| { |
| "_name_or_path": "openvla/openvla-7b", |
| "arch_specifier": "no-align+fused-gelu-mlp", |
| "architectures": [ |
| "OpenVLAForActionPrediction" |
| ], |
| "auto_map": { |
| "AutoConfig": "openvla/openvla-7b--configuration_prismatic.OpenVLAConfig", |
| "AutoModelForVision2Seq": "openvla/openvla-7b--modeling_prismatic.OpenVLAForActionPrediction" |
| }, |
| "hf_llm_id": "meta-llama/Llama-2-7b-hf", |
| "image_resize_strategy": "resize-naive", |
| "image_sizes": [ |
| 224, |
| 224 |
| ], |
| "llm_backbone_id": "llama2-7b-pure", |
| "llm_max_length": 2048, |
| "model_type": "openvla", |
| "n_action_bins": 256, |
| "norm_stats": { |
| "austin_buds_dataset_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 1.0, |
| 1.0, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "mean": [ |
| -0.07678354531526566, |
| 0.0036849044263362885, |
| 0.05644911900162697, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.3510494828224182 |
| ], |
| "min": [ |
| -1.0, |
| -1.0, |
| -1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| -1.0, |
| -0.9599999785423279, |
| -0.8714285492897034, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 1.0, |
| 0.8600000143051147, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "std": [ |
| 0.6367740631103516, |
| 0.37889179587364197, |
| 0.47796326875686646, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.47721168398857117 |
| ] |
| }, |
| "num_trajectories": 50, |
| "num_transitions": 34112, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "austin_sailor_dataset_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 1.0, |
| 1.0, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.375, |
| 1.0 |
| ], |
| "mean": [ |
| 0.011825348250567913, |
| 0.006461074110120535, |
| 0.06023626774549484, |
| 0.0, |
| 0.0, |
| 0.0016465914668515325, |
| 0.5260950326919556 |
| ], |
| "min": [ |
| -1.0, |
| -1.0, |
| -1.0, |
| 0.0, |
| 0.0, |
| -0.375, |
| 0.0 |
| ], |
| "q01": [ |
| -1.0, |
| -0.9828571677207947, |
| -0.6000000238418579, |
| 0.0, |
| 0.0, |
| -0.17249999940395355, |
| 0.0 |
| ], |
| "q99": [ |
| 1.0, |
| 0.9457142949104309, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.17892856895923615, |
| 1.0 |
| ], |
| "std": [ |
| 0.46348899602890015, |
| 0.41240179538726807, |
| 0.411862850189209, |
| 0.0, |
| 0.0, |
| 0.0578610822558403, |
| 0.49894046783447266 |
| ] |
| }, |
| "num_trajectories": 240, |
| "num_transitions": 353094, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "austin_sirius_dataset_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 1.0002285242080688, |
| 0.960608720779419, |
| 1.105179786682129, |
| 0.0, |
| 0.0, |
| 0.341785728931427, |
| 1.0 |
| ], |
| "mean": [ |
| 0.07747682929039001, |
| 0.03195561468601227, |
| 0.04244732856750488, |
| 0.0, |
| 0.0, |
| -0.01603456400334835, |
| 0.43260177969932556 |
| ], |
| "min": [ |
| -1.0183025598526, |
| -0.9800000190734863, |
| -0.9774575233459473, |
| 0.0, |
| 0.0, |
| -0.34607142210006714, |
| 0.0 |
| ], |
| "q01": [ |
| -0.780905865430832, |
| -0.5667179036140442, |
| -0.5254343223571777, |
| 0.0, |
| 0.0, |
| -0.28495091378688814, |
| 0.0 |
| ], |
| "q99": [ |
| 0.9569637751579284, |
| 0.6971374487876891, |
| 0.8124888157844541, |
| 0.0, |
| 0.0, |
| 0.1971428543329239, |
| 1.0 |
| ], |
| "std": [ |
| 0.3906329572200775, |
| 0.2998155355453491, |
| 0.2782271206378937, |
| 0.0, |
| 0.0, |
| 0.08120622485876083, |
| 0.49528297781944275 |
| ] |
| }, |
| "num_trajectories": 559, |
| "num_transitions": 279939, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "bc_z": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.2165454924106598, |
| 0.1251407265663147, |
| 0.10772687941789627, |
| 0.33544227480888367, |
| 0.28117990493774414, |
| 0.40614867210388184, |
| 1.0 |
| ], |
| "mean": [ |
| -0.009958467446267605, |
| 0.0008958321413956583, |
| 0.004995597992092371, |
| 0.00029755113064311445, |
| -0.008735382929444313, |
| -0.030693737789988518, |
| 0.8344562649726868 |
| ], |
| "min": [ |
| -0.1677047461271286, |
| -0.14630407094955444, |
| -0.10066790133714676, |
| -0.29421567916870117, |
| -0.32101404666900635, |
| -0.4635624885559082, |
| 0.0 |
| ], |
| "q01": [ |
| -0.09220654994249344, |
| -0.06456145539879798, |
| -0.049121275544166565, |
| -0.11594625547528267, |
| -0.14152548640966414, |
| -0.2251061636209488, |
| 0.0 |
| ], |
| "q99": [ |
| 0.07628866866230968, |
| 0.058019736707210584, |
| 0.052540797740221024, |
| 0.11740604028105736, |
| 0.11703975558280955, |
| 0.16729306846857078, |
| 1.0 |
| ], |
| "std": [ |
| 0.03053455986082554, |
| 0.0231423731893301, |
| 0.020641816779971123, |
| 0.04155943542718887, |
| 0.046427831053733826, |
| 0.0769818127155304, |
| 0.3610210120677948 |
| ] |
| }, |
| "num_trajectories": 43264, |
| "num_transitions": 6015535, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "berkeley_autolab_ur5": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.019999999552965164, |
| 0.019999999552965164, |
| 0.019999999552965164, |
| 0.06666667014360428, |
| 0.06666667014360428, |
| 0.06666667014360428, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0005683620693162084, |
| 0.001217700308188796, |
| -0.0005296372692100704, |
| 0.00021029810886830091, |
| 6.0695128922816366e-05, |
| 0.001204986940138042, |
| 0.6298308372497559 |
| ], |
| "min": [ |
| -0.019999999552965164, |
| -0.019999999552965164, |
| -0.019999999552965164, |
| -0.06666667014360428, |
