 0.2581152357891437,
524
+ 0.26999989555288717,
525
+ 0.3180402498088918,
526
+ 0.2939738721520766,
527
+ 0.10491036361537025
528
+ ],
529
+ "count": [
530
+ 499882
531
+ ]
532
+ },
533
+ "observation.state_valid": {
534
+ "min": [
535
+ 0.0,
536
+ 0.0,
537
+ 0.0,
538
+ 0.0,
539
+ 0.0,
540
+ 0.0,
541
+ 0.0,
542
+ 0.0,
543
+ 0.0,
544
+ 0.0,
545
+ 0.0,
546
+ 0.0,
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 0.0,
551
+ 0.0,
552
+ 0.0,
553
+ 0.0,
554
+ 0.0
555
+ ],
556
+ "max": [
557
+ 1.0,
558
+ 1.0,
559
+ 1.0,
560
+ 1.0,
561
+ 1.0,
562
+ 1.0,
563
+ 1.0,
564
+ 1.0,
565
+ 1.0,
566
+ 1.0,
567
+ 1.0,
568
+ 1.0,
569
+ 1.0,
570
+ 1.0,
571
+ 1.0,
572
+ 1.0,
573
+ 1.0,
574
+ 1.0,
575
+ 1.0,
576
+ 1.0
577
+ ],
578
+ "mean": [
579
+ 0.9999879971673314,
580
+ 0.9999879971673314,
581
+ 0.9999879971673314,
582
+ 0.9999879971673314,
583
+ 0.9999879971673314,
584
+ 0.9999879971673314,
585
+ 0.9999879971673314,
586
+ 0.9999879971673314,
587
+ 0.9999879971673314,
588
+ 0.9999879971673314,
589
+ 0.9999879971673314,
590
+ 0.9999879971673314,
591
+ 0.9999879971673314,
592
+ 0.9999879971673314,
593
+ 0.9999879971673314,
594
+ 0.9999879971673314,
595
+ 0.9999879971673314,
596
+ 0.9999879971673314,
597
+ 0.9999879971673314,
598
+ 0.9999879971673314
599
+ ],
600
+ "std": [
601
+ 0.003464489659461798,
602
+ 0.003464489659461798,
603
+ 0.003464489659461798,
604
+ 0.003464489659461798,
605
+ 0.003464489659461798,
606
+ 0.003464489659461798,
607
+ 0.003464489659461798,
608
+ 0.003464489659461798,
609
+ 0.003464489659461798,
610
+ 0.003464489659461798,
611
+ 0.003464489659461798,
612
+ 0.003464489659461798,
613
+ 0.003464489659461798,
614
+ 0.003464489659461798,
615
+ 0.003464489659461798,
616
+ 0.003464489659461798,
617
+ 0.003464489659461798,
618
+ 0.003464489659461798,
619
+ 0.003464489659461798,
620
+ 0.003464489659461798
621
+ ],
622
+ "count": [
623
+ 499882
624
+ ]
625
+ },
626
+ "action": {
627
+ "min": [
628
+ -0.7557942867279053,
629
+ -0.8152650594711304,
630
+ -0.4364849030971527,
631
+ -0.9999956488609314,
632
+ -0.9999991655349731,
633
+ -0.9999473690986633,
634
+ -0.9999990463256836,
635
+ -0.999879777431488,
636
+ -0.9999992847442627,
637
+ -0.013805554248392582,
638
+ -0.8503124713897705,
639
+ -0.7550573945045471,
640
+ -0.44868579506874084,
641
+ -0.9999946355819702,
642
+ -0.9999974966049194,
643
+ -0.9999979138374329,
644
+ -1.0,
645
+ -0.9999974966049194,
646
+ -0.9997026920318604,
647
+ -0.010737265460193157
648
+ ],
649
+ "max": [
650
+ 0.7751325368881226,
651
+ 0.9450430870056152,
652
+ 1.1140103340148926,
653
+ 0.999905526638031,
654
+ 0.9422411918640137,
655
+ 0.999988317489624,
656
+ 0.9708578586578369,
657
+ 0.9999983906745911,
658
+ 0.9502282738685608,
659
+ 0.5982517600059509,
660
+ 0.7042363286018372,
661
+ 0.9437311887741089,
662
+ 1.1315723657608032,
663
+ 0.9999927878379822,
664
+ 0.9219200015068054,
665
+ 0.999598503112793,
666
+ 0.998566210269928,
667
+ 0.9991176128387451,
668
+ 0.9588724970817566,
669
+ 0.5875144600868225
670
+ ],
671
+ "mean": [
672
+ 0.09442157904918627,
673
+ -0.0912940019295958,
674
+ 0.4656016534491008,
675
+ -0.4046544561581908,
676
+ -0.7621408217041514,
677
+ -0.10208956441758905,
678
+ -0.6926904806507475,
679
+ 0.42598435372653176,
680
+ -0.2811441515285315,
681
+ 0.10047326549841365,
682
+ -0.07363041321437938,
683
+ -0.0956440884299101,
684
+ 0.4614438531606392,
685
+ 0.48577570727019587,
686
+ -0.730904257664628,
687
+ 0.025125860258755198,
688
+ -0.6855585033650246,
689
+ -0.4471749264821246,
690
+ -0.2639287529856212,
691
+ 0.07544342864361588
692
+ ],
693
+ "std": [
694
+ 0.1225657762641719,
695
+ 0.24449234515942317,
696
+ 0.16460492249308284,
697
+ 0.2993151299927752,
698
+ 0.2601492376425223,
699
+ 0.2961531477809758,
700
+ 0.27199492995909663,
701
+ 0.33357086623767523,
702
+ 0.27280841220876567,
703
+ 0.12435284584182427,
704
+ 0.12753596435718123,
705
+ 0.2355285424737045,
706
+ 0.17088037172610504,
707
+ 0.2813098410936296,
708
+ 0.2887898538366816,
709
+ 0.2581371983257432,
710
+ 0.26990379528169955,
711
+ 0.3180142966957862,
712
+ 0.29394656878890685,
713
+ 0.10488336543245994
714
+ ],
715
+ "count": [