| -0.06666667014360428, |
| -0.06666667014360428, |
| 0.0 |
| ], |
| "q01": [ |
| -0.019999999552965164, |
| -0.019999999552965164, |
| -0.019999999552965164, |
| -0.02628571353852749, |
| -0.06666667014360428, |
| -0.03847619146108627, |
| 0.0 |
| ], |
| "q99": [ |
| 0.019999999552965164, |
| 0.019999999552965164, |
| 0.019999999552965164, |
| 0.031809523701667786, |
| 0.06666667014360428, |
| 0.036571428179740906, |
| 1.0 |
| ], |
| "std": [ |
| 0.0115329809486866, |
| 0.007990492507815361, |
| 0.009577835910022259, |
| 0.009432995691895485, |
| 0.016427582129836082, |
| 0.011053967289626598, |
| 0.48267969489097595 |
| ] |
| }, |
| "num_trajectories": 1000, |
| "num_transitions": 97939, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "berkeley_cable_routing": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.9633283019065857, |
| 1.0, |
| 1.0, |
| 0.0, |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| "mean": [ |
| -0.07139874249696732, |
| 0.023609008640050888, |
| 0.10241943597793579, |
| 0.0, |
| 0.0, |
| 0.049671024084091187, |
| 0.0 |
| ], |
| "min": [ |
| -0.9809081554412842, |
| -0.9554349184036255, |
| -0.9994775056838989, |
| 0.0, |
| 0.0, |
| -1.0, |
| 0.0 |
| ], |
| "q01": [ |
| -0.5534318816661835, |
| -0.4797285574674606, |
| -0.5314934802055359, |
| 0.0, |
| 0.0, |
| -0.8855219376087189, |
| 0.0 |
| ], |
| "q99": [ |
| 0.42652835428714786, |
| 0.5000944086909298, |
| 0.639823433756829, |
| 0.0, |
| 0.0, |
| 0.984243879914284, |
| 0.0 |
| ], |
| "std": [ |
| 0.1815500408411026, |
| 0.1810990273952484, |
| 0.21220779418945312, |
| 0.0, |
| 0.0, |
| 0.3475511968135834, |
| 0.0 |
| ] |
| }, |
| "num_trajectories": 1647, |
| "num_transitions": 42328, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "berkeley_fanuc_manipulation": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.009999999776482582, |
| 0.009999999776482582, |
| 0.009999999776482582, |
| 0.03490658476948738, |
| 0.03490658476948738, |
| 0.03490658476948738, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0007744057802483439, |
| -0.00031240080716088414, |
| -0.0015001941937953234, |
| -0.0007515158504247665, |
| -0.00015832878125365824, |
| 0.00014327642566058785, |
| 0.699295699596405 |
| ], |
| "min": [ |
| -0.009999999776482582, |
| -0.009999999776482582, |
| -0.009999999776482582, |
| -0.03490658476948738, |
| -0.03490658476948738, |
| -0.03490658476948738, |
| 0.0 |
| ], |
| "q01": [ |
| -0.009999999776482582, |
| -0.009999999776482582, |
| -0.009999999776482582, |
| -0.03490658476948738, |
| 0.0, |
| -0.03490658476948738, |
| 0.0 |
| ], |
| "q99": [ |
| 0.009999999776482582, |
| 0.009999999776482582, |
| 0.009999999776482582, |
| 0.03490658476948738, |
| 0.0, |
| 0.03490658476948738, |
| 1.0 |
| ], |
| "std": [ |
| 0.0034070091787725687, |
| 0.0049921851605176926, |
| 0.005344334989786148, |
| 0.00759894959628582, |
| 0.004081866703927517, |
| 0.008568956516683102, |
| 0.4586937427520752 |
| ] |
| }, |
| "num_trajectories": 415, |
| "num_transitions": 62613, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "bridge_orig": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.41691166162490845, |
| 0.25864794850349426, |
| 0.21218234300613403, |
| 3.122201919555664, |
| 1.8618112802505493, |
| 6.280478477478027, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0002334194869035855, |
| 0.00013004911306779832, |
| -0.00012762474943883717, |
| -0.0001556558854645118, |
| -0.0004039328487124294, |
| 0.00023557482927571982, |
| 0.5764579176902771 |
| ], |
| "min": [ |
| -0.4007510244846344, |
| -0.13874775171279907, |
| -0.22553899884223938, |
| -3.2010786533355713, |
| -1.8618112802505493, |
| -6.279075622558594, |
| 0.0 |
| ], |
| "q01": [ |
| -0.02872725307941437, |
| -0.04170349963009357, |
| -0.026093858778476715, |
| -0.08092105075716972, |
| -0.09288699507713317, |
| -0.20718276381492615, |
| 0.0 |
| ], |
| "q99": [ |
| 0.028309678435325586, |
| 0.040855254605412394, |
| 0.040161586627364146, |
| 0.08192047759890528, |
| 0.07792850524187081, |
| 0.20382574498653397, |
| 1.0 |
| ], |
| "std": [ |
| 0.009765930473804474, |
| 0.013689135201275349, |
| 0.012667362578213215, |
| 0.028534092009067535, |
| 0.030637972056865692, |
| 0.07691419124603271, |
| 0.4973701536655426 |
| ] |
| }, |
| "num_trajectories": 60064, |
| "num_transitions": 2135463, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "cmu_stretch": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.02338407188653946, |
| 0.0, |
| 0.023404927924275398, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "mean": [ |
| 0.00036304505192674696, |
| 0.0, |
| 0.0016466958913952112, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.3987048268318176 |
| ], |
| "min": [ |
| -0.019353797659277916, |
| 0.0, |
| -0.02019215188920498, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| -0.011175686959177256, |
| 0.0, |
| -0.0032206363626755773, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.014501785952597848, |
| 0.0, |
| 0.015056106168776728, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "std": [ |
| 0.004081828519701958, |
| 0.0, |
| 0.0037743328139185905, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.48963725566864014 |
| ] |
| }, |
| "num_trajectories": 135, |
| "num_transitions": 25016, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "dlr_edan_shared_control_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.18991442024707794, |
| 0.0739002525806427, |
| 0.18064819276332855, |
| 0.0866486132144928, |
| 0.13464981317520142, |
| 0.16910280287265778, |
| 1.0 |
| ], |
| "mean": [ |
| 0.006647810339927673, |
| -0.0007657372043468058, |
| 0.006522852927446365, |
| 0.0011679717572405934, |
| -0.006395625416189432, |
| -0.011902998201549053, |
| 0.6985887289047241 |
| ], |
| "min": [ |
| -0.10054297000169754, |
| -0.08427435159683228, |
| -0.13533438742160797, |
| -0.17556548118591309, |
| -0.18485672771930695, |
| -0.2680685818195343, |
| 0.0 |
| ], |
| "q01": [ |
| -0.02987122368067503, |
| -0.06013262912631035, |
| -0.08286409199237824, |
| -0.05924444157630205, |
| -0.15986866518855095, |
| -0.15636983573436739, |
| 0.0 |
| ], |
| "q99": [ |
| 0.08832092039287087, |
| 0.042126184627413736, |
| 0.11311905644834042, |
| 0.0643695573508739, |
| 0.03941855944693088, |
| 0.156646853685379, |
| 1.0 |
| ], |
| "std": [ |
| 0.021393608301877975, |
| 0.01814231649041176, |
| 0.03374375030398369, |
| 0.01743541844189167, |
| 0.03394376486539841, |
| 0.04641875624656677, |
| 0.4588589072227478 |
| ] |
| }, |
| "num_trajectories": 104, |
| "num_transitions": 8928, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "dobbe": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 38.590423583984375, |
| 17.932697296142578, |
| 4.843764305114746, |
| 1.4372116327285767, |
| 0.4340403974056244, |
| 1.2057193517684937, |
| 0.9998947381973267 |
| ], |
| "mean": [ |
| -0.0001120665911003016, |
| 0.0011229600058868527, |
| -0.00010194431524723768, |
| -7.371398532995954e-05, |
| -0.00067531579406932, |
| -5.6643435527803376e-05, |
| 0.6318281888961792 |
| ], |
| "min": [ |
| -5.700923442840576, |
| -21.605947494506836, |
| -123.72489929199219, |
| -1.7229845523834229, |
| -0.4998578727245331, |
| -0.8867913484573364, |
| 1.4196479014572105e-06 |
| ], |
| "q01": [ |
| -0.01119564864784479, |
| -0.014266146533191203, |
| -0.0071747214533388615, |
| -0.009444301575422287, |
| -0.03990109823644161, |
| -0.017422311007976532, |
| 4.003279136668425e-05 |
| ], |
| "q99": [ |
| 0.01015154086053368, |
| 0.017181577533483497, |
| 0.007216989761218411, |
| 0.010380979906767595, |
| 0.03556173853576176, |
| 0.018032474815845446, |
| 0.9982578039169312 |
| ], |
| "std": [ |
| 0.04264938458800316, |
| 0.04428559169173241, |
| 0.12224084138870239, |
| 0.005388413090258837, |
| 0.011246449314057827, |
| 0.006287882570177317, |
| 0.39732322096824646 |
| ] |
| }, |
| "num_trajectories": 5208, |
| "num_transitions": 1139911, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "fmb_dataset": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 1.399999976158142, |
| 1.0, |
| 1.399999976158142, |
| 1.0, |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "mean": [ |
| 0.059029702097177505, |
| -0.06476633995771408, |
| -0.09787475317716599, |
| 0.004325388930737972, |
| 0.00028963794466108084, |
| -0.04457257315516472, |
| 0.7336440086364746 |
| ], |
| "min": [ |
| -1.399999976158142, |
| -1.399999976158142, |
| -1.0, |
| -1.0, |
| -1.0, |
| -1.0, |
| 0.0 |
| ], |
| "q01": [ |
| -0.8257142901420593, |
| -1.399999976158142, |
| -1.0, |
| -1.0, |
| -0.3028571307659149, |
| -1.0, |
| 0.0 |
| ], |
| "q99": [ |
| 1.0, |
| 0.5257142782211304, |
| 1.0, |
| 1.0, |
| 0.3400000035762787, |
| 1.0, |
| 1.0 |
| ], |
| "std": [ |
| 0.28809213638305664, |
| 0.2820415794849396, |
| 0.4626740515232086, |
| 0.3266514539718628, |
| 0.10842999070882797, |
| 0.3440099358558655, |
| 0.4435282051563263 |
| ] |
| }, |
| "num_trajectories": 8612, |
| "num_transitions": 1137459, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "fractal20220817_data": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 2.9984593391418457, |
| 22.09052848815918, |
| 2.7507524490356445, |
| 1.570636510848999, |
| 1.5321086645126343, |
| 1.5691522359848022, |
| 1.0 |
| ], |
| "mean": [ |
| 0.006987582892179489, |
| 0.006265917327255011, |
| -0.01262515690177679, |
| 0.04333311319351196, |
| -0.005756212864071131, |
| 0.0009130256366916001, |
| 0.5354204773902893 |
| ], |
| "min": [ |
| -2.0204520225524902, |
| -5.497899532318115, |
| -2.031663417816162, |
| -1.569917917251587, |
| -1.569892168045044, |
| -1.570419430732727, |
| 0.0 |
| ], |
| "q01": [ |
| -0.22453527510166169, |
| -0.14820013284683228, |
| -0.231589707583189, |
| -0.3517994859814644, |
| -0.4193011274933815, |
| -0.43643461108207704, |
| 0.0 |
| ], |
| "q99": [ |
| 0.17824687153100965, |
| 0.14938379630446405, |
| 0.21842354819178575, |
| 0.5892666035890578, |
| 0.35272657424211445, |
| 0.44796681255102094, |
| 1.0 |
| ], |
| "std": [ |
| 0.0692116990685463, |
| 0.05970962345600128, |
| 0.07353084534406662, |
| 0.15610496699810028, |
| 0.13164450228214264, |
| 0.14593800902366638, |
| 0.497110515832901 |
| ] |
| }, |
| "num_trajectories": 87212, |
| "num_transitions": 3786400, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "furniture_bench_dataset_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.10000000149011612, |
| 0.10000000149011612, |
| 0.10000000149011612, |
| 0.8651833534240723, |
| 1.0909736156463623, |
| 2.863185405731201, |
| 1.0 |
| ], |
| "mean": [ |
| 0.00014610752987209707, |
| 0.0010830952087417245, |
| 0.0006224989192560315, |
| -0.003303206292912364, |
| -0.0026880695950239897, |
| 0.018242603167891502, |
| 0.48854944109916687 |
| ], |
| "min": [ |
| -0.10495579987764359, |
| -0.10939455777406693, |
| -0.10000000149011612, |