716
+ 499882
717
+ ]
718
+ },
719
+ "action_valid": {
720
+ "min": [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 0.0,
725
+ 0.0,
726
+ 0.0,
727
+ 0.0,
728
+ 0.0,
729
+ 0.0,
730
+ 0.0,
731
+ 0.0,
732
+ 0.0,
733
+ 0.0,
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 0.0,
738
+ 0.0,
739
+ 0.0,
740
+ 0.0
741
+ ],
742
+ "max": [
743
+ 1.0,
744
+ 1.0,
745
+ 1.0,
746
+ 1.0,
747
+ 1.0,
748
+ 1.0,
749
+ 1.0,
750
+ 1.0,
751
+ 1.0,
752
+ 1.0,
753
+ 1.0,
754
+ 1.0,
755
+ 1.0,
756
+ 1.0,
757
+ 1.0,
758
+ 1.0,
759
+ 1.0,
760
+ 1.0,
761
+ 1.0,
762
+ 1.0
763
+ ],
764
+ "mean": [
765
+ 0.999975994334663,
766
+ 0.999975994334663,
767
+ 0.999975994334663,
768
+ 0.999975994334663,
769
+ 0.999975994334663,
770
+ 0.999975994334663,
771
+ 0.999975994334663,
772
+ 0.999975994334663,
773
+ 0.999975994334663,
774
+ 0.999975994334663,
775
+ 0.999975994334663,
776
+ 0.999975994334663,
777
+ 0.999975994334663,
778
+ 0.999975994334663,
779
+ 0.999975994334663,
780
+ 0.999975994334663,
781
+ 0.999975994334663,
782
+ 0.999975994334663,
783
+ 0.999975994334663,
784
+ 0.999975994334663
785
+ ],
786
+ "std": [
787
+ 0.004899498858562087,
788
+ 0.004899498858562087,
789
+ 0.004899498858562087,
790
+ 0.004899498858562087,
791
+ 0.004899498858562087,
792
+ 0.004899498858562087,
793
+ 0.004899498858562087,
794
+ 0.004899498858562087,
795
+ 0.004899498858562087,
796
+ 0.004899498858562087,
797
+ 0.004899498858562087,
798
+ 0.004899498858562087,
799
+ 0.004899498858562087,
800
+ 0.004899498858562087,
801
+ 0.004899498858562087,
802
+ 0.004899498858562087,
803
+ 0.004899498858562087,
804
+ 0.004899498858562087,
805
+ 0.004899498858562087,
806
+ 0.004899498858562087
807
+ ],
808
+ "count": [
809
+ 499882
810
+ ]
811
+ },
812
+ "timestamp": {
813
+ "min": [
814
+ 0.0
815
+ ],
816
+ "max": [
817
+ 44.2400016784668
818
+ ],
819
+ "mean": [
820
+ 8.354940886642707
821
+ ],
822
+ "std": [
823
+ 5.903016826438244
824
+ ],
825
+ "count": [
826
+ 499882
827
+ ]
828
+ },
829
+ "frame_index": {
830
+ "min": [
831
+ 0.0
832
+ ],
833
+ "max": [
834
+ 1106.0
835
+ ],
836
+ "mean": [
837
+ 208.8735221512277
838
+ ],
839
+ "std": [
840
+ 147.5754205355658
841
+ ],
842
+ "count": [
843
+ 499882
844
+ ]
845
+ },
846
+ "episode_index": {
847
+ "min": [
848
+ 0.0
849
+ ],
850
+ "max": [
851
+ 1330.0
852
+ ],
853
+ "mean": [
854
+ 661.2115979371132
855
+ ],
856
+ "std": [
857
+ 385.91117066852104
858
+ ],
859
+ "count": [
860
+ 499882
861
+ ]
862
+ },
863
+ "index": {
864
+ "min": [
865
+ 0.0
866
+ ],
867
+ "max": [
868
+ 499881.0
869
+ ],
870
+ "mean": [
871
+ 249940.5
872
+ ],
873
+ "std": [
874
+ 144303.50363123554
875
+ ],
876
+ "count": [
877
+ 499882
878
+ ]
879
+ },
880
+ "task_index": {
881
+ "min": [
882
+ 0.0
883
+ ],
884
+ "max": [
885
+ 38.0
886
+ ],
887
+ "mean": [
888
+ 17.101848036136527
889
+ ],
890
+ "std": [
891
+ 10.054105106498975
892
+ ],
893
+ "count": [
894
+ 499882
895
+ ]
896
+ },
897
+ "valid.frame": {
898
+ "min": [
899
+ 0.0
900
+ ],
901
+ "max": [
902
+ 1.0
903
+ ],
904
+ "mean": [
905
+ 0.9999879971673314
906
+ ],
907
+ "std": [
908
+ 0.003464489659461798
909
+ ],
910
+ "count": [
911
+ 499882
912
+ ]
913
+ }
914
+ }
chunk-0083/part-0000/_SUCCESS ADDED
@@ -0,0 +1 @@
 
 
1
+ {"batch_index": 0, "batch_name": "part-0000", "conversion_signature": "d6875fb7f1397c9e8150d0b75eb337c3cbf2d3b4", "created_at_unix": 1784222792.623822, "input_bytes": 21472106829, "input_signature": "30b5c4a54f961d1e18d13f46721e3606d4e95cf1", "sample_count": 1380, "script": "convert_standard_umi_alike_to_lerobotv3_tos.py", "status": "success", "uploaded_bytes": 40862165520, "uploaded_count": 12, "video_profile": "medium_native_mosaic"}
chunk-0083/part-0000/meta/info.json ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "robot_type": "simpleai_umi_4.0",
4
+ "dataset_id": "lerobotv3",
5
+ "total_episodes": 1380,
6
+ "total_frames": 496970,
7
+ "total_tasks": 48,
8
+ "chunks_size": 1000,
9
+ "fps": 25.0,
10
+ "splits": {
11
+ "train": "0:1380"
12
+ },
13
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
14
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
15
+ "features": {
16
+ "observation.images.head_main": {