| -0.971906840801239, |
| -1.0475432872772217, |
| -3.06000018119812, |
| 0.0 |
| ], |
| "q01": [ |
| -0.053988199681043625, |
| -0.05049169331789017, |
| -0.032499241530895236, |
| -0.1953887003660202, |
| -0.41674559473991396, |
| -0.8886768388748169, |
| 0.0 |
| ], |
| "q99": [ |
| 0.05414841488003723, |
| 0.04965164884924884, |
| 0.060055799782276154, |
| 0.18231668293476103, |
| 0.39867786407470646, |
| 0.8772023963928218, |
| 1.0 |
| ], |
| "std": [ |
| 0.01610708422958851, |
| 0.014891477301716805, |
| 0.014014219865202904, |
| 0.058274295181035995, |
| 0.11417088657617569, |
| 0.33479776978492737, |
| 0.49991825222969055 |
| ] |
| }, |
| "num_trajectories": 5100, |
| "num_transitions": 3948057, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "iamlab_cmu_pickup_insert_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.6634981632232666, |
| 0.23428471386432648, |
| 0.4308285415172577, |
| 3.1415927410125732, |
| 0.13647015392780304, |
| 3.141592502593994, |
| 1.0 |
| ], |
| "mean": [ |
| 0.5274372696876526, |
| 0.02858201041817665, |
| 0.18712575733661652, |
| 1.2339589595794678, |
| 0.03226623684167862, |
| -1.4199490547180176, |
| 0.5550631880760193 |
| ], |
| "min": [ |
| 0.3071657121181488, |
| -0.29754969477653503, |
| 0.06578229367733002, |
| -3.1415927410125732, |
| -0.04584203287959099, |
| -3.141592502593994, |
| 0.0 |
| ], |
| "q01": [ |
| 0.3148897051811218, |
| -0.20317550599575043, |
| 0.06785467118024827, |
| -3.140952730178833, |
| -0.029743434861302376, |
| -3.141091251373291, |
| 0.0 |
| ], |
| "q99": [ |
| 0.6472805738449097, |
| 0.20846802592277527, |
| 0.36855655312538155, |
| 3.1409926891326903, |
| 0.11424950212240226, |
| 3.1410969257354737, |
| 1.0 |
| ], |
| "std": [ |
| 0.08108345419168472, |
| 0.1116757020354271, |
| 0.07747554779052734, |
| 2.8737246990203857, |
| 0.02774704433977604, |
| 2.7678682804107666, |
| 0.49695101380348206 |
| ] |
| }, |
| "num_trajectories": 631, |
| "num_transitions": 146241, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "jaco_play": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.20000000298023224, |
| 0.20000000298023224, |
| 0.20000000298023224, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0009658430935814977, |
| -0.00580078037455678, |
| -0.00395062193274498, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.34934908151626587 |
| ], |
| "min": [ |
| -0.20000000298023224, |
| -0.20000000298023224, |
| -0.20000000298023224, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| -0.20000000298023224, |
| -0.20000000298023224, |
| -0.20000000298023224, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.20000000298023224, |
| 0.20000000298023224, |
| 0.20000000298023224, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "std": [ |
| 0.12235074490308762, |
| 0.09678777307271957, |
| 0.11155334860086441, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.4768252968788147 |
| ] |
| }, |
| "num_trajectories": 1085, |
| "num_transitions": 77965, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "kuka": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.1697135865688324, |
| 0.2777623236179352, |
| 0.43710532784461975, |
| 0.0, |
| 0.0, |
| 1.9684287309646606, |
| 1.0 |
| ], |
| "mean": [ |
| -0.0004668905457947403, |
| 0.00040138536132872105, |
| -0.001280792523175478, |
| 0.0, |
| 0.0, |
| -0.03722453489899635, |
| 0.4131543040275574 |
| ], |
| "min": [ |
| -0.159867063164711, |
| -0.2892282009124756, |
| -0.2795473635196686, |
| 0.0, |
| 0.0, |
| -1.9875637292861938, |
| 0.0 |
| ], |
| "q01": [ |
| -0.06619441494345665, |
| -0.08713878810405731, |
| -0.15083016991615295, |
| 0.0, |
| 0.0, |
| -0.5415697038173676, |
| 0.0 |
| ], |
| "q99": [ |
| 0.06601839080452929, |
| 0.08732476785779003, |
| 0.18168179214000715, |
| 0.0, |
| 0.0, |
| 0.2923380345106127, |
| 1.0 |
| ], |
| "std": [ |
| 0.02083250693976879, |
| 0.02915887162089348, |
| 0.06422865390777588, |
| 0.0, |
| 0.0, |
| 0.14224295318126678, |
| 0.49086448550224304 |
| ] |
| }, |
| "num_trajectories": 209880, |
| "num_transitions": 2455879, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "nyu_franka_play_dataset_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.06424188613891602, |
| 0.07027634978294373, |
| 0.06129661202430725, |
| 6.281067848205566, |
| 0.1967729926109314, |
| 0.26377415657043457, |
| 1.0 |
| ], |
| "mean": [ |
| 0.001021989737637341, |
| -0.00012002651783404872, |
| 0.00032894269679673016, |
| 0.0015034361276775599, |
| -0.002198522910475731, |
| -0.001663230243138969, |
| 0.7230083346366882 |
| ], |
| "min": [ |
| -0.05952230095863342, |
| -0.07232445478439331, |
| -0.06730806827545166, |
| -6.278434753417969, |
| -0.21479034423828125, |
| -0.3627619743347168, |
| 0.0 |
| ], |
| "q01": [ |
| -0.03199600875377655, |
| -0.032861671447753905, |
| -0.03368805110454559, |
| -0.12080862045288086, |
| -0.12175218224525451, |
| -0.11370223641395569, |
| 0.0 |
| ], |
| "q99": [ |
| 0.03101520001888276, |
| 0.0373908892273903, |
| 0.03646374464035038, |
| 0.11764093399047852, |
| 0.1258920183777809, |
| 0.09366151213645942, |
| 1.0 |
| ], |
| "std": [ |
| 0.01327415369451046, |
| 0.013215910643339157, |
| 0.012822109274566174, |
| 0.2732451558113098, |
| 0.057022541761398315, |
| 0.039172880351543427, |
| 0.44752755761146545 |
| ] |
| }, |
| "num_trajectories": 456, |
| "num_transitions": 44875, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "roboturk": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.39124172925949097, |
| 0.4601028263568878, |
| 0.4870833456516266, |
| 1.816888689994812, |
| 1.8240282535552979, |
| 1.4824820756912231, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0014448732836171985, |
| -0.0015945249469950795, |
| -0.0011753785656765103, |
| 0.0023012510500848293, |
| -0.0009382463176734746, |
| -0.00011485807772260159, |
| 0.5746025443077087 |
| ], |
| "min": [ |
| -0.6546999216079712, |
| -0.6365841031074524, |
| -0.4217723608016968, |
| -1.6695482730865479, |
| -1.8023357391357422, |
| -1.4630827903747559, |
| 0.0 |
| ], |
| "q01": [ |
| -0.1342635464668274, |
| -0.19996687173843383, |
| -0.1482972100377083, |
| -0.20720748245716095, |
| -0.09676413893699647, |
| -0.18075634717941286, |
| 0.0 |
| ], |
| "q99": [ |
| 0.14956976801157001, |
| 0.1805950567126275, |
| 0.18841815620660796, |
| 0.21615413755178453, |
| 0.09457383215427405, |
| 0.18543301910162005, |
| 1.0 |
| ], |
| "std": [ |
| 0.04935386776924133, |
| 0.0635455846786499, |
| 0.061164740473032, |
| 0.09553450345993042, |
| 0.08420111238956451, |
| 0.06517903506755829, |
| 0.49452081322669983 |
| ] |
| }, |
| "num_trajectories": 1995, |
| "num_transitions": 187507, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "stanford_hydra_dataset_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.02499854564666748, |
| 0.02499903365969658, |
| 0.024999922141432762, |
| 0.24974457919597626, |
| 0.24997030198574066, |
| 0.24999946355819702, |
| 1.0 |
| ], |
| "mean": [ |
| 0.0007790001109242439, |
| 0.00013707754260394722, |
| -0.0002548607881180942, |
| 0.0012903271708637476, |
| -0.004751681815832853, |
| 0.002692886395379901, |
| 0.48855218291282654 |
| ], |
| "min": [ |
| -0.024999044835567474, |
| -0.024999700486660004, |
| -0.02499929815530777, |
| -0.24993225932121277, |
| -0.2499666064977646, |
| -0.2499932497739792, |
| 0.0 |
| ], |
| "q01": [ |
| -0.019992006458342076, |
| -0.02415412735193968, |
| -0.022941758055239916, |
| -0.11085530579090118, |
| -0.12024572037160397, |
| -0.13314770206809043, |
| 0.0 |
| ], |
| "q99": [ |
| 0.022886231057345868, |
| 0.022358838934451335, |
| 0.02410089675337076, |
| 0.12370114490389822, |
| 0.11323311634361738, |
| 0.18474749639630164, |
| 1.0 |
| ], |
| "std": [ |
| 0.008022161200642586, |
| 0.009131459519267082, |
| 0.009574338793754578, |
| 0.04122216999530792, |
| 0.0384303517639637, |
| 0.04606688767671585, |
| 0.49976691603660583 |
| ] |
| }, |
| "num_trajectories": 570, |
| "num_transitions": 358234, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "taco_play": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 1.4915844202041626, |
| 2.1842432022094727, |
| 2.6836395263671875, |
| 5.035226821899414, |
| 2.665864944458008, |
| 4.250768661499023, |
| 1.0 |
| ], |
| "mean": [ |
| -0.003845922416076064, |
| 0.009671456180512905, |
| 0.012780580669641495, |
| -0.005403771996498108, |
| -0.009606587700545788, |
| -0.002480733208358288, |
| 0.4263913035392761 |
| ], |
| "min": [ |
| -4.242457866668701, |
| -3.192805051803589, |
| -1.3371467590332031, |
| -4.202683448791504, |
| -2.6722638607025146, |
| -3.3467135429382324, |
| 0.0 |
| ], |
| "q01": [ |
| -0.7106140398979186, |
| -1.056944659948349, |
| -0.5878450274467468, |
| -0.7682853937149048, |
| -0.7180147767066956, |
| -1.5527938604354858, |
| 0.0 |
| ], |
| "q99": [ |
| 0.6482916426658629, |
| 1.0051310062408447, |
| 0.9480248689651489, |
| 0.6926478147506714, |
| 0.6351067513227462, |
| 1.628010264635086, |
| 1.0 |
| ], |
| "std": [ |
| 0.23254038393497467, |
| 0.36298269033432007, |
| 0.28692901134490967, |
| 0.2617705166339874, |
| 0.2438892275094986, |
| 0.5216503143310547, |
| 0.4946896731853485 |
| ] |
| }, |
| "num_trajectories": 3603, |
| "num_transitions": 237798, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "toto": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 0.6839867234230042, |
| 0.4454185664653778, |
| 0.7984078526496887, |
| 2.120781660079956, |
| 1.371164321899414, |
| 1.4118704795837402, |
| 0.0 |
| ], |
| "mean": [ |
| 0.38542115688323975, |
| 0.007769413758069277, |
| 0.3632740378379822, |
| -0.6652036905288696, |
| 0.1890396922826767, |
| 0.03298724442720413, |
| 0.0 |
| ], |
| "min": [ |
| 0.09922284632921219, |
| -0.5180193781852722, |
| 0.13791072368621826, |
| -2.635117530822754, |
| -1.0734480619430542, |
| -1.9282547235488892, |
| 0.0 |
| ], |
| "q01": [ |
| 0.1756722891330719, |
| -0.3077590811252594, |
| 0.235383919775486, |
| -2.0908505964279174, |
| -0.6191593289375306, |
| -0.7488683319091797, |
| 0.0 |
| ], |
| "q99": [ |
| 0.6136963081359863, |
| 0.33704194784164443, |
| 0.6681221985816956, |
| 0.7422861719131538, |
| 0.7955395007133507, |
| 0.740464625358582, |
| 0.0 |
| ], |
| "std": [ |
| 0.12211652100086212, |
| 0.19378550350666046, |
| 0.10178236663341522, |
| 0.5725259184837341, |
| 0.29884573817253113, |
| 0.3259911835193634, |
| 0.0 |
| ] |
| }, |
| "num_trajectories": 1003, |
| "num_transitions": 325699, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "ucsd_kitchen_dataset_converted_externally_to_rlds": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 678.0, |
| 400.0, |
| 507.0, |
| 180.00001525878906, |
| 6.000013828277588, |
| 116.99998474121094, |
| 1.0 |
| ], |
| "mean": [ |
| 410.37567138671875, |
| 116.9518814086914, |
| 192.35032653808594, |
| -121.22441864013672, |
| -33.84893035888672, |