17
+ "dtype": "video",
18
+ "shape": [
19
+ 3,
20
+ 512,
21
+ 640
22
+ ],
23
+ "names": [
24
+ "channels",
25
+ "height",
26
+ "width"
27
+ ],
28
+ "info": {
29
+ "video.height": 512,
30
+ "video.width": 640,
31
+ "video.codec": "h264",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "video.fps": 25.0,
35
+ "video.channels": 3,
36
+ "has_audio": false
37
+ }
38
+ },
39
+ "observation.images.head_main_stereo_right": {
40
+ "dtype": "video",
41
+ "shape": [
42
+ 3,
43
+ 512,
44
+ 640
45
+ ],
46
+ "names": [
47
+ "channels",
48
+ "height",
49
+ "width"
50
+ ],
51
+ "info": {
52
+ "video.height": 512,
53
+ "video.width": 640,
54
+ "video.codec": "h264",
55
+ "video.pix_fmt": "yuv420p",
56
+ "video.is_depth_map": false,
57
+ "video.fps": 25.0,
58
+ "video.channels": 3,
59
+ "has_audio": false
60
+ }
61
+ },
62
+ "observation.images.left_hand_down": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 3,
66
+ 512,
67
+ 640
68
+ ],
69
+ "names": [
70
+ "channels",
71
+ "height",
72
+ "width"
73
+ ],
74
+ "info": {
75
+ "video.height": 512,
76
+ "video.width": 640,
77
+ "video.codec": "h264",
78
+ "video.pix_fmt": "yuv420p",
79
+ "video.is_depth_map": false,
80
+ "video.fps": 25.0,
81
+ "video.channels": 3,
82
+ "has_audio": false
83
+ }
84
+ },
85
+ "observation.images.left_hand_up": {
86
+ "dtype": "video",
87
+ "shape": [
88
+ 3,
89
+ 512,
90
+ 640
91
+ ],
92
+ "names": [
93
+ "channels",
94
+ "height",
95
+ "width"
96
+ ],
97
+ "info": {
98
+ "video.height": 512,
99
+ "video.width": 640,
100
+ "video.codec": "h264",
101
+ "video.pix_fmt": "yuv420p",
102
+ "video.is_depth_map": false,
103
+ "video.fps": 25.0,
104
+ "video.channels": 3,
105
+ "has_audio": false
106
+ }
107
+ },
108
+ "observation.images.right_hand_down": {
109
+ "dtype": "video",
110
+ "shape": [
111
+ 3,
112
+ 512,
113
+ 640
114
+ ],
115
+ "names": [
116
+ "channels",
117
+ "height",
118
+ "width"
119
+ ],
120
+ "info": {
121
+ "video.height": 512,
122
+ "video.width": 640,
123
+ "video.codec": "h264",
124
+ "video.pix_fmt": "yuv420p",
125
+ "video.is_depth_map": false,
126
+ "video.fps": 25.0,
127
+ "video.channels": 3,
128
+ "has_audio": false
129
+ }
130
+ },
131
+ "observation.images.right_hand_up": {
132
+ "dtype": "video",
133
+ "shape": [
134
+ 3,
135
+ 512,
136
+ 640
137
+ ],
138
+ "names": [
139
+ "channels",
140
+ "height",
141
+ "width"
142
+ ],
143
+ "info": {
144
+ "video.height": 512,
145
+ "video.width": 640,
146
+ "video.codec": "h264",
147
+ "video.pix_fmt": "yuv420p",
148
+ "video.is_depth_map": false,
149
+ "video.fps": 25.0,
150
+ "video.channels": 3,
151
+ "has_audio": false
152
+ }
153
+ },
154
+ "observation.state": {
155
+ "dtype": "float32",
156
+ "shape": [
157
+ 20
158
+ ],
159
+ "names": [
160
+ "state_dim"
161
+ ],
162
+ "fps": 25.0
163
+ },
164
+ "observation.state_valid": {
165
+ "dtype": "bool",
166
+ "shape": [
167
+ 20
168
+ ],
169
+ "names": [
170
+ "state_dim"
171
+ ],
172
+ "fps": 25.0
173
+ },
174
+ "action": {
175
+ "dtype": "float32",
176
+ "shape": [
177
+ 20
178
+ ],
179
+ "names": [
180
+ "action_dim"
181
+ ],
182
+ "fps": 25.0
183
+ },
184
+ "action_valid": {
185
+ "dtype": "bool",
186
+ "shape": [
187
+ 20
188
+ ],
189
+ "names": [
190
+ "action_dim"
191
+ ],
192
+ "fps": 25.0
193
+ },
194
+ "timestamp": {
195
+ "dtype": "float32",
196
+ "shape": [
197
+ 1
198
+ ],
199
+ "names": null,
200
+ "fps": 25.0
201
+ },
202
+ "frame_index": {
203
+ "dtype": "int64",
204
+ "shape": [
205
+ 1
206
+ ],
207
+ "names": null,
208
+ "fps": 25.0
209
+ },
210
+ "episode_index": {
211
+ "dtype": "int64",
212
+ "shape": [
213
+ 1
214
+ ],
215
+ "names": null,
216
+ "fps": 25.0
217
+ },
218
+ "index": {
219
+ "dtype": "int64",
220
+ "shape": [
221
+ 1
222
+ ],
223
+ "names": null,
224
+ "fps": 25.0
225
+ },
226
+ "task_index": {
227
+ "dtype": "int64",
228
+ "shape": [
229
+ 1
230
+ ],
231
+ "names": null,
232
+ "fps": 25.0
233
+ },
234
+ "valid.frame": {
235
+ "dtype": "bool",
236
+ "shape": [
237
+ 1
238
+ ],
239
+ "names": null,
240
+ "fps": 25.0
241
+ }
242
+ },
243
+ "data_files_size_in_mb": 100,
244
+ "video_files_size_in_mb": 500,
245
+ "state_layout": {