| 50.016136169433594, |
| 0.741813600063324 |
| ], |
| "min": [ |
| 172.0, |
| -166.0, |
| -99.99999237060547, |
| -180.00001525878906, |
| -89.0, |
| -96.00010681152344, |
| 0.0 |
| ], |
| "q01": [ |
| 200.00001052856445, |
| -102.31004211425781, |
| -94.99993370056153, |
| -180.00001525878906, |
| -88.00001525878906, |
| -38.999977111816406, |
| 0.0 |
| ], |
| "q99": [ |
| 637.0, |
| 368.30999999999995, |
| 493.0, |
| 180.00001525878906, |
| 0.999983012676239, |
| 105.00001525878906, |
| 1.0 |
| ], |
| "std": [ |
| 122.81494903564453, |
| 108.8009033203125, |
| 130.303466796875, |
| 116.28205108642578, |
| 27.621843338012695, |
| 41.02094650268555, |
| 0.43763357400894165 |
| ] |
| }, |
| "num_trajectories": 150, |
| "num_transitions": 3970, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "utaustin_mutex": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 1.0, |
| 1.0, |
| 1.0, |
| 0.375, |
| 0.375, |
| 0.375, |
| 1.0 |
| ], |
| "mean": [ |
| 0.06176406890153885, |
| -0.005005486309528351, |
| 0.10216785222291946, |
| -0.03314131125807762, |
| 0.013895004987716675, |
| -0.011317633092403412, |
| 0.5038976669311523 |
| ], |
| "min": [ |
| -1.0, |
| -1.0, |
| -1.0, |
| -0.375, |
| -0.375, |
| -0.375, |
| 0.0 |
| ], |
| "q01": [ |
| -0.4285714328289032, |
| -0.9800000190734863, |
| -0.5571428537368774, |
| -0.375, |
| -0.15642857551574707, |
| -0.335357129573822, |
| 0.0 |
| ], |
| "q99": [ |
| 0.5914285778999329, |
| 0.9714285731315613, |
| 1.0, |
| 0.3278571367263794, |
| 0.207857146859169, |
| 0.25607141852378845, |
| 1.0 |
| ], |
| "std": [ |
| 0.1875014752149582, |
| 0.4468473494052887, |
| 0.3792876601219177, |
| 0.14097853004932404, |
| 0.06453701853752136, |
| 0.11765272170305252, |
| 0.501045286655426 |
| ] |
| }, |
| "num_trajectories": 1500, |
| "num_transitions": 361883, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "viola": { |
| "action": { |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ], |
| "max": [ |
| 1.0, |
| 1.0, |
| 1.0, |
| 0.375, |
| 0.36321428418159485, |
| 0.375, |
| 1.0 |
| ], |
| "mean": [ |
| 0.04761844128370285, |
| -0.029204415157437325, |
| 0.05586736649274826, |
| -0.002618510741740465, |
| 0.006867344491183758, |
| -0.01682133786380291, |
| 0.7323777675628662 |
| ], |
| "min": [ |
| -1.0, |
| -1.0, |
| -1.0, |
| -0.375, |
| -0.375, |
| -0.375, |
| 0.0 |
| ], |
| "q01": [ |
| -0.9628571271896362, |
| -1.0, |
| -1.0, |
| -0.26249998807907104, |
| -0.21321429312229156, |
| -0.3385714292526245, |
| 0.0 |
| ], |
| "q99": [ |
| 0.9114285707473755, |
| 0.868571400642395, |
| 1.0, |
| 0.2817857265472412, |
| 0.2239285707473755, |
| 0.3557142913341522, |
| 1.0 |
| ], |
| "std": [ |
| 0.39157867431640625, |
| 0.4076525568962097, |
| 0.40077948570251465, |
| 0.10023996233940125, |
| 0.0844319611787796, |
| 0.10375042259693146, |
| 0.44260647892951965 |
| ] |
| }, |
| "num_trajectories": 150, |
| "num_transitions": 76324, |
| "proprio": { |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "select_toy": { |
| "action": { |
| "mean": [ |
| -0.0001521290687378496, |
| 0.0010224012657999992, |
| -0.0008708484238013625, |
| -0.0031140611972659826, |
| -0.0001480036007706076, |
| 0.009845376014709473, |
| 0.0 |
| ], |
| "std": [ |
| 0.01310268696397543, |
| 0.013197977095842361, |
| 0.01425854116678238, |
| 0.3732447028160095, |
| 0.004763888195157051, |
| 0.12028245627880096, |
| 0.0 |
| ], |
| "max": [ |
| 0.2813396155834198, |
| 0.33791643381118774, |
| 0.22024944424629211, |
| 3.1415178775787354, |
| 0.19418320059776306, |
| 0.3544212579727173, |
| 0.0 |
| ], |
| "min": [ |
| -0.24308423697948456, |
| -0.3761183023452759, |
| -0.2072332203388214, |
| -3.141568422317505, |
| -0.2566651701927185, |
| -1.6873828172683716, |
| 0.0 |
| ], |
| "q01": [ |
| -0.012160226702690125, |
| -0.011307954788208008, |
| -0.011111125349998474, |
| -0.02779260635375977, |
| -0.010101369787007571, |
| -0.00024203247769037263, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0121011883020401, |
| 0.01210111379623413, |
| 0.040742102861404436, |
| 0.04261391401290959, |
| 0.01020915912464264, |
| 0.3151770830154419, |
| 0.0 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "num_transitions": 81402, |
| "num_trajectories": 508 |
| }, |
| "select_fruit": { |
| "action": { |
| "mean": [ |
| -2.2997395717538893e-05, |
| 0.0014144843444228172, |
| -0.0022256572265177965, |
| -0.017514346167445183, |
| -0.00014861776435282081, |
| -0.0013767750933766365, |
| 0.0 |
| ], |
| "std": [ |
| 0.01870874874293804, |
| 0.02368941903114319, |
| 0.03618869557976723, |
| 0.3077213168144226, |
| 0.01259089820086956, |
| 0.29258784651756287, |
| 0.0 |
| ], |
| "max": [ |
| 0.4494945704936981, |
| 0.5157965421676636, |
| 0.47939032316207886, |
| 3.1415598392486572, |
| 0.3348841071128845, |
| 3.0930850505828857, |
| 0.0 |
| ], |
| "min": [ |
| -0.5132532119750977, |
| -0.44741949439048767, |
| -0.5156025290489197, |
| -3.141566514968872, |
| -0.276532381772995, |
| -3.141246795654297, |
| 0.0 |
| ], |
| "q01": [ |
| -0.012061663568019867, |
| -0.011899234652519226, |
| -0.013661901056766509, |
| -0.0793968629837036, |
| -0.012429733220487831, |
| -0.31519169330596924, |
| 0.0 |
| ], |
| "q99": [ |
| 0.012191149294376348, |
| 0.012200474739074707, |
| 0.0499972964823246, |
| 0.0017547655105589859, |
| 0.019896946698427162, |
| 0.0035145854949950317, |
| 0.0 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "num_transitions": 77547, |
| "num_trajectories": 513 |
| }, |
| "select_painting": { |
| "action": { |
| "mean": [ |
| 0.00021610806288663298, |
| 0.0005283159553073347, |
| -0.006605448666960001, |
| -0.023957980796694756, |
| -0.00012475599942263216, |
| -5.148760351403325e-07, |
| 0.0 |
| ], |
| "std": [ |
| 0.00433357385918498, |
| 0.0036184608470648527, |
| 0.0040307180024683475, |
| 0.27302342653274536, |
| 0.0012771723559126258, |
| 0.0002224096970167011, |
| 0.0 |
| ], |
| "max": [ |
| 0.012490078806877136, |
| 0.022845908999443054, |
| 0.011911630630493164, |
| 0.0018551349639892578, |
| 0.04075945168733597, |
| 0.0023984909057617188, |
| 0.0 |
| ], |
| "min": [ |
| -0.012402944266796112, |
| -0.012476637959480286, |
| -0.012473642826080322, |
| -3.1415703296661377, |
| -0.014350774697959423, |
| -0.021231532096862793, |
| 0.0 |
| ], |
| "q01": [ |
| -0.010593843981623649, |
| -0.009891098439693451, |
| -0.010940073728561402, |
| -0.0015757322311401366, |
| -0.008231314644217492, |
| -9.052515029907227e-05, |
| 0.0 |
| ], |
| "q99": [ |
| 0.010862471461295993, |
| 0.010888397693634033, |
| 0.0004843771457672119, |
| 0.0002932548522949219, |
| 0.004139920696616173, |
| 0.00015075922012328883, |
| 0.0 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "num_transitions": 34363, |
| "num_trajectories": 502 |
| }, |
| "select_mahjong": { |
| "action": { |
| "mean": [ |
| 4.1033908928511664e-05, |
| 0.0034665046259760857, |
| -0.003165483009070158, |
| -0.001965769799426198, |
| -0.00024383906566072255, |
| 0.002417137613520026, |
| 0.0 |
| ], |
| "std": [ |
| 0.010895554907619953, |
| 0.024027107283473015, |
| 0.05078018829226494, |
| 0.5689775943756104, |
| 0.014348162338137627, |
| 0.441814661026001, |
| 0.0 |
| ], |
| "max": [ |
| 0.30462419986724854, |
| 0.3466724753379822, |
| 0.44354957342147827, |
| 3.141432523727417, |
| 0.20723742246627808, |
| 3.1415226459503174, |
| 0.0 |
| ], |
| "min": [ |
| -0.41823357343673706, |
| -0.3454625606536865, |
| -0.48570913076400757, |
| -3.1411726474761963, |
| -0.19171679019927979, |
| -3.1415517330169678, |
| 0.0 |
| ], |
| "q01": [ |
| -0.012119650840759277, |
| -0.00999744176864624, |
| -0.017557437866926193, |
| -3.077933459281921, |
| -0.022477678935974837, |
| -0.33386374592781065, |
| 0.0 |
| ], |
| "q99": [ |
| 0.012174159288406372, |
| 0.023718530535698105, |
| 0.049941994361579416, |
| 3.0824308347702027, |
| 0.054777222946286466, |
| 3.088702440261841, |
| 0.0 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "num_transitions": 57000, |
| "num_trajectories": 512 |
| }, |
| "select_poker": { |
| "action": { |
| "mean": [ |
| -0.000460274750366807, |
| 0.0033987266942858696, |
| -0.004316266626119614, |
| -0.00015405962767545134, |
| -0.0002931700728368014, |
| 0.021316438913345337, |
| 0.0 |
| ], |
| "std": [ |
| 0.003839629702270031, |
| 0.0038419899065047503, |
| 0.0059250337071716785, |
| 0.5106199979782104, |
| 0.0007017667521722615, |
| 0.025785835459828377, |
| 0.0 |
| ], |
| "max": [ |
| 0.01247008889913559, |
| 0.012489557266235352, |
| 0.010344833135604858, |
| 3.135554552078247, |
| 0.009552807547152042, |
| 0.10720288753509521, |
| 0.0 |
| ], |
| "min": [ |
| -0.012495273724198341, |
| -0.011519640684127808, |
| -0.012464255094528198, |
| -3.1411964893341064, |
| -0.005644868593662977, |
| -0.0017757080495357513, |
| 0.0 |
| ], |
| "q01": [ |
| -0.010750904530286789, |
| -0.004346385598182678, |
| -0.011111117899417877, |
| -3.140882730484009, |
| -0.0015250358334742487, |
| -0.00011373806119081564, |
| 0.0 |
| ], |
| "q99": [ |
| 0.009930664673447609, |
| 0.011994808912277208, |
| 0.010344833135604858, |
| 3.1301958656311033, |
| 0.004139920696616173, |
| 0.08460807800292969, |
| 0.0 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| }, |
| "sem_pick_place_trash_valuables": { |
| "action": { |
| "mean": [ |
| 0.00021156824368517846, |
| 0.002087460132315755, |
| -0.0010429825633764267, |
| 0.02167617157101631, |
| -0.00012210589193273336, |
| 0.00024026194296311587, |
| 0.0 |
| ], |
| "std": [ |
| 0.0101512111723423, |
| 0.015703799203038216, |
| 0.011521228589117527, |
| 0.7545199990272522, |
| 0.005528945010155439, |
| 0.0020234158728271723, |
| 0.0 |
| ], |
| "min": [ |
| -0.24136504530906677, |
| -0.3958713412284851, |
| -0.21803897619247437, |
| -6.28305721282959, |
| -0.16259883344173431, |
| -0.05408501625061035, |
| 0.0 |
| ], |
| "max": [ |
| 0.23233528435230255, |
| 0.360664427280426, |
| 0.21983599662780762, |
| 6.283177375793457, |
| 0.15912964940071106, |
| 0.050278425216674805, |
| 0.0 |
| ], |
| "q01": [ |
| -0.01186661422252655, |
| -0.01011199876666069, |
| -0.01450144499540329, |
| -0.004365265369415283, |
| -0.016564134508371353, |
| -0.0004640817642211914, |
| -0.10000002384185791 |
| ], |
| "q99": [ |
| 0.011488249525427818, |
| 0.012090589851140976, |
| 0.010416671633720398, |
| 0.013887166976928711, |
| 0.02062765322625637, |
| 0.0014159679412841797, |
| 0.10000002384185791 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "num_transitions": 15726, |
| "num_trajectories": 100 |
| }, |
| "sem_pick_place_drug_return": { |
| "action": { |
| "mean": [ |
| -0.00011564271699171513, |
| 0.002111990237608552, |
| -0.0006507114158011973, |
| 0.01741412654519081, |
| -0.00041233800584450364, |
| 0.00023699013399891555, |
| 0.0 |
| ], |
| "std": [ |
| 0.0056352862156927586, |
| 0.0054125115275382996, |
| 0.00745901046320796, |