246
+ "feature": "observation.state",
247
+ "order": [
248
+ "right",
249
+ "left"
250
+ ],
251
+ "per_side": [
252
+ "x",
253
+ "y",
254
+ "z",
255
+ "rot6d_0",
256
+ "rot6d_1",
257
+ "rot6d_2",
258
+ "rot6d_3",
259
+ "rot6d_4",
260
+ "rot6d_5",
261
+ "gripper_angle_rad"
262
+ ],
263
+ "rotation_6d_layout": "first_two_rows",
264
+ "gripper_unit": "rad",
265
+ "invalid_policy": "carry_forward_state_with_observation.state_valid_false"
266
+ },
267
+ "action_layout": {
268
+ "feature": "action",
269
+ "type": "absolute_next_state_target",
270
+ "order": [
271
+ "right",
272
+ "left"
273
+ ],
274
+ "per_side": [
275
+ "x",
276
+ "y",
277
+ "z",
278
+ "rot6d_0",
279
+ "rot6d_1",
280
+ "rot6d_2",
281
+ "rot6d_3",
282
+ "rot6d_4",
283
+ "rot6d_5",
284
+ "target_gripper_angle_rad"
285
+ ],
286
+ "rotation_6d_layout": "first_two_rows",
287
+ "gripper_unit": "rad",
288
+ "shift_policy": "action rows are [state_1, state_2, ..., state_last, state_last]; single-frame episodes use state_0"
289
+ },
290
+ "video_processing": {
291
+ "source": "materialized_from_extra_video_proxy_medium_frame_index_or_implicit_row_index",
292
+ "media_policy": "video streams are read from extra/video_proxy_medium; samples missing any required stream are skipped",
293
+ "present_media_policy": "invalid frame indices on present streams set valid.frame=false and are encoded as black frames",
294
+ "read_policy": "sequential_when_frame_indices_are_nondecreasing_else_seek_cache",
295
+ "read_modes_used": [
296
+ "sequential"
297
+ ],
298
+ "video_profile": "medium_native_mosaic",
299
+ "crop": "none",
300
+ "resize": null,
301
+ "output_sizes": {
302
+ "observation.images.head_main": [
303
+ 640,
304
+ 512
305
+ ],
306
+ "observation.images.head_main_stereo_right": [
307
+ 640,
308
+ 512
309
+ ],
310
+ "observation.images.left_hand_down": [
311
+ 640,
312
+ 512
313
+ ],
314
+ "observation.images.left_hand_up": [
315
+ 640,
316
+ 512
317
+ ],
318
+ "observation.images.right_hand_down": [
319
+ 640,
320
+ 512
321
+ ],
322
+ "observation.images.right_hand_up": [
323
+ 640,
324
+ 512
325
+ ]
326
+ },
327
+ "face_anonymization": {
328
+ "enabled": true,
329
+ "failure_policy": "fail_closed_per_sample",
330
+ "faces_json_policy": "reuse_valid_streams_detect_missing",
331
+ "model": "yolov11s-face.pt",
332
+ "device": "auto",
333
+ "batch_size": 64,
334
+ "mosaic": {
335
+ "box_scale": 1.15,
336
+ "center_fraction": 0.45,
337
+ "pixel_block": 12,
338
+ "feather_px": 8,
339
+ "opacity": 0.92,
340
+ "center_mean_mix": 0.08,
341
+ "shape": "ellipse"
342
+ },
343
+ "total_detected_faces": 894784
344
+ },
345
+ "codec": "h264",
346
+ "gop_size": 4,
347
+ "backend_requested": "auto",
348
+ "backend_used": [
349
+ "gpu"
350
+ ],
351
+ "decode_backend_requested": "cpu",
352
+ "decode_backend_used": [
353
+ "cpu"
354
+ ],
355
+ "frame_preprocess_requested": "cpu",
356
+ "frame_preprocess_used": [
357
+ "cpu_native_mosaic"
358
+ ],
359
+ "pix_fmt": "yuv420p",
360
+ "crf_or_cq": 20,
361
+ "aligned_video_frames": "one video frame per data row"
362
+ },
363
+ "parallelism": {
364
+ "workers": 16,
365
+ "video_workers": 8,
366
+ "progress": true,
367
+ "order_policy": "parallel tasks are written back by sorted sample index before parquet writing and video concat"
368
+ },
369
+ "invalid_policy": {
370
+ "training_filter": "valid.frame == true",
371
+ "state": "state requires both eef pose and selected gripper valid",
372
+ "media": "present media rows require valid frame indices; samples missing required extra/selected video profile streams are skipped"
373
+ },
374
+ "source": {
375
+ "format": "robot_sample_v1_sparse_revision",
376
+ "converter": "convert_standard_umi_alike_to_lerobotv3.py",
377
+ "robot_types": [
378
+ "simpleai_umi_4.0"
379
+ ],
380
+ "robot_type_source": "revision_json_embodiment_name",
381
+ "media_map": {
382
+ "head_main": "observation.images.head_main",
383
+ "head_main_stereo_right": "observation.images.head_main_stereo_right",
384
+ "left_hand_down": "observation.images.left_hand_down",
385
+ "left_hand_up": "observation.images.left_hand_up",
386
+ "right_hand_down": "observation.images.right_hand_down",
387
+ "right_hand_up": "observation.images.right_hand_up"
388
+ },
389
+ "media_key_source": "revision_json_components_media_key",
390
+ "gripper_mode": "angle"
391
+ }
392
+ }
chunk-0083/part-0000/meta/modality.json ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "_README": [
3
+ "UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
4
+ "state/action vectors are [right_10d, left_10d].",
5
+ "Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
6
+ "Actions are absolute next-state targets with the final target repeated at the last row.",
7
+ "Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
8
+ ],
9
+ "state": {
10
+ "right_eef_pose": {
11
+ "start": 0,
12
+ "end": 9,
13
+ "rotation_type": "rotation_6d",
14
+ "rotation_6d_layout": "first_two_rows",
15
+ "absolute": true,
16
+ "dtype": "float32",
17
+ "original_key": "observation.state"
18
+ },
19
+ "right_eef_gripper": {
20
+ "start": 9,
21
+ "end": 10,
22
+ "absolute": true,
23
+ "dtype": "float32",
24
+ "unit": "rad",
25
+ "original_key": "observation.state"
26
+ },
27
+ "left_eef_pose": {
28
+ "start": 10,
29
+ "end": 19,
30
+ "rotation_type": "rotation_6d",
31
+ "rotation_6d_layout": "first_two_rows",
32
+ "absolute": true,
33
+ "dtype": "float32",
34
+ "original_key": "observation.state"
35
+ },
36
+ "left_eef_gripper": {
37
+ "start": 19,
38
+ "end": 20,
39
+ "absolute": true,
40
+ "dtype": "float32",
41
+ "unit": "rad",
42
+ "original_key": "observation.state"
43
+ }
44
+ },
45
+ "action": {
46
+ "right_eef_pose": {
47
+ "start": 0,
48
+ "end": 9,
49
+ "rotation_type": "rotation_6d",
50
+ "rotation_6d_layout": "first_two_rows",
51
+ "absolute": true,
52
+ "dtype": "float32",
53
+ "original_key": "action"
54
+ },
55
+ "right_eef_gripper": {
56
+ "start": 9,
57
+ "end": 10,
58
+ "absolute": true,
59
+ "dtype": "float32",
60
+ "unit": "rad",
61
+ "original_key": "action"
62
+ },
63
+ "left_eef_pose": {
64
+ "start": 10,
65
+ "end": 19,
66
+ "rotation_type": "rotation_6d",
67
+ "rotation_6d_layout": "first_two_rows",
68
+ "absolute": true,
69
+ "dtype": "float32",
70
+ "original_key": "action"
71
+ },
72
+ "left_eef_gripper": {
73
+ "start": 19,
74
+ "end": 20,
75
+ "absolute": true,
76
+ "dtype": "float32",
77
+ "unit": "rad",
78
+ "original_key": "action"
79
+ }
80
+ },
81
+ "video": {
82
+ "head_main": {
83
+ "original_key": "observation.images.head_main"
84
+ },
85
+ "head_main_stereo_right": {
86
+ "original_key": "observation.images.head_main_stereo_right"
87
+ },
88
+ "left_hand_down": {
89
+ "original_key": "observation.images.left_hand_down"
90
+ },
91
+ "left_hand_up": {
92
+ "original_key": "observation.images.left_hand_up"
93
+ },
94
+ "right_hand_down": {
95
+ "original_key": "observation.images.right_hand_down"
96
+ },
97
+ "right_hand_up": {
98
+ "original_key": "observation.images.right_hand_up"
99
+ }
100
+ },
101
+ "annotation": {
102
+ "human.action.task_description": {
103
+ "original_key": "task_index"
104
+ }
105
+ }
106
+ }
chunk-0083/part-0000/meta/stats.json ADDED
@@ -0,0 +1,914 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "observation.images.head_main": {
3
+ "min": [
4
+ [
5
+ [
6
+ 0.0
7
+ ]
8
+ ],
9
+ [
10
+ [
11
+ 0.0
12
+ ]
13
+ ],
14
+ [
15
+ [
16
+ 0.0
17
+ ]
18
+ ]
19
+ ],
20
+ "max": [
21
+ [
22
+ [
23
+ 1.0
24
+ ]
25
+ ],
26
+ [
27
+ [
28
+ 1.0
29
+ ]
30
+ ],
31
+ [
32
+ [
33
+ 1.0
34
+ ]
35
+ ]
36
+ ],
37
+ "mean": [
38
+ [
39
+ [
40
+ 0.0
41
+ ]
42
+ ],
43
+ [
44
+ [
45
+ 0.0
46
+ ]
47
+ ],
48
+ [
49
+ [
50
+ 0.0
51
+ ]
52
+ ]
53
+ ],
54
+ "std": [
55
+ [
56
+ [
57
+ 0.0
58
+ ]
59
+ ],
60
+ [
61
+ [
62
+ 0.0
63
+ ]
64
+ ],
65
+ [
66
+ [
67
+ 0.0
68
+ ]
69
+ ]
70
+ ],
71
+ "count": [
72
+ 496970
73
+ ]
74
+ },
75
+ "observation.images.head_main_stereo_right": {
76
+ "min": [
77
+ [
78
+ [
79
+ 0.0
80
+ ]
81
+ ],
82
+ [
83
+ [
84
+ 0.0
85
+ ]
86
+ ],
87
+ [
88
+ [
89
+ 0.0
90
+ ]
91
+ ]
92
+ ],
93
+ "max": [
94
+ [
95
+ [
96
+ 1.0
97
+ ]
98
+ ],
99
+ [
100
+ [
101
+ 1.0
102
+ ]
103
+ ],
104
+ [
105
+ [
106
+ 1.0
107
+ ]
108
+ ]
109
+ ],
110
+ "mean": [
111
+ [
112
+ [
113
+ 0.0
114
+ ]
115
+ ],
116
+ [
117
+ [
118
+ 0.0
119
+ ]
120
+ ],
121
+ [
122
+ [
123
+ 0.0
124
+ ]
125
+ ]
126
+ ],
127
+ "std": [
128
+ [
129
+ [
130
+ 0.0
131
+ ]
132
+ ],
133
+ [
134
+ [
135
+ 0.0
136
+ ]
137
+ ],
138
+ [
139
+ [
140
+ 0.0
141
+ ]
142
+ ]
143
+ ],
144
+ "count": [
145
+ 496970
146
+ ]
147
+ },
148
+ "observation.images.left_hand_down": {
149
+ "min": [
150
+ [
151
+ [
152
+ 0.0
153
+ ]
154
+ ],
155
+ [
156
+ [
157
+ 0.0
158
+ ]
159
+ ],
160
+ [
161
+ [
162
+ 0.0
163
+ ]
164
+ ]
165
+ ],
166
+ "max": [
167
+ [
168
+ [
169
+ 1.0
170
+ ]
171
+ ],
172
+ [
173
+ [
174
+ 1.0
175
+ ]
176
+ ],
177
+ [
178
+ [
179
+ 1.0
180
+ ]
181
+ ]
182
+ ],
183
+ "mean": [
184
+ [
185
+ [
186
+ 0.0
187
+ ]
188
+ ],
189
+ [
190
+ [
191
+ 0.0
192
+ ]
193
+ ],
194
+ [
195
+ [
196
+ 0.0
197
+ ]
198
+ ]
199
+ ],
200
+ "std": [
201
+ [
202
+ [
203
+ 0.0
204
+ ]
205
+ ],
206
+ [
207
+ [
208
+ 0.0
209
+ ]
210
+ ],
211
+ [
212
+ [
213
+ 0.0
214
+ ]
215
+ ]
216
+ ],
217
+ "count": [
218
+ 496970
219
+ ]
220
+ },
221
+ "observation.images.left_hand_up": {
222
+ "min": [
223
+ [
224
+ [
225
+ 0.0
226
+ ]
227
+ ],
228
+ [
229
+ [
230
+ 0.0
231
+ ]
232
+ ],
233
+ [
234
+ [
235
+ 0.0
236
+ ]
237
+ ]
238
+ ],
239
+ "max": [
240
+ [
241
+ [
242
+ 1.0
243
+ ]
244
+ ],
245
+ [
246
+ [
247
+ 1.0
248
+ ]
249
+ ],
250
+ [
251
+ [
252
+ 1.0
253
+ ]
254
+ ]
255
+ ],
256
+ "mean": [
257
+ [
258
+ [
259
+ 0.0
260
+ ]
261
+ ],
262
+ [
263
+ [
264
+ 0.0
265
+ ]
266
+ ],
267
+ [
268
+ [
269
+ 0.0
270
+ ]
271
+ ]
272
+ ],
273
+ "std": [
274
+ [
275
+ [
276
+ 0.0
277
+ ]
278
+ ],
279
+ [
280
+ [
281
+ 0.0
282
+ ]
283
+ ],
284
+ [
285
+ [
286
+ 0.0
287
+ ]
288
+ ]
289
+ ],
290
+ "count": [
291
+ 496970
292
+ ]
293
+ },
294
+ "observation.images.right_hand_down": {
295
+ "min": [
296
+ [
297
+ [
298
+ 0.0
299
+ ]
300
+ ],
301
+ [
302
+ [
303
+ 0.0
304
+ ]
305
+ ],
306
+ [
307
+ [
308
+ 0.0
309
+ ]
310
+ ]
311
+ ],
312
+ "max": [
313
+ [
314
+ [
315
+ 1.0
316
+ ]
317
+ ],
318
+ [
319
+ [
320
+ 1.0
321
+ ]
322
+ ],
323
+ [
324
+ [
325
+ 1.0
326
+ ]
327
+ ]
328
+ ],
329
+ "mean": [
330
+ [
331
+ [
332
+ 0.0
333
+ ]
334
+ ],
335
+ [
336
+ [
337
+ 0.0
338
+ ]
339
+ ],
340
+ [
341
+ [
342
+ 0.0
343
+ ]
344
+ ]
345
+ ],
346
+ "std": [
347
+ [
348
+ [
349
+ 0.0
350
+ ]
351
+ ],
352
+ [
353
+ [
354
+ 0.0
355
+ ]
356
+ ],
357
+ [
358
+ [
359
+ 0.0
360
+ ]
361
+ ]
362
+ ],
363
+ "count": [
364
+ 496970
365
+ ]
366
+ },
367
+ "observation.images.right_hand_up": {
368
+ "min": [
369
+ [
370
+ [
371
+ 0.0
372
+ ]
373
+ ],
374
+ [
375
+ [
376
+ 0.0
377
+ ]
378
+ ],
379
+ [
380
+ [
381
+ 0.0
382
+ ]
383
+ ]
384
+ ],
385
+ "max": [
386
+ [
387
+ [
388
+ 1.0
389
+ ]
390
+ ],
391
+ [
392
+ [
393
+ 1.0
394
+ ]
395
+ ],
396
+ [
397
+ [
398
+ 1.0
399
+ ]
400
+ ]
401
+ ],
402
+ "mean": [
403
+ [
404
+ [
405
+ 0.0
406
+ ]
407
+ ],
408
+ [
409
+ [
410
+ 0.0
411
+ ]
412
+ ],
413
+ [
414
+ [
415
+ 0.0
416
+ ]
417
+ ]
418
+ ],
419
+ "std": [
420
+ [
421
+ [
422
+ 0.0
423
+ ]
424
+ ],
425
+ [
426
+ [
427
+ 0.0
428
+ ]
429
+ ],
430
+ [
431
+ [
432
+ 0.0
433
+ ]
434
+ ]
435
+ ],
436
+ "count": [
437
+ 496970
438
+ ]
439
+ },
440
+ "observation.state": {
441
+ "min": [
442
+ -0.5838440656661987,
443
+ -0.6852083802223206,
444
+ -0.8103794455528259,
445
+ -0.9999829530715942,
446
+ -0.9999999403953552,
447
+ -0.9999374151229858,
448
+ -0.9999990463256836,
449
+ -0.9999737739562988,
450
+ -0.9999920725822449,
451
+ -0.013805554248392582,
452
+ -0.6854520440101624,
453
+ -0.7111192345619202,
454
+ -0.8379477858543396,
455
+ -0.9898861050605774,
456
+ -0.9999997615814209,
457
+ -0.9945332407951355,
458
+ -0.9999998807907104,
459
+ -0.9999987483024597,
460
+ -0.9999908804893494,
461
+ -0.009203121066093445
462
+ ],
463
+ "max": [
464
+ 0.7616371512413025,
465
+ 0.994511067867279,
466
+ 1.2172057628631592,
467
+ 0.9588423371315002,
468
+ 0.9714413285255432,
469
+ 0.9986667037010193,
470
+ 0.811400830745697,
471
+ 0.9999959468841553,
472
+ 0.9879866242408752,
473
+ 0.5997858643531799,
474
+ 0.705819308757782,
475
+ 1.051580786705017,
476
+ 1.1522026062011719,
477
+ 0.9999963641166687,
478
+ 0.7260425686836243,
479
+ 0.9695920348167419,
480
+ 0.9768543839454651,
481
+ 0.9842540621757507,
482
+ 0.6947821974754333,
483
+ 0.5875144600868225
484
+ ],
485
+ "mean": [
486
+ 0.09250522066546317,
487
+ -0.08022156394689554,
488
+ 0.46685359864065706,
489
+ -0.4445428584515188,
490
+ -0.7685844161843163,
491
+ -0.045684680208942986,
492
+ -0.688610847641012,
493
+ 0.4205245676681354,
494
+ -0.31285445175945525,
495
+ 0.09710542770875837,
496
+ -0.08999816823548575,
497
+ -0.07966583886070759,
498
+ 0.4509592758072394,
499
+ 0.4569567864070009,
500
+ -0.7785647100678779,
501
+ 0.02181325418768498,
502
+ -0.7157853961181901,
503
+ -0.42618884904304666,
504
+ -0.2841151596473827,
505
+ 0.08263596845471051
506
+ ],
507
+ "std": [
508
+ 0.1131774612615232,
509
+ 0.24171367112628978,
510
+ 0.19790192784879937,
511
+ 0.26132135348705227,
512
+ 0.24675911410033333,
513
+ 0.2835377259367854,
514
+ 0.2627238520513238,
515
+ 0.31290494847422295,
516
+ 0.2901085164222599,
517
+ 0.11471838123013131,
518
+ 0.11184574124527472,
519
+ 0.24115331277669844,
520
+ 0.18946702353855488,
521
+ 0.2620793672025734,
522
+ 0.22464390192408237,
523
+ 0.25573656784641396,
524
+ 0.2307509841957088,
525
+ 0.30501734204438746,
526
+ 0.2810895089654927,
527
+ 0.11552873328216463
528
+ ],
529
+ "count": [
530
+ 496970
531
+ ]
532
+ },
533
+ "observation.state_valid": {
534
+ "min": [
535
+ 0.0,
536
+ 0.0,
537
+ 0.0,
538
+ 0.0,
539
+ 0.0,
540
+ 0.0,
541
+ 0.0,
542
+ 0.0,
543
+ 0.0,
544
+ 0.0,
545
+ 0.0,
546
+ 0.0,
547
+ 0.0,
548
+ 0.0,
549
+ 0.0,
550
+ 0.0,
551
+ 0.0,
552
+ 0.0,
553
+ 0.0,
554
+ 0.0
555
+ ],
556
+ "max": [
557
+ 1.0,
558
+ 1.0,
559
+ 1.0,
560
+ 1.0,
561
+ 1.0,
562
+ 1.0,
563
+ 1.0,
564
+ 1.0,
565
+ 1.0,
566
+ 1.0,
567
+ 1.0,
568
+ 1.0,
569
+ 1.0,
570
+ 1.0,
571
+ 1.0,
572
+ 1.0,
573
+ 1.0,
574
+ 1.0,
575
+ 1.0,
576
+ 1.0
577
+ ],
578
+ "mean": [
579
+ 0.99998792683663,
580
+ 0.99998792683663,
581
+ 0.99998792683663,
582
+ 0.99998792683663,
583
+ 0.99998792683663,
584
+ 0.99998792683663,
585
+ 0.99998792683663,
586
+ 0.99998792683663,
587
+ 0.99998792683663,
588
+ 0.99998792683663,
589
+ 0.99998792683663,
590
+ 0.99998792683663,
591
+ 0.99998792683663,
592
+ 0.99998792683663,
593
+ 0.99998792683663,
594
+ 0.99998792683663,
595
+ 0.99998792683663,
596
+ 0.99998792683663,
597
+ 0.99998792683663,
598
+ 0.99998792683663
599
+ ],
600
+ "std": [
601
+ 0.003474624815537436,
602
+ 0.003474624815537436,
603
+ 0.003474624815537436,
604
+ 0.003474624815537436,
605
+ 0.003474624815537436,
606
+ 0.003474624815537436,
607
+ 0.003474624815537436,
608
+ 0.003474624815537436,
609
+ 0.003474624815537436,
610
+ 0.003474624815537436,
611
+ 0.003474624815537436,
612
+ 0.003474624815537436,
613
+ 0.003474624815537436,
614
+ 0.003474624815537436,
615
+ 0.003474624815537436,
616
+ 0.003474624815537436,
617
+ 0.003474624815537436,
618
+ 0.003474624815537436,
619
+ 0.003474624815537436,
620
+ 0.003474624815537436
621
+ ],
622
+ "count": [
623
+ 496970
624
+ ]
625
+ },
626
+ "action": {
627
+ "min": [
628
+ -0.5779723525047302,
629
+ -0.6852083802223206,
630
+ -0.8103794455528259,
631
+ -0.9999821782112122,
632
+ -0.9999999403953552,
633
+ -0.9999374151229858,
634
+ -0.9999990463256836,
635
+ -0.9999737739562988,
636
+ -0.9999920725822449,
637
+ -0.013805554248392582,
638
+ -0.6854520440101624,
639
+ -0.7111192345619202,
640
+ -0.8379477858543396,
641
+ -0.9898861050605774,
642
+ -0.9999997615814209,
643
+ -0.9945332407951355,
644
+ -0.9999998807907104,
645
+ -0.9999987483024597,
646
+ -0.9999908804893494,
647
+ -0.009203121066093445
648
+ ],
649
+ "max": [
650
+ 0.7594072818756104,
651
+ 0.994511067867279,
652
+ 1.2172057628631592,
653
+ 0.9588423371315002,
654
+ 0.9714413285255432,
655
+ 0.9986667037010193,
656
+ 0.811400830745697,
657
+ 0.9999959468841553,
658
+ 0.9879866242408752,
659
+ 0.5997858643531799,
660
+ 0.7055462002754211,
661
+ 1.051580786705017,
662
+ 1.1522026062011719,
663
+ 0.9999963641166687,
664
+ 0.7260425686836243,
665
+ 0.9695920348167419,
666
+ 0.9768543839454651,
667
+ 0.9842540621757507,
668
+ 0.6947821974754333,
669
+ 0.5875144600868225
670
+ ],
671
+ "mean": [
672
+ 0.09246665959709223,
673
+ -0.08163714856988888,
674
+ 0.46690705040113073,
675
+ -0.44464287007564174,
676
+ -0.7686823940346925,
677
+ -0.04575947807829649,
678
+ -0.68865942971071,
679
+ 0.4206141336846965,
680
+ -0.3129769212943779,
681
+ 0.09706688287414775,
682
+ -0.09003209686711239,
683
+ -0.08107284588461237,
684
+ 0.4509958889538859,
685
+ 0.4570267791419694,
686
+ -0.778660804090179,
687
+ 0.02185734401677687,
688
+ -0.7158579461348472,
689
+ -0.42624381241350306,
690
+ -0.28421393030297837,
691
+ 0.0826147497682577
692
+ ],
693
+ "std": [
694
+ 0.1129181279210874,
695
+ 0.24042280225998774,
696
+ 0.19788801206505982,
697
+ 0.2610171080518587,
698
+ 0.2466291552325919,
699
+ 0.2834965510709156,
700
+ 0.26262405448845316,
701
+ 0.3126643028295811,
702
+ 0.2900810695279426,
703
+ 0.11473984260545125,
704
+ 0.11156624878479601,
705
+ 0.23988084691300246,
706
+ 0.18945859824551564,
707
+ 0.261762161627833,
708
+ 0.224533846790109,
709
+ 0.2557366891907069,
710
+ 0.23066562950153285,
711
+ 0.3047597725826053,
712
+ 0.2810709937510173,
713
+ 0.11554812107311599
714
+ ],
715
+ "count": [
716
+ 496970
717
+ ]
718
+ },
719
+ "action_valid": {
720
+ "min": [
721
+ 0.0,
722
+ 0.0,
723
+ 0.0,
724
+ 0.0,
725
+ 0.0,
726
+ 0.0,
727
+ 0.0,
728
+ 0.0,
729
+ 0.0,
730
+ 0.0,
731
+ 0.0,
732
+ 0.0,
733
+ 0.0,
734
+ 0.0,
735
+ 0.0,
736
+ 0.0,
737
+ 0.0,
738
+ 0.0,
739
+ 0.0,
740
+ 0.0
741
+ ],
742
+ "max": [
743
+ 1.0,
744
+ 1.0,
745
+ 1.0,
746
+ 1.0,
747
+ 1.0,
748
+ 1.0,
749
+ 1.0,
750
+ 1.0,
751
+ 1.0,
752
+ 1.0,
753
+ 1.0,
754
+ 1.0,
755
+ 1.0,
756
+ 1.0,
757
+ 1.0,
758
+ 1.0,
759
+ 1.0,
760
+ 1.0,
761
+ 1.0,
762
+ 1.0
763
+ ],
764
+ "mean": [
765
+ 0.9999758536732599,
766
+ 0.9999758536732599,
767
+ 0.9999758536732599,
768
+ 0.9999758536732599,
769
+ 0.9999758536732599,
770
+ 0.9999758536732599,
771
+ 0.9999758536732599,
772
+ 0.9999758536732599,
773
+ 0.9999758536732599,
774
+ 0.9999758536732599,
775
+ 0.9999758536732599,
776
+ 0.9999758536732599,
777
+ 0.9999758536732599,
778
+ 0.9999758536732599,
779
+ 0.9999758536732599,
780
+ 0.9999758536732599,
781
+ 0.9999758536732599,
782
+ 0.9999758536732599,
783
+ 0.9999758536732599,
784
+ 0.9999758536732599
785
+ ],
786
+ "std": [
787
+ 0.004913831874916934,
788
+ 0.004913831874916934,
789
+ 0.004913831874916934,
790
+ 0.004913831874916934,
791
+ 0.004913831874916934,
792
+ 0.004913831874916934,
793
+ 0.004913831874916934,
794
+ 0.004913831874916934,
795
+ 0.004913831874916934,
796
+ 0.004913831874916934,
797
+ 0.004913831874916934,
798
+ 0.004913831874916934,
799
+ 0.004913831874916934,
800
+ 0.004913831874916934,
801
+ 0.004913831874916934,
802
+ 0.004913831874916934,
803
+ 0.004913831874916934,
804
+ 0.004913831874916934,
805
+ 0.004913831874916934,
806
+ 0.004913831874916934
807
+ ],
808
+ "count": [
809
+ 496970
810
+ ]
811
+ },
812
+ "timestamp": {
813
+ "min": [
814
+ 0.0
815
+ ],
816
+ "max": [
817
+ 42.31999969482422
818
+ ],
819
+ "mean": [
820
+ 7.802243756821792
821
+ ],
822
+ "std": [
823
+ 5.295107179675238
824
+ ],
825
+ "count": [
826
+ 496970
827
+ ]
828
+ },
829
+ "frame_index": {
830
+ "min": [
831
+ 0.0
832
+ ],
833
+ "max": [
834
+ 1058.0
835
+ ],
836
+ "mean": [
837
+ 195.05609392921102
838
+ ],
839
+ "std": [
840
+ 132.37767937807354
841
+ ],
842
+ "count": [
843
+ 496970
844
+ ]
845
+ },
846
+ "episode_index": {
847
+ "min": [
848
+ 0.0
849
+ ],
850
+ "max": [
851
+ 1379.0
852
+ ],
853
+ "mean": [
854
+ 690.8314988832324
855
+ ],
856
+ "std": [
857
+ 404.30474774042443
858
+ ],
859
+ "count": [
860
+ 496970
861
+ ]
862
+ },
863
+ "index": {
864
+ "min": [
865
+ 0.0
866
+ ],
867
+ "max": [
868
+ 496969.0
869
+ ],
870
+ "mean": [
871
+ 248484.5
872
+ ],
873
+ "std": [
874
+ 143462.88163929377
875
+ ],
876
+ "count": [
877
+ 496970
878
+ ]
879
+ },
880
+ "task_index": {
881
+ "min": [
882
+ 0.0
883
+ ],
884
+ "max": [
885
+ 47.0
886
+ ],
887
+ "mean": [
888
+ 20.31897700062378
889
+ ],
890
+ "std": [
891
+ 13.02834112815121
892
+ ],
893
+ "count": [
894
+ 496970
895
+ ]
896
+ },
897
+ "valid.frame": {
898
+ "min": [
899
+ 0.0
900
+ ],
901
+ "max": [
902
+ 1.0
903
+ ],
904
+ "mean": [
905
+ 0.99998792683663
906
+ ],
907
+ "std": [
908
+ 0.003474624815537436
909
+ ],
910
+ "count": [
911
+ 496970
912
+ ]
913
+ }
914
+ }