| 0.7218939065933228, |
| 0.0035897442139685154, |
| 0.0007855815929360688, |
| 0.0 |
| ], |
| "min": [ |
| -0.2075691968202591, |
| -0.32158946990966797, |
| -0.03079017996788025, |
| -6.283092498779297, |
| -0.034669604152441025, |
| -0.03576207160949707, |
| 0.0 |
| ], |
| "max": [ |
| 0.2278117686510086, |
| 0.29250532388687134, |
| 0.048514336347579956, |
| 6.283176898956299, |
| 0.02062765322625637, |
| 0.04040789604187012, |
| 0.0 |
| ], |
| "q01": [ |
| -0.011501852422952652, |
| -0.009256064891815186, |
| -0.011111117899417877, |
| -0.003124294336885214, |
| -0.022431306540966034, |
| -0.0003101825714111328, |
| -0.10000002384185791 |
| ], |
| "q99": [ |
| 0.010905236005783081, |
| 0.01148262619972229, |
| 0.010416671633720398, |
| 0.004020230378955603, |
| 0.00738461222499609, |
| 0.001227259635925293, |
| 0.10000002384185791 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "num_transitions": 15607, |
| "num_trajectories": 100 |
| }, |
| "sem_microwave": { |
| "action": { |
| "mean": [ |
| 1.5877074474701658e-05, |
| 0.0008619115687906742, |
| -0.0007633910863660276, |
| 0.003384299110621214, |
| -0.0018287217244505882, |
| 0.005567070096731186, |
| 0.0 |
| ], |
| "std": [ |
| 0.00800362043082714, |
| 0.008350375108420849, |
| 0.007068020757287741, |
| 0.5812196731567383, |
| 0.02000533975660801, |
| 0.3342917859554291, |
| 0.0 |
| ], |
| "min": [ |
| -0.3686024844646454, |
| -0.5163840055465698, |
| -0.10195267200469971, |
| -6.283185005187988, |
| -0.6665716171264648, |
| -2.838146686553955, |
| 0.0 |
| ], |
| "max": [ |
| 0.37477701902389526, |
| 0.09337231516838074, |
| 0.4173862934112549, |
| 6.2831830978393555, |
| 0.9895676374435425, |
| 6.250611305236816, |
| 0.0 |
| ], |
| "q01": [ |
| -0.011773377656936646, |
| -0.010714292526245117, |
| -0.01111111044883728, |
| -0.035439249128103256, |
| -0.061926133930683136, |
| -0.10719951242208481, |
| -0.10000002384185791 |
| ], |
| "q99": [ |
| 0.011415362358093262, |
| 0.012013457715511322, |
| 0.010526316240429878, |
| 0.061299849301576614, |
| 0.012344631366431713, |
| 0.10581350326538086, |
| 0.10000000894069672 |
| ], |
| "mask": [ |
| true, |
| true, |
| true, |
| true, |
| true, |
| true, |
| false |
| ] |
| }, |
| "proprio": { |
| "mean": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "std": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "max": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "min": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q01": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "q99": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "num_transitions": 32793, |
| "num_trajectories": 90 |
| }, |
| "arena_vla_safety": { |
| "action": { |
| "q01": [ |
| -0.47492605447769165, |
| 0.03620585590600968, |
| -0.005581815131008625, |
| -3.1415927410125732, |
| -1.5707963705062866, |
| -3.0523111820220947, |
| 0.0 |
| ], |
| "q99": [ |
| 0.3146635591983795, |
| 0.7227013111114502, |
| 0.5142785120010376, |
| 3.1415927410125732, |
| 1.5666539239883424, |
| 3.053800230026245, |
| 1.0 |
| ] |
| } |
| }, |
| "sem_insert_utensils_container": { |
| "action": { |
| "q01": [ |
| -0.47492605447769165, |
| 0.03620585590600968, |
| -0.005581815131008625, |
| -3.1415927410125732, |
| -1.5707963705062866, |
| -3.0523111820220947, |
| 0.0 |
| ], |
| "q99": [ |
| 0.3146635591983795, |
| 0.7227013111114502, |
| 0.5142785120010376, |
| 3.1415927410125732, |
| 1.5666539239883424, |
| 3.053800230026245, |
| 1.0 |
| ] |
| } |
| }, |
| "arena_vla_safety_delta": { |
| "action": { |
| "q01": [ |
| -0.011581338942050934, |
| -0.010714292526245117, |
| -0.011111114174127579, |
| -0.07373625755310058, |
| -0.05698704719543457, |
| -0.09422731399536133, |
| -0.10000002384185791 |
| ], |
| "q99": [ |
| 0.011364424675703049, |
| 0.011806190013885498, |
| 0.010526314377784729, |
| 0.8946420907974245, |
| 0.07833933144807816, |
| 0.10500207901000977, |
| 0.10000002384185791 |
| ] |
| } |
| }, |
| "sem_pour_water_electronics_delta": { |
| "action": { |
| "q01": [ |
| -0.011878555417060852, |
| -0.010434873104095459, |
| -0.010968351364135742, |
| -0.4338712692260742, |
| -0.08335446357727051, |
| -0.317720365524292, |
| 0.0 |
| ], |
| "q99": [ |
| 0.011982251927256587, |
| 0.01167653560638429, |
| 0.016873493194580334, |
| 0.30040343284606996, |
| 0.07853317260742188, |
| 0.4356209373474123, |
| 1.0 |
| ] |
| } |
| }, |
| "sem_insert_utensils_container_delta": { |
| "action": { |
| "q01": [ |
| -0.01147286593914032, |
| -0.0117417573928833, |
| -0.011111114174127579, |
| -1.432844638824463, |
| -0.016840346157550812, |
| -1.2253869771957397, |
| -0.10000002384185791 |
| ], |
| "q99": [ |
| 0.010676473379135132, |
| 0.011614639312028885, |
| 0.010344833135604858, |
| 4.395289421081543, |
| 0.055076807737350464, |
| 1.427910566329956, |
| 0.0 |
| ] |
| } |
| } |
| }, |
| "output_projector_states": false, |
| "pad_to_multiple_of": 64, |
| "pad_token_id": 32000, |
| "text_config": { |
| "model_type": "llama", |
| "pad_token_id": 32000, |
| "torch_dtype": "bfloat16", |
| "vocab_size": 32064 |
| }, |
| "timm_model_ids": [ |
| "vit_large_patch14_reg4_dinov2.lvd142m", |
| "vit_so400m_patch14_siglip_224" |
| ], |
| "timm_override_act_layers": [ |
| null, |
| null |
| ], |
| "torch_dtype": "bfloat16", |
| "transformers_version": "4.40.1", |
| "use_fused_vision_backbone": true, |
| "vision_backbone_id": "dinosiglip-vit-so-224px" |
| } |
|
